238 results about "Motion Mode" patented technology

The invention provides a cleaning robot multi-mode motion control system, method and equipment and a medium, and belongs to the technical field of intelligent robot control. The system comprises a multi-modal data acquisition module used for performing multi-source synchronous acquisition on an environment image, distance information, a voice signal and a collision signal and outputting original sensing data; the data fusion and processing module is used for receiving the original sensing data, sequentially executing space-time alignment correction, multi-source feature fusion and instruction semantic analysis, and outputting an environment sensing result and a structured control instruction; the motion planning and decision-making module is used for executing global path planning, dynamic obstacle trajectory prediction and motion parameter decision-making based on the environment perception result and the structured control instruction, and outputting a motion control instruction containing a motion mode, a speed and an angle; and the motion control execution module is used for receiving the motion control instruction, converting the motion control instruction into an execution mechanism driving signal, realizing closed-loop control through real-time state feedback and outputting a motion execution result.

The invention discloses a wheel-foot composite robot and a motion control method thereof, a terminal and a storage medium, and the motion control method of the wheel-foot composite robot enables the wheel-foot composite robot to have remarkable robustness and dynamic stability in a complex environment by performing self-adaptive control on a four-foot form and a two-wheel form under a unified control framework. The method specifically comprises the following steps: identifying a current motion form, and performing real-time integral estimation on an error between an expected state and an actual state by using a robust adaptive model predictive control algorithm in a four-foot form to obtain an equivalent external disturbance vector for control solution, thereby realizing online disturbance compensation and adaptive torque distribution. The robot has stronger anti-interference capability on load change and ground disturbance in a four-foot form, and can keep stable gaits and accurate attitude control under a relatively high load condition.

The invention relates to an exoskeleton robot control method and device and an exoskeleton robot. The method comprises the following steps: determining an activity parameter according to a signal collected by a sensor; identifying a plurality of motion intentions according to the activity parameters, judging motion identifiers under the motion intentions, and determining a plurality of motion identifiers; performing state transition according to the plurality of action identifiers by utilizing a finite-state machine to obtain a target sub-state; a plurality of motion modes are preset in the finite-state machine, and each motion mode corresponds to at least one sub-state; and controlling the power unit according to the control instruction corresponding to the target sub-state. According to the method, the motion intention recognition and the finite-state machine are combined to complete the operation state transition, so that the misjudgment rate of state recognition can be reduced, and the robustness of the finite-state machine is improved; the multiple preset motion modes of the finite-state machine are divided into the sub-states, the situation of wrong assistance can be eliminated to a certain degree, misoperation of the exoskeleton robot is avoided, and the assistance control accuracy is improved.

The invention relates to the technical field of knee joint exoskeleton devices, in particular to a clutch control type knee joint exoskeleton damping device and a control method. Comprising a pair of rotating assemblies which are rotationally connected; the pair of leg connecting assemblies are connected with the pair of rotating assemblies correspondingly, and the pair of leg connecting assemblies are used for being connected with the thighs and the shanks on the same side of the user correspondingly; the rotary damper is controllably coupled with the knee joint assembly; the clutch device is arranged between the rotary damper and the knee joint assembly, and the clutch device is used for switching the coupling state of the knee joint assembly and the rotary damper; and the control unit is used for judging a gait cycle phase and a motion mode according to the signal acquired by the detection unit, and controlling the clutch device to switch the coupling state of the knee joint assembly and the rotary damper according to a preset control rule. And the exoskeleton device can intelligently control the clutch device to dynamically adjust the damping state of the knee joint.

The invention relates to a surgical robot motion control method applied to a neuroendoscope, and belongs to the technical field of surgical robos.The surgical robot motion control method comprises the steps that an entry point of a target area is determined based on the long axis of the target area, kinematics parameters are established according to the motion mode of the endoscope, and a motion area in the target area is constructed; flexible operation of an end effector of the mechanical arm in a motion area is achieved through an RCM constraint algorithm of the mechanical arm; according to the method, the motion control precision is improved, the response delay is reduced, the adaptability to personalized operation requirements is enhanced, and the safety and effectiveness of the neuroendoscopic operation are guaranteed. When the mechanical arm end executor is controlled to move, the defects that in the prior art, a surgical robot motion control method applied to a neuroendoscope is low in precision, delayed in response and poor in adaptability are overcome.

The invention, which relates to the technical field of medical training, discloses a multi-sensory feedback fusion stroke rehabilitation exoskeleton robot training system comprising an exoskeleton robot main body, a multi-sensory feedback module, and a motion state monitoring module. By integrating a multi-sensory feedback module, a visual, auditory, tactile and motion state monitoring module and a central control module, multi-dimensional sensory stimulation and real-time data acquisition are realized when a patient is trained, and the central control module adapts parameters in the module according to the real-time motion precision of the patient and personalization. The strength and the type of multi-sensory feedback are dynamically adjusted, meanwhile, motion parameters of an exoskeleton robot body are controlled, a dynamic adjustment mechanism ensures pertinence and effectiveness of training, forward feedback is provided to strengthen a correct motion mode when the motion precision of a patient is high, and correction prompt is provided and assistance or resistance of the robot is adjusted when the motion deviation is large. Therefore, nerve function remodeling and motor ability recovery are effectively promoted.

Images of a player of a computer game are analyzed to determine whether motion of the player such as sway may resemble a precursor motion pattern to motion sickness, so that the player may be advised accordingly before the symptoms of motion sickness manifest themselves.

The invention provides a dexterous hand teleoperation method, device and system based on a data glove, and is applied to the technical field of smart power grids. The method is applied to the electronic equipment, the electronic equipment is in communication connection with a data glove and a dexterous hand which are worn on the hand of an operator, and the method comprises the steps that action data, collected by the data glove, of the hand of the operator are obtained, and the action data comprise first joint freedom degrees corresponding to all joints of each finger; based on a preset human hand prior knowledge base, performing coupling mapping processing on the action data to obtain adjusted action data conforming to a human hand natural movement mode; performing smoothing and state prediction on the adjusted action data by adopting a Kalman filtering algorithm to obtain a target action sequence; and according to the target action sequence, generating a joint space control instruction for the dexterous hand to drive the dexterous hand to reproduce the action of the hand of the operator. The method is used for improving the intelligent level and the natural fluency and collaboration of the actions of the dexterous hand.

This disclosure proposes a multimodal motion switching control method and device for a mining intelligent assistive exoskeleton, relating to the field of mining safety equipment technology. The method includes: collecting multimodal sensing data from the wearer, extracting temporal features and inputting them into a lightweight classifier to identify motion patterns and output confidence scores; when the confidence score continuously exceeds a threshold, a mode switching intention is determined; the control subroutine corresponding to the current motion mode is invoked to obtain impedance parameters and the desired trajectory; based on the impedance parameters, the desired trajectory, and the current trajectory, interpolation fusion is performed using a hybrid transition strategy to generate smooth transition joint control commands to control the exoskeleton. This disclosure enables real-time and accurate identification of motion intentions in confined underground environments, smooth and compliant switching between multiple modes, effectively reducing switching impact, ensuring motion continuity and human-machine collaboration safety, and improving the adaptability and overall operational safety of the exoskeleton in confined environments.

The application discloses a wheel-leg mechanism and relates to the technical field of wheel-leg vehicles.The wheel-leg mechanism comprises a wheel group mechanism, a thigh assembly, a shank assembly, a connecting rod transmission assembly and a linear driving mechanism, one end of the shank assembly is connected with the wheel group mechanism, the other end of the shank assembly is hingedly connected with the thigh assembly, the thigh assembly and the shank assembly are respectively connected with the linear driving mechanism through the connecting rod transmission assembly, and the linear driving mechanism and the connecting rod transmission assembly are respectively connected with a vehicle body.The wheel-leg mechanism has the advantages of small size, compact structure, suitability for both wheel type and leg type movement modes, realization of small end inertia and large movement range, arrangement of most of the weight mechanism on the upper end and the middle of the thigh, simple structure and space saving.

Disclosed is an electronic device comprising a communication circuit, a processor, and a memory. The electronic device may acquire ambient noise information and motion information by using a head-mounted device communicatively connected thereto, and determine a threshold value on the basis of the ambient noise information and / or the motion information. The electronic device may perform an operation corresponding to a command pattern when a similarity between a stored command pattern and a non-verbal input including at least one of a humming pattern or a motion pattern acquired from an external device exceeds a threshold value during activation of a non-verbal mode.

Methods, devices, media, and other embodiments are described for a state-space system for pseudorandom animation. In one embodiment animation elements within a computer model are identified, and for each animation element motion patterns and speed harmonics are identified. A set of motion data values comprising a state-space description of the motion patterns and the speed harmonics are generated, and a probability assigned to each value of the set of motion data values for the state-space description. The probability can then be used to select and update a particular motion used in an animation generated from the computer model.

A video decoding method includes decoding an image bitstream associated with a video sequence to obtain a reconstructed key frame; extracting features of the reconstructed key frame; decoding a feature bitstream associated with the video sequence to obtain a motion token; reconstructing a dense motion based on the features of the reconstructed key frame and the motion token; and generating video content based on the reconstructed dense motion.

The invention relates to a wheel arm composite autonomous vehicle capable of manipulating objects. The autonomous vehicle includes: a vehicle body including a carrying box for storing articles; the at least one pair of rear wheels are symmetrically arranged on the two sides of the rear end of the vehicle body; the front wheel is arranged at the central position of the front end of the vehicle body, and the front wheel is connected to the driving unit and the steering unit; the mechanical arms are symmetrically arranged on the two sides of the vehicle body and connected to the mechanical arm control unit; the environment sensing module is used for sensing physical environments of the autonomous vehicle in different motion states; and the cooperative control module is used for controlling the pair of mechanical arms through the mechanical arm control unit and controlling the front wheels through the driving unit and the steering unit so as to carry objects or drive the autonomous vehicle to move in corresponding physical environments in various movement modes.

The utility model provides a whole type tin forest tray surface plating equipment relates to tin forest tray plating technical field, including installation support, in the utility model, through the swing mechanism, translation mechanism and the coordinated operation of rotating mechanism, realized tin forest tray in the multidimensional motion control in the plating process, swing mechanism passes through the cooperation of transmission disc, sliding sleeve and sliding rod, converts the circular movement into the reciprocating swing of storage tank, makes the plating liquid multi -angle effect to tin forest tray surface, promotes the uniformity of plating layer, through the screw rod drive plating assembly horizontal removal, expands the plating range, need not manual adjustment work piece to complete large -area plating, rotating mechanism passes through the multistage reduction drive of gear and belt pulley, makes the tin forest tray stable rotation of placing dish drive, optimizes the contact angle of plating liquid and work piece surface, is applicable to the plating treatment of complex structure, three three -dimensional compound movement modes formed by the combination, breaks through the function limitation of traditional equipment, improves plating quality and efficiency greatly.

The invention provides an indoor robot positioning method and system, and belongs to the technical field of intelligent positioning, and the method comprises the steps: capturing a communication connection signal of a communication assembly and indoor detection equipment in the moving process of a target robot, and determining an initial coarse path in combination with the deployment position of the indoor detection equipment and the indoor layout; capturing an action behavior multi-mode image, captured based on the shooting equipment, of the target robot at each moving moment in the moving process and motion posture data measured based on a sensor of the target robot, and obtaining a fusion posture at the same moving moment; and on the basis of the fusion attitude of the two adjacent coarse positions, the position distance between the two adjacent coarse positions and the motion mode of the target robot, constructing a global optimization expression for the coarse framing unit, a local optimization expression for the fine framing unit and a correction expression for the fuzzification unit, and obtaining and outputting a fine path. And the balance between the positioning precision and the real-time performance of the robot in a complex indoor environment is realized.

The application discloses a key self-defining event driving method and device of a teach pendant, a teach pendant system, a storage medium and a computer program product, and the method comprises the following steps: configuring two working modes of a motion mode and an editing mode for the teach pendant, the motion mode corresponds to an industrial robot motion control scene, and the editing mode corresponds to a program interface editing scene; a self-defining mapping relationship between part of physical keys and motion control type function events is configured for the motion mode; a self-defining mapping relationship between all physical keys and program editing type function events is configured for the editing mode; a physical key trigger signal of the teach pendant is detected in real time, and the working mode currently entered by the teach pendant is recognized; the mapping relationship between the physical key and the function event preset in the working mode is called, and the corresponding function event is driven to be executed. According to the scheme, the resource utilization rate and the function flexibility of the physical key of the teach pendant are improved, and the teach programming operation efficiency is improved.

The application discloses a kind of foot and track type compound mobile robot drive control system and method, the system includes information acquisition sensor, host computer, foot type drive subsystem and track type drive subsystem, after information acquisition sensor gathers the obstacle size information of pre-specified active area, host computer compares the size of obstacle size and preset safety threshold to confirm whether foot type drive mode or track type drive mode is selected, and gait control instruction or track drive instruction is generated according to obstacle size information;When foot type drive subsystem receives gait control instruction sent by host computer, foot type drive mechanism is controlled to move according to gait control instruction;When track type drive subsystem receives track drive instruction sent by host computer, track type drive mechanism is controlled to move according to track drive instruction.The application can automatically switch the motion mode of foot and track type robot according to the size of obstacle, and can adapt to more complex working environment.

The application discloses a dynamic seat, which comprises a seat plate and a support column supporting the seat plate, a motion system is integrated on the support column, the motion system can bend the support column through local rotation and control the degree and direction of the bending, thereby controlling the inclination degree and direction of the seat plate; the dynamic seat further comprises a sensing system and a control system, the sensing system can measure the force applied by a seat user; the control system can control the motion system to make the seat plate execute a predetermined or user instructed motion mode; thereby making the human body make a corresponding resistance reaction to the motion mode of the seat plate; the dynamic seat further comprises a communication system, the communication system can wirelessly communicate with an application program on an electronic device, the application program can track and transmit sensor data, obtain health parameters of a user, and record and / or analyze and process the health parameters.

The invention provides a humanoid robot with a wire harness protection function and a motion mode switching method thereof, and belongs to the technical field of bionic robots. The humanoid robot comprises a robot body, a movable base, a mechanical arm, a multi-mode sensor and a controller; the movable base is arranged at the bottom of the robot body, the mechanical arms are symmetrically arranged on the two sides of the robot body, the multi-mode sensor is assembled on the movable base, and the controller is in communication connection with the mechanical arms and the multi-mode sensor. A wire harness used for supplying power and transmitting signals is arranged in the mechanical arm, a redundant length is reserved for the wire harness, a bending part is formed, the minimum curvature radius of the bending part is not smaller than the minimum safe bending radius allowed by the wire harness, and the controller is configured to adapt to moving mode switching of the robot so as to maintain the wire harness protection state. Stress damage in the wire harness movement process is reduced, the service life of the wire harness is prolonged, meanwhile, cooperative adaptation of movement mode switching and wire harness protection is achieved, and the movement stability of the mechanical arm and the long-term operation reliability of the robot are improved.

The application discloses a driving device and a driving method for a tracked robot, which comprises a driving differential mechanism, a driving transmission mechanism, a turnover mechanism and a variable tracked mechanism, a driving input gear is driven to rotate by a driving motor, a driving tracked is driven to rotate by an output shaft, and the tracked robot is normally driven to move; a turnover driving motor drives an inner shaft to drive a lock to axially move and interlock with a lock wheel, and the tracked robot is realized to climb over an obstacle; through the conversion of working states of the driving motor and the turnover driving motor, the axial movement of the lock wheel and the lock on the inner shaft, and the mutual locking and releasing of the lock wheel and the lock, three kinds of motion modes of the tracked robot, i.e., normal driving, climbing over an obstacle and climbing over a high obstacle, are realized without interference; the configuration of the tracked mechanism is changed through the angle change between a tracked rod and a tracked frame, and the tracked is realized to be folded. The application has better motion performance, stronger environmental adaptability, and can be applied to a complex driving environment.

The invention discloses a multi-mode motion control method and system for an electric omnidirectional forward forklift, and belongs to the technical field of industrial vehicle control. The system comprises a VCU controller, a plurality of motor controllers, a traction controller and an instrument which are interconnected through a CAN bus. The method comprises the steps that a VCU collects steering wheel, accelerator and mode selection signals; according to the selected mode, all the steering wheels are controlled to cooperatively rotate to a target angle, and multiple movement modes of straight movement, side movement, inclined movement and in-situ rotation are achieved; and meanwhile, segmented control and automatic speed limiting are carried out on the walking rotating speed according to an accelerator signal and a real-time steering state. The maneuverability, the control smoothness and the operation safety of the vehicle in a narrow and complex environment are improved through an integrated control and multi-mode cooperation strategy.

The invention discloses an explosion-proof wheel-foot switching hydraulic quadruped robot, and relates to the technical field of specialized robots. The problems that an existing robot suitable for a high-risk anti-explosion scene is not essentially reliable in anti-explosion performance, unreasonable in power distribution, single in motion mode, difficult to consider load and terrain adaptive capacity and insufficient in operation continuity are solved. The robot comprises a robot trunk, four symmetrically-arranged leg mechanisms and a hydraulic driving system, a battery module and the distributed hydraulic driving system are integrated in the trunk in the lengthwise direction, and the battery module is provided with a central hydraulic channel used for communicating two sets of hydraulic module oil ways symmetrically arranged on the front side and the rear side of the battery module; the thigh skeleton is integrally formed through 3D printing, the ribs also serve as hydraulic oil channels, and the shank is a foot type or wheel type module capable of being rapidly switched. The electric spark risk is eliminated from the source through hydraulic driving, the distributed power distribution and wheel-foot dual-mode design is combined, and the electric vehicle is compact in structure, anti-explosion and safe and has the high load capacity and the all-terrain adaptive capacity.

Disclosed in the present application is a triphibious reconfigurable robot, which comprises a reconfigurable mechanism, a configuration driving mechanism, and paddle wheels. The reconfigurable mechanism comprises eight links that are sequentially connected end to end to form a closed-loop structure. The configuration driving mechanism comprises four first driving elements, two of which are respectively connected to first rotating shafts, and the other two of which are respectively connected to second rotating shafts. Each first rotating shaft is connected to a paddle wheel. The triphibious reconfigurable robot has a first motion mode, a second motion mode, and a third motion mode. The configuration driving mechanism is capable of driving the reconfigurable mechanism to change configurations, such that the reconfigurable mechanism is switched to different postures and enables the robot to switch between different motion modes. The robot achieves mode switching by reconfiguration of the reconfigurable mechanism, thereby adapting to motion requirements in aquatic, terrestrial, and aerial environments.

The invention relates to a motion pattern recognition method and system and related equipment. The method comprises the following steps: acquiring multi-channel sensing data in a human body movement process through a plurality of sensors, and preprocessing the multi-channel sensing data; extracting a plurality of features from the preprocessed multi-channel sensing data, and constructing a multi-dimensional feature vector; inputting the multi-dimensional feature vector into an adaptive support vector machine classification model for motion pattern recognition, and outputting a recognition result; wherein the adaptive support vector machine classification model adopts a mixed kernel function, and model parameters are dynamically updated according to the confidence coefficient of an identification result, so that the technical problems of low identification accuracy, poor real-time performance and insufficient adaptability of a traditional motion mode identification method are solved; the technical effect of remarkably improving the human body motion mode recognition capability in a complex scene is achieved.

Methods, devices, media, and other implementations are described for generating, modifying, and outputting pseudo-random animations that can be synchronized with audio data. In one implementation, a computer animation model comprising one or more control points is accessed by one or more processors, the one or more processors associate a motion pattern with a first control point of the one or more control points and associate one or more velocity harmonics with the first control point. A set of motion states is identified using the motion pattern for a probabilistic combination, and a probability value is assigned to each motion state in the set of motion states. The probability values can be used to probabilistically determine a particular motion state as part of a display animation of the computer animation model.

A control method of a robotic arm is provided. The control method includes: setting a detection circuit, a comparing circuit and a switching circuit. The detection circuit detects the motion of the robotic arm to generate a detection signal. The comparing circuit compares the detection signal with a low threshold region and compares the detection signal with a high threshold region to generate a comparison signal. The switching circuit switches the robotic arm to a first motion mode or a second motion mode according to the comparison signal.

1. The name of the design product: motion mode dynamic interaction graphical user interface for electronic device. 2. The use of the design product: applied to an electronic device. 3. The design points of the design product: the graphical user interface in the screen. 4. The picture or photo that best indicates the design points: design 1 front view. 5. Design 1 is designated as the basic design. 6. The use of the graphical user interface: for displaying various driving information of the vehicle. 7. The change state description of the graphical user interface: design 1 front view is the dynamic interaction style of straight driving after starting AR navigation in the car motion mode. Designs 2-7 are different change states of the guiding graphics after the car drives straight.

The disclosure generally relates to a method (32) and a system (10) for identifying a vehicle (12) by means of a system (10). The system (10) comprises at least one sensor (14), a system control device (16) coupled to the sensor (14), and the vehicle (12) with a vehicle control device (24). A vehicle (12) with at least one component (28) is detected. The component (28) is movable, detectable by the sensor (14), and coupled to the vehicle control device (24). The system control device (16) is coupled to the vehicle control device (24). An identifier is transmitted from the system control device (16) to the vehicle control device (24). A movement pattern is executed by the at least one component (28) of the vehicle (12) based on the identifier. A movement pattern executed by the component (28) of the vehicle (12) is detected by the sensor (14).The vehicle (12) is identified by the system control device (16) based on the detected movement pattern.

The utility model provides a synchronizing mechanism applied to a hinge of portable electronic equipment, which comprises a synchronous swing arm positioned on a first side, a synchronous swing arm positioned on a second side and a gear meshing connection mechanism, and an elastic mechanism passing through self-locking force and / or rotation resistance is arranged on the hinge; the synchronizing mechanism is further provided with an anti-backlash gear on the synchronizing swing arm shaft, the anti-backlash gear and the first gear are provided with opposite end faces, and cam matching mechanisms are arranged on the opposite end faces. According to the utility model, the elastic mechanism for providing self-locking force or rotation resistance in the hinge can be used for eliminating a gap between the gear connected with the synchronous swing arm and the gear matched with the synchronous swing arm, so that the synchronous performance can be improved under the conditions of not increasing the thickness of a product and not changing a motion mode; the synchronous clearance angle of the swing arms on the two sides is reduced to 2 degrees or even smaller, and the synchronous clearance angle adjusting device is a low-cost technical improvement scheme which is adaptive to the portable electronic equipment and is used for improving the synchronous performance.