28 results about "Motion space" patented technology

The invention relates to the technical field of time delay measurement, and provides a robot control end-to-end time delay measurement method and device and electronic equipment. The method comprises the following steps: acquiring a trigger timestamp of a robot motion instruction; based on a candidate displacement composite search strategy and a cost function early stop mechanism, performing global motion estimation on a monitoring video stream corresponding to the robot to obtain a global timestamp of global motion of a monitoring image in the monitoring video stream; the candidate displacement composite search strategy is used for adjusting a search sequence of candidate displacement between adjacent monitoring images based on motion space-time continuity; under the condition that the candidate displacement triggers a cost function early stop mechanism, the cost function early stop mechanism is used for terminating calculation of a cost function of the candidate displacement in advance; and determining an end-to-end time delay corresponding to the robot based on the global timestamp and the trigger timestamp. According to the embodiment of the invention, the end-to-end time delay of a complete link can be measured, and the accuracy and real-time performance of time delay measurement are improved.

This invention relates to a humanoid robot, specifically a parallel rotating mechanical joint based on a ring-shaped guide rail, mimicking the rotation of a human neck. The aim is to provide a parallel rotating mechanical joint based on a ring-shaped guide rail to achieve three degrees of freedom in the movement of a biomimetic human neck joint while ensuring high rigidity and motion accuracy. Furthermore, the joint features a simplified structure, good support performance, and sufficient movement space for the neck joint. The technical solution is a parallel rotating mechanical joint based on a ring-shaped guide rail, characterized by: a head motion platform, a neck ring-shaped guide rail base, and three PSS (Personal Stability Support) link branches connected in parallel between the head motion platform and the neck ring-shaped guide rail base; the center of the head motion platform and the center of the neck ring-shaped guide rail base are connected by a composite rotating shaft.

The application belongs to the field of autonomous operation of underwater robots, and particularly relates to a visual mechanical arm grabbing method after autonomous underwater robots sit on the bottom, which comprises the following steps: after the AUV sits on the bottom, a binocular camera is used to shoot the seabed image, and target recognition and positioning for seabed grabbing are performed; a transformation matrix of the camera coordinate system and the mechanical arm coordinate system is used to determine whether the grabbing target is in the seabed movement space of the flexible hand, if not, the AUV body pose is adjusted, and the target recognition and positioning are re-executed; if the target is in the seabed movement space of the flexible hand, the AUV performs mechanical arm movement planning and execution based on the look-up table interpolation method according to the spatial position information of the target, so that the flexible hand moves to the target position, and the flexible hand is controlled to close to complete grabbing. The visual mechanical arm grabbing movement planning method provided by the application can quickly complete the autonomous grabbing action of the mechanical arm and the flexible hand under low calculation complexity, and has small grabbing position error and high grabbing success rate.

The present application relates to the technical field of mechanical motion control, and discloses a trajectory control method and system for a mechanical arm, an electronic device and a storage medium, wherein the trajectory constraint of the mechanical arm is determined according to the motion space boundary limitation of the mechanical arm; the motion trajectory of the mechanical arm is determined through the spherical parameter equation of the mechanical arm; under the trajectory constraint of the mechanical arm, the motion trajectory of the mechanical arm is executed, and the error between the end posture of the mechanical arm and the preset expected posture is minimized, so that the motion trajectory of the mechanical arm can be accurately controlled to a large extent.

The embodiment of the invention provides a humanoid robot action parameter determination method and related equipment, and belongs to the technical field of robot control. The method comprises the following steps: extracting multi-modal input features; in the aerial view space, to-be-observed features generated by fusing the multi-modal input features are obtained, and static parameters of static objects and dynamic parameters of dynamic objects around the humanoid robot are determined; generating a first motion parameter of the humanoid robot based on the to-be-observed features; and determining a motion correction value by using the motion residual value, and modifying the first motion parameter by using the motion correction value to obtain a second motion parameter. According to the technical scheme, the feature information around the humanoid robot is obtained in real time, the dynamic parameters of the dynamic object and the static parameters of the static object are determined in a decoupling mode, the movable space of the mechanical arm is determined, dependence on positioning data is reduced, the obstacle avoidance success rate of the humanoid robot is increased, and the obstacle avoidance efficiency is improved. And the industrial operation efficiency and the household interaction safety of the humanoid robot are effectively improved.

The invention relates to a mechanical arm collision detection method and device, equipment and a program product, and the method comprises the steps: layering a motion space where a working mechanical arm and an obstacle mechanical arm possibly collide, and obtaining a layering result; based on the layering result, layering spaces to which a plurality of first movement modules of the working mechanical arm and a plurality of second movement modules of the obstacle mechanical arm belong are determined; respectively creating a first collision module corresponding to each first motion module, and respectively creating a second collision module corresponding to each second motion module; and collision detection is conducted on the first collision module and the second collision module which are located in the same layered space, and the collision detection result of the working mechanical arm and the obstacle mechanical arm is obtained. By adopting the method, the collision detection efficiency of the mechanical arm can be improved.

The invention discloses an XR somatosensory large-space grid platform combined control device and method. The device is composed of a dynamic platform module, a driving control module, a central control module, a multi-sensory simulation system and a VR linkage module. The core characteristic is that a traditional large-area fixed partition plate is replaced by a grid system composed of at least two independent flat platforms. Each platform is provided with an independent servo drive and can shake, lift and vibrate. The multi-sensory system integrates water spraying, smell, temperature and wind power simulation. After a game instruction is received, a four-step control process of mode selection, parameter configuration, synchronous execution and feedback regulation is implemented. The system supports a'full sense mode '(enabling all dynamic and sensory simulations) and a'common mode' (providing a basic load bearing function as a static platform). The platform combination scheme supports multiple forms such as a single platform, double platforms and four platforms, and flexible switching is achieved through software parameters.

The utility model discloses a double-layer six-degree-of-freedom parallel robot platform with an adjustable motion space, which belongs to the technical field of industrial manufacturing platforms and comprises an upper platform, a lower platform, an upper link mechanism, a slide rail mechanism and a lower link mechanism. The upper connecting rod mechanism comprises a plurality of upper connecting rods; the lower connecting rod mechanism comprises a plurality of lower connecting rods; the upper connecting rod and the lower connecting rod are telescopic rod pieces; the slide rail mechanism comprises a plurality of groups of slide rail assemblies; each sliding rail assembly comprises at least one sliding block, and the sliding blocks can move in at least one direction. The upper end of the upper connecting rod is movably connected with the upper platform, and the lower end is movably connected with a slide block of the slide rail mechanism; the upper end of the lower connecting rod is movably connected with the sliding block of the sliding rail mechanism, and the lower end is movably connected with the lower platform. The six-degree-of-freedom motion mechanism can realize six-degree-of-freedom motion, and has the advantages of adjustable motion space, flexibility, stability and the like.

The application discloses a kind of mechanical arm calibration system, method and device, it is related to automation equipment technical field, mechanical arm calibration system includes: calibration platform, mechanical arm and processor, wherein, mechanical arm is installed in calibration platform, movement in the motion space determined by calibration platform, and every space point of motion space is provided with space coordinates.Processor is used to obtain the point information of the path to be calibrated, based on the point information corresponding to the starting point and target point in point information, path interpolation processing is carried out, the path information in the preset area range of mechanical arm from starting point to target point is obtained, and path information at least includes: the point information of at least one intermediate point;Path information is used as the path calibration information of mechanical arm from the starting point of the path to be calibrated to target point and is stored.Based on the above situation, the accuracy and calibration efficiency of mechanical arm calibration can be improved.

The invention belongs to the technical field of action recognition, and particularly relates to an unmanned aerial vehicle simulation training method and system based on action recognition, and the method comprises the steps: obtaining a low-frame-rate spatial stream image sequence and a high-frame-rate time stream image sequence which are synchronized in parallel; generating a fast path suppression coefficient based on the brightness homogeneity and the motion space dispersion of the image, and performing feature gating modulation on the high-frame-rate time stream; and extracting features through a double-flow network, performing dual verification in combination with an environmental noise index, and finally generating a control instruction. According to the method, an asymmetric double-flow framework is combined with a physical feature gating mechanism, real limb movement and environment illumination sudden change can be distinguished, the problem of mistaken touch in a complex illumination environment is avoided, and the interaction accuracy and robustness of a simulation training system are improved while calculation redundancy is reduced.

A system having a picking device for medicaments are provided. The system including a picking device that includes a movement space, an optical detection device and a control device. The system also includes a memory and a processor configured to create an image of the movement space, compare predefined areas of the image of the movement space with corresponding areas of a reference image, determine that an obstacle is present in a detected portion of the movement space based on the image comparison and provide corresponding signals for responding to the obstacle. A machine-readable medium for operating picking devices for medicaments is also provided.

The application belongs to the field of motion control and path following technology of snake-shaped robots, and discloses a whole path following method of an active wheel snake-shaped robot based on head-body section control, which comprises the following steps: constructing a multi-joint multi-active wheel coupling kinematic model under the condition of no lateral sliding constraint, and establishing the motion mapping relationship between the head and each active joint and active wheel; designing a basic motion controller to realize non-periodic oscillation forward motion by taking the active wheel as the only driving force; constructing a head path following controller to generate a steering control variable; substituting the model to solve and integrate to obtain a joint target angle; realizing joint angle closed-loop tracking through an incremental PID; constructing a path switching strategy based on a turning radius constraint to realize curvature discontinuous path transition, and finally realizing stable motion of each module of the whole robot along the target path. The application solves the problem of joint and wheel collaborative control of the active wheel snake-shaped robot, realizes accurate path following of the whole robot, and reduces the demand for motion space.

The invention provides an action planning model training method, sorting method, system and equipment, and the method comprises the steps: inputting all training data into an initialization model, and obtaining the gating weight of each expert network under each training data, and the predicted action noise and predicted action trajectory outputted by a diffusion module; calculating noise prediction loss corresponding to the diffusion module according to the prediction action noise to obtain a first loss value; calculating motion smoothness loss corresponding to the sample robot according to mapping information of the predicted motion trajectory in the original physical motion space to obtain a second loss value; according to the gating weight, calculating the load balancing loss corresponding to the hybrid expert module to obtain a third loss value; and performing iterative training on the initialization model according to the first loss value, the second loss value and the third loss value to obtain an action planning model. The action planning performance of the action planning model is enhanced, so that the reliability and the working efficiency of robot operation are improved.

The invention relates to a method for monitoring moving space objects, the method being implemented by a monitoring system (100), comprising the following steps: - sliding acquisition of at least one stack (12, 12') of image frames of space along a known trajectory on the celestial sphere, each stack of frames comprising at least three frames, each frame being recorded with an exposure time of less than 1 second, - detection, in the field of view, of a plurality of stars (14, 55), preferably several dozen, - estimation of the coordinates of the detected stars, - identification of the detected stars with a list of reference stars extracted from a stellar catalog, comprising several thousand reference stars, - establishment of a coordinate relation linking the celestial coordinates to the coordinates in the frames of the stars present in the list of reference stars, - detection of at least one moving space object (15,56) in at least one stack and estimation of their dated frame coordinates, - conversion of the dated frame coordinates of each detected moving space object into coordinates on the celestial sphere by the coordinate relation. Figure for abbreviation: [Fig. 1 ],

This invention provides a robotic arm grasping method based on improved exploration and experience replay, belonging to the field of robot motion planning and control technology. It addresses the problems of unstable training in continuous motion space, slow convergence due to sparse rewards, and weak generalization ability. The method includes: constructing an obstacle avoidance environment containing an n-DOF robotic arm, a target object, obstacles, and a perception module; fusing relative information from the robotic arm's end effector, joints, target, and nearby obstacles to construct a reinforcement learning state space, and coupling the state representation with the reward function; defining the robotic arm joint angle increment as the continuous motion space; constructing a sparse reward function consisting of positive rewards for task success and negative penalties for obstacle avoidance failure; training a control strategy based on a deep reinforcement learning algorithm combined with an experience relabeling mechanism, relabeling failed trajectories as successful samples of new targets to improve sample utilization; and using the trained policy network to control the robotic arm to achieve autonomous obstacle avoidance and grasping.

The application discloses a modular robot self-reconfiguration method based on swarm agent deep reinforcement learning, first, the configuration space and the motion space of the modular robot are modeled, the position of each module can be represented by coordinates (x, y). The upper, lower, left and right directions of each module can be connected with any other module, and all modules of the self-reconfiguration robot must be connected in this way to form a whole. Then, the motion space of a single module is modeled, so that it can get the support of other modules and avoid collision or other conflicts with other modules when moving. Finally, from the perspective of swarm agent deep reinforcement learning, each isomorphic module is regarded as a single agent with learning and perception ability, and a modular robot self-reconfiguration algorithm based on QMIX is proposed. The application can realize parallel movement of agents, to a certain extent, solve the coordination and cooperation problem among multiple agents, and thus realize the transformation from the initial configuration to the target configuration.

The present application relates to the technical field of medical equipment, in particular to a surgical robot for closed reduction of long bone fracture. The surgical robot for closed reduction of long bone fracture comprises a first adjusting mechanism, a second adjusting mechanism, a moving platform and a holding mechanism. The first adjusting mechanism has a first output end, which is movable in a first direction, a second direction and a third direction respectively, and rotatable around an axis along the second direction. The first output end is connected with the moving platform through a first universal joint unit. The second adjusting mechanism has a second output end, which is movable in the first direction, the second direction and the third direction respectively, and rotatable around an axis along the third direction. The second output end is connected with the moving platform through a second universal joint unit. The holding mechanism is arranged on the moving platform. The first direction, the second direction and the third direction are perpendicular to each other. The present application can solve the problems of small motion space range, oversized structure, weak load bearing capacity, insufficient structural rigidity and low reduction accuracy of the current fracture reduction robot.

The steam generator tube plate quadruped robot landing point planning method and system belong to the technical field of nuclear industry robot motion planning. In order to solve the problem that the existing steam generator tube plate quadruped robot landing point method needs a large number of complex analyses on the motion form, working condition and future possible situation of the robot, the motion space is constructed according to the landing action corresponding to the actual landing position of the robot, the state space is constructed according to the position and posture information R, the end position in the global motion direction and the judgment flag f of whether the landing point corresponding to the action space can actually land, the flag f(s) corresponding to the state s is used as the mask of the state s; meanwhile, the reward function is constructed by using the daily punishment, the reward / punishment of forward / backward motion and the stable reward / punishment; then the D3QN model is used for landing point planning, a layer of mask is added after the D3QN output Q value; so as to complete the landing point planning based on the D3QN.

The application relates to a kind of joint space limited synchronous control method and equipment of underwater double-arm manipulator, method includes the following steps: using D-H parameter method respectively to two underwater manipulators modeling, based on the physical limit of manipulator joint, for the synchronous planning problem of underwater manipulator under the condition of space limitation, construct time-varying nonlinear equation with constraint condition;Based on time-varying nonlinear equation, by introducing non-negative time-varying vector, construct time-varying synchronous planning model based on pseudo-inverse description using neural dynamics design formula;For time-varying synchronous planning model, discrete processing is carried out using difference formula, and discrete synchronous planning model is obtained;The synchronous control of underwater double-arm manipulator is carried out using discrete synchronous planning model.Compared with prior art, the underwater double-arm manipulator can still accurately complete a specific synchronous planning task under the condition of joint motion space limitation, and the synchronous planning precision of underwater double-arm manipulator in practical application can be improved.

The invention provides a mechanical arm system and a mechanical arm control method thereof. The mechanical arm system comprises a guiding object and a mechanical arm. The guiding object is non-electric and moves from a first position to a second position in the motion space of the mechanical arm, and the second position is different from the first position. The mechanical arm is separated from the guide object in a preset space and moves according to the position change of the guide object.

The present application belongs to the technical field of artificial limb and rehabilitation engineering, and relates to a humanoid shoulder joint prosthesis device based on amplification mechanism, which comprises a driving device, a transmission device, a three-degree-of-freedom spherical motion generation device and a motion space amplification device. The driving device adopts three groups of motor modules which are parallel along the axial direction and symmetrically distributed on the end face, to realize independent driving of three active branch chains; the transmission device reliably transmits the motor output to the spherical motion mechanism through multi-stage transmission shaft and gear structure; the three-degree-of-freedom spherical motion generation device is composed of an amplification support platform, a moving platform and three branch chains containing active rods and driven rods; the motion space amplification device is composed of two groups of 5R mechanisms, and is used for realizing multiple amplification of the joint motion space. The overall structure of the device is symmetrical and compact, has high stability and adjustable motion space, can realize multi-degree-of-freedom large-range motion of the humanoid shoulder joint, and is suitable for upper limb prosthesis wearing, rehabilitation training and robot assisted operation scenes.

This invention relates to the field of medical device technology, and more particularly to a redundant parallel fracture reduction device, aiming to alleviate the technical problems of surgical robots in related technologies, such as inaccurate positioning, difficulty in determining the correct reduction path, complex motion position control, large limitations in workspace, and limited motion flexibility. This redundant parallel fracture reduction device is equipped with a rotating mechanism and is drivenly connected to a linear slide mechanism, allowing the linear slide mechanism to rotate horizontally and tilted. Thus, the traditionally fixed base is not static but has multiple different states, thereby increasing the motion space and degrees of freedom of the six-bar telescopic mechanism connected to the linear slide mechanism, improving flexibility, and correspondingly, allowing the moving platform to reach more motion positions, enabling accurate positioning and correct determination of the reduction path during surgery.

The invention discloses a robot motion control method and system, and relates to the technical field of robot motion control, and the method comprises the steps: carrying out the motion space analysis processing of a space between a motion starting point and a motion terminal point of a robot, and obtaining a movable space range of the robot; and performing path contrastive analysis processing on the length of each path in the movable path set of the robot to obtain an optimal motion path of the robot. Map cutting is performed on the robot movement area map according to the topographic features that the robot cannot move, the robot is prevented from moving to the area where the robot cannot pass, damage to the robot is reduced, and meanwhile energy loss of the robot is reduced. Besides, the distances between the adjacent obstacles in the robot movement area map are compared, it is guaranteed that the robot can normally pass through the obstacles, the situation that the robot detour due to the fact that the robot cannot pass through the obstacles is avoided, energy losses of the robot are reduced, and meanwhile the time for the robot to reach the terminal point is shortened.

The application provides a surgical instrument and a computer-aided medical system with a wider motion space, which comprises an execution member and a clamp assembly, an instrument rod, a two-degree-of-freedom wrist joint assembly, a first transmission assembly, a second transmission assembly, and an execution member driving mechanism and a wrist joint driving mechanism. The execution member driving mechanism comprises a rack movable along the length direction of the instrument rod. The proximal end of the first transmission assembly is connected to the rack through the instrument rod, the distal end of the first transmission assembly is connected to the execution member through the wrist joint assembly, and the proximal end of the second transmission assembly is connected to the wrist joint driving mechanism through the instrument rod. Wherein, the rack drives the execution member to move between the distal end and the proximal end of the clamp assembly through the first transmission assembly, and the wrist joint driving mechanism drives the deflection of the wrist joint assembly through the second transmission assembly.

A system for the securing of a load handling environment of load handling kinematics (30) in a changing working environment includes an environment sensing unit, which is designed to acquire data of the load handling environment and an environment monitoring unit that is in an operational connection with the environment sensing unit. The environment monitoring unit is designed to analyze the data so that an open space (7) surrounding a load to be handled, a work space (12, 13, 14, 60) defined by a movement space of the load handling kinematics (30) and a process space (40, 50) is determined by addition of the work space (12, 13, 14, 60) and a distance space. The environment monitoring unit is configured to at least partly monitor the distance space and / or the process space (40, 50).

The application belongs to the technical field of action recognition, and particularly relates to a method and system for simulating training of a UAV based on action recognition, which comprises the following steps: acquiring and synchronously processing image sequences of a low-frame-rate space stream and a high-frame-rate time stream; generating a fast path inhibition coefficient based on the brightness homogeneity and motion space discreteness of the images, and performing feature gate modulation on the high-frame-rate time stream; extracting features through a double-stream network and combining an environmental noise index for double verification, and finally generating a control instruction. The application adopts an asymmetric double-stream architecture combined with a physical feature gate mechanism, can distinguish between real limb movement and environmental light mutation, avoids the problem of false touch in a complex light environment, reduces the calculation redundancy, and improves the interaction accuracy and robustness of the simulation training system.

The invention relates to the technical field of computers, in particular to an action space dictionary generation method, intelligent equipment and a readable storage medium, and aims to solve the technical problem of how to ensure that the coverage, robustness and utilization rate are considered when an action space dictionary is generated. In order to achieve the purpose, according to the method, the trajectory data of the multiple agents are obtained, meshing division is carried out according to the trajectory data, the grid map corresponding to the trajectory data is obtained, grid screening is carried out on each grid of the grid map, and the action space dictionary is obtained according to the grid screening result, so that the theoretical coverage degree of the action space can be effectively improved; according to the method, invalid grids are effectively eliminated, and a high-probability trajectory is reserved, so that the utilization rate of the obtained action space is effectively improved, the robustness of the obtained action space dictionary is effectively improved, and an effective data basis is provided for scenes such as model training, simulation and algorithm evaluation of automatic driving.

The invention discloses a multi-layer voice recognition control method for intelligent doors and windows, and particularly relates to the technical field of voice recognition, which comprises the steps of generating a candidate instruction and an original confidence coefficient by extracting voice features, generating a compensation value to correct the confidence coefficient in combination with definition analysis, and improving the recognition accuracy and robustness of a voice instruction in a noise environment. An execution confirmation instruction is generated based on comparison of the compensated confidence coefficient and a threshold value, and false triggering and missed recognition are avoided. For multiple instructions needing to be executed at the same time, the existence of space conflicts is judged according to the expected motion space of target equipment, execution priorities are allocated to the conflicting instructions, safe motion parameters are calculated for low-priority instructions according to the priorities, and it is ensured that no space interference exists in equipment motion.