56 results about "Motion space" patented technology

The invention relates to the technical field of robot joint control, and discloses a robot dog mechanical joint control method. The method comprises the following steps: acquiring a whole-body joint real-time sensing data set which covers the torque reading of a multi-axial force sensor, the angle data of a joint encoder and the body attitude data of an inertial measurement unit; motion state compensation is carried out on the sensing data based on a dynamic window mechanism, and a dynamic compensation matrix containing kinematics compensation parameters is generated; and inputting the multi-modal motion control data set into a gradient descent model under space-time constraint to complete multi-modal motion feature fusion so as to obtain a fusion motion control data set. Joint behavior abnormity is detected through a Lyapunov stability analysis algorithm, and abnormal nodes are identified; and iteratively optimizing control parameters through a fuzzy PID optimization algorithm to generate an optimized control parameter set, finally constructing a three-dimensional virtual motion space model, and establishing a dynamic mapping relationship between a virtual track and an actual mechanism.

The invention belongs to the field of autonomous operation of underwater robots, and particularly relates to a visual mechanical arm grabbing method after an autonomous underwater robot sits on the bottom, which comprises the following steps: after the AUV sits on the bottom, a binocular camera is utilized to shoot seabed images, and target identification and positioning of seabed grabbing are carried out; judging whether a grabbed target is in a seabed motion space of the flexible hand or not by utilizing a transformation matrix of a camera coordinate system and a mechanical arm coordinate system, if not, performing AUV body pose adjustment, and re-executing target recognition and positioning; and if the target is in the seabed motion space of the flexible hand, the AUV performs mechanical arm motion planning and execution based on a table look-up 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 be closed to complete grabbing. According to the grabbing motion planning method for the visual mechanical arm, autonomous grabbing actions of the mechanical arm and the flexible hand can be rapidly completed under the low calculation complexity, the grabbing position error is small, and the grabbing success rate is high.

The present invention discloses a method, system, and medium for detecting the spatial posture error of a moving component. The method comprises the following steps: obtaining posture information of a machine tool moving component based on an IMU module and an electronic level: accelerometer signals and angular velocity signals obtained by the IMU module, and angular error signals obtained by the electronic level; fusing the posture information to obtain linear error and angular error; establishing an error prediction model using a BP neural network based on the linear error, angular error, and the motion speed of the machine tool linear axis; obtaining the optimal initial weights and thresholds of the BP neural network using a longhorn beetle whisker search algorithm, substituting these values ​​into the error prediction model for model training to obtain a trained error prediction model; and performing spatial posture error detection on the moving component based on the trained error prediction model to obtain posture error detection results. The present invention can measure the spatial posture error of equipment motion and improve measurement precision while ensuring accuracy.

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 discloses a motion planning method and equipment for a steam generator tube plate quadruped robot, and belongs to the technical field of motion planning of a nuclear industry steam generator quadruped robot. In order to solve the problems that the existing robot has low planning efficiency when inspecting a steam generator tube plate, and the execution success rate of a planning scheme needs to be improved, the application firstly performs traversal search to determine the motion space of a base and a foot end, and determines a feasible foot landing set; then divides a given polyline path into multiple straight line paths, plans a base track, determines the base position, and for each straight line path, the robot selects a foot landing point in the feasible foot landing set according to a turning motion evaluation index, continuously performs a turning motion process until the robot adjusts the posture to face a given orientation and completes the turning motion; the robot selects a foot landing point in the feasible foot landing set according to a straight line motion evaluation index, continuously repeats a straight line motion process until the base of the robot reaches the terminal point of the straight line path.

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 invention provides a robot mechanical arm motion space simulation method and system and a photovoltaic robot. The method comprises the steps that a mechanical arm motion model is constructed according to the size of each joint connecting rod of a mechanical arm and the allowable rotation range of a joint angle; taking an XZ plane or a YZ plane as a display plane of the simulation system, adding a photovoltaic array model on the display plane, taking an area where the photovoltaic array model is located as a target area, and selecting a plurality of position points in the target area as target position points; the target position points are sequentially input into a mechanical arm motion model for motion simulation, and whether the tail end of the mechanical arm can reach all the target position points or not is judged; a point cloud mark is generated at a target position point where the tail end of the mechanical arm can reach, and a first point cloud set is formed; and rotating the first point cloud set around the Z axis of the mechanical arm base by one circle to form a motion space of the mechanical arm. According to the scheme, the motion space of the mechanical arm of the photovoltaic cleaning robot can be simulated, so that design and engineering verification of the mechanical arm are facilitated.

The invention relates to a method for controlling at least one closing movement of a door device (1) and a door device (1) with at least one movable door leaf (2, 3) for a public passenger transport vehicle, in particular for a rail vehicle, comprising the following method steps: • Closing the door device (2, 3) by moving at least one door leaf (2, 3) at a predetermined first speed; • Monitoring at least a partial area (8, 9) of a movement space (4) of the at least one door leaf (2, 3) and, upon detection of an object of at least one predetermined type, shape and / or size in the monitored movement space (4, 8, 9): closing the door device (1) by moving the at least one door leaf (2, 3) with a predetermined second speed, wherein the second speed is lower than the first speed.

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 application discloses a kind of five degrees of freedom robot motion control methods, based on discretization motion space, specifically includes the following steps: the motion space of five degrees of freedom robot is divided into multiple regions, and the point in each region is discretized and handled, generates discrete point dataset;Discrete point dataset and its corresponding motion parameter are stored in database, form pose query table;According to the coordinates of target point, find the nearest discrete point in discrete point dataset, and obtain its corresponding motion parameter;The motion parameter found is sent to robot control system, drives robot to complete pose adjustment.The application provides a kind of five degrees of freedom robot motion control method, realizes quick pose query and control, significantly improves the efficiency, accuracy and safety of motion control;The method is suitable for robot control in magnetic resonance interventional surgical treatment, can significantly improve the calculation speed, accuracy and safety, reduce the risk of operation.

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 discloses a lightweight wheelchair auxiliary tendon mechanical arm system based on upper limb posture control, and relates to the technical field of rehabilitation auxiliary robots, the lightweight wheelchair auxiliary tendon mechanical arm system comprises a linear drive seven-degree-of-freedom modular tendon mechanical arm, a standardized mobile wheelchair, an Xsens MTw Awindow inertial measurement unit and a hierarchical control architecture; according to the mechanical arm, through seven-degree-of-freedom modular tendon transmission, light weight and large motion space of the mechanical arm are achieved, wheelchair adjustment is reduced through functional area division, wheelchair rollover can be prevented after integration of L-shaped steel parts, and the conflict between the motion space and the weight and the size is solved; an Xsens inertial sensor is adopted to collect the posture of the upper limb, Kalman filtering and ROS hierarchical control are matched, an operator can accurately complete the tasks of grabbing, cleaning and the like by means of natural upper limb actions without training, and the learning cost is reduced; the mechanical arm is modularly designed to have a replaceable end effector, a control framework is based on ROS, subsequent function expansion or integration to other platforms is facilitated, and compatibility is high.

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 invention discloses an assessment method for the ability of medical personnel to repeatedly complete specified actions, and relates to the field of surgical skill assessment, and the method comprises the steps: collecting a standard path corresponding to a specified action and a plurality of training paths; performing standardization processing on the collected data, calculating distances between all path points in each training path and corresponding path points in a standard path, and sorting the distances from large to small to obtain a second distance set; based on each distance value dj in the second distance set, the volume of a cylinder with the standard path as the center axis is calculated to serve as the motion space volume Vj; sequentially traversing the dj in the second distance set, obtaining a corresponding reliable path number Tj based on each dj, and calculating a corresponding reliability Rj in combination with the total number of training paths; and based on the Rj and the Vj corresponding to each dj, calculating a reliability degradation speed RDVj corresponding to each dj, and based on the RDVj, evaluating the ability of the medical personnel to repeatedly complete the specified action. According to the invention, the ability of medical personnel to repeatedly complete specified actions is quantified.

This application provides a training method, control method, and device for a game strategy network, relating to the field of robot control technology. The method includes: using a robot adversarial action dataset to acquire sample observation data of each preset adversarial action and the task observation state; training an initial motion tracker based on the sample observation data to obtain a target motion tracker; using the target motion tracker to train an initial latent motion control network to obtain a target latent motion control network; training an initial residual policy network against a stationary target within a preset multidimensional latent motion space corresponding to the target latent motion control network to obtain a target residual policy network; and training an initial self-game network in the multidimensional latent motion space based on the warm-up adversarial policy corresponding to the target residual policy network to obtain the target game strategy network. This application improves the accuracy and safety of robot control.

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 provides an equivalent static base test method and device for a movable base erecting and rotating device. The method is used for solving the technical problem that the design cost input of a movable base is high due to the mass load requirement for the performance of the movable base when the tracking capability of the erecting and rotating device is verified. The equivalent static base test method for the movable base erecting and rotating device comprises the steps that a motion space coordinate system is established, and the motion state of the movable base erecting and rotating device is quantitatively collected; state decoupling is carried out on the motion state in the motion space according to the target attitude angle; according to the decoupled motion state, state peak values of the erecting motion and the rotating motion are determined; the state peak values of the erecting motion and the rotating motion under the movable base are equivalent to the equivalent angles of the erecting motion and the rotating motion under the static base through an equivalent assumption sine method. The test of equivalently verifying the movable base by the static base is realized, and the design and cost investment on the hardware structure of the movable base is reduced.

The invention relates to a device and a method associated therewith for depositing and positioning a stack forming aid (5) on a stack (9) in a device (1) suitable for stacking, comprising a gripping unit (6) and a guide system (12), wherein the guide system (12) is arranged outside the stack (9) at a throw height of stackable objects (11), wherein the guide system (12) comprises at least one guide rod (13) having a receptacle (14) for the gripping unit (6), wherein the gripping unit (6) is movable in the receptacle (14), wherein the receptacle (14) is movable with the gripping unit (6) about and along the guide rod (13), wherein the gripping unit (6) has a unit (7) for receiving the stack forming aid (5), wherein the movement space of the gripping unit (6) is limited, wherein the gripping unit (6) is movable via the device into a basic position.

This invention proposes a method for overall kinematic spatial positioning of a surgical robot, comprising the following steps: Step 1, constructing the kinematics from the base to the end effector of the front robotic arm; Step 2, constructing the kinematics from the initial position of the end-effector arm (i.e., the end effector of the front robotic arm) to the fixed point; Step 3, constructing the spatial point mapping from the fixed point to the end effector arm; Step 4, constructing the overall kinematics from the base to the end effector arm. This method for overall kinematic spatial positioning of a surgical robot can solve the alignment and positioning problem between existing medical instruments and the operating table, enabling the endoscope lens to observe the lesion area from the optimal angle and optimal positioning distance along the desired posture. This ensures that the surgeon can perform safe and efficient surgical manipulation of the lesion area under the support of the lens's motion spatial positioning angle field.

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.

The invention provides a split type flying vehicle learning planning method for obstacle areas with different densities, and belongs to the technical field of aircraft planning. Comprising the following steps: step 1, dividing an obstacle area into a dense obstacle area and a sparse obstacle area; step 2, motion space optimization is carried out; different action spaces are adopted for obstacle areas with different densities; step 3, planning a task path; according to the method, a flying vehicle adopts different action spaces and environments to perform efficient interaction, an action sequence capable of accumulating rewards to the maximum, namely an optimal action sequence, is obtained, and finally, a short air-ground cooperative task path is planned with higher learning efficiency. According to the method, the concept of an obstacle density threshold value is introduced, especially for a sparse obstacle area, the flying vehicle mainly keeps the action towards the target position direction, other redundant actions are removed, and the action space dimension is effectively reduced. Therefore, the learning efficiency is obviously improved.

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 application discloses a high-precision motion estimation method for a spatial unstable target based on a continuous point cloud sequence, and comprises the following steps: a voxel grid neighborhood method is used to perform data down-sampling on a point cloud sequence of an input motion spatial unstable target; initial motion parameters of spinning and precession of the spatial unstable target are obtained in a hierarchical manner through a motion model of the spatial unstable target; a statistical point cloud registration method is used to iteratively converge the initial motion parameters of the spinning and precession, so as to obtain final motion parameters of the spatial unstable target; under an array measurement system (with intra-frame motion difference), the motion model (transmission model) of the spatial unstable target is used to obtain high-precision motion estimation results of the spinning and precession, and simulation experiment numerical verification is conducted to verify the effectiveness and robustness of the application on the three-dimensional topography and motion state of the spatial target.

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 ],

The invention discloses a mechanical digital design three-dimensional model building method, and relates to the technical field of digital model generation, and the method comprises the steps: obtaining a mechanical design motion path, carrying out the correction through a curvature smoothing algorithm, and determining a mechanical motion space boundary; generating a motion curve envelope according to the motion path and the space boundary, and performing compensation to generate a final envelope; dividing the final envelope into finite element units by using a tetrahedron division algorithm, defining a shape function of each unit, defining a target function by taking lightweight as a target, constructing topological optimization constraints through the shape functions, and solving the target function by using SIMP to obtain a lightweight model; and after obtaining the lightweight model, outputting according to a format, displaying and storing in a database. According to the method, the efficient, accurate and lightweight targets of the complex mechanical three-dimensional design are effectively achieved, and the adaptability and flexibility of the mechanical design are improved.