87 results about "Orientation measurement" patented technology

According to an aspect, there is provided a personal care device (2) for performing a personal care operation on a subject, the personal care device (2) being configured to determine a location of the personal care device (2) on a body part of the subject. The personal care device (2) comprises an orientation sensor (6) configured to measure a three-dimensional, 3D, angular orientation of the personal care device (2) relative to Earth's gravity over time and output a corresponding orientation measurement signal; a surface-displacement sensor (10) configured to measure a two-dimensional, 2D, displacement of the personal care device (2) relative to a skin surface of the body part and output a corresponding surface-displacement measurement signal; a processing unit (22) configured to determine the location of the personal care device (2) on the body part based on the orientation measurement signal, the surface-displacement measurement signal and a skin contact signal indicating whether the personal care device (2) is in contact with the skin surface of the body part.

The invention discloses a mobile bridge type multi-sensor 3D scanning system, and belongs to the technical field of 3D scanning, and the system comprises a measurement platform which is used for placing a measured object; the three-coordinate bridge type measurement structure realizes omnibearing measurement of a measured object; the dynamic coding transmitting module is used for dynamically adjusting the signal transmitting direction or frequency; the multi-mode sensing module is used for receiving the light reflected back from the measured object and performing full-dimensional data capture on the data of the measured object through data received by different types of sensors; and the data fusion processor is internally provided with a hypergraph neural network model to realize feature fusion of multi-source heterogeneous data received by different types of sensors. According to the invention, high-precision, omnibearing and intelligent measurement of the measured object is realized.

The invention discloses a mining small-sized anti-vibration trepanning directional measurement device and method. The mining small-sized anti-vibration trepanning directional measurement device comprises a battery module, a measurement module, a vibration reduction module, a display module, a power switch and a charging interface, the measurement module comprises an MEMS gyroscope, an MEMS accelerometer, a conductive slip ring, a servo mechanism, an IMU module, a main control board, a motor control board and an external interface connector. Based on the high-precision small-size MEMS gyroscope, the MEMS accelerometer and the integrated small IMU, the equipment size is reduced, the cost is reduced, and the power consumption of the whole machine is reduced; through a four-position north-seeking method, the measurement time is shortened, and high-precision autonomous orientation is realized; based on an integrated small IMU, the tapping direction is updated in real time through quaternion calculation, and dynamic tracking measurement is achieved in the drilling machine adjusting process; according to the vibration reduction module and the vibration reduction method, the vibration resistance problem of an MEMS device is solved, the data quality of an MEMS gyroscope and an MEMS accelerometer is improved, vibration reduction filtering in the tracking process is achieved, and the equipment orientation precision is improved.

A method is provided. The method includes: obtaining global position and orientation information of a first trajectory point; determining at least one pair of second trajectory points based on the global position and orientation information; obtaining a relative position and orientation estimation information and a relative position and orientation measurement information of each pair of second trajectory points; and calculating a local rotation offset at the first trajectory point based on the relative position and orientation estimation information and the relative position and orientation measurement information of each pair of second trajectory points in the at least one pair of second trajectory points to correct the global position and orientation information.

The present application relates to a kind of unmanned aerial vehicle impact interception methods based on monocular vision, the azimuth measurement information and angle measurement information of target unmanned aerial vehicle are calculated by target detection algorithm based on monocular vision;Azimuth measurement information and angle measurement information are used, through orthogonal projection matrix and algebraic transformation, non-linear measurement is converted into pseudo-linear form, then pseudo-linear adaptive Kalman filtering algorithm is carried out to estimate the position of target unmanned aerial vehicle, finally, unmanned aerial vehicle maneuvering strategy is used to control impact unmanned aerial vehicle to realize the impact interception of target unmanned aerial vehicle.The method of the present application is obviously improved in system noise robustness, target state estimation accuracy and pursuit efficiency.The present application also relates to impact unmanned aerial vehicle guided by the above impact interception method.

The invention relates to the technical field of tubular pile perpendicularity detection, in particular to a self-adaptive tubular pile perpendicularity detection method. The method comprises the steps that a tubular pile is moved to a target pile pressing point position, and pressure is applied to the tubular pile; the distance sensor detects the vertical height from the top of the pipe pile to the pile clamping opening; according to data detected by the laser range finders, determining bevel edge distances, bottom edge distances and two-edge included angles from the point locations of the laser range finders to the pipe pile, and calculating the actual height of the pipe pile; the actual perpendicularity of the pipe pile is obtained according to the vertical height and the actual height; for the condition that the actual perpendicularity of the pipe pile is not in the preset perpendicularity interval of the pipe pile, arranging the actual perpendicularity data set of the pipe pile according to the moving direction of the laser range finder to obtain an actual perpendicularity data string of the pipe pile; and the influence factors that the actual perpendicularity of the pipe pile is not in the preset perpendicularity interval of the pipe pile are determined by analyzing the actual perpendicularity data string of the pipe pile. According to the method, the deviation of the pipe pile in the pile pressing process is timely and accurately found through multi-directional measurement of the perpendicularity of the pipe pile.

Systems and techniques are provided for determining a pose. A process can include obtaining inertial measurement unit (IMU) data from an IMU associated with a device. The IMU data can be used to determine a propagated state associated with a state estimation engine, wherein the propagated state includes an initial orientation estimate corresponding to a pose of the device. The state estimation engine can comprise an Extended Kalman Filter (EKF). A predicted orientation measurement can be generated using a first machine learning network to process the IMU data and the initial orientation estimate included in the propagated state associated with the state estimation engine. An updated state associated with the state estimation engine can be determined based on using the predicted orientation measurement to update the propagated state. A device pose estimate can be determined based on the updated state associated with the state estimation engine.

A calibration assembly for a guided vehicle. The calibration assembly includes an orientation marker that operably engages with a first guidance apparatus of the guided vehicle. The calibration assembly also includes an imaging assembly that operably engages with and is in electrical communication with a second guidance apparatus of the guided vehicle. When the imaging assembly captures the orientation marker at a translated position for at least one cycle, the imaging assembly calibrates a rotational displacement between a first guidance direction of the first guidance apparatus and a second guidance direction of the second guidance apparatus based on an angular displacement of the orientation marker measured between a zeroed position denoting the first guidance direction and the translated position.

Systems and methods for determining the impact of air resistance on the power being produced by a body motion are disclosed. In one aspect, a method includes measuring positions and orientations of a portion of the body in motion. The method further includes measuring pressure experienced by the portion of the body in motion. The motion further includes calculating a static pressure based on the measured pressures and correlated position and orientation measurements. The method further includes calculating a maximum pressure and calculating an air induced power exerted on the body in motion.

According to an aspect, there is provided a method of determining a location of a device on a surface of a body part of a subject that is treated by the device during a treatment operation. The device is for performing the treatment operation on the body part, and the device comprises one or more orientation sensors for measuring the orientation of the device in a reference frame of the device. The method comprises obtaining a three dimensional, 3D, representation of the body part, the 3D representation comprising normal vectors for respective positions on the surface of the body part; receiving a plurality of orientation measurements from the one or more orientation sensors representing orientation of the device during the treatment operation on the body part; processing the received orientation measurements to determine a sequence of orientations of the device during the treatment operation; and comparing the determined sequence of orientations of the device to the normal vectors and respective positions of the normal vectors to determine the location of the device on the surface of the body part during the treatment operation.

The invention provides a target position positioning device and method. In the device, a display unit is configured to be in a transparent mode and is located right in front of the eyes of an operator; when the to-be-rescued target is located in the center of the display unit, the marking assembly marks and confirms the to-be-rescued target and sends a distance measurement instruction to the head tracker; a head tracker is worn on the head of the operator, and when the head tracker receives a distance measurement instruction, the direction of a to-be-rescued target is determined based on the rotation direction of the head of the operator, the distance between the to-be-rescued target and the head tracker is measured, and the direction and the distance are sent to a signal processing unit; the signal processing unit determines the position of the to-be-rescued target according to the orientation and the distance sent by the head tracker, and sends the position of the to-be-rescued target to the display unit; the display unit displays the position of the to-be-rescued target and the area where the to-be-rescued target is located, and positioning and indicating of the position of the to-be-rescued target can be achieved on ocean ships, rescue airplanes, lifeboats and the like.

In one embodiment, an oral care system is disclosed that includes an oral care device and at least one programmable processor. The oral care device includes a head having a reference face, a light source, at least one orientation sensor generating orientation data corresponding to orientation measurements of the reference face during a freeform oral care routine, and at least one optical sensor generating optical sensor data representing optical feedback resulting from the light from the light source being incident upon sections of the oral cavity. The processor, based on the orientation data, determines which optical sensor data corresponds with which of the sections of the oral cavity. For each section of the oral cavity, based on the corresponding optical sensor data, the processor determines an oral care characteristic.

The present invention discloses a high-precision well inclination and azimuth measurement method based on a multi-axis sensor. The method includes: Step 1: Considering the influence of the earth curvature and the earth rotation, establish a local navigation coordinate system for the downhole environment to obtain a reconstructed signal; Step 2: Based on the sensor quality of the four-axis sensor, considering the influence of the Coriolis force caused by the earth rotation, calculate the Coriolis force compensation vector; Step 3: Calculate the projection of the geomagnetic field in the local navigation coordinate system to obtain the geomagnetic field projection vector; Step 4: According to the gravity compensation value, the Coriolis force compensation vector and the geomagnetic field projection vector, combined with the reconstructed signal, calculate the corrected well inclination angle and the corrected azimuth angle. The present invention significantly improves the accuracy of well inclination and azimuth measurement.

The invention discloses an intelligent door lock stress distribution monitoring and life prediction method based on a fiber grating, and relates to the technical field of distance, level and orientation measurement, and the method comprises the steps: obtaining baseline data, writing grating segment arrays with different chirp characteristics, dividing the positions of grating segments according to the baseline data, and adjusting the scanning bandwidth according to the initial spectral characteristics; after the scanning bandwidth is adjusted, frequency domain scanning is carried out on the single-mode optical fiber penetrating through the whole lock structure, and echo phase and amplitude data are collected to generate continuous strain distribution; and carrying out online calibration, and inputting the acquired data into the digital twinborn finite element model for parameter correction and life prediction. According to the scheme provided by the invention, a stress distribution diagram of submillimeter-level spatial resolution can be obtained in the lock body and on the surface of the lock body, and the stability and accuracy of long-term measurement are ensured by an online calibration mechanism.

The application discloses a multi-submersible cooperative positioning method based on distance and angle of arrival composite measurement, and relates to the field of underwater multi-submersible cooperative positioning. The application introduces direction measurement as a supplement on the basis of distance measurement, and based on composite measurement information, realizes distributed data fusion of each submersible under the premise of less communication energy consumption, alleviates the influence of factors such as cumulative error in inertial measurement of the submersible and underwater harsh environment on the positioning performance of the submersible, and achieves the purpose of improving the positioning precision of the submersible.

A measurement method for controlling the penetration error in long-distance tunnels according to the present invention, based on the control measurement of the ground control network and the control measurement of the tunnel control network, combines gyro orientation measurement to improve the measurement accuracy of azimuth angles, etc., and extends the ground control network to the underground through borehole plumb point connection measurement, so that the accuracy of the measurement results meets the requirements, directly guides the construction, effectively controls the lateral penetration error of the tunnel, adopts ground borehole plumb point connection measurement at the shallow buried layer position close to the penetration surface in the long tunnel, and uses the underground gyro orientation measurement verification method to perform high-precision control point densification, ensuring the perfect penetration of the tunnel, ensuring the precise docking of the tunnel project, and precisely analyzing the measurement error.

The invention discloses a shaft connection triangle measuring method, which comprises the following steps of: 1) hanging three steel wires in a shaft, measuring coordinates of two steel wires on the ground according to control points and an azimuth angle of a connecting line of the two steel wires, and measuring the coordinates of the two steel wires in the shaft according to coordinates of projection points and the coordinate azimuth angle of the connecting line of the two steel wires under the shaft; determining starting coordinates and azimuth angles of the underground conductor; 2) connecting the most favorable shape of triangle orientation; (3) carrying out field measurement on the connection triangles; (4) carrying out relation triangle measurement interior work processing; and 5) estimating the orientation measurement precision of the relation triangle. Due to the adoption of the technical scheme, the method has the advantages of being high in adaptability and precision, can be widely applied to urban rail transit connection survey and hydraulic engineering large-scale shaft connection survey, can effectively reduce direction errors caused by plumbing errors, and is beneficial to improving the measurement precision of underground conductors; in the measuring process, checking can be carried out through more redundant observation, and measuring errors are reduced.

This invention discloses a multi-technology combined measurement method for ultra-long undersea twin-tunnel railway tunnels and service tunnels, including GNSS measurement outside the tunnels, traverse measurement considering vertical deviation correction, coordinate transfer measurement from free stations in deep shafts, and combined measurement of free stations, intersecting double traverses, and gyro-orientation inside the tunnels. Where the undersea tunnels are relatively short at the connecting points of the cross tunnels, a denser stationing method is used for direction and distance transfer. Combined traverses are used inside the tunnels to enhance azimuth accuracy with gyro-orientation measurement. This invention leverages the advantages of GNSS and total stations, improving the efficiency of deep shaft measurement in long tunnels and enhancing the accuracy of coordinate transfer in deep shafts. Furthermore, the denser stationing method used inside the cross tunnels for direction and distance transfer, along with closed-loop networking between different cross tunnels, improves the reliability of tunnel plane control measurement accuracy and ensures complete consistency of the coordinate systems of the left and right tunnels and the service tunnel.

Systems and methods are disclosed for determining whether or not an apparatus, such as a mobile device, is being handled or otherwise used within a vehicle. The apparatus may comprise an accelerometer configured to measure acceleration and a gyroscope configured to measure orientation. The apparatus may determine an axis of gravity of the apparatus based on acceleration measurements made by the accelerometer over a period of time. The apparatus may also determine a rotation vector of the apparatus based on orientation measurements made by the gyroscope. Using the axis of gravity of the apparatus and the rotation vector of the apparatus, the apparatus may determine a rate of rotation of the apparatus perpendicular to the axis of gravity. If the rate of rotation of the apparatus perpendicular to the axis of gravity exceeds a threshold, the apparatus may determine that it is being handled or otherwise used within the vehicle.

Method for calibrating a terrestrial observation device (1) comprising a viewing member (3) defining a sight axis, a range finder (6) for determining a distance from a reference point being located on the sight axis, an orientation-measuring member (7) for measuring the orientation of the sight axis to determine a current orientation of the sight axis, a display unit (4) and an electronic processing unit (5). The method comprises the steps, commanded by the processing unit, of: displaying a mapping-image on the display unit, corresponding to a current position of the observation device; representing the current position and the sight axis from the current orientation on this mapping-image; having a user indicate, on the mapping-image, the reference point aimed at with the range-finder, and determining the position of the reference point indicated by the user on the mapping-image; and deducing from this, a correction parameter of the current orientation of the sight axis. Terrestrial observation device for implementing that method.

The invention discloses a man-made forest stand structure and function integrated monitoring system and method based on multi-source data fusion in the technical field of man-made forest monitoring, and the system comprises a movable ground monitoring box, one side of which is provided with a gap groove for accommodating single trees; the unmanned aerial vehicle is used for carrying out multi-view observation on a single tree crown; the two parking platforms are symmetrically distributed on the ground monitoring box, located on the two sides of the notch groove and used for allowing the unmanned aerial vehicle to take off and land, and the unmanned aerial vehicle takes off from one parking platform and flies around the single tree along a preset flight path in the vertical plane so as to collect stand structure data of the bottom, the top and the side of the crown of the single tree. According to the system, multi-source data acquisition is achieved through the unmanned aerial vehicle and the ground monitoring assembly, the parking platform and the ground monitoring assembly are driven to synchronously and accurately rotate through the orientation conversion mechanism, unmanned aerial vehicle multi-path canopy collection and ground circumferential all-dimensional measurement are achieved, and the integrity of canopy structure data and the three-dimensional reconstruction precision are remarkably improved.

The invention discloses an unmanned aerial vehicle target positioning method, system and device based on a space-time triangular relation, a medium and a product, and relates to the field of target tracking and navigation, and the method comprises the steps: obtaining observation data; the observation data comprises an observer position and a target azimuth angle; the observer is an unmanned aerial vehicle; based on the target motion model and the geometrical relationship, constructing a linear constraint equation for the observation data, and forming an overdetermined equation set; solving the overdetermined equation set by adopting a least square method to obtain a target state estimation value; calculating an estimated distance from the observer to the target based on the target state estimation value; calculating a radial velocity and a tangential velocity based on the estimated distance; calculating a desired speed based on the radial speed and the tangential speed; and determining a control instruction based on the expected speed, and driving an observer to move around the target based on the control instruction to realize target positioning. According to the invention, for a high-speed moving target, real-time positioning and surrounding of the target are realized only by using orientation measurement data of an observer.

A method of magnetic survey including: acquiring calibration measurements with bird including a vector magnetometer, a plurality of inertial sensors, and a GNSS transceiver, in a known magnetic field; determining calibration parameters using the calibration measurements; acquiring vector magnetic measurements with the vector magnetometer, orientation measurements with the inertial sensors, and position measurements with the GNSS transceiver, while towing the bird with an aerial vehicle along a flight path; and correcting the vector magnetic measurements to provide corrected magnetic vector measurements by: calibrating the vector magnetic measurements using the calibration parameters; aligning the vector magnetic measurements to a position measurement coordinate space using the orientation measurements; and providing the corrected vector magnetic measurements with the position measurements.

The present invention relates to a pipeline orientation measurement method, device, electronic device, and storage medium, belonging to the field of measurement technology. The pipeline orientation measurement method includes: acquiring a plurality of laser points detected in a well by a line laser sensor and laser data carried by the laser points, the laser data including the angle and intensity of the laser; performing edge detection on the plurality of laser points based on the laser data to obtain a plurality of edge points, wherein an edge point includes a laser point where both the angle and intensity of the laser are greater than a preset edge threshold; adjusting the rotation angle of the line laser sensor based on the plurality of edge points; and determining the pipeline orientation based on the rotation angle. The present invention effectively solves the problems of low measurement accuracy and pipeline damage caused by the need for direct contact with the pipeline in the prior art.

The invention discloses an annular groove type optical fiber-avoiding perforator with a real-time azimuth measurement function, which relates to the technical field of perforator equipment and comprises an ignition short section, a driving short section, an annular groove gun barrel and a gun tail detonation short section which are connected in sequence, the driving short section comprises a driving short section shell, an orientation measurement driving module and a driving centralizing rod, a stepped through hole is formed in the driving short section shell, and the driving centralizing rod is matched with the through hole of the driving short section shell through a large-drift-diameter ball bearing; the orientation measurement driving module is arranged in the driving short section shell, the end, stretching into the driving short section shell, of the driving centralizing rod is fixedly connected with an output shaft of the orientation measurement driving module, and after an ignition command is received, the selective firing module in the annular groove gun barrel supplies power to the detonating assembly in the gun tail detonating short section, the perforating bullet is triggered, and directional perforating is completed. During perforation, positioning of optical fibers outside a sleeve, monitoring of the direction of a perforator and self-adaptive accurate positioning can be achieved, and the problems of burr height after perforation and resistance when a pipe string is lifted up are effectively controlled.

An information processing apparatus comprising a memory storing instructions; and a processor executing the instructions causing the information processing apparatus to acquire sensor information from a sensor mounted on a moving body, generate map data based on the sensor information, calculate a use appropriateness degree of the map data based on at least one of the sensor information and the map data, and determine whether or not to use the map data in a position and / or orientation measurement of the moving body that is based on the use appropriateness degree.

The invention provides a shafting installation error calibration method for photoelectric comprehensive monitoring equipment, the equipment adopts a common azimuth axis integrated design and comprises a plurality of coordinate systems from an optical axis to an IMU (Inertial Measurement Unit) body, and a plurality of groups of installation error angles exist among the coordinate systems. The method comprises the following steps: firstly, establishing a coordinate system conversion matrix and deducing and constructing a compensation model for decomposing height and azimuth measurement errors into constant zero offset and related items of a target height angle; on the basis of the model, aiming at the characteristics of different error terms, mechanical adjustment is adopted to eliminate negligible terms, digital calibration is carried out through combination of azimuth axis rotation modulation and IMU output calculation, external field zero calibration is carried out through RTK and a target, and finally systematic and high-precision compensation of all shaft system installation errors is achieved. According to the method, theoretical modeling and engineering practice are combined, the influence of complex shafting errors on the equipment precision is effectively eliminated, the measurement precision and reliability of the photoelectric comprehensive monitoring equipment are remarkably improved, and the method has systematicness and universality.

An orientation measurement device (1) is provided with: a first angular velocity sensor (11) that has a first detection axis (11D) extending in the horizontal direction and detects a first angular velocity about the first detection axis (11D); a rotation mechanism (13) having a rotation shaft (13R) extending in the vertical direction and rotating the first detection shaft (11D) of the first angular velocity sensor (11) about the rotation shaft (13R); and a second angular velocity sensor (12) for correcting the rotation angle (alpha) of a first detection axis (11D) in the rotation mechanism (13), the second angular velocity sensor (12) having a second detection axis (12D) extending in the vertical direction and detecting a second angular velocity with the second detection axis (12D) as the rotation center.

A calibration assembly for a guided vehicle. The calibration assembly includes an orientation marker that operably engages with a first guidance apparatus of the guided vehicle. The calibration assembly also includes an imaging assembly that operably engages with and is in electrical communication with a second guidance apparatus of the guided vehicle. When the imaging assembly captures the orientation marker at a translated position for at least one cycle, the imaging assembly calibrates a rotational displacement between a first guidance direction of the first guidance apparatus and a second guidance direction of the second guidance apparatus based on an angular displacement of the orientation marker measured between a zeroed position denoting the first guidance direction and the translated position.

Provided is a coordinate system setting system with which it is possible to easily set a coordinate system used in control of an industrial machine, A coordinate system setting system 1 comprises: a calibrated camera 4; a calibration data storage unit 12 that stores, in advance, calibration data obtained when the camera 4 was calibrated; an image processing unit 11 that processes a captured image obtained upon imaging a calibration jig J disposed at a position for which a coordinate system is to be set by the camera 4; and a coordinate system setting unit 21 that uses the result of image processing performed by the image processing unit 11 to set a coordinate system used in controlling a robot 2.