86 results about "Path deviation" patented technology

Embodiments of the invention permit flight paths (current and planned) to be viewed from various orientations to provide improved path and terrain awareness via graphical two-dimensional or three-dimensional perspective display formats. By coupling the flight path information with a terrain database, uncompromising terrain awareness relative to the path and ownship is provided. In addition, missed approaches, path deviations, and any navigational path can be reviewed and rehearsed before performing the actual task. By rehearsing a particular mission, check list items can be reviewed, terrain awareness can be highlighted, and missed approach procedures can be discussed by the flight crew. Further, the use of Controller Pilot Datalink Communications enables data-linked path, flight plan changes, and Air Traffic Control requests to be integrated into the flight display of the present invention.

A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.

Systems, computer program products, and methods for displaying navigation performance based flight path deviation information during the final approach segment to a runway and during landing of non-precision flight modes are provided. Improved graphical depictions of navigation performance based flight path deviation information provide pilots and flight crew members with clear, concise displays of the dynamic relationship between ANP and RNP, mode and aspect of flight and related procedures, intersecting flight paths, and current actual flight path deviation from a predefined flight path during the final approach segment to a runway and during landing. For example, an enhanced IAN display may include NPS-type deviation scales to show RNP / ANP relationships and predetermined RNP markers to alert the pilots and flight crew members that the FMC has transitioned from an NPS display for RNAV (LNAV / VNAV) flight procedures to an enhanced IAN display for a non-precision (non-xLS) approach and / or landing.

A vertical deviation indicator and predictor includes a vertical deviation scale having a plurality of vertically spaced markers, one of the markers indicating the vehicle's present vertical position. Current vertical flight path segment symbols are selectively superimposable over the vertical deviation scale in accordance with the vehicle's current vertical flight path segment. Next vertical flight path segment symbols are selectively superimposable over the vertical deviation scale in accordance with the vehicle's next vertical flight path segment, the position thereof being determined by backward extrapolation of the next vertical flight path segment. Thus, the type and position of the current and next vertical flight path segment symbols on the vertical deviation scale provide situational awareness of the present vertical flight path deviation and an indication of an efficient and timely manner for intercepting the desired flight path.

The invention discloses a planning method for the smooth trajectory of a robot in Cartesian space. The planning method comprises the following process: planning the positions and postures of single-section trajectories, such as a spatial line and an arc; carrying out planning on the smooth transition of a path; controlling the size of the transition region of the path by adopting a transition grade; fitting the path in the transition region by adopting a parabola, and fitting the postures by adopting a quaternion algorithm; and adopting a cycloidal acceleration and deceleration planning method containing acceleration and an acceleration restraint to carry out planning on the spatial trajectory of the path so as to obtain the smooth spatial position and posture trajectory of a robot. The method can effectively solve robot trajectory problems, such as pause, non-smoothness, dithering, path deviation and speed excess and improve the running stability of the robot. The planning method for the smooth trajectory, related to the invention, has certain flexibility, and not only can plan the positions and the postures in the Cartesian space but also can adapt to various robot structures, containing common 6-degree-of-freedom vertical joint mechanical arms, low-degree-of-freedom robots and redundant robots.

The invention provides an automatic vertical parking system and a parking method based on multi-stage planning and machine learning. The image is collected by a ring-view camera, and an ultrasonic sensor detects obstacle information to judge the position, heading information and the validity information of the storage location relative to the storage location. The automatic parking process is initiated when a suitable size and no vehicle-occupied space is identified. The automatic parking system plans the parking route according to the current self-parking posture and the information of the garage. If necessary, the automatic parking system uses multiple R-S curve is adjusted from the parking position to the proper position, and then the secondary helix parking trajectory is generated according to the learning network. The steering wheel, throttle and brake pedal are controlled electronically for parking and garage entry. The invention utilizes the secondary helix training set and thelearning network to improve the efficiency of the parking process and the adaptability to the path deviation, and combines R-S curve for multi-stage planning, to achieve a very small range of parkingplanning high success rate, a wider range of application, more reliable parking process.

The invention provides a path deviation generation analysis method for a ship at sea, which comprises the following steps of: (1) inputting longitude and latitude coordinates Q (xq, yq and zq) of a place of a departure, longitude and latitude coordinates M (xm, ym and zm) of a destination; (2) computing an expected optimum path; (3) correcting the expected path in segments; (4) computing the deviation between the ship and the path section; (5) judging whether the ship is in the current path section; and (6) if so, repeating the step (4), otherwise conducting the calculation of the next path section, and repeating the step (4). The path obtained by the invention can realize more economic and safer sailing, is beneficial to navigation, brings great convenience for autopilot sailing only by increasing shorter sailing distance, is also beneficial to path control, and also improves the control precision of paths.

Embodiments of the invention permit flight paths (current and planned) to be viewed from various orientations to provide improved path and terrain awareness via graphical two-dimensional or three-dimensional perspective display formats. By coupling the flight path information with a terrain database, uncompromising terrain awareness relative to the path and ownship is provided. In addition, missed approaches, path deviations, and any navigational path can be reviewed and rehearsed before performing the actual task. By rehearsing a particular mission, check list items can be reviewed, terrain awareness can be highlighted, and missed approach procedures can be discussed by the flight crew. Further, the use of Controller Pilot Datalink Communications enables data-linked path, flight plan changes, and Air Traffic Control requests to be integrated into the flight display of the present invention.

The invention relates to a positioning and navigation method for an indoor robot and belongs to the technical field of robot positioning and navigation.The positioning and navigation method for the indoor robot includes the steps that a position where a road sign is not detected is rapidly positioned through a dead reckoning relative positioning method; a position where the road sign is detected is calculated to obtain absolute coordinates, and therefore precise position coordinates are obtained; when the robot is moved to the position where the road sign is detected from the position where the road sign is not detected, the former displacement deviation caused by positioning error accumulation in a relative positioning region is corrected.The method is especially suitable for indoor environments where road signs are not conveniently arranged massively on ceilings and has the advantages that average treatment time is short, the number of sensors is small, and the path deviation can be corrected.

A radar acquires a formed SAR image of radar scatterers in an area around a central reference point (CRP). Target(s) are within the area illuminated by the radar. The area covers terrain having a plurality of elevations. The radar is on a moving platform, where the moving platform is moving along an actual path. The actual path is displaced from an ideal SAR image acquisition path. The radar has a computer that divides the digital returns descriptive of the formed SAR image into multiple blocks, such as a first strip and an adjacent strip. The first strip is conveniently chosen, likely to generally align with a part of the area, at a first elevation. An adjacent strip covers a second part of the area at a second elevation. The first strip is overlapping the adjacent strip over an overlap portion. The first and second elevation are extracted from a terrain elevation database (DTED). Horizontal displacement of returns (range deviation) is computed for each strip using the elevation information from the terrain elevation database. Taylor series coefficients are computed for the horizontal displacement due to terrain elevation using the ideal path, the actual path and central reference point. Actual flight path deviation is available at each pulse position while azimuth frequency is given in azimuth angle off mid angle point. Remapping between indices in two arrays is also computed. Phase error compensation and compensation in azimuth (spacial frequency) is computed using the Taylor series coefficients, a Fast Fourier Transform and an inverse Fast Fourier Transform for each strip. Phase error compensation is applied to the digital returns from each strip to obtain the SAR image. The SAR image is further improved by having the first strip corrected data and the second strip corrected data merged over the overlap portion to generate a relatively seamless SAR image.

The invention discloses a method for pre-warning path deviation by using a mobile terminal, and an apparatus thereof. The method in the embodiment of the invention comprises the following steps: acquiring and storing geographic information of a preset path; acquiring current position information of a user, and judging whether the user deviates from the preset path; and emitting alarm to the user when the user deviates from the preset path. Compared with methods and apparatuses in the prior art, the method and the apparatus of the invention can emit the alarm to the user when the user deviates from the preset path, so the user knows whether the user deviates from the preset path meanwhile, thereby it is convenient for the user to use.

The invention discloses a multi-mechanical-arm collaborative offline programming method based on RoboDK. A multi-mechanical-arm collaborative machining work environment is built in a RoboDK visual interface; a collaborative motion type is determined and master and slave machine work tasks are allocated according to practical workpiece processing needs; mechanical arm kinematics analysis is completed, and a motion path is planned on the designated collaborative motion type; a collaborative work program is compiled with the combination of a RoboDK-API interface function and the planned motion path; the program runs, collision and path deviation conditions are detected, and corresponding are output; the collision and path deviation is processed according to output data, and therefore the planned motion path is adjusted, and the optimal running effect is achieved; and finally, a post processor program is compiled, and a multi-mechanical-arm collaborative practical executable code is generated. By means of the multi-mechanical-arm collaborative offline programming method based on RoboDK, the function of RoboDK is greatly expanded, a new technical scheme is provided for development of the mechanical arm offline programming field, the research and development cycle of multi-mechanical-arm collaborative machining is shortened, and the producing and machining efficiency is greatly improved.

The invention provides a method and device of correcting robot terminal driving route deviations. The method comprises: obtaining the position identification information of a robot terminal driving a work place, wherein the work place is provided with a plurality of position points, and the robot terminal collects position identification information at each position; according to obtained position identification information, calculating the driving route angle of the robot terminal in the work place and the current position of the robot terminal; according to the driving route angle and current position of the robot terminal, determining whether the driving route of the robot terminal is consistent with a preset driving route; and correcting the driving route of the robot terminal when detecting that the driving route of the robot terminal deviates the preset driving route. The deviation process can effectively and rapidly obtain the driving states of the robot terminal, and timely corrects deviations in the case of a driving route deviation, thereby substantially improving the work efficiency of the robot terminal, and reducing the fault incidence rate caused by path deviations.

Systems, computer program products, and methods for displaying navigation performance based flight path deviation information during the final approach segment to a runway and during landing of non-precision flight modes are provided. Improved graphical depictions of navigation performance based flight path deviation information provide pilots and flight crew members with clear, concise displays of the dynamic relationship between ANP and RNP, mode and aspect of flight and related procedures, intersecting flight paths, and current actual flight path deviation from a predefined flight path during the final approach segment to a runway and during landing. For example, an enhanced IAN display may include NPS-type deviation scales to show RNP / ANP relationships and predetermined RNP markers to alert the pilots and flight crew members that the FMC has transitioned from an NPS display for RNAV (LNAV / VNAV) flight procedures to an enhanced IAN display for a non-precision (non-xLS) approach and / or landing.

The invention discloses a mobile robot path planning method. The method comprises the following steps: S1, creating a robot environment map by adopting a grid method, and defining a start point and atarget point; S2, searching an environment shortest path by adopting an ant colony, wherein the ant colony algorithm contains the following steps: S21, initializing parameters of the ant colony algorithm; S22, placing m ants at the start point, beginning searching to obtain a feasible path node grating; S23, selecting the next step of moving grid by utilizing a distance heuristic function, and adding the current grid into a tabu table; S24, judging whether all ants reach the target point, if all ants reach the target point, performing the step S25, or returning to step S23; S25, performing pheromone updating by utilizing a path deviation amplifying strategy; and S26, judging whether reaching the maximum number of iterations, ending the ant colony algorithm if reaching the maximum number ofiterations, or adding one on the number of iterations and returning to step S22; and S3, taking the shortest path obtained in the step S2 as the optimal path of the planning. The planning method disclosed by the invention not only improves the global optimal solution, but also improves the convergence speed.

The invention discloses a realization method for an underwater acoustic sensor network opportunistic routing protocol. The method comprises the steps of S1, a sink node on the water periodically broadcasts query frames to underwater sensor nodes, and the underwater sensor nodes obtain the required number of hops for arriving at the sink node by forwarding the query frames; S2, a source node sends a data packet to the sink node through a broadcast channel; S3, after a neighbor node receives the data packet, whether the neighbor node belongs to a forwarding set or not is judged, if the neighbor node belongs to the forwarding set, the neighbor node broadcasts the data packet after waiting for a period of time, wherein the less the depth and the number of hops of the node are, the short the waiting time of the node is; and S4, the step S3 is repeated until the sink node receives the data packet. According to the method, only the node depth and the required number of the hops from the nodes to the sink node are taken as unique signaling overheads, the network throughput is improved, the routing problem of a blank area and path deviation is solved, and the feature that the delay of the underwater acoustic channel is high is adapted well.

The invention provides a child safety early warning system and method, wherein the child safety early warning system comprises a child telephone watch terminal, the child telephone watch terminal comprises: a first storage module used for storing a preset positioning time period, a historical path of a child, at least one preset path set for the positioning time period, a path deviation thresholdand a time deviation threshold, wherein the positioning time period comprises a child school time period and a school time period; a positioning module used for positioning the location of the child within the positioning time period; and a judging module used for comparing the location information positioned by the positioning module with the historical path and the preset path stored in the first storage module; and when the judging module judges that the child deviates from the historical path or the preset path and reaches the path deviation threshold and / or the time deviation threshold stored in the first storage module, a first early warning module issues early warning to remind the child to ensure that the child is walking on a correct road.

The invention relates to an agricultural unmanned aerial vehicle spraying device and a spraying method thereof. The spraying device comprises an unmanned aerial vehicle spraying platform and a mobile ground supply station which is connected with the unmanned aerial vehicle spraying platform through an electric power and drug liquid transmission cable. The mobile ground supply station comprises a vehicle-mounted computer control device, a satellite navigation and positioning device, an automatic take-up and pay-off device and a continuous power supply and drug delivery device, wherein the vehicle-mounted computer control device is used for acquiring operation parameters and location information of the unmanned aerial vehicle spraying platform in real time and carrying out operation route planning, flight path deviation correction, navigation tracking and spraying parameter real-time adjustment on the unmanned aerial vehicle spraying platform so as to control single-machine or multi-machine cooperative spraying operations carried out between the unmanned aerial vehicle spraying platform and the mobile ground supply station; the satellite navigation and positioning device is used for measuring the location information of the mobile ground supply station; the automatic take-up and pay-off device is used for automatically taking up or paying off the electric power and drug liquid transmission cable; and the continuous electric power and drug delivery device is used for transmitting direct current and a drug liquid to the unmanned aerial vehicle spraying platform. The invention further provides a spraying method of the spraying device.

The invention discloses an expressway vehicle management and guidance command system and method based on mobile communication, and mainly solves the problems that the prior art can not effectively manage the speeding and can not offer clear guidance to the vehicle driving in misty and snowy days so that the driving safety can not be guaranteed. The realization method comprises the following steps: a dispatching platform sets the speed limit value, the front-back space value and the road boundary parameter according to the weather condition; a guidance terminal modified from a general 2G / 3G mobile phone module is allocated to the vehicle at the expressway entrance; the guidance terminal uploads the position and speed information of the vehicle in real time; the dispatching platform monitors all vehicles, and automatically sends a sound prompt to the guidance terminal in any case of speeding, path deviation and excessively short front-back space; and people on the seat send an artificial voice prompt to the guidance terminal. The system and method disclosed by the invention can accurately and comprehensively grasp the traffic information in real time, and can be applied to vehicle management, guidance command, road condition information and traffic management.

The invention discloses an improved ant colony algorithm based mobile robot path planning method. The method comprises the following steps that S1) a grid method is used to create an environment map of a robot; S2) an ant colony algorithm is used to search for a shortest environment path, and the ant colony algorithm comprises the following steps of S21) initializing parameters of the ant colony algorithm, S22) placing m ants in the initial points and starting searching, S23) selecting a next moving grid by using a distance heuristic function, S24) determining whether all ants arrive at a target point, moving to S25) if YES, and otherwise, returning to S23), S25) optimizing all feasible paths of present iteration in a route redundancy elimination strategy; S26) updating pheromones in a path deviation amplification strategy; and S27) determining whether the maximal iteration frequency is reached, ending if YES, and otherwise, adding 1 to the iteration times and returning to the step S22); and S3) the shortest path obtained in the step S2) is used as a planned optimal path. The global optimal solution is improved, and the convergence speed is improved.

The invention provides a method and a system for recognizing a speaker. The method comprises: acquiring a voice signal of the speaker to be recognized; extracting fundamental tone characteristic parameters, cepstrum characteristic parameters and power spectrum characteristic parameters in the voice signal; matching the fundamental tone characteristic parameters, the cepstrum characteristic parameters and the power spectrum characteristic parameters with the characteristic parameters of corresponding voice signals preset in a characteristic template so as to acquire the comprehensive matching distortion value and the comprehensive matching path deviation of the voice signal to be recognized; acquiring the final comparison error of the voice signal to be recognized according to the comprehensive matching distortion value and the comprehensive matching path deviation; and confirming the speaker if the final comparison error is lower than a preset comprehensive matching comparison threshold value. The method and the system combine three characteristics to be recognized organically and perform the comparison between an object to be recognized and the characteristic template according to matching paths of the three characteristics to determine the recognition result of the system, thus the speaker can be recognized stably and reliably, and the recognition rate is improved.

The invention discloses an automobile steering-braking stability control system, comprising a lane departure measuring device used for measuring the lateral path deviation amount and an electronic control unit used for correspondingly controlling a steering controller of a steering-wheel and braking controllers of each wheel according to the output signal of the lane departure measuring device. The lane departure measuring device comprises a lateral deviation sensor and a lane departure controller used for correspondingly comparing the actual lateral deviation value with a timely lateral deviation value provided by a driver to get the required lateral path deviation amount; a fuzzy control functional module used for correspondingly controlling the steering controller of the steering-wheel and braking controllers of each wheel according to the lateral path deviation signal output by the lane departure measuring device is embedded into the electronic control unit. The structure of the invention is proper and the operation is convenient; the invention can effectively enhance the braking stability of automobiles so as to raise the safety of automobile braking on a long and big downhill turn of a mountain road.

The invention discloses a method for achieving accuracy of transparent clock path delay of an IEEE1588 protocol. The method includes the steps that four time stamps are acquired in the mode that a time synchronization mechanism of the IEEE1588 protocol is operated and a P2P transparent clock mechanism is adopted, a path delay value is acquired through calculation via a clock synchronization algorithm, a threshold value setting method is utilized, the path delay value is compared with a threshold value, if the path delay value is smaller than the stipulated threshold value, the path delay value is preserved and next-time clock synchronization is executed, if the deviation value between the path delay value and a new path delay value is larger than the preset threshold value, PID feedback regulation is conducted, the path delay value is compared with the threshold value again, if the path delay value is still larger than the threshold value, the path delay value is considered to be wrong and is abandoned, and if the path delay value is smaller than the stipulated threshold, the path delay value is preserved and next-group synchronization is executed. The method can solve the problem that the path deviation value is instable in the existing IEEE1588v2 time synchronization process, so that synchronization accuracy is affected.

The present invention discloses a method and a device for control of an automated guide vehicle. The method comprises the steps of: employing a Dijkstra's algorithm to calculate the shortest path of adistance between an initial node and a target node, wherein the initial node and the target node are any two nodes on a map of a moving place of an automated guide vehicle; allowing the automated guide vehicle to move according to the shortest path, and determining the pose information of the automated guide vehicle by the automated guide vehicle according to a laser scanning device; and performing path deviation correction of the automated guide vehicle according to the pose information and a fuzzy control algorithm. The fuzzy control algorithm is utilized on the automated guide vehicle employing laser navigation to improve the robustness of the control system and greatly reduce the influence of system interference and parameter change on a control effect.

The invention relates to a vertical touchdown type unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises a nose propeller, a fuselage, wings and a tail, wherein the nose propeller is connected to a nose engine; wing hanging engines are respectively fixed below the two wings symmetrically; the front part of each wing hanging engine is connected with a wing propeller. The control method for the rappelling unmanned aerial vehicle comprises the following steps: (1) acquiring specific coordinate information of a vertical touchdown place; (2) dividing a flight path into four stages of cruise flight, diving acceleration, climbing and rising, and vertical ascending and falling based on the flight state information of an aircraft; and (3) designing a control loop which takes two parameters of the flight path and flight attitude as variables, correcting the flight path deviation caused by airflow disturbance or control error in time, outputting a pneumatic control surface deviation control amount and pull control amounts of each engine, and controlling the aircraft to finish the overall vertical touchdown process. According to the vertical touchdown type unmanned aerial vehicle and the control method thereof, the vertical touchdown can be performed by using an unmanned aerial vehicle, and the using performance and the working capability of the aircraft are improved.

The invention relates to the technical field of water area environment monitoring, in particular to a path surveying and calibrating method and a system using an unmanned ship, and an unmanned ship. The method comprises: planning the target water area surveying path; acquiring the target water area environment data of the surveying path; calculating a deviation value between the actual route of the unmanned ship and the surveying path according to the target water area environment data and the surveying path; and determining a surveying path deviation calibrating strategy according to the deviation value. According to the path surveying and calibrating method using an unmanned ship, the surveying path can be automatically calibrated according to the planned surveying path and the environment information, so that the accuracy and the reliability of the measurement data are improved.

The invention discloses a needle-guide positioner special for internal arteriovenous fistula puncture. The needle-guide positioner comprises a fixing seat, a guide plate and a drive device, wherein a rotary shaft is fixed on the front-end lateral wall of the fixing seat along the length direction, the guide plate is disposed at the upper end of the fixing seat, the connecting end of the guide plate is hinged to the front end of the fixing seat through the rotary shaft to allow an included angle to be formed between the guide plate and the fixing seat, and the drive device controls the rotation of the guide plate to allow the size of the included angle to be adjustable; the middle of the upper end face of the guide plate is recessed to form a needle-guide groove vertical to the rotary shaft. The needle-guide positioner special for internal arteriovenous fistula puncture has the advantages that one end, close to rotary shaft, of the needle-guide groove is allowed to face directly to a button hole of previous fistula puncture, a fistula needle can pass the corresponding button hole and enter the internal arteriovenous fistula vessel of a patient along the needle-guide groove during secondary fistula puncture, identical puncture position and needle entering angle, depth and direction are guaranteed, puncture path deviation is avoided, and problems such as pains and vessel damage caused by multi-position puncture are reduced.

The invention relates to a path deviation correction method for an AGV based on double PID control. According to the novel double-PID controller structure and the novel visual sensor positioning method, the control precision can be greatly improved, the AGV operation stability and operation flexibility can be improved, the AGV linear operation and curvilinear motion precision is enhanced, and theAGV complex capability is enhanced. The precision can be controlled within 5 mm, the movement track of any transformation can be flexibly and accurately tracked, long-time stable operation can be realized in the aspect of stability, the defects of hardware sensors are inhibited, and the error is small.

The invention discloses a leasable and recyclable logistics transport pallet. The leasable and recyclable logistics transport pallet comprises a pallet body, a main chip arranged on the pallet body, a positioning module, a position information collection module, a signal sending module, a signal receiving module, a path comparison module, a path deviation warning module, a power supply module, an LED display module and a lease expiration reminding module, wherein the positioning module, the position information collection module, the signal sending module, the signal receiving module, the path comparison module, the path deviation warning module, the power supply module, the LED display module and the lease expiration reminding module are connected with the main chip. By adoption of the leasable and recyclable logistics transport pallet, the position of cargos on the pallet can be tracked in real time, warning information is sent out when the pallet deviates from a preset path, path deviation of the cargos is prevented, and functions of the pallet are enriched; and lease information can be displayed, a user is reminded to return the pallet when lease is due, the logistics cost is effectively reduced, and the work efficiency is greatly improved.

The embodiment of the invention discloses a navigation method, a navigation apparatus, a wearable device and a storage medium. The method comprises the following steps: when a navigation control instruction is detected, acquiring real-time image data acquired by a camera, wherein the camera is arranged on the wearable device, and the wearable device comprises a pair of smart glasses; determining position information of the current user according to the real-time image data and map information, wherein the position information comprises orientation of the user; and judging whether the positioninformation satisfies a correct navigation execution condition, if not, triggering a path deviation reminding event. With the method, the apparatus, the device and the storage medium provided in the scheme of the invention, navigation accuracy is improved, and errors of the route can be corrected timely.