209 results about "Position tracking" patented technology

A method for greatly reducing data storage requirements of autonomous robots capable of product inventory is described. Instead using high resolution images for label identification and position tracking, a lower resolution map can be searched. Human or machines can identify position of labels, and via a reverse mapping, the corresponding position of a label on the high resolution image can be identified. Except for those portions of the high resolution image showing a label, most of the high resolution image can be discarded. Further processing on the limited image subset can be used to read the labels.

The invention discloses a permanent magnet synchronous motor sensorless control method based on a dynamic position error. A transition stage is provided, per-unit estimation position errors between a first position error signal obtained based on a high-frequency signal injection method and a second position error signal obtained based on a sliding mode observer are compared, an optimal switching speed point is dynamically determined, smooth fusion is carried out on the two position errors by using a nonlinear weighting function, and the optimal switching speed point is obtained. And finally, the estimated position and rotating speed are obtained through a phase-locked loop. And finally, position tracking is carried out by adopting different error signals according to the estimated rotating speed. According to the method, the problem of estimation value pulsation and jump caused by the fact that a traditional method depends on fixed experience switching points is solved, smooth and self-adaptive switching of the two estimation methods in the full-speed domain range is achieved, the control precision and operation stability of the system are remarkably improved, the structure is simple, and engineering implementation is easy.

The invention relates to the technical field of artificial intelligence, in particular to a multi-dimensional tennis action analysis system, which comprises a data acquisition module, a data preprocessing module, an evaluation analysis module and a feedback interaction module, and is characterized in that the data acquisition module comprises a posture data acquisition unit, a ball path and walking tracking unit and a motion parameter acquisition unit; the data preprocessing module carries out space-time calibration on posture, track and motion parameters based on a timestamp synchronization mechanism, a fusion data set is formed through data cleaning and standardization processing, and the evaluation analysis module is used for distinguishing action types, integrating scores of posture dimensions, power generation dimensions and drop point dimensions and generating a comprehensive evaluation report; and the feedback interaction module displays an evaluation result in real time on an interface based on characters and visual icons and outputs historical analysis. According to the invention, the data validity is guaranteed, the error interference is eliminated, the analysis efficiency and the professionality of the evaluation result are improved, the use threshold is reduced, and the universality and practicability of the system are improved.

The invention belongs to the technical field of information technology, and discloses a moxibustion temperature control method and system based on multi-sensor fusion, and the method comprises the steps: obtaining a biopotential signal and position offset data from an acupoint region through a sensor, processing the biopotential signal through a classification algorithm, and obtaining a classified potential distribution mode; on the basis of the classified potential distribution modes, heat conduction influence data between adjacent acupoints are obtained, the position offset data are integrated through an information fusion algorithm, fused physiological state indexes are determined, and the problem of measurement distortion caused by acupoint movement and equipment offset is solved through multi-source data fusion and dynamic error compensation; and meanwhile, the system constructs an accurate potential distribution model by utilizing a spatial calibration and classification algorithm, and temperature control accuracy reaches a millimeter level in combination with real-time position tracking, so that the integrity and reliability of data are remarkably improved.

The invention discloses a multi-unmanned aerial vehicle formation control method based on distributed model predictive control. The method comprises the following steps: describing a motion law of each unmanned aerial vehicle by adopting a state-space equation; modeling a static obstacle as a geometric body, and setting a minimum safe distance; considering position tracking cost, control energy cost, input change cost and formation cost, and establishing an objective function for each unmanned aerial vehicle; adding a CBF security constraint according to whether the security domain has an obstacle avoidance demand or not; constructing an optimal control problem for each unmanned aerial vehicle; in each control period, the optimal control problem is solved; only the first item in the control sequence is adopted as an actual control instruction; and then the system state is updated based on the state-space equation, and prediction and optimization are carried out again in the next period. According to the invention, the problems of obstacle avoidance and formation keeping when the multi-unmanned aerial vehicle formation passes through the obstacle in a complex environment are effectively solved. The method can be widely applied to the field of unmanned aerial vehicle control.

The invention belongs to the technical field of personnel positioning, and particularly discloses a tunnel construction personnel continuous positioning system based on multi-source data fusion, and the system comprises a positioning tag which comprises a GNSS positioning module, a UWB module, an IMU module, and a main control module; the GNSS base station is used for generating differential correction data; the anchor nodes are used for receiving the UWB signals and recording signal arrival timestamps; the main control module is configured to monitor a GNSS signal in real time, judge that a person is in a ground GNSS available area when the GNSS signal meets a certain condition, and switch to an RTK / PDR fusion positioning mode; and when the GNSS signal is completely lost or the quality is extremely poor, judging that a person enters underground or a GNSS shielding area, smoothly switching to a UWB / PDR fusion positioning mode, and performing positioning by using UWB distance measurement and IMU / PDR. According to the invention, the position tracking continuity of miners moving in different areas of a mining area can be guaranteed, and the coverage capability and adaptability in the whole range of the mining area are ensured.

The invention relates to a spatial position measuring method based on a heading machine spatial position measuring system. The spatial position measuring system comprises a light source, a camera, a control module and a calculation module, the light source is arranged on a heading machine body, the control module adjusts the light source to periodically flicker within a specific time interval, the camera is arranged on a roadway wall of a heading working face, and the calculation module is arranged on the roadway wall. The camera collects continuous video frames and transmits the continuous video frames to the calculation module, and the calculation module processes the continuous video frames and outputs spatial position information of the heading machine. According to the spatial position measuring method based on the spatial position measuring system of the heading machine, the accuracy of spatial positioning of the heading machine in roadway operation can be improved, the requirements of high-precision position tracking and automatic control are met, and the intelligent level of fully-mechanized excavation is improved.

A local positioning system (LPS) is provided. The LPS includes at least three local position tracking devices, each further including one or more of: a clock synchronized to the clock in each of the other devices; a transmitter transmitting signals over time synchronized to the clock; and a receiver receiving the signals over time from the other devices. The LPS further includes a processor operatively coupled to at least one of the devices and that is configured to: obtain for each of the signals a location of the device that transmitted that signal; produce one or more representations of at least a part of a living body based on at least one of one or more of the locations and one or more further representations of the at least the part of the living body, each of the representations including one or more temporal frames; and to provide output.

The invention relates to a multi-motor cooperative control method, system and device based on position and speed double feedback and a self-adaptive sliding mode and a medium, and relates to the technical field of multi-motor cooperative control. The multi-motor cooperative control method comprises the following steps: acquiring an actual position signal and an actual speed signal of each motor, and converting and calculating a position synchronization error and a speed synchronization error between the motors; calculating a position tracking error and a speed tracking error of each motor according to a preset reference position signal and a reference speed signal; fusing the weighted operation position synchronization error, the speed synchronization error, the position tracking error and the speed tracking error to construct a sliding mode surface function; iteratively optimizing the sliding mode surface function according to a preset fuzzy reasoning mechanism, outputting a self-adaptive adjustment amount, updating the original switching gain, and calculating a new switching gain; and calculating the final control quantity of each motor according to the new switching gain, the sliding mode surface function and the saturation constraint function, and outputting the final control quantity to a corresponding motor driver to drive the motor to move.

The invention provides a wafer transmission mechanical arm control method, system and equipment, and relates to the technical field of automatic control of semiconductor manufacturing equipment. The method comprises the steps that the joint position and the joint angular velocity of the mechanical arm are obtained; calculating a joint position tracking error; the joint position and the joint angular velocity are input into a model identifier, and the compensation amount for the uncertainty of a dynamic model of the mechanical arm is obtained; a self-adaptive dynamic programming framework is used, the joint position tracking error, the performance index function and the compensation amount are combined to generate an optimal control strategy, and the compensation amount is used for correcting a preliminary control strategy output by the framework; finally, control torque is output to drive the mechanical arm to move. Through the cooperation of the model identifier and the self-adaptive dynamic planning framework, the dependence on an accurate mathematical model is effectively reduced, the long-term comprehensive performance of the mechanical arm in the aspects of speed, precision and energy consumption can be learned and optimized online, and the wafer transmission efficiency and the equipment adaptability are improved.

Methods and apparatus for providing self-contained guidance, navigation, and control (GN&C) functions for a vehicle moving through an environment on or near the ground, in the air or in space without externally provided information are disclosed. More particularly, one embodiment of the present invention includes a Heading Sensor (36), an Absolute Location Sensor (38), a timer (40), a Range Doppler Processor (42), a Navigation Reference Sensor (44), an Area Range and a Velocity Sensor (46) which provide enhanced navigation information about a universal reference frame (22) and one or more targets (20).

This invention discloses a dexterous hand slip adaptive control method based on variable admittance observation, comprising: constructing equivalent Jacobian coefficients and calculating the physical velocity of the fingertips at the dexterous hand's end; when the detected normal contact force exceeds the trigger threshold, switching to a force-position hybrid control architecture, which employs an outer-loop variable admittance control combined with an inner-loop PID position tracking; in the outer-loop variable admittance control, the virtual mass and virtual damping of the variable admittance controller are dynamically adjusted through a variable admittance-regulated control law; when slip occurs, the target normal contact force required to maintain stability is recalculated through an adaptive force adjustment algorithm, and the target normal contact force is input as a new target force into the variable admittance controller, and stable grasping is reconstructed by dynamically adjusting the variable admittance parameters. This invention can effectively balance energy absorption during the collision phase and force tracking agility during the steady-state phase, while reducing the computational burden and enabling high-frequency real-time observation.

The invention provides a space laser communication fine tracking assembly, which adopts a two-stage closed-loop control system to realize high-precision tracking, the first stage adopts a light spot centroid tracking technology and adjusts a light beam direction in real time through elements such as an FSM fast reflector and a CMOS camera to compensate miss distance, and the second stage adopts an optical fiber nutation coherent tracking technology to compensate miss distance. According to the system, the micro-electromechanical system (MEMS) mirror, the nutation device, photoelectric detection and the like are combined, the tracking precision is further improved through optical fiber coupling and frequency mixing processing, the FPGA programmable processor serves as a core to process images and signals and generate control signals to drive the reflector and the nutation device, accurate alignment of receiving and transmitting optical axes is ensured, and efficient and stable space laser communication is achieved. According to the invention, through combination of the first-stage light spot positioning tracking technology and the second-stage space nutation coherent tracking technology, precise control and tracking of the light spot position in space laser communication are realized, and the suppression bandwidth and precision of precise tracking are effectively improved.

The present application belongs to the technical field of trajectory tracking control of nonholonomic wheeled mobile robots, and specifically discloses a trajectory tracking control method and system for nonholonomic wheeled mobile robots. In the trajectory tracking process of the nonholonomic wheeled mobile robot, the present application method converges the position tracking error and the attitude tracking error to an arbitrarily small compact set near the origin within a limited time through steps such as designing an adaptive neural state observer, a finite-time command filter, an error compensation mechanism, a virtual control input, and an actual control signal. The present application not only avoids the calculation complexity explosion problem caused by repeated derivation of the virtual control signal in the traditional backstepping method, but also guarantees that the trajectory tracking error of the nonholonomic wheeled mobile robot converges to an arbitrarily small neighborhood within a limited time under the conditions of unknown nonlinear dynamics and unmeasurable speed, and all signals in the closed-loop system are ultimately bounded.

The application relates to the technical field of medical devices, and discloses a positioning and tracking device, an optical positioning system and a surgical mechanical arm. The positioning and tracking device comprises a base and multiple groups of tracking arrays, the multiple groups of tracking arrays are arranged around the inside of the base, each group of tracking arrays comprises at least three tracking elements, and all the tracking elements in the same group of tracking arrays define a plane corresponding to a current tracking array. Alternatively, all the tracking elements in the same group of tracking arrays define a curved surface corresponding to the current tracking array. The positioning and tracking device, the optical positioning system and the surgical mechanical arm provided by the application can improve the problem in the related art that when the included angle between a tracking element and an optical tracking sensor changes greatly in the process of movement of an end instrument, the optical tracking sensor cannot acquire the position of the tracking element, so that the pose of the end instrument cannot be recognized.

The invention discloses a continuum robot position tracking and joint limiting avoidance method, and belongs to the field of robot control. According to the method, a current path is obtained through forward kinematics modeling, joint limiting constraint and ideal path generation are combined, a nonlinear programming problem with the maximum path deviation and the minimum path deviation as the target is constructed, and joint increment is iteratively solved to achieve end tracking and overall path fitting. According to the method, the problem that inverse kinematics is difficult to solve is avoided, joint overrun is explicitly avoided, and the method is suitable for high-precision and high-reliability control in a narrow space and an obstacle environment.

The invention relates to the technical field of aircraft control, and discloses a control method of a rotary actuator integrated with a gear vernier encoder and related equipment, and the method comprises the steps: firstly obtaining a control instruction of a flight control system to a rudder arm, and synchronously collecting the single-circle angle values of a driving gear and a driven gear fed back by the gear vernier encoder and the real-time current of a motor; then, the actual absolute position of the rudder arm, the number of rotation turns of the motor and the actual rotation speed are calculated based on the angle value; then, a position tracking error is generated by comparing the control instruction with the actual position of the rudder arm, and the expected current is calculated according to the position tracking error and the actual rotating speed of the motor; and finally, combining the position of the motor rotor, the expected current and the real-time current to generate a motor driving signal. According to the invention, absolute position memory and full-closed-loop high-precision servo control of the aircraft control surface actuator under the condition of no standby battery are realized, and the system has the advantages of compact structure, high reliability, good dynamic response and low cost.

The application discloses a design method and device of a force-position switching controller of a piezoelectric-driven cell microinjector and an injection method thereof, and comprises the following steps: S1: based on the deformation and viscoelasticity of cells, a mass-spring-damper system is used to establish a dynamic model for describing a system formed by the microinjector and the cells; S2: based on the dynamic model, an adaptive integral terminal sliding mode impedance force controller is designed; S3: based on a feedforward compensator and a feedback control law, a composite PID position controller is designed; S4: a switching function is designed; and S5: the switching control law of the final force-position switching controller is calculated by combining the adaptive integral terminal sliding mode impedance force controller, the PID position controller and the switching function. The force-position switching controller can provide accurate force and position tracking performance in each control mode, and still has small chattering and cell damage degree when different modes are switched multiple times.

The invention relates to the technical field of positioning and tracking, in particular to a positioning method and device of intelligent wearable equipment. The method comprises the following steps: acquiring a multi-source positioning signal flow based on a multi-modal sensor, performing signal synchronization optimization, and generating a synchronous positioning signal flow; performing dynamic mobile positioning tracking according to the multi-source positioning signal flow to generate an initial position track of a user; gait moving distance prediction compensation is carried out on the initial position track of the user, so that an error compensation position track is obtained; performing rational and reasonable constraint correction on the error compensation position track to generate a constraint optimization position track; and performing visual rendering on the constraint optimization position trajectory, and constructing a multi-level visual trajectory layer. According to the invention, quick and accurate real-time wearing user position tracking is realized, visual expression is carried out, the user experience is improved, and the intelligent visualization requirement under multiple scenes is met.

The invention discloses a time-varying multi-interference source direct tracking method. The method comprises the following steps: respectively modeling a new target hypothesis and a survival target hypothesis in a prediction stage; in the updating stage, a direct tracking spatial spectrum function is used for replacing a likelihood function in the filter updating step on each prediction target particle set, target-measurement data association is not needed, and information loss from interference source DOA tracking to position tracking is avoided. According to the invention, direct position tracking in a time-varying scene of the number of interference sources can be realized, and the adaptability of interference source tracking is improved.

This invention discloses a distributed optimization and safe formation control method for multiple robotic arms with nonlinear uncertainty. By establishing a dynamic model of the multi-robotic arm system with nonlinear uncertainty, a dynamic event triggering method with internal system information is constructed. Each robotic arm broadcasts its position information to its neighboring nodes only when the triggering condition is met. A predetermined reference trajectory is generated for each robotic arm system, converging to the global optimum and satisfying formation constraints. The position tracking error between the actual output of the robotic arm system and the predetermined reference trajectory at each moment is calculated. The virtual control law designed in the first step of the back-reasoning is used as the target to be optimized. A quadratic programming problem is constructed by combining the safety constraint boundary inequality built with the control obstacle function to obtain the safe virtual control law. In the second step of the back-reasoning, the velocity tracking error between the actual state of the robotic arm and the safe virtual control signal is calculated, constructing a back-reasoning controller based on the obstacle Lyapunov function. This invention overcomes the control instability risk caused by strong nonlinearity and achieves high-precision trajectory tracking.

The application discloses a camera monitoring system based on behavior feature recognition and concretely relates to the field of intelligent security monitoring, and comprises five modules of multi-source data acquisition, multi-dimensional feature analysis, intelligent feature fusion, case base matching determination, application output and closed-loop management and control; through the deployment of visual acquisition, environmental sensing, positioning tracking and equipment linkage units, multi-dimensional original data are collected and cleaning and standardized preprocessing are completed; four-dimensional features are extracted from visual behavior, environmental correlation, space-time trajectory and equipment interaction, and adaptive weights are generated in combination with data quality; comprehensive behavior features are generated through feature quality evaluation, weighted fusion and dimensionality reduction operation; coarse and fine matching is executed relying on a hierarchical case base to realize accurate behavior recognition; hierarchical alarm is pushed based on the recognition result, visual data and system logs are generated, and hierarchical closed-loop management and control is executed; the system improves the accuracy and generalization ability of behavior recognition in complex scenes and guarantees efficient landing of security management and control.

The invention discloses a design method and device of a force-position switching controller of a piezoelectrically-driven cell microinjector and an injection method of the piezoelectrically-driven cell microinjector, and the design method comprises the following steps: S1, based on deformation and viscoelasticity of cells, establishing a dynamic model for describing a system formed by the microinjector and the cells by adopting a mass-spring-damper system; s2, designing a self-adaptive integral terminal sliding mode impedance force controller based on the dynamic model; s3, designing a composite PID position controller based on the feedforward compensator and the feedback control law; s4, designing a switching function; and S5, in combination with the adaptive integral terminal sliding mode impedance force controller, the PID position controller and the switching function, calculating to obtain a final switching control rule of the force-position switching controller. The force-position switching controller provided by the invention can provide accurate force and position tracking performance in each control mode, and still has small buffeting and cell damage degree when different modes are switched for multiple times.

The embodiment of the invention discloses a locomotive position tracking method and system based on a radio frequency identification tag. The method comprises the following steps: periodically acquiring signals of a locomotive programmable logic controller, including current radio frequency identification tag information and a current driving distance of the locomotive; determining the moving state of the locomotive according to the label information, the driving distance and historical data; when movement exists, the label information is analyzed to obtain position information; verifying the label correctness through the turnout state; and calculating initial position information, and verifying and correcting the initial position information to obtain a real-time tracking position. Therefore, according to the scheme provided by the embodiment of the invention, the accuracy of locomotive position tracking is improved, the operation efficiency of railway dispatching is further improved, and through turnout state verification and boundary verification, the problems of position jump, section conflict, path interference and other potential safety hazards are effectively prevented.

A position tracker driven display system for an interventional device (50) including an integration of one or more position trackers and one or more interventional tools. The position tracker driven display system employs a monitor (121) and a display controller (110) for controlling a real-time display on the monitor (121) of a tracking image illustrative of a navigation of a tracking node of the interventional device (50) within an anatomical region. The display controller (110) autonomously selects the tracking image among a plurality of registered spatial images illustrative of the anatomical region within an image space based on position tracking data informative of a position of the at least one position tracker within the anatomical region. The display controller (110) derives the autonomous selection of the tracking image from a position of the tracking node of the interventional device (50) relative to the image space as indicated by the position tracking data.

The application is suitable for the cross field of circularly polarized light and extended reality technology, and provides a precise extended reality system based on a circularly polarized signal, which comprises a circularly polarized emission module, a circularly polarized receiving module, a wearable display module, an extended reality processing module and a reality interaction module; the circularly polarized receiving module comprises a circularly polarized lens group, a light splitting prism, a CMOS / CCD camera and a differential processing system; the wearable display module is virtual reality glasses with a position tracking and environment sensing function; the extended reality processing module comprises a hand tracking unit, a scene mapping unit and a virtual-real calibration unit; and the reality interaction module is a mechanical arm and a mechanical hand with a multi-degree-of-freedom steering engine. The application effectively improves the anti-interference performance and precision of hand signal extraction, and effectively solves the problems of serious signal interference and low signal extraction accuracy of the extended reality system in a complex interference environment.

This invention relates to an active disturbance rejection control method and system suitable for biomimetic chest cavity motion simulation. The method includes: acquiring and preprocessing a nonlinear motion trajectory signal to generate an original target position command; processing the original target position command using a tracking differentiator to generate a smoothly transitioning desired position signal and desired velocity signal; receiving the actual position feedback signal of the controlled object and the control input of the previous control cycle through an extended state observer, and estimating the actual position state observation value, actual velocity state observation value, and total disturbance state observation value of the controlled object in real time; calculating the position tracking error and velocity tracking error based on the desired position signal, desired velocity signal, and the actual position state observation value and actual velocity state observation value of the controlled object, and calculating the initial state feedback control quantity; generating an actual control command and sending it to the motor driver to drive the biomimetic chest cavity motion simulation platform to reproduce the target respiratory motion trajectory.

The present invention provides an operation device capable of appropriately changing a method of position tracking operations according to a sensation of fatigue of a user. An operation device (1) according to the present disclosure includes a biometric information acquisition unit (12), a fatigue state determination unit (13), and an operation settings changing unit (14). The biometric information acquisition unit (12) acquires biometric information of a user performing an operation by position tracking. The fatigue state determination unit (13) determines whether the user is in a fatigued state, on the basis of the biometric information acquired by the biometric information acquisition unit (12). The operation settings changing unit (14) fixes predetermined position tracking of the user when the fatigue state determination unit (13) determines that the user is in a fatigued state.