285 results about "Position tracking" patented technology

The invention relates to the technical field of position tracking, in particular to an intelligent bracelet real-time position tracking visualization method and system. The method comprises the following steps: acquiring multi-dimensional sensing monitoring parameters of a user based on a smart bracelet, performing real-time motion state evaluation of the user, and performing adaptive adjustment of a position acquisition frequency to generate an adaptive position acquisition frequency; performing real-time position positioning acquisition based on the adaptive position acquisition frequency, and performing frequency-by-frequency spatial position positioning calculation to obtain a high-precision compensation reconstruction trajectory; the method comprises the following steps: acquiring public electronic map information, performing scene key element identification, and performing key attribute cognitive marking to obtain a plurality of scene attribute memory anchor points; and performing relative position distribution analysis on the high-precision compensation reconstruction trajectory based on a plurality of scene attribute memory anchor points, and constructing an anchor point space trajectory visual mapping graph. According to the invention, high-precision real-time position tracking of the user is realized, and clear and visual multi-level map information rendering is presented.

The invention relates to the technical field of motor control, in particular to a control and parameter intelligent optimization method for an anti-impact high-precision PMSM (permanent magnet synchronous motor) feeding servo system, which comprises the following steps of: S1, establishing a physical structure and a dynamic model of a PMSM driving feeding system; s2, designing a variable gain fractional order super-spiral sliding mode controller VGFSTSMC, realizing finite time convergence of position tracking errors by dynamically adjusting and controlling gain coefficients, and inhibiting system jitter; s3, designing an adaptive sliding mode disturbance observer ASMDO, and estimating and compensating unknown disturbance in real time through adaptive gain adjustment and an integral sliding mode surface; s4, identifying a system Stribeck friction model based on a least square method, and inputting the system Stribeck friction model as a friction feedforward compensation FFC to a current loop to reduce the disturbance uncertainty of the system; s5, dynamically adjusting and optimizing control parameters of the VGFSTSMC and the ASMDO by adopting an optimization algorithm so as to minimize a root-mean-square value RMSE of a position tracking error and a maximum instantaneous error; and S6, VGFSTSMC, ASMDO and FFC are combined with an optimization algorithm, and the PMSM is driven to realize high-precision position control.

The invention belongs to the technical field of computer vision and artificial intelligence, and particularly discloses a video target tracking method and device, a medium and equipment, and the method comprises the steps: synchronously obtaining an infrared image and a visible light image which comprise a to-be-detected target; the infrared image and the visible light image are preprocessed; constructing a to-be-detected target tracking model, and training the model; and inputting the preprocessed infrared image and visible light image into a trained to-be-detected target tracking model so as to carry out identification and position tracking on a to-be-detected target. According to the invention, high-precision, high-robustness and high-continuity position tracking of the to-be-measured target in a complex environment can be realized.

The invention discloses a finite time position tracking and synchronous control method and device and a medium, and belongs to the technical field of dual-motor drive servo system control. The method comprises the following steps: constructing a dynamic model of the dual-motor-driven servo system; position tracking errors, speed synchronization errors and acceleration synchronization errors are defined, speed and acceleration states serve as cross feedback variables to be input into the dynamic model, and error signals are generated; introducing a filter and a compensation item through a preset dynamic surface control algorithm to generate a virtual control signal; constructing a finite time adaptive controller based on the error signal and the virtual control signal, and generating a motor control input signal; and estimating and compensating parameter uncertainty and nonlinear gap disturbance of the dual-motor-driven servo system in real time so as to update parameters of the adaptive controller. By means of the method, the technical effects of high-precision position tracking, dynamic synchronization and high-robustness control can be achieved in the dual-motor drive servo system.

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 provides a large-scale rotary equipment blade measurement system calibration method based on LM algorithm optimization, and belongs to the technical field of blade three-dimensional measurement. Points in a world coordinate system are converted to a rotary table coordinate system, are rotated in the rotary table coordinate system, and then are converted to the world coordinate system; and projecting the rotated world coordinate to a pixel coordinate system to obtain a theoretical pixel coordinate, comparing the theoretical pixel coordinate with an actual pixel coordinate, and calculating a re-projection error. Constructing a target function by using the re-projection error, and iteratively optimizing the axis parameters of the rotary table through an L-M algorithm until convergence; and outputting the optimized rotary table axis for blade point cloud splicing. According to the method, the problem of linear axis calculation errors on the basis of mark point position tracking is solved, nonlinear optimization of the rotary table rotating shaft is achieved, and technical support is provided for follow-up rotary splicing and all-topography measurement of blade point clouds.

The invention relates to the technical field of mechanical position servo control, and solves the problem of seeding depth fluctuation caused by position response lag and linear compensation failure of a traditional profiling mechanism. The method comprises the following steps: acquiring curvature characteristics of a front terrain through a terrain detection sensor, and predicting vertical displacement offset of a ground contact point by combining structural parameters and speed of an execution mechanism; generating a drive actuator feed-forward position instruction based on the offset and a preset depth target value; a cutting edge load disturbance value is collected in real time, and output thrust (hard soil area nonlinear thrust increasing / soft soil area stepped thrust decreasing) is corrected in a graded mode according to the discrete disturbance gradient; and the position of the actuator is dynamically adjusted by combining ditching depth feedback. Through double closed-loop control of terrain-position feedforward and resistance-position feedback, independent pre-judgment and accurate position tracking of the mobile platform on the surface micro-terrain are realized, so that position output is consistent with a position target value.

The invention relates to a multi-unmanned aerial vehicle formation fault-tolerant control method based on an extended state observer. The method comprises the following steps: firstly, establishing a dynamic model of a multi-unmanned aerial vehicle formation; a multi-unmanned aerial vehicle formation communication topological structure is constructed according to the actual demand of a formation task, and information interaction among multiple unmanned aerial vehicles is realized based on a piloting-following method architecture and a distributed control method; establishing a global position tracking error and a speed tracking error by using the states of the adjacent unmanned aerial vehicles; introducing an extended state observer to estimate the unknown state of the formation system in real time; and a sliding-mode adaptive fault-tolerant controller is designed to effectively deal with the influence of actuator faults, system uncertainty and unknown external disturbance on formation performance, and stable control of the multi-unmanned aerial vehicle formation system is realized. According to the method, under the condition that a single unmanned aerial vehicle or multiple unmanned aerial vehicles break down, reliable transmission of task information and effective keeping of the formation can still be guaranteed, and the method has high system robustness and environment adaptability and is suitable for complex flight task scenes.

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 provides a four-rotor unmanned aerial vehicle visual navigation control method and system suitable for a complex low-altitude environment, and is applied to the field of data processing application. According to the method, a quadrotor unmanned aerial vehicle is taken as an object, and flight-related basic information and environment data of the quadrotor unmanned aerial vehicle are acquired; processing the basic information to establish a flight control basic model, processing environment data and basic model information, establishing a state estimation system, using a depth camera to acquire and process visual information, and combining visual SLAM to realize pose estimation and positioning mapping to obtain environment perception and positioning mapping information; processing positioning mapping and basic model information, transmitting a signal to an embedded controller to control a steering engine, and fusing data to generate a control instruction and positioning tracking information; then, an upper computer monitoring system is constructed, and track planning and monitoring information is generated; and finally, integrating various types of information, and generating target implementation information of the visual navigation unmanned aerial vehicle control system.

The invention discloses an industrial robot demonstration data acquisition method, a control method and a robot. A demonstration data acquisition system comprises a handheld operation main body and a control processing unit, the handheld operation main body communicates with the control processing unit through the system communication interface; the handheld operation main body is used for an operator to execute demonstration operation, and different operation tools and acquisition units can be installed according to task requirements; the operation tool comprises a glue gun, a clamping jaw, a screw tightening device and the like; the acquisition unit comprises a force / torque sensor used for acquiring force / torque generated in the interaction process of a person and an object, an imaging device used for acquiring RGB-D information of an operation object and a surrounding environment, a position tracking system used for acquiring pose information of the handheld operation main body in a three-dimensional space, and an acceleration used for acquiring the operation process. And an inertial measurement unit for measuring angular velocity and attitude change information. According to the invention, the integrity, accuracy and semantic expression ability of industrial robot data acquisition can be 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 relates to the field of virtual reality, and discloses a multi-user virtual reality experience system, comprising a real-time positioning system; the real-time positioning system is used for capturing space coordinates and action postures of wearing equipment of a plurality of users, and realizing synchronous response of a virtual character and a real action in real time according to action information and position tracking information of each user; the real-time positioning system is also used for driving the virtual role of each corresponding user to move in the virtual scene; a multi-modal environment simulation component; the multi-mode environment simulation assembly is used for simulating various physical environment changes in a virtual scene; a space base; the space construction assembly dynamically adjusts a space topological structure through an electric sliding rail system to restore movement and interaction of a user in a virtual environment in a real environment; the scene generation system generates a virtual scene matched with the user position, the environment and the wall layout in real time. The method has the following effect: the technical problem of large space mapping error in multi-user collaborative interaction is solved.

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 provides a finite time position tracking control method of a magnetic suspension system with output constraint, which comprises the following steps of: establishing a mathematical model of the magnetic suspension system, determining an error system, and obtaining upper and lower bounds of suspension air gap constraint and system state information; designing a fractional obstacle Lyapunov function by considering upper and lower bounds of suspension air gap constraint, and solving partial derivative to obtain a constraint processing mechanism function; designing a continuous finite time state feedback constraint controller by using system state information based on a constraint processing mechanism function by applying a finite time control technology and a homogeneous system theory; and based on the constraint processing mechanism function, when the system speed state information cannot be measured, designing a non-smooth filter, and designing a finite time output feedback controller by using the filter output information and the system output information. Unified finite time control of the magnetic suspension system under symmetric / asymmetric suspension gap constraint is realized, and the method has high tracking precision, strong anti-interference robustness and engineering practicability.

The invention provides a high-precision high-robustness PMLSM position tracking control method and system, and relates to the technical field of numerical control. Comprising a DSP processor, a detection circuit, a Hall sensor, a linear grating ruler, a Fault signal acquisition circuit, a reset circuit, an IPM protection isolation drive circuit, an IPM inverter circuit, a JTAG circuit, a crystal oscillator circuit, a level conversion circuit, an upper computer and a permanent magnet linear synchronous motor. Firstly, a LuGre model based on an improved Stribeck effect function is designed, then a PMLSM position tracking controller is designed, robust simple adaptive control is utilized to solve the problem of influence of uncertainty on system tracking precision, a command generation tracker is utilized to calculate parameters of the robust simple adaptive controller through model difference, and the position tracking precision of the system is improved. The robust simple adaptive control method based on the command generation tracker is adopted, so that the uncertainty factors of the system can be more effectively inhibited, the output error is reduced, and the position tracking precision is improved.

The invention discloses a hydraulic system intelligent control method considering full-state performance constraints, and the method fuses a radial basis function neural network real-time learning technology, innovatively introduces full-state preset performance function transformation, and designs a nonlinear controller considering the full-state performance constraints. Aiming at the problem of position tracking control of the hydraulic system, the method can ensure that the full-state transient performance and the steady-state performance of the hydraulic system are converged to a preset performance index range, ensures safe and reliable operation of the hydraulic system, and can learn the unknown dynamic state of the system in real time by using the radial basis function neural network to realize high-precision motion control performance. And the problem of differential explosion in traditional backstepping control of the hydraulic system can be avoided, and the influence of measurement noise on control precision is reduced.

The invention discloses a cold-chain logistics remote monitoring system and method based on the Internet of Things. The system comprises a sensing layer, an edge computing gateway and a cloud platform. The sensing layer is provided with a multi-dimensional sensor group which at least comprises a high-precision temperature and humidity sensor, a vibration sensor, an inclination sensor, a door magnetic sensor, an electronic lock and a position tracking module and is used for collecting environment, equipment and position information in real time. And the edge computing gateway performs format conversion, exception filtering and validity verification on the original data, and triggers a local response operation according to a preset rule. The preset rules comprise data verification, sensor diagnosis, threshold linkage, data supplementary transmission and a real-time response function. The cloud platform integrates early warning grading, closed-loop management, data storage and prediction analysis functions, and adjusts parameters or early warning risks in advance based on a modeling result. The system realizes intelligent monitoring and quick response of the whole process of the cold chain, and is suitable for the fields of food, biological agents, medicines and the like with strict temperature control requirements.

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.

The invention belongs to the technical field of textile mechanical arm impedance control, and particularly discloses an uncertain textile mechanical arm system fixed time impedance control method and system based on a disturbance observer. The fixed time interference observer designed by the method can effectively estimate and compensate external unknown nonlinear interference signals. Besides, an anti-saturation auxiliary system is further designed to solve the controller design problem caused by input saturation, when the control input does not have a saturation phenomenon, the state of the anti-saturation system is converged to zero, and the influence of the anti-saturation system on the control performance is reduced. In addition, instruction filtering and fuzzy self-adaption technologies are further introduced in the method, and the problems of calculation explosion in backstepping design and unmodeled dynamics and unknown friction existing in a mechanical arm system are solved. According to the method, the influence caused by external unknown nonlinear interference and saturation can be effectively overcome, it is guaranteed that all signals in a closed-loop system are converged within fixed time, and meanwhile a good position tracking effect is achieved.

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.