141 results about "Self motion" patented technology

A method of providing user somatosensory experience for “thrill seeking jumping like activities” (for purposes such as but not limited to training, game, or entertainment) involves:

Providing means for changing elevation of user that rapid enough for user to feel the difference of gravity feeling or “G force” with feelings of user under stationary situation, wherein the facing direction relative to the direction of movement and/or pose of the user can be changed, and the speed of elevation change provide by the means can be controlled/adjusted;

While the user using the elevation changing means, using a computer-implemented virtual reality system to present to the user a virtual reality environment. The view point and/or direction changes in the virtual reality environment are consistent with the position changes and/or self motion of the user in the elevation changing means;

So that the user experiences the virtual reality environment under a “variable gravity” condition or “G-Force” provided by the elevation changing means in a synchronized way, such “variable gravity” condition enhancing experience of the virtual reality environment. It is also possible for users to interact with the system by means such as game controller or gesture and etc, so that the output of the elevation means could be affected/changed by user input.

An autonomous handheld device comprises a drawing module having drawing capabilities for electronically editing a drawing and a motion sensing feature for sensing self-motion. The autonomous handheld device is configured to associate the motion sensing feature with the drawing capability thereby to allow sensed motion of the motion sensing feature to modify the electronic editing.

In the control method for mobile parallel manipulators, kinematic singularity and redundancy are solved through joint limits avoidance and manipulability criteria. By taking the MPM self-motion into consideration due to its redundancy, the inverse kinematic is derived using a hybrid neuro-fuzzy system, such as NeFIK. The discrete augmented Lagrangian (AL) technique is used to solve the highly nonlinear constrained multi-objective optimal control problem. An adaptive neuro-fuzzy inference system (ANFIS)-based structure (based on the result of the AL solution) is used to solve the online trajectory planning of the MPM.

The invention relates to an electronic control method of a variable gas inlet and exhaust system of a compression ignition engine, comprising a pressurization system, a waste gas recycle system, a gas intake valve late-closing mechanism and an electronic control system. The pressurization system adopts a two-level turbocharger; the waste gas recycle system comprises a high-pressure part and a low-pressure part; the gas intake late-closing mechanism is a gas intake valve push rod which is capable of adjusting the telescopic length in a self-adapting hydraulic control mode based on self motion position, and the gas intake late-closing mechanism consists of a hydraulic push rod assembly and a hydraulic auxiliary mechanism, wherein the hydraulic push rod assembly is fixed at the upper end of an internal-combustion engine cylinder head; a hydraulic oil pump is fixed on an internal-combustion engine body; an electronic control system is controlled by an electronic control unit; and the electronic control unit judges and controls the density of intake gas in real time through a pressure sensor, a temperature sensor, a rotate speed sensor, and the like in the system. The invention can control the density of intake gas in real time, improves the performance of the internal-combustion engine, greatly reduces discharged harmful product and enhances the reliability.

An object detection apparatus and method capable of detecting objects based on visual images captured by a self-moving unit. A sequential images output section makes a train of a first input image and a second input image sequential to the first input image and outputs said train. A local area image processor calculates local flows based on said first input image and said second input image. An inertia information acquiring section measures self-motion of the unit to calculate inertia information thereof. A global area image processor uses said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image and creates a predictive image of said second input image. The global area image processor then calculates differential image data, which is a difference between said predictive image and said second input image. A figure-ground segregation section uses said differential image data to refine said local flows and compares the refined local flows with a predetermined threshold value to extract a figure candidate area, which is the area having a high probability of an object existing in the input image. An object presence/absence determination section determines presence/absence of objects in said figure candidate area.

The invention provides a target positioning method based on a RGBD, and the main steps comprise hardware environment arrangement and device initialization; the RGBD sensor is adopted to acquire depth data and color image of a mobile robot in current frame, a depth image is segmented based on the depth data to obtain a target region in the depth image, the target image is set as SearchRect_depth and is mapped to the color image, and the corresponding color image part is recorded as SearchRectROI; in the color image SearchRectROI, a CAMSHIFT method is utilized to calculate a position (x, y) of a target in the color image; the depth data is combined to calculate world coordinates (xw, yw, zw) of the current target; the world coordinates (xw, yw, zw) of the current target is transmitted to the mobile robot through a communication system, and the robot can control its self motion. According to the invention, the method has advantage of fast calculation speed, accurate positioning, strong adaptability for environment change and good expandability for different targets.

The invention provides a neural network reinforcement learning control method of an autonomous underwater robot. The neural network reinforcement learning control method of the autonomous underwater robot comprises the steps that current pose information of an autonomous underwater vehicle (AUV) is obtained; quantity of a state is calculated, the state is input into a reinforcement learning neuralnetwork to calculate a Q value in a forward propagation mode, and parameters of a controller are calculated by selecting an action A; the control parameters and control deviation are input into the controller, and control output is calculated; the autonomous robot performs thrust allocation according to executing mechanism arrangement; and a reward value is calculated through control response, reinforcement learning iteration is carried out, and reinforcement learning neural network parameters are updated. According to the neural network reinforcement learning control method of the autonomousunderwater robot, a reinforcement learning thought and a traditional control method are combined, so that the AUV judges the self motion performance in navigation, the self controller performance isadjusted online according to experiences generated in the motion, a complex environment is adapted faster through self-learning, and thus, better control precision and control stability are obtained.

A method for optimizing inverse kinematic humanoid-arm configuration of a 7-freedom-degree humanoid mechanical arm under a multi-constraint condition belongs to the field of mechanical arm control. By the method, the problems the usable arm configuration of the humanoid mechanical arm cannot be completely described, the tail end reachable positions are reduced, motion is susceptible to jumping change and the humanoid arm configuration meeting the multi-constraint condition cannot be obtained in the existing position-based inverse kinematic method are solved. The method comprises the steps: calculating all the useable arm configuration sets avoiding joint limiting and collusion under the given track; performing operating ellipsoid optimization on all the useable arm configuration sets to obtain humanoid arm configuration; introducing transition between a mechanical arm self-motion processing unusable optimizing arm angle and an arm angle area; and transforming a problem of searching optimized joints from a seven-dimensional joint space constrained by six equations and a plurality of inequations into a one-dimensional optimizing problem. The method is used for optimizing the humanoid arm configuration of the 7-freedom-degree humanoid mechanical arm.

The invention discloses a method, a device and a system for play switching of multimedia resources. In the method, control equipment determines a play switching mode according to a self-motion state; when the play switching mode is that the control equipment is switched to controlled equipment, the control equipment indicates a multimedia resource playing currently and a current playing position thereof to the controlled equipment and stops the current playing, and the controlled equipment starts to continuing playing the multimedia resource from the current playing position; and when the play switching mode is that the controlled equipment is switched to the control equipment, the control equipment acquires the multimedia resource currently played by the controlled equipment and the current playing position thereof and notifies the controlled equipment to stop the current playing, and the control equipment starts to continue playing the multimedia resources from the current playing position. The invention can simplify the operation on triggering the play switching and ensure that the controlled equipment continues to play the multimedia resources from the playing position during switching.

The invention relates to a method for controlling and compensating an ink dropping point in an inkjet printer. The method at least comprises: a step 101, in which according to the moving speed of a word car, the jetting speed of a nozzle in the self-motion of ink drops and the distance between the nozzle and a printing medium, a graph 2 is referred and Newton's laws of kinematics is used as basis to list an equation set of horizontal projectile motion; the time ts needed for early injection is calculated; a step 102, in which according to ts, sampling time T of Kalman filtering wave is determined; according to the moving speed of a uniform speed section of the word car and the ts in the step 101, a speed curve of the word car is divided so that the sampling time of the Kalman filtering wave is more than the time of early injection; a step 103, in which according to the determined initial value of the Kalman filtering wave and the observed displacement value of the word car, one-step prediction is carried out to obtain the state variable of next time; and a step 104, in which the predicted speed value in the step 103 is utilized to carry out calculation of relevant controlled quantity; and the step returned to the step 103 for iterative prediction. The method can compensate for errors of the ink dropping point, has good precision of prediction, broadens the printing area and improves printing efficiency.

The invention provides a combined track type automatic inspection robot comprising an operation track, a robot body working on the operation track, and a plurality of detection sensors embarked on the robot body; the operation track comprises an upper track and a lower track; the robot body comprises a track dolly, a first synchronous belt linear module, and a second synchronous belt linear module; the first synchronous belt linear module is arranged between the upper track and the lower track; the second synchronous belt linear module is arranged on the first synchronous belt linear module and vertical to the first synchronous belt linear module; the detection sensors are respectively embarked on the first and second synchronous belt linear modules. The combined track type automatic inspection robot is accurate in motion direction, wide in detection scope, and can send self motion information and monitoring information of detected devices to a PC terminal in real time.

The invention discloses a mowing robot vision obstacle avoidance method. The method comprises steps: the motion parameters of the mowing robot itself are acquired; the front image information of the mowing robot is acquired; according to the acquired image information, the motion characteristic parameters of an obstacle in the image information are acquired; the distance characteristic parametersbetween the mowing robot and the obstacle are acquired; and according to the motion characteristic parameters, the self motion parameters and the distance characteristic parameters, whether the mowingrobot needs to perform avoidance is judged, and if not, the original driving path is executed. The invention also discloses a mowing robot and a readable storage medium. Thus, the problem that the current mowing robot can not perform selective avoidance is solved.

The method includes steps: (1) network side sets up threshold value of motion speed for mobile station, and informs the threshold value to the mobile station; (2) mobile station monitors and determines whether self motion speed reaches to the threshold value; when motion speed reaches to the threshold value, mobile station makes report to network side; (3) after receiving the said report, mobile station carries out switching between cells in different layers. Based on motion speed, the method makes mobile station switch between cells in different layers.

The invention belongs to optical technical field and specifically relates to a method for fast generating an optical starry sky background. The method comprises following steps including: a step 1, modeling a sky background in which star catalogue data of fixed stars is used as a source, by means of transformation of time and a coordinate system and correction of the apparent positions of heavenly bodies, starry sky background models at any observation point any time are constructed and a calculating result is inputted into a base in order to be used for simulation, wherein the calculating result comprises star names, star magnitudes, right ascension, and declination; and a step 2, simulating the established starry sky background model. The step 1 uses Hipparcos Catalogue as a data source of a visible light band. According to the selected Hipparcos Catalogue, the apparent positions of the fixed stars are calculated. Considered factors comprise annual parallax and proper motion caused by revolution of the earth, aberration caused by the self motion of an observer, annual aberration, precession, and nutation caused by earth revolution about the sun. The speed for generating a starry sky background by using the method may reach 50Hz.

The invention provides a self-motion angle calculating method facing an SRS anthropomorphic arm. The method comprises the following steps of establishing a mathematical model of the SRS configuration redundancy mechanical arm and establishing a coordinate system of shoulder joints, elbow joints and wrist joints according to the structural characteristics, calculating the self-motion angle when the pose of the tool coordinate system is given by the self-motion angle in the current state through the PID algorithm, calculating the joint space motion angle by the self-motion angle in the second step and the tool coordinate system pose and transmitting the result obtained in the third step to a lower computer controller to drive the mechanical arm and realize the motion of the given pose of the tool coordinate system. An inverse kinematics algorithm of the redundancy mechanical arm is given, compared with the traditional algorithm, the algorithm is simple, the calculating speed is fast, the analytical solution can be obtained, the solving difficulty is reduced, and the joint motion is optimized in a certain extent.

The invention discloses a wireless transmission recording pen and a recording system with application scene recognition control; the wireless transmission recording pen, through detecting a self motion state and surrounding noise environment, and combing with a fuzzy recognition method, can intelligently judge the current application environment of the recording pen, thereby adaptively regulating a self working mode of the wireless transmission recording pen according to the current application environment and parameters such as electric quantity, memory and the like of the recording pen. The wireless transmission recording pen establishes a wireless transmission communication connection with an intelligent mobile terminal, and the intelligent mobile terminal establishes the wireless communication connection with a cloud server, thereby forming the recording system which can transmit audio data recorded by the recording pen to the intelligent mobile terminal and the cloud server in real time or in non-real time. The wireless transmission recording pen and the recording system disclosed by the invention support control command interaction among the wireless transmission recording pen, the intelligent mobile terminal and the cloud server, and further can realize the control on other devices except the recording system by recognizing a voice command; the functions of the traditional recording system can be expanded, the experience of a user is improved, and great convenience is brought to the user.

The invention provides an unmanned ship false target detection method based on a three-dimensional laser radar. The method is characterized by taking an obstacle target, which does not influence sailing of an unmanned ship, as a false target, and comprises the following steps: mounting the three-dimensional laser radar, a differential GNSS receiver and an attitude angle sensor onto the unmanned ship; carrying out pretreatment on the three-dimensional laser radar data, and carrying out laser point cloud correction based on unmanned ship real-time attitude angle data obtained by the attitude angle sensor and real-time self motion status data obtained by the differential GNSS receiver; and carrying out false target detection through the three-dimensional laser radar, which comprises the substeps of carrying out grid segmentation to obtain an obstacle target, carrying out multiple-feature extraction and with each feature serving as an evidence to determine the target type, establishing a target type identification framework, and judging the false target according to credibility of each focal element. The method, by utilizing the high-reliability three-dimensional laser radar, takes andconsiders the three-dimensional laser radar false target as the detection target separately, so that the unmanned ship is not influenced by the false target when avoiding the obstacle, and accuracy of target detection is improved.

The invention provides a comprehensive caving working face along-rail face-end support, mainly comprising a face-end support(4), 3 to 6 groups of forepolings and an anchor support(1), wherein the face-end support(4) is the chock-shield support; each group of forepoling comprises two racks, that is, formed by the inner and the outer side racks arranged on both sides of the along-rail and the rack adjusting lifting jack(11) arranged between top beams of the inner and the outer side racks; the inner and the outer side racks of the forepolings both comprise articulated roof bars, articulated bases, upright columns, four-bar linkage mechanisms and front beams, etc. The anchor support, which is arranged in front of the forepolings, has the structure of integrated base and split top beam; the upright columns are the four-upright columns which are sleeved by elastic rings and rigid guide holders. The anchor support, the forepolings and the face-end support are orderly connected by pull-move lifting jacks arranged between bases of the anchor support, the forepolings and the face-end support. The invention has the advantages of realizing the advance support of the along-rail face end in self-motion mode, lowering labor intensity, improving working efficiency and safety; the stepping-type forward lead of the invention makes relative small area of empty support and little roof convergence, thereby the invention is particularly suitable for the big deformation of the gob-side entry driving rail sublevel.

The invention discloses a distributed multiple-mobile-node cooperative positioning system which comprises a plurality of mobile nodes, wherein each mobile node comprises a self-motion estimation module, a self fixed point positioning estimation module, an inter ranging module, a communication module and a positioning and calculation module; the self-motion estimation module is responsible for monitoring the change of location information of the node between two time points; the self fixed point positioning estimation module is responsible for directly measuring the current position of the mobile node through an external positioning system; the inter ranging module is responsible for measuring the position information between the mobile node and another mobile node; the communication module is responsible for communication between the mobile node and the adjacent mobile node; the positioning and calculation module is responsible for combining all the obtained information and calculating the position of the mobile node. The distributed multiple-mobile-node cooperative positioning system has the advantages that the system architecture is generalized, various sensors and positioning instruments can be integrated into the system, the dependence on the scene is very small, the system is distributed, and the calculation complexity and the memory utilization are controllable.

The invention provides a robot positioning method. In the invention, by obtaining motion information, the current position and posture of a robot can be estimated according to the motion information,a mileometer and a gyroscope provide motion constraint, the current position and posture of the robot can be optimized by using the motion constraint, and the optimal locus of the robot can be obtained. The invention relates to a robot positioning apparatus. The invention also relates to electronic equipment and a readable storage medium, which can be used for executing the robot positioning method. The external environment can be sensed through a binocular visual sensor, the mileometer and the gyroscope can sense the self motion of the robot, robustness of a visual positioning method is enhanced, better motion constraint is provided, positioning cost is low, and the accumulative error of position and posture estimation can be continuously corrected during long-term operation of the robot,so that the problems that under similar or sparse environment characteristic or complex scenes of many dynamic objects in environment, the mismatching causes calculating error, and the positioning failure is generated can be solved.

The invention discloses a self-motion robot which comprises a self-motion module and at least one of multiple interchangeable working modules connected to the self-motion module, wherein the self-motion module comprises a detection unit, and the detection unit is used to detect each working module and send a detection result to a control unit; the control unit determines whether the to-be-connected working module is detected according to the detection result; and when the to-be-connected working module is detected, the control unit controls a first walking unit to walk, and thus the self-motion module can be connected to the to-be-connected working module. Through setting of the self-motion module and the interchangeable working module and automatic search and connection of the to-be-connected working module, the self-motion robot can execute various types of work tasks in a working area without human guard. The robot has the advantages that abundant functions can be implemented; flexibility is high; and operations are simple.