424 results about "Spatial motion" patented technology

Disclosed are an image encoding and decoding method and an image decoding device for selecting a prediction candidate from reference blocks of a reference picture, which includes a current picture, and using the selected prediction candidate so as to derive motion information on a current block during image encoding and decoding. The image encoding and decoding method includes the steps of: configuring a spatial motion vector candidate; determining whether the reference picture of the current block is present within the current picture; and adding a spatial motion vector candidate in other block of the current picture encoded before the current block, when the reference picture of the current block is present within the current picture.

The invention relates to a biomimetic quadruped robot provided with head and tail balance adjustment devices. The biomimetic quadruped robot comprises a trunk, a head balance adjustment device, a tail balance adjustment device and four robot legs, wherein the four robot legs are distributed under the robot trunk, and the head balance adjustment device and the tail balance adjustment device are located on a trunk front portion cross beam and a trunk back portion cross beam. The biomimetic quadruped robot uses a digital steering engine as a driver, and the steering engine can achieve speed and position control and feed back speed, positions, force moment and other information and facilitates on-line observation of a motion state of the robot. Each leg is provided with three driving freedom degrees and one driven extension freedom degree, three-dimensional space motion can be achieved, and the robot can have strong adaptive capacity to complex environments and obstacle crossing ability. The centre-of-gravity position of the robot can be timely adjusted when the robot with the head and tail balance adjustment devices walks in a static state, and the stability of the robot is improved. When the robot is in a unstable state, namely turns over, and reverse rotation force moment is produced by rapidly rotating the head and the tail to prevent the robot from turning over and being restored to be in a balanced state. The biomimetic quadruped robot provided with the head and tail balance adjustment devices is suitable for the multiple fields of military affairs civil cargo transportation, anti-terrorist devices, filed probing, planetary exploration and the like under complex terrain environments.

The invention relates to a genetic-algorithm-based trajectory planning optimization method for a mobile mechanical arm. According to the technical scheme, the method comprises the following steps of first establishing a forward kinematic model and an inverse kinematic model of a multi-degree-of-freedom mobile mechanical arm; then fitting a joint trajectory by adopting a composite curve of a quartic polynomial mathematical model and a quintic polynomial mathematical model, and calculating solutions of the corresponding mathematical models according to a linear constraint equation; next selecting a trajectory optimization target according to the principles of shortest motion time, minimum spatial motion distance and less than or equal to maximum set joint torque of the mobile mechanical arm; and finally globally optimizing the optimization target by utilizing a genetic algorithm to obtain an optimal trajectory curve of an end actuator of the mechanical arm. According to the method, the trajectory planning efficiency and the tracking accuracy of the mechanical arm are improved, and the problems of real-time trajectory planning of the mobile mechanical arm and trajectory planning optimization and control of the mechanical arm in an uncertain environment are also solved; and the trajectory planning optimization method for the mobile mechanical arm is effective.

The present invention relates to an image reconstruction device (12) for an X-ray apparatus and a method for local 3D reconstruction of an object area of an examination object (7) from 2D image data of several 2D X-ray images of the examination object (7) registered in chronological order with different known projection geometries using the X-ray apparatus. With the method a location in the object area under consideration is selected from one of the 2D X-ray images. The positions of the selected location are determined in at least some of the 2D X-ray images and a spatial motion of the selected location between the registrations of the 2D X-ray images is calculated from the positions obtained, taking the known projection geometries into consideration. The calculated motion is then annulled by modifying the 2D image data in the 2D X-ray images and a 3D image dataset of at least the object area is reconstructed from the modified 2D image data. The method and the image reconstruction device enable a 3D image of a moving locally bounded object area to be reconstructed in a simple way without motion artifacts.

Provided is a method that determines a reference picture index and a motion vector of a current prediction unit, derives spatial motion vector candidates using valid motion vectors of neighboring prediction units each of which exists at a predetermined position, derives temporal motion vector candidate of the current prediction unit, determines one of the spatial and temporal motions vector candidates as a motion vector predictor, calculates a motion vector difference between the motion vector of the current prediction unit and the motion vector predictor and encodes the motion vector difference and the reference picture index.Therefore, a motion vector is effectively predicted not only when motion of image is ordinary but also when the motion of image is little or steady or the image to be encoded is a background image.

The invention discloses a synchronous powder feeding space laser machining and three-dimensional forming method and device. A three-dimensional solid is divided into a plurality of forming units according to the form simplification and nozzle fusion covering scanning accessibility principle, each forming unit is divided into a plurality of laminates, a mode for single-beam gas-carried powder feeding in a hollow annular laser is adopted, a mechanical arm is controlled to drive an in-laser powder feeding nozzle to move for scanning in filling areas and boundary areas of the laminates according to a preset trajectory, and forming fusion covering and stacking forming of the laminates are sequentially completed, so that forming fusion covering and stacking forming of the whole unit are completed. The device comprises the in-laser powder feeding nozzle, a laser generator, the mechanical arm, a control module, a transmission optical fiber, a gas-carried powder feeder and a gas source. The control module is connected with the mechanical arm, the laser generator and the gas-carried powder feeder. The in-laser powder feeding nozzle is fixed to the front end of the mechanical arm and can make spatial motion along with the mechanical arm. Through the method and device, fusion covering and three-dimensional stacking forming on any surface of the space can be achieved, and supportless three-dimensional forming of parts with complex structures such as a hanging structure and a cavity can be achieved.

The embodiment of the invention provides a mechanical arm tail end camera hand-eye calibration method and system, and the method comprises the steps: obtaining a calibration image collected by a calibration area when a mechanical arm performs translation and rotation for multiple times at the same time; Obtaining a hand-eye calibration matrix based on the mechanical arm pose information and the calibration image external parameter information; And calibrating the hand-eye relationship of the tail end of the mechanical arm by using the hand-eye calibration matrix. According to the scheme, the calibration of the camera is completed by utilizing spatial motion and image acquisition at a plurality of different positions; According to the principle that the hand-eye relationship is constrainedby multiple spatial relative positions, only the positions of at least three spatial positions relative to the base and external parameters of the camera need to be obtained in the calibration process, and the calibration process can be universal for different mechanical arm models, the number of freedom degrees and camera models; According to the scheme, translation and rotation matrix transformation is utilized, the mechanical arm tail end coordinates are projected to the pixel coordinates, and calibration of the hand-eye relation between the camera and the mechanical arm tail end when the mechanical arm tail end has rotation and translation movement at the same time is obtained.

The invention discloses a parallel twelve-freedom loading device, used in spatial loading test and fatigue test on aviation material, comprising a Stewart active parallel six-freedom loading device, a SPS six-dimension force / torque sensor and a SPS inactive parallel six-freedom adjuster, wherein the Stewart active parallel six-freedom loading device simulates the spatial motion, the active and inactive platforms of inactive parallel six-freedom adjuster follows to operate and draw or compress the bidirectional isomorphism spring device, to test wide force dynamical load, to supply high accuracy and better reliability to the six-freedom wide force dynamic synchronous loading system, to be used in spatial-ground semi-physical simulation test or the like.

A controllable mechanism type fine-adjusting welding robot with multiple degrees of spatial freedom comprises three controllable fine-adjusting four-rod mechanism closed-loop subchains connected in parallel and an execution mechanism subchain in series connection. The four-rod mechanism closed-loop subchains can control a first connecting rod to move in the plane where the four-rod mechanism closed-loop subchains are located, and the spatial movement of a platform can be achieved through the movement of parallel connecting rods and a machine body. The spatial movement of a tail end executor can be controlled through the resultant movement of the three closed-loop subchains and the machine body, the movement inertia of the tail end executor is small, dynamics performance is good, reliability is high, the mechanism has the advantages of being compact in structure and easy to control, the connecting rods are used for control, rod pieces can be made into light rods, the work space of the mechanism is large, the gravity of the mechanism moves backwards, the mechanism is kept balanced, and the mechanism can act on more occasions.

A spatial motion recognition system capable of recognizing motions in three-dimensional space as handwritings on a two-dimensional plane is provided. The system recognizes motions of a system body occurring in space based on position change information of the system body that is detected in a motion detection unit, displays the recognized motion information on a screen, or transmits to an external device the recognized motion information through a transmission / reception unit or a control signal corresponding to the motion information. A control unit produces a virtual handwriting plane having the shortest distances with respect to respective positions in predetermined time intervals based on three-dimensional track information obtained through tracking, and projects the respective positions in the predetermined time intervals onto the virtual handwriting plane to recover the motions in space.

The invention discloses a quick motion estimation method of multi-view video coding, comprising the following steps of: carrying out spatial median filtering on a motion vector field of coded frames of adjacent views; calculating an overall parallax vector between the current view and the adjacent view by using a parallax vector field of the coded frame of the current view; selecting a reference motion vector from the filtered motion vector field by using the overall parallax vector; selecting a searching center of motion estimation by using the reference motion vector and the spatial motion vector of adjacent estimated blocks; selecting the searching range of the motion estimation by using the deviation degree of the searching center and the reference motion vector; and carrying out the final motion searching in the searching range, selecting the final motion vector of the current block, and finishing the selection of the final motion vectors of all blocks by using the same method and finishing the motion estimation of the multi-view video coding. The method is suitable for the motion estimation of the multi-view video encoding and can effectively reduce the calculation amount of the motion estimation and synchronously maintain the coding rate distortion performance.

The invention discloses a device for measuring spatial motion with six degrees of freedom and a dynamic measuring method. A fixed platform (1) of the measuring device is provided with six Hooke hinges (2), and a moveable platform (10) is arranged above the fixed platform (1). The moveable platform (10) is provided with six ball hinges (9) which are respectively connected with the corresponding six Hooke hinges (2) through branched chains. A revolute joint (6) of each branched chain is provided with a spiral coder (5). The dynamic measuring method comprises the steps of establishing a coordinate system, measuring an angle-time curve of relative motion of upper and lower support rods of the revolute joint (6) by the spiral coders (5), so as to obtain the law of motion with the spatial six degrees of freedom of an object measured by a positive solution of the angle-time curve of the spiral coder (5) and the like. The device and the method not only measure the motion with the six degrees of freedom simultaneously, but also ensures the accuracy of measuring results, and have the characteristics of being good in flexible, strong in adaptation, wide in measuring range, high in accuracy and the like.

Embodiments of the invention provide a terminal locating method and apparatus. The method comprises the steps of obtaining multiple image frames changed with time through a camera of a terminal, and obtaining multiple pieces of IMU data changed with time through an IMU (Inertial Measurement Unit) sensor, wherein a collection frequency of collecting the IMU data by the IMU sensor is greater than acollection frequency of collecting the image frames by the camera; integrating the IMU data corresponding to the image frames to corresponding image frame data through pre-integration to obtain attitude conversion data of the terminal among the image frames; and according to the attitude conversion data of the terminal, determining a spatial motion track of the terminal. The method provided by theembodiment of the invention can realize accurate locating of a terminal system.

The invention discloses a rotor bearing system accident comprehensive information analysis method and a device thereof, wherein one section of a rotor is radial and vertically mounted with two sensors X, Y, the axle end of the rotor is axially mounted with a sensor Z, the radial and axial information of the rotor motion transmitted by the sensors are fused to analyze the motion state of the rotor bearing system, the axis center line position and the axis center track of the rotor in the X-Y, Y-Z and Z-X planes of a dimension space are described and displayed visibly to completely and accurately describe the spatial motion information of the rotor, and the information contains the unique diagnosis information as dimension space eccentricity, an attitude angle, a precession direction and vibration vector direction and the like, thereby improving the ability for visually recognizing the accidents of a rotary machine.

A method and a system for detecting the spatial movement state of moving objects, e.g., vehicles. Due to a, for example, non-cartesian arrangement of four rotational rate sensors and / or acceleration sensors, it is also possible to obtain a redundant signal in addition to the desired useful signal indicating the spatial movement state, e.g., the rotational movement and / or acceleration in space; if this redundant signal is large enough in comparison with the rotational rate actually applied, it may be used for detection of the size of the error and the defective sensor. The four sensors are mounted, for example, on a sensor platform forming a three-sided truncated pyramid so that all possible three-way combinations of sensors are mutually linearly independent. The accuracy about the vertical axis is defined by the angle of inclination of the side faces of the truncated pyramid.

A controllable multi-degree of freedom welding robot comprises four controllable four-link-mechanism closed-loop executing mechanism subchains which are in parallel connection and an executing main chain in series connection. A main chain connecting rod can be controlled by the controllable four-link-mechanism closed-loop executing mechanism subchain to move within the surface with the controllable four-link-mechanism closed-loop executing mechanism subchains. The spatial motion of a moving platform can be achieved by the motion of a first connecting rod and a body. According to this arrangement, the spatial motion of an end effector can be achieved, motion inertia is small, dynamics performance is good and reliability is high. The controllable multi-degree of freedom welding robot has the advantages of being compact in structure and easy to control. The rods can be made as light rods, work spaces for mechanisms are large, gravity centers of the mechanisms are moved backwards to keep balance. The controllable multi-degree of freedom welding robot can be widely used.

The present invention belongs to the field of precise instrument manufacture and measurement technology, and is especially self-separation method and device for spatial error of super-precise revolution reference. The method of Z-direction section-by-section separation of super-precise revolution reference spatial motion error can meet the requirement of high precision cylindricity instrument to reduce spatial revolution error. The self-separation device for spatial error of super-precise revolution reference is developed by means of integrating roundness error separating system and cylindricity instrument revolution main shaft system. The bench revolving single-transposition small-angle error separation method is adopted in realizing the section-by-section separation of spatial revolution motion error of cylindricity instrument revolution main shaft, so as to reach the aim of reducing the effect of the spatial revolution motion error on measurement result.

The invention discloses a multi-target tracking method based on graph representation and matching. Compared with the prior art, the method has the advantage that the defect of incapability of successfully tracking due to frequent interactive shielding of targets and similar appearance features in a video tracking technology is overcome. The multi-target tracking method comprises the following steps: inputting a tracking video, and generating target-reliable short tracks in adjacent time windows; building a spatial motion model which takes a graph as a framework and an appearance model which takes color and local two-value difference as features for the formed target short tracks; calculating the appearance feature and spatial motion similarity among the tracks; realizing relevant tracking of a target by using a weighted two-value graph matching framework; repeating the steps continually to obtain a motion track at all moments of each target. Through adoption of the multi-target tracking method, the target tracking accuracy and efficiency in a complicated scene are increased, and the application degree of a track tracking technology in various scenes is increased. Accurate tracking of the target in a complicated environment is realized by means of online learning of the appearance model and the spatial motion model.

The invention discloses a near space moving target positioning method based on an unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicle target positioning. The method comprises the following steps: firstly, an infrared target detector loaded on the unmanned aerial vehicle is used for acquiring a target angle measurement value, in combination of an unmanned aerial vehicle navigation system, the position and the attitude information of the unmanned aerial vehicle are outputted, and the angle value of the connection line between the target and the unmanned aerial vehicle in an earth-rectangular coordinate system is calculated; then, according to the calculated angle value, the least-squares solution of the target in the earth-rectangular coordinate system is solved; and finally, the solved rectangular coordinates are converted to the longitude, the latitude and the height. The method can realize high-precision positioning of the near space target when a laser range finder or a radar can not be used normally, and can be applied to multi-unmanned aerial vehicle formation cooperative positioning.

Disclosed are an image encoding and decoding method and an image decoding device for selecting a prediction candidate from reference blocks of a reference picture, which includes a current picture, and using the selected prediction candidate so as to derive motion information on a current block during image encoding and decoding. The image encoding and decoding method comprises the steps of: configuring a spatial motion vector candidate; determining whether the reference picture of the current block exists within the current picture; and adding a spatial motion vector candidate in other blockof the current picture encoded prior to the current block, if a determination result in the determination step is yes.

The invention discloses a six-freedom-degree mechanical arm for an automatic charging pile of an electric vehicle and a control method of the six-freedom-degree mechanical arm for the automatic charging pile of the electric vehicle comprises a base plate rotating actuator, a rotating base plate, a big arm frontward inclination actuator, a middle arm inclination actuator, a forearm inclination actuator, a first support, a second support, a charging gun rotating actuator, a charging gun, a charging gun support and a charging gun pitching actuator. Spatial motion of the charging gun on an automatic charging arm is achieved through linkage control over the six-freedom-degree mechanical arm. A linear Hall sensor senses a magnetic field of a magnet at the center of a charged connector of the electric vehicle, simple locating is conducted, then a position sensitive detector PSD on the electric vehicle senses a laser emitted out by a laser collimation emitter, accurate locating is conducted, and finally the position of the charged connector of the electric vehicle is determined; and the charging gun is smoothly inserted into the charged connector of the electric vehicle.

The invention discloses a ship trajectory clustering analysis method based on an improved DBSCAN algorithm. The ship trajectory clustering analysis method comprises the following steps: S1, extractingeffective ship trajectory data from an AIS database; S2, carrying out trajectory similarity measurement by adopting a fusion distance MD, and obtaining a shortest super trajectory fused between trajectories; S3, calculating the length of the shortest super track by adopting the secondary time O (mn); S4, obtaining a fusion distance MD from the length of the track; S5, determining global parameters of the improved DBSCAN algorithm; S6, scanning the whole track segment data set through an improved DBSCAN algorithm to obtain a cluster set; and S7, for the obtained spatial motion mode, if a new track conforms to one of the ship operation modes, considering the track as a normal track. According to the ship trajectory clustering analysis method, the measurement precision is improved; and compared with a traditional DBSCAN algorithm, the time consumption is reduced while a multi-density data set can be well processed, and the robustness and adaptability are good, and tracks are correctly classified.

The embodiment of the invention discloses a method, a device and equipment for realizing an augmented reality scene. The method comprises the following steps: acquiring mobile sensing data of a targetobject acquired by a positioning device; determining spatial motion information of the target object in the target site area according to the mobile sensing data, and performing model updating on anobject model of the target object in the three-dimensional scene model corresponding to the target site area according to the spatial motion information; determining an object position of the object model after model updating in a target area, wherein the target area is an area determined from the three-dimensional scene model according to position information and view angle information of a display device in the target site area; And displaying the virtual information on the display device according to the object position. By adopting the embodiment of the invention, the display position of the virtual information does not need to be determined through a complex image analysis and recognition algorithm, the calculation is fast, and the implementation efficiency of the augmented reality scene is improved.

The invention discloses a multi-degree of freedom parallel mechanism type spot welding robot. A frame, a body, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod, a tenth connecting rod, an eleventh connecting rod, a twelfth connecting rod and an end effector are connected into four controlled four-link mechanism closed loop actuator subchains which are connected in parallel and an actuator main chain which is connected in series; the subchains control the connecting rods of the main chain to move in the plane in which the subchains are positioned; the spatial motion of a platform is realized through the movement of the first connecting rod and the body. According to the spot welding robot, the control is realized through resultant motion of the four closed loop subchains and the body, the spatial motion of the end effector is realized through the connection between the multiple connecting rods and the body, the effector is higher in flexibility, and the work space is larger than that of the conventional robot; moreover, the connecting rods with hinges can be made into light rods, so that the whole mechanism is higher in dynamic performance and easy to control.

A temporal motion vector predictor is includable, together with one or more spatial motion vector predictors, in a set of motion vector predictors for a block to encode of a current frame. A method of determining the temporal motion vector predictor comprises selecting as the temporal predictor one motion vector from among motion vectors in a reference block of a reference frame different from the current frame. The reference block is a block of the reference frame collocated with the block to encode or a block of the reference frame neighboring the collocated block. The selection is based on a diversity criterion for achieving diversity among the predictors of the set.This can reduce the motion vector memory requirements with no or no significant additional coding efficiency penalty. Alternatively, even if the motion vector memory is not reduced in size, coding efficiency improvements can be achieved.

The invention discloses a biological sample processing system which comprises a system base plate, a glass slide placing platform, a sample cell, a biological sample dropping device, a sample processing cavity body, a control system and a human-computer interface, wherein the biological sample dropping device comprises a space motion mechanism, a pipetting device and a glass slide taking and putting device, and the space motion mechanism is controlled by the control system, so that a preset moving track is output by a moving part of the space motion mechanism, a glass slide is automatically arranged at the beginning of an experiment, a biological sample is automatically sucked and transferred onto the surface of the glass slide by the pipetting device, the glass slide is automatically removed after the completion of the experiment, and the temperature of the biological sample cell can be adjusted. According to the biological sample processing system disclosed by the invention, the automatic dropping operation of chromosomes can be performed in a high-throughput mode; the biological sample processing system has the advantages of small size, low production cost, convenience in installation and maintenance and low energy consumption and is especially suitable for analyzing cytogenetics; the dropping process automation of the chromosomes is realized, the analysis efficiency is improved, and the biological sample processing quality is guaranteed.

A command input method makes use of a three-dimensional motion recognition device embodied with an inertia system and is particularly directed to extend the total number of inputable commands using initial posture information as well as movement pattern of a motion recognition device. The command input method includes the steps of: determining initial posture at start point when movement of the motion recognition device is generated; determining a pattern of the movement at the end of the movement; and deciding a command from the determined initial posture and the movement pattern. Since the three-dimensional spatial motion can be further differentiated into different commands by the initial posture of the input device, the command input system can be simplified in structure with less number of recognizable motions.

The invention provides a police unmanned aerial vehicle big data acquisition system, comprising an unmanned aerial vehicle, a camera module used to obtain video information, a WIFI signal acquisition module, a base station simulator used to search phone cards and position information, an unmanned aerial vehicle remote controller, and a database server. The base station simulator comprises a simulator host, and a background control unit. The camera module, the WIFI signal acquisition module, and the simulator host are installed on the unmanned aerial vehicle. The simulator host is dynamically connected with the background control unit through WIFI, and transmits data in real time. The police unmanned aerial vehicle big data acquisition system uses the unmanned aerial vehicle, the camera module, the WIFI signal acquisition module, and the base station simulator module to give full play to three-dimensional spatial motion capability, so as to obtain videos, networks, and mobile phones and other multisource information from higher positions, more flexible angles, closer distances, and in a more hidden method. The invention also provides a crime spatial database construction method.

The invention discloses a method for planning the smooth joint space trajectory of a robot. The method comprises the steps: first, by the inverse algorithm of robot kinematics, realizing the mapping from robot Cartesian space motion trajectory to joint space motion trajectory, and obtaining joint space key interpolation points; then, according to the maximum speed constraint of each joint of a robot, adjusting the Cartesian interpolation period; estimating the angular speed and the angular acceleration of the joint space key interpolation points with the help of cubic polynomial curves, and providing conditions for quintic spline curve fitting on the next step; finally, starting from the first joint space key interpolation point, using adjacent two joint space key interpolation points to construct quintic spline curves as the joint space motion trajectory, and then conducting joint space interpolation. The method solves the problem that the joint space motion trajectory of the robot is not smooth.