155 results about "Spatial motion" patented technology

The invention belongs to the technical field of computer vision and deep learning, and relates to a cultured fish intelligent feeding system based on multi-feature fusion and a control method thereof, and the system comprises an image acquisition module, a space-motion feature extraction module, a motion track feature extraction module, a feeding state recognition module, a feeding control module and a feedback adjustment module. Extracting a depth optical flow image reflecting fish school feeding state characteristics through a fish school real-time video stream; classifying the fish school feeding state image samples to form a space-motion optical flow feature map data set; meanwhile, fish swimming trails are extracted, and a swimming trail feature map data set is formed; and training is carried out to obtain an optimal model weight, real-time identification is realized, an identification result is transmitted to the feeding control module, the feeding state of a fish school after feeding is completed is evaluated, the feeding amount is adjusted, or a feeding decision is optimized. According to the invention, real-time, accurate and efficient identification and decision control of the feeding state of the fish school can be realized, and intelligent feeding is realized on a low-cost edge end computing platform.

The invention relates to the technical field of moving target detection, and discloses a three-dimensional space moving target detection method, electronic equipment and a storage medium, and the method comprises the steps: obtaining a multi-modal sensor data sequence, carrying out the point cloud data fusion of the multi-modal sensor data sequence, and obtaining a fused point cloud data sequence; separating a moving target pixel region and a static background region from the fused point cloud data sequence, and performing time sequence optimization to obtain a dense point cloud sequence including a timestamp; performing motion target pose estimation according to the dense point cloud sequence including the timestamp to obtain a pose estimation sequence; and performing moving target matching according to the pose estimation sequence to obtain a tracking moving target. Through the implementation of the invention, the target deformation and the high-speed motion scene in the moving target identification can be effectively processed, and the dynamic characteristics of the target can be more comprehensively described, so that the moving target matching can be more accurately carried out, and the tracked moving target can be obtained.

The invention discloses an intelligent backboard interaction method supporting terminal interconnection, a medium and an intelligent backboard. The intelligent backboard interaction method comprises the following steps: collecting user space motion data to generate a space-time trajectory sequence and binding a user identity label, segmenting a multi-user shooting action data stream in real time, extracting dynamic association features and combining sphere trajectory data to construct a multi-dimensional feature matrix; inputting the matrix into a distributed intention understanding engine, and fusing voice, a touch event and historical data to generate an interactive decision instruction; a dynamic content generation module is driven according to the instruction, a training difficulty coefficient and a tactical matching degree are calculated in real time, and a multi-terminal cooperative control signal is output; and aggregating multi-user and sphere state feedback data, and continuously adjusting a collaborative strategy of a shooting action evaluation standard, a multi-user confrontation rule and terminal display content. According to the method, accurate distinguishing and collaborative intention understanding of multi-user actions are realized, and the training individuation level and the self-adaptive real-time control capability of multi-user interaction are effectively improved.

An electro-optical device capable of identifying a target in the time series of the images so as to measure motion of a civil structure, such as a bridge, in response to forces (such as the weight of a vehicle traversing the bridge).

The invention discloses an intelligent household equipment control method and system based on somatosensory interaction, and relates to the technical field of somatosensory interaction, and the method comprises the steps: capturing user space motion data, generating an original somatosensory signal flow, extracting a space-time motion feature, and constructing a motion feature vector; semantic mapping recognition is carried out based on the action feature vector, user control intention information is generated, and an equipment control instruction is generated according to the user control intention information; and executing the equipment control instruction to drive the smart home equipment to operate, generating a confirmation signal according to the operation control feedback data, and feeding back the confirmation signal to the user to form a closed-loop control interaction result. Therefore, the technical effect of accurately and conveniently controlling the intelligent household equipment in the limb-limited scene is achieved.

An autonomous vehicle that is equipped with image capture devices can use information gathered from the image capture devices to plan a future three-dimensional (3D) trajectory through a physical environment. To this end, a technique is described for image-space based motion planning. In an embodiment, a planned 3D trajectory is projected into an image-space of an image captured by the autonomous vehicle. The planned 3D trajectory is then optimized according to a cost function derived from information (e.g., depth estimates) in the captured image. The cost function associates higher cost values with identified regions of the captured image that are associated with areas of the physical environment into which travel is risky or otherwise undesirable. The autonomous vehicle is thereby encouraged to avoid these areas while satisfying other motion planning objectives.

The invention relates to the technical field of animal experiment devices, and discloses a spatial cognition enhancement device and method for three-dimensional rotational stimulation of a vestibular-hippocampus pathway, and the device comprises a rotational stimulation unit which is used for generating multi-axial angular acceleration stimulation; the animal adaptation unit is connected with the rotary stimulation unit and is used for fixing an experimental animal and blocking visual input; the control unit is in signal connection with the rotary stimulation unit and is used for adjusting stimulation parameters and collecting dynamic data; and the signal acquisition unit comprises a piezoresistive sensor and an analog-to-digital converter and is used for acquiring kinetic parameters of angular velocity and angular acceleration in real time. According to the space cognition enhancement device and method for three-dimensional rotation stimulation of the vestibular-hippocampus pathway, real three-dimensional space motion is simulated through multi-axial rotation, and targeted stimulation of the vestibular-hippocampus pathway is achieved in combination with adjustable rotating speed and visual shielding maintenance. The device is integrated with an acoustic intervention module and supports multi-mode intervention.

The invention relates to the technical field of transportation devices, and discloses a coated glass carrying control method and system, and the method comprises the steps: respectively collecting surface reflection spectrum data, dimension specification parameters and carrying force arm information; extracting film layer combination characteristics, and carrying out bearing capacity calculation by combining dimension specification parameters and carrying force arm information to obtain a theoretical stress extreme value; acquiring a pressure rise rate and a steady-state leakage rate, and performing airtight characteristic inversion on the coated glass based on the pressure rise rate and the steady-state leakage rate to obtain an interface adsorption efficiency value; carrying out constraint boundary fusion on the theoretical stress extreme value and the interface adsorption efficiency value to obtain a double constraint envelope; time sequence deduction is conducted on the mechanical arm based on double constraint envelope, and a space motion time sequence is obtained; a self-adaptive inertia carrying instruction is generated based on the space motion time sequence; the carrying stability of the coated glass can be improved.

The invention provides a teleoperation method and a robot. The method comprises the following steps: receiving operator attitude data sent by an inertial measurement unit IMU system; according to the operator attitude data, target attitude data of the humanoid robot are determined, and the target attitude data comprise the tail end target pose and the target arm angle of the seven-degree-of-freedom mechanical arm; the arm angle is a dihedral angle between a plane where the shoulder part, the elbow part and the wrist part of the seven-degree-of-freedom mechanical arm are located and a target pose and a target arm angle surface of a reference flat tail end; according to the target posture data, motion parameters of all joints of the humanoid robot are determined; and generating a control instruction according to the motion parameters. By means of the method, the uncertainty of null-space motion can be effectively eliminated, and the robot motion is more personified.

The invention discloses a baby monitor safety early warning method and system established based on a three-dimensional scene, and the method comprises the steps: constructing an initial three-dimensional scene of a monitoring region; segmenting a target object in the initial three-dimensional scene to obtain contour information of the target object; extracting three-dimensional geometrical characteristic parameters of the target object; determining the type of each target object; marking a danger level for each target object; measuring and calculating the shortest distance between the infant and each target object in real time, and determining a corresponding safe distance threshold value; when it is detected that the shortest distance between the infant and any target object is smaller than a safety distance threshold value corresponding to the target object, a three-dimensional space movement track is obtained; calculating a collision risk coefficient based on the three-dimensional space motion trail; a comprehensive early warning index is obtained through multi-parameter weighted fusion operation; and when the comprehensive early warning index is greater than a preset threshold value, outputting a corresponding acousto-optic early warning signal according to an early warning level corresponding to the comprehensive early warning index. According to the invention, the accuracy of infant safety early warning is improved.

The invention discloses an automatic berthing multi-mode guiding system using laser ranging, and belongs to the technical field of automatic berthing multi-mode guiding system devices, and the system comprises a laser ranging device which comprises two one-dimensional laser sensors and a matched multi-degree-of-freedom rotation platform and is used for collecting point cloud data of a bow area and a stern area of a ship; the controller is used for controlling the posture of the rotary platform and transmitting data, the ship state data processing system is used for operating software to calculate real-time position information and motion parameters of a ship and providing operation early warning and prompt, and the handheld data terminal is used for ship-shore information collaboration and control of space motion of the simulation platform.

The invention relates to a novel four-degree-of-freedom 3-PRPaRamp and a preparation method thereof. The invention discloses an RUPUR space series-parallel manipulator and a working method, and belongs to the technical field of space kinematic pair rigid-flexible series-parallel machinery. The RUPUR space series-parallel manipulator comprises a fixed platform, a movable platform, a PRPaR driving branch and an RUPUR series branch chain; the two ends of the PRPaR driving branch and the two ends of the RUPUR series-connection branch chain are connected with the fixed platform and the movable platform, and under the action of the PRPaR driving branch and the RUPUR series-connection branch chain, translation of the movable platform in the three-dimensional direction and rotation of the movable platform in the vertical direction are achieved, so that the movable platform has four degrees of freedom. Meanwhile, the three PRPaR driving branches and the RUPUR series branch chain enable the mechanism to have larger bearing capacity, the mechanism can effectively avoid singular positions under kinematics interference among the four mechanisms and influence of rotating pairs in the mechanisms, the working space of the whole mechanism is increased, and the overall rigidity and flexibility of the mechanism are improved.

A video coder receives a block to be decoded using bi-prediction, determines a spatial motion vector for the block, determines an additional motion vector based on the spatial motion vector, wherein the additional motion vector is a temporal motion vector or a chained motion vector predictor (CMVP), generates a hybrid spatial-temporal motion vector based on the spatial motion vector and the additional motion vector, and codes the block of video data using bi-prediction and the hybrid spatial-temporal motion vector.

The present application relates to a corrugated pipe safety cutting method, system, device and medium, the method comprising circumferentially scanning a target cutting area of a corrugated pipe to be cut to obtain three-dimensional point cloud data of the outer surface of the corrugated pipe to be cut; extracting features from the three-dimensional point cloud data to obtain the surface topography of the corrugated pipe to be cut; obtaining process parameters of the corrugated pipe to be cut, constructing a safety exclusion area based on the three-dimensional point cloud data, the surface topography and the process parameters; determining a target cutting plane based on the surface topography, and performing avoidance processing on the tool movement according to the target cutting plane and the safety exclusion area to obtain a tool spatial movement trajectory file; and controlling the rotation of the corrugated pipe to be cut and the tool feed according to the tool spatial movement trajectory file to complete the cutting. The present application has the effect of flat and safe cutting.

The invention discloses an AI position moving system, method and device for dynamically generating a route and a formation and a storage medium. The system comprises a music feature analysis module used for extracting rhythm, pitch, intensity and emotion features of music; the path generation engine establishes a mapping relationship between music and spatial motion parameters by means of a pre-training neural network algorithm, and generates a multi-target collaborative motion path and a formation transformation sequence; the three-dimensional visualization platform dynamically renders path and formation changes; the user interaction interface supports operations such as file uploading, condition setting and scheme editing. By means of the system, the problems that traditional multi-target position movement planning is poor in flexibility and low in manual arrangement efficiency can be solved, and intelligence and automation of movement control are achieved. The method can be applied to scenes such as stage performance, unmanned aerial vehicle formation flight and virtual reality, related equipment and a storage medium guarantee operation and implementation of the technical scheme, and the efficiency and creativity of multi-target position movement control are greatly improved.

The application discloses a kind of four-legged robot body obstacle avoidance following method and system based on full airborne pure vision, comprising: obtaining the pixel coordinates and depth information of target pedestrian and obstacle;Using state estimator, low-frequency visual measurement is converted into high-frequency continuous target prediction state;According to the relative position of obstacle, calculate the lateral obstacle avoidance speed instruction;Using image space motion model to solve target tracking control speed instruction;According to the distance of the nearest obstacle, dynamically adjust the fusion weight, generate three-dimensional integrated motion instruction containing longitudinal, lateral and yaw, and send to four-legged robot high-level motion controller.The application realizes stable following and safe obstacle avoidance in complex scene without relying on laser radar, UWB beacon, external motion capture system or offline calculation, improves the autonomy, robustness and deployment flexibility of four-legged robot target following task.

The present invention provides a method and system for testing the motion flatness based on line laser and position detector calibration, which relates to the field of high-precision geometric testing. The motion flatness testing method calibrates the position-sensitive detector based on a reference motion platform before measurement to ensure the measurement accuracy, and can accurately measure the scanning space motion flatness of the target test motion platform. The entire testing system is added to the motion control system of the spatial motion platform as an error measurement component for high-precision spatial motion scanning testing, which can measure the flatness error value in real time and feedback it to the motion control system of the spatial motion platform. During the scanning test process, the Z-axis offset value measured on the position-sensitive detector is monitored and read in real time, and the Z-axis component is driven for fine adjustment and calibration, so that the end of the position-sensitive detector always maintains planar motion in the scanning space, realizing high-precision scanning space planar motion.

The invention discloses a muzzle arc energy and mass center spatio-temporal evolution analysis method and system, and relates to the technical field of muzzle arc analysis, and the method comprises the steps: building an electromagnetic track launch muzzle arc simulation experiment platform, and obtaining a muzzle arc image through a high-speed photographing system; an arc contour image is obtained based on a local adaptive threshold segmentation and morphological gradient extraction algorithm, and the integrity and robustness of arc contour extraction are improved; based on a robust centroid tracking algorithm of multi-connected domain energy fusion and time sequence consistency constraint, a final arc centroid is obtained, and stable positioning and tracking of the arc energy centroid in the full evolution stage are achieved; and quantitatively analyzing the time-domain evolution characteristics of the highlighted area of the muzzle arc and the law of the spatial motion trail of the mass center of the highlighted area based on the muzzle arc images at different muzzle speed. An effective means is provided for quantitative characterization of a bore port arc, and an experimental basis and a theoretical reference are provided for optimization of a bore port structure, anti-ablation design, regulation and control of emission working conditions and the like of an electromagnetic emission system.

The present invention discloses a method, device and storage medium for positioning and tracking the three-dimensional movement of cells, belonging to the field of imaging measurement. The method includes: acquiring the real-time three-dimensional scattered light field distribution of multiple cells in the field of view in space; performing two-dimensional positioning of single-frame cell images; connecting the two-dimensional trajectories of the previous and subsequent frames for the cell individuals that have achieved two-dimensional positioning in the field of view according to the spatio-temporal consistency of their positions; performing longitudinal positioning on each position point on the two-dimensional trajectory of a single cell; and obtaining the three-dimensional continuous space movement trajectory of the same cell according to the relative longitudinal displacement and the spatio-temporal consistency of the two-dimensional trajectory. The present invention uses the interference optical imaging method to acquire the scattered light field distribution of cells in three-dimensional space, and then realizes the three-dimensional real-time positioning and tracking of multiple cells by first performing two-dimensional cell positioning and then performing longitudinal positioning based on the relative displacement of the three-dimensional cell light field at this position; it has the advantages of high positioning accuracy and good robustness.

The utility model provides a handheld teaching device for a robot, and relates to the technical field of industrial robot application. The robot handheld teaching device comprises a teaching end and a tracking end installed at the teaching end, the teaching end is used for being held by an operator and teaching an operation track, the tracking end carries feature information, and the feature information can be tracked or captured by a visual system to obtain a space motion track and posture information of the teaching device. According to the handheld teaching device for the robot, the tracking end is arranged on the teaching end, and the visual system can obtain the space motion track and posture information of the teaching device by tracking or capturing the feature information carried by the tracking end. During teaching, an operator only needs to hold the teaching device by hand to intuitively draw a space operation track, complicated teaching programming is not needed, the teaching operation is simple, and the teaching efficiency is high.

The present utility model relates to patient training and rehabilitation systems consisting of the following elements: a device for tracking movement in space, a computer tool for forming a virtual image, virtual reality glasses (6), a computer device (7), three motion sensors (1, 2, 3) used as a device for tracking movement in space, two control units (4, 5), two base stations (8, 9), said computer device (7) being equipped with software containing patient training and rehabilitation databases according to their individual needs and abilities, and which, taking into account signals received in real time from the motion sensors (1, 2, 3), the control units (4, 5) and the virtual reality glasses (6), generates a virtual reality image signal which is visualized in the virtual reality glasses (6). Figure for the abstract: Fig. 1

The invention relates to the technical field of additive and subtractive manufacturing, in particular to an additive and subtractive robot trajectory planning method based on an improved multi-target sea gull algorithm, and the method takes joint space motion of a six-degree-of-freedom additive and subtractive robot as an object, constructs a trajectory model through a high-order spline curve, and uniformly describes joint displacement, speed, acceleration and jump; a multi-objective optimization model containing motion time, joint load level and trajectory smoothness is constructed, a kinematics constraint screening mechanism is integrated, an improved multi-objective sea gull algorithm is adopted to iteratively search a non-dominated solution set with balanced distribution, and finally a joint trajectory meeting the process requirement is generated; the method effectively reduces motion impact and vibration, improves track precision and constraint feasibility, improves multi-objective optimization efficiency, enhances manufacturing quality and system operation reliability, and is suitable for complex additive and subtractive manufacturing scenes.

This invention discloses a method and device for detecting the attitude of a spherical motor rotor. The method includes: developing a feature plate with three different visual feature points (first, second, and third) and fixing it to the top of the rotor output shaft; developing a visual detection system for the spherical rotor attitude, wherein when the rotor output shaft is located on the Z-axis of the northeast-northeast coordinate system, an image acquisition module is installed directly above the second feature point and calibrated; collecting and labeling typical and atypical spatial motion image datasets of the spherical rotor with three degrees of freedom; designing and training a network model suitable for detecting the real-time attitude of the spherical rotor using the YOLOv5s framework; the image acquisition module acquiring a frame of image in real time, using the network model to detect the coordinates of the three different visual feature points in the image, and calculating the attitude of the spherical rotor based on the detected coordinates and the geometric relationship of the rotor's spherical motion. This invention solves the problems of needing to reset and failure to detect feature points due to long-term occlusion in visual spherical rotor detection.

This invention provides a multimodal intelligent monitoring device and method for power engineering construction, relating to the field of power engineering technology. The invention extracts the spatial motion trajectory and category information of target objects through multimodal feature fusion based on three-dimensional spatial perception data and visual monitoring data; it performs time-frequency feature decomposition of acoustic perception data at the construction site using a sparse perception mechanism to generate local acoustic signature features; and it establishes a spatiotemporal mapping association between spatial motion trajectories and acoustic signature features to form risk propagation paths between target objects. Finally, it constructs a risk topology network with a spatiotemporal feature memory mechanism based on the risk propagation paths, enabling accurate identification and proactive early warning of risk clusters at the construction site, thereby effectively improving the real-time performance and accuracy of safety risk management at power engineering construction sites.

The application discloses a welding positioning tool applied to sheet metal parts of engineering machinery, and belongs to the technical field of welding, which comprises a measurement comparison module, a prediction and distribution clamping force module, a clamping execution mechanism, a load sensor and a cooperative compensation controller. The tool extracts the spatial posture deviation and the non-rigid deformation force characteristics of the workpiece, combines the thermal expansion and material phase change characteristics, calculates and dynamically distributes the clamping force for constraining the thermal instability of the workpiece. During the welding process, the load sensor is used to monitor the load fluctuation of each clamping point in real time, the cooperative compensation controller synchronously adjusts the output force of the clamping mechanism according to the load fluctuation, and the spatial motion posture of the welding end is corrected, so that the thermal deformation displacement of the workpiece is effectively offset.

The invention relates to the technical field of health data quality control, in particular to a motion compensation method and system for a lead electrocardiogram monitoring system, and the method comprises the steps: collecting a multi-lead electrocardiogram topology signal; identifying an artifact pollution lead and a corresponding artifact duration window; constructing a lead space motion artifact analytical model, and decoupling the motion artifacts into a common motion artifact component and a characteristic contact artifact component; the common motion artifact component represents an artifact which is generated by overall dynamic disturbance of the body and has space common mode in a lead domain; the characteristic contact artifact component represents an artifact which is caused by instability of a specific electrode contact interface and is concentrated on a single artifact pollution lead; performing lead domain common-mode cooperative suppression on the common motion artifact component, and performing adaptive residual filtering under fidelity constraint on the characteristic contact artifact component to obtain compensated multi-lead electrocardiogram data; and outputting the compensated multi-lead electrocardiogram data. The method achieves the high-efficiency suppression of the artifacts, and maintains the authenticity and precision of the signals at the same time.

The application provides a single-frame image motion deblurring method and device based on direction perception and diffusion refinement, wherein the method comprises the following steps: acquiring a single-frame blurred image, and estimating spatial motion blur parameters of the single-frame blurred image to obtain a blur direction, a blur length and a corresponding confidence degree of each pixel in the single-frame blurred image; performing direction regularization deconvolution on the single-frame blurred image based on the blur direction, the blur length and the confidence degree to obtain a coarse restoration image; inputting the coarse restoration image and the blur direction and the blur length into a pre-trained conditional latent space diffusion model to perform refinement processing to obtain a refined restoration image; and performing frequency domain angular consistency constraint on the refined restoration image to output a final restoration image. Through the estimation of the spatial motion blur parameters, the combination of the direction regularization deconvolution and the conditional diffusion refinement, and the introduction of the frequency domain angular constraint, the directionality artifacts are effectively inhibited, and the restoration quality is improved.

The application provides a plane cutting control method and device and a storage medium, which comprises the following steps: positioning a mechanical arm to a preset cutting surface, and constructing a saw blade coordinate system; obtaining a force F of the saw blade; projecting the force F onto a plane of the saw blade; determining an offset; determining a coordinate transformation matrix T of a current point relative to an initial point a ; judging whether an offset point is within a preset safety boundary; if yes, determining the offset point as a target point to which the saw blade will go at a next moment; if no, determining an intersection of a line connecting the current point and the offset point and the safety boundary, and setting the intersection as the target point; and determining a spatial motion instruction to be sent to the mechanical arm in a current control period. By using the above technical scheme, the plane control precision can be improved, the mechanical arm motion can be ensured within the bone cutting plane, the influence of the force perpendicular to the plane on the bone cutting plane precision can be reduced, the mechanical arm motion can be ensured within the safety boundary, and the patient can be prevented from being injured by mistake.

The present invention relates to a testing device and method for a spatial high-resolution optoelectronic tracking and aiming system, and more specifically to an indoor dynamic imaging testing device and method. The device addresses the technical problem that existing indoor dynamic imaging testing devices are unable to meet the requirements for capturing and tracking performance testing of large-aperture, high-precision, and long-focal-length spatial high-resolution optoelectronic tracking and aiming systems. The indoor dynamic imaging testing device comprises a support module, a two-dimensional motion simulation unit, an output torque testing module, and a control module. The two-dimensional motion simulation unit comprises an azimuth unit and a pitch unit. The azimuth unit is rotationally connected to the inner bottom of the U-shaped end of the support module. The pitch unit is rotationally connected to the azimuth unit, and a spatial motion target simulation module is provided on the pitch unit. The output torque testing module is used to set up the spatial tracking and aiming system to be tested and monitor the external torque output by the spatial tracking and aiming system to be tested in real time. The method can capture the two-dimensional motion trajectory of the spatial tracking and aiming system to be tested in a full 360° range in real time.

This application provides a method and apparatus for action generation based on joint optimization of frequency domain and text semantic information, relating to the field of action generation technology. The method includes: decomposing the initial latent spatial motion features into low-frequency and high-frequency components; obtaining the temporal action features based on the low-frequency and high-frequency components; concatenating the temporal action features with the text features to be processed to obtain fused features; and using the fused features as input to output an action sequence using a pre-trained action generation model. By designing a frequency state space model, effectively combining low-frequency and high-frequency information, the model's ability to model static poses and dynamic detailed actions is improved. Compared with traditional methods, this application can generate more natural and coherent action sequences, especially performing well in handling complex multi-stage actions, significantly reducing the phenomenon of overly abrupt or lacking detail between actions.