38 results about "Spatial motion" patented technology

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.

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 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 discloses a kind of based on three-dimensional meridian mapping's smooth qi and dredging collaterals robot operation method, it is related to smooth qi and dredging collaterals robot control technical field, comprising the following steps: step one, through wearable equipment collection patient body surface temperature field, meridian sensitive point distribution and body surface morphological characteristic data, combine traditional Chinese medical meridian theory and construct patient three-dimensional meridian digital model, and mark the key acupoint of patient body surface and the mechanical sensitive area of meridian trend;Step two, based on three-dimensional meridian digital model, the preset smooth qi and dredging collaterals operation path is converted into the spatial motion trajectory of robot end, according to patient body surface morphological characteristic data adjustment end effector's contact angle, initial force control curve is generated simultaneously;It can ensure the effectiveness of operation and patient comfort, avoid the problem of excessive stimulation or insufficient effect, to avoid the harm caused to patient due to improper operation force, improve the safety of treatment.

Embodiments of the present application disclose a motion route determination method and device, computer equipment, a medium and a program product. A space grid corresponding to a preset space is obtained, each sub-grid is configured with a speed parameter, a lateral distance parameter and a longitudinal distance parameter, so that the preset space belonging to a three-dimensional space is projected into two two-dimensional planes, and the complexity of route searching is reduced. For each iteration, instead of calculating with all unvisited nodes, only part of the nodes (i.e. adjacent sub-grids) are calculated, that is, the cumulative motion duration or motion duration corresponding to a plurality of sub-grids in the space grid is calculated, and then a motion route is obtained. The motion route is used to control the motion equipment to move from a starting grid corresponding to a sub-space to an ending grid corresponding to a sub-space in the preset space. The amount of calculation caused by each search process is reduced, and then the amount of calculation of route searching in the three-dimensional space is reduced, and the route searching efficiency is improved.

This application provides a binocular six-axis low-cumulative-error spatial positioning method and apparatus, applied in the field of positioning and navigation technology. When an anomaly is detected in the spatial motion correlation between vision and inertial at continuous time intervals, it is determined that the current moment is in a state of perception history break. The visual pose constraints at the corresponding moment are isolated from the historical visual constraint set and participate in pose calculation only in an independent local visual constraint set, thereby avoiding the continuous accumulation of abnormal visual constraints in the time dimension and interference with inertial pose updates. In the absence of perception history break, the consistency between the historical visual constraint relationship and the inertial pose change sequence and spatial motion self-consistency data is reviewed, and inconsistent visual constraint relationships are dynamically eliminated. This allows the effectiveness of visual constraints in pose fusion to be adaptively adjusted over time, suppressing the amplification process of inertial cumulative error and meeting the requirement of maintaining high-precision positioning under complex environments and long-term operating conditions.

This invention belongs to the field of human-computer interaction technology. It discloses a calligraphy and painting appreciation experience cabin, an interaction method, and a device. Through a immersive digital experience cabin, a somatosensory gesture interaction system collects the user's hand spatial motion data stream. Combined with ultra-high-definition original image layers and pre-annotated semantic partition maps of the image, a precise appreciation interaction experience is achieved. Based on the spatial curvature sequence and velocity decay characteristics of gesture trajectories, user behavior is classified into three trajectory types: global exploration, regional wandering, and fixed-point approach. Gestures are associated with semantic partitions of the image through projection mapping, constructing a two-dimensional intent index key to retrieve matching professional content. The method also includes multi-scale cropping and progressive detail enhancement techniques, allowing image details to gradually appear as the user's attention increases, and achieving a smooth transition of intent conversion through spatial deviation rate monitoring. This invention achieves a natural, intelligent, and immersive calligraphy and painting appreciation experience.

This invention discloses a biomimetic robot neck joint mechanism based on a four-branch parallel structure, comprising a static platform and a moving platform. Between the static and moving platforms are an SPR branch group consisting of two SPR branches and an SPU branch group consisting of two SPU branches. The SPR branches are constraint branches. Under the action of the two SPR branches and the two SPU branches, the moving platform outputs four degrees of freedom spatial motion relative to the static platform, including three rotational degrees of freedom and one translational degree of freedom. This invention exhibits strong biomimetic motion capabilities. Employing a 2SPR-2SPU parallel topology, it can achieve three rotational degrees of freedom (pitch, yaw, etc.) and one translational degree of freedom (vertical extension / retraction), effectively simulating the flexible posture of a biological neck and meeting the head movement requirements of biomimetic robots. The moving and static platforms of this invention adopt an interlaced trapezoidal hinge point layout, optimizing mechanical transmission performance and enhancing the structural rigidity of the mechanism.

This invention discloses a rigid-flexible coupled automated measuring rod continuous casting clamping robot and its control method; the invention relates to the field of automation technology for continuous casting processes; it includes a measuring rod 3 whose spatial motion trajectory is adjusted by a robotic arm 1, and a clamping and adjustment mechanism 2 is installed on the end effector of the robotic arm 1; the clamping and adjustment mechanism 2 includes an outer expansion and contraction component 204 and an inner expansion and contraction component 205 arranged in a ring, and a linear actuator 203 that drives the outer expansion and contraction component 204 and the inner expansion and contraction component 205 to synchronously perform position changes; the invention achieves continuous adjustment of the measuring rod diameter through a ring expansion and contraction structure composed of a hinged plate body under the drive of a servo electric cylinder. This design maintains the closed geometry of the measuring rod during flexible adjustment, avoiding the molten steel eddy current disturbance generated during adjustment in traditional open-loop structures, fundamentally solving the problem of "measuring rod intervention disturbance".

Method, device, and non-transitory storage medium for interleaved motion vector prediction (MVP) for video coding are provided. A MVP candidate list for a current block may be generated based on spatial motion vectors associated with neighboring blocks and non¬ neighboring blocks. A first spatial motion vector predictor (SMVP) associated with an adjacent neighboring block to the left of the current block may be inserted into the MVP candidate list, and a second SMVP associated with an adjacent neighboring block to the top of the current block may be inserted into the MVP candidate list. One or more candidates in the MVP candidate list may be pruned based on determining that the one or more candidates have a same SMVP.

This invention relates to the field of mineral grinding equipment technology, specifically providing a method and control system for the safe optimization control of mill operation. The method includes: acquiring multi-source physical field signals during mill operation and preprocessing these signals to obtain preprocessed signals; calculating the spatial motion state characteristics corresponding to the time-frequency features; establishing a mill operating condition identification model to obtain the mill's operating state; generating dynamic safety constraints; planning the optimal operating point in real time; controlling the mill to approach the optimal operating point while satisfying the dynamic safety constraints; and re-acquiring the multi-source physical field signals generated during mill operation to form a closed-loop control. This invention improves the transparency of the mill's internal operating state through multi-dimensional physical field sensing technology and effectively avoids severe mill blockage accidents by employing a dynamic constraint contraction mechanism.

The present application relates to the field of straightness measurement, and discloses a digital twin measurement system and method for spatial straightness of a fully-mechanized working face. A knowledge-driven system performs motion mechanism analysis processing on coordinated advancement of equipment on the basis of spatial kinematics, and performs virtual physical relationship simulation on the basis of obtained parameterized operation rule data, so as to determine a mapping relationship between virtual equipment operation and real equipment operation. A data-driven system determines real-time pose data by means of virtual deduction and on the basis of the mapping relationship and information data, and performs pose calculation on the basis of the real-time pose data to obtain calculated pose data. A hybrid-driven system performs inversion and correction processing on the basis of the calculated pose data, then determines real-time working face straightness information, and on the basis of the mapping relationship and pose similarity, determines predicted working face straightness information on the basis of the working face straightness information and then performs straightness fusion processing to obtain the straightness of the fully-mechanized working face. The present application aims to realize real-time straightness measurement and improve the measurement accuracy.

This invention relates to the field of measurement technology, and more particularly to an aircraft motion simulation platform and its target motion and scene simulation platform, comprising three aircraft; two fixed guide rails; three movable guide rails, on which a first movable component is mounted; a second movable component, on which a telescopic rod is mounted; and a two-dimensional turntable. This invention consists of control guide rails and high-precision control motors, possessing five degrees of freedom in five directions: three degrees of translation and two degrees of rotation. It can simulate the spatial trajectory of a non-rotating aircraft and its spatial attitude at any given time. Simultaneously, the simulation platform incorporates an equal number of aircraft as the two-dimensional turntable, working in conjunction with the target motion and scene simulation platform to simulate the imaging characteristics of a target under visible light and infrared imaging conditions. This enables the verification of coordinated flight and detection by multiple aircraft, as well as the five-degree-of-freedom motion of aircraft in space.

This invention discloses a method and system for generating large-stroke, multi-degree-of-freedom trajectories in space based on forward kinematics, belonging to the technical field of motion pose measurement. The method decomposes the trajectory generator into several motion units, constructs motion models for each motion unit based on the DH matrix, and evaluates the uncertainty of the motion models. A forward kinematics chain organically connects the transformation relationships of all motion models to establish a trajectory generation model from the base to the end effector, generating the end effector trajectory. Then, vibration quantities are synthesized and superimposed on the end effector trajectory, based on the length of the rotating arm. The uncertainties of each motion model are synthesized with their corresponding sensitivity coefficients to obtain the uncertainties of the end effector trajectory in different motion dimensions. This invention decomposes complex spatial motion into a series of precisely controllable basic motion units, realizing the construction and tracing of high-precision dynamic trajectories, and has good practicality.

The application belongs to the technical field of electronic compass calibration, and discloses a simple and independent calibration method and system for an electronic compass, which comprises the following steps: loading factory modification parameters, and solving the spatial posture of the device in real time; guiding the user to place the device horizontally, and completing a complete circular motion around the Z axis and the X axis or the Y axis respectively, and synchronously collecting six-axis sensor data; extracting and compensating the offset vector by using an extreme value estimation algorithm, and solving the parameters of each axis based on a linear least square method; and calculating the calibration quality score and storing the optimized parameter matrix. The application realizes the independent and rapid calibration of the electronic compass by means of two-axis spatial motion guidance and real-time state feedback without the need of external special calibration equipment, solves the problems of the existing method, such as the dependence on special equipment, the complexity of operation, and the difficulty in adapting to dynamic interference, and significantly reduces the dependence on the calibration environment, and improves the availability and operation efficiency of the on-site calibration.

This invention relates to the field of weeding equipment control, and particularly to a method and system for controlling the travel speed of physical weeding equipment. It includes: acquiring signals of the spatial distribution of the work area to be worked on and constructing a parameterized task space model; extracting the projection vector relationship of weed feature clusters within the motion boundary constraints of the work space; determining the frequency of spatial task execution based on the projection vector relationship, and determining the minimum task cycle by combining real-time data throughput rate and physical response rate; determining a time delay term based on the installation distance between the forward sensing module and the controlled operating system and the real-time feed rate; and generating a feed rate control command based on the minimum task cycle and the time delay term to adjust the travel speed. Through feedforward spatial topology pre-sensing and kinematic constraint calculation, adaptive speed adjustment for non-uniform weed distribution is achieved, avoiding actuator saturation and logic accumulation, and improving weeding accuracy and work efficiency.

A method of controlling or augmenting a virtual environment or a live video broadcast according includes receiving a data stream that is indicative of a monitored spatial motion of an article of footwear or apparel worn by a subject. The data stream is generated at least in part by an accelerometer or inertial measurement unit provided on the article of footwear or apparel. The method further includes identifying at least one motion primitive from the received data stream, augmenting the virtual reality (VR) environment or the live video broadcast with a visual effect in response to the identified motion primitive, and transmitting a view of the VR environment or the live video broadcast to a user for display on a display device.

The embodiment of the application relates to a spatial motion segmentation method fusing depth estimation and three-dimensional motion compensation, and compared with a traditional frame-based and plane-based motion segmentation algorithm, the spatial motion segmentation method based on an event camera increases the accuracy and segmentation efficiency of the algorithm. In the absence of other sensing devices such as an RGB-D camera, an event data dimension upgrading model realizes event dimension upgrading, reduces the cost of event 3D to 4D, and is simple to operate. PSO is adopted to optimize theta, the global optimization effect of the algorithm is strengthened, good local search capability is considered, and the dependence of the algorithm on initialization is reduced.

The application discloses a robot follow-up demonstration anti-interference system and method for a high-paint-mist environment, relates to the technical field of industrial automation control and robot demonstration, and comprises a multi-source heterogeneous data sensing module, a pneumatic-optical coupling frequency domain prediction module, a self-adaptive frequency domain decoupling control module and a robot execution module. The application synchronously collects spatial kinematics data sequences and spraying fluid mechanics process data sequences of a demonstration site in real time through the sensing module; the prediction module is used for forward calculation of an optical refraction distortion base frequency caused by a pneumatic vortex at the front end of a spray gun; then the decoupling control module is used for self-adaptive directional peeling of the spatial kinematics data in the frequency domain dimension in combination with the distortion base frequency, so as to generate a pure and clean reproduced track and hand over the track to the execution module to drive the robot to reproduce. The application accurately eliminates optical illusion noise caused by high paint mist, and meanwhile, retains the process micro-motion characteristics of an operator.

This invention discloses a method, apparatus, equipment, and medium for automatically determining the initial placement posture of a mold. The method includes: acquiring a distribution map of the motion flexibility in the posture space, as well as the inherent geometrical parameters and three-axis adjustable boundary parameters of the mold, and constructing a standardized original dataset; constructing a full set of postures required for automatic filament placement, extracting the boundaries to obtain the posture range boundaries, and using a genetic algorithm to generate multiple sets of initial placement postures as an iterative population; using the current initial placement posture as a reference coordinate system to perform reachability matching verification; performing two-dimensional projection using an equal-area pseudo-cylindrical projection and calculating the overlapping area, using the overlapping area as a quantitative index in the global optimization objective function to calculate the fitness; updating the iterative population, and selecting the one with the largest fitness value as the optimal initial placement posture. This invention achieves automated and accurate determination of the initial placement posture of the mold by the machine tool, improving the reliability and timeliness of automated processing of composite material components.

This invention provides a puncture positioning mechanism and a puncture surgical robot. The puncture positioning mechanism includes: a frame, a spatial motion unit connected to the frame, a puncture execution unit connected to the spatial motion unit, a vascular imaging unit connected to the puncture execution unit, and an image acquisition unit mounted on the frame. The frame supports the spatial motion unit; the spatial motion unit adjusts the position of the puncture execution unit in three different directions; the puncture execution unit adjusts its pitch and yaw angles and performs the puncture action; the vascular imaging unit projects blood vessels onto the skin surface; and the image acquisition unit acquires vascular images. The various units of the puncture positioning mechanism work closely together, from acquiring vascular images and precisely adjusting their positions to providing visual guidance and executing the puncture action, forming a complete and efficient puncture positioning system that significantly improves the accuracy and safety of puncture operations.

Embodiments of the present disclosure provide a solution for video processing. A method for video processing is proposed. The method comprises: generating, for a conversion between a video unit of a video and a bitstream of the video, a subblock-based spatial motion vector prediction (sb-SMVP) candidate of the video unit based on motion information of at least one block in a current picture of the video, wherein the at least one block is neighboring to the video unit; and performing the conversion based on the sb-SMVP prediction candidate.

An example method of video decoding includes receiving a video bitstream comprising a plurality of blocks, including a current block. The method also includes generating a motion vector prediction (MVP) list for the current block by interleaving respective spatial motion vector predictors (SMVPs) from left and above neighboring blocks. Generating the MVP list includes inserting a first SMVP into the MVP list, the first SMVP corresponding to a left neighboring block that is left of the current block, and inserting a second SMVP into the MVP list, the second SMVP corresponding to a top neighboring block that is above the current block. The method further includes decoding the current block using an MVP from the MVP list.

This invention discloses an edge-cloud collaborative method and system for monitoring the entire lifecycle of three-dimensional rockfall trajectories, belonging to the field of geological disaster monitoring technology. By processing raw radar echo data and detecting moving targets, the data scale is reduced, potential moving target points are obtained, and feature analysis is performed on these potential moving target points to eliminate interfering target points, thus obtaining effective rockfall target points and forming an anti-interference capability for rockfall disaster monitoring. Furthermore, based on the effective rockfall target points, the three-dimensional spatial motion trajectory of the effective rockfall targets in the real three-dimensional terrain is output, achieving accurate modeling of rockfall movement. This makes the predicted threat area more precise, significantly improving the accuracy of rockfall risk prediction. Threat level determination is also performed, generating corresponding decomposed early warning commands to ensure the reliability of the early warning and avoid false alarms.

This invention discloses a smart ring gesture recognition interaction method and system, belonging to the field of human-computer interaction. The method includes: acquiring bone conduction vibration signals through a piezoelectric sensing module, determining whether the energy is concentrated within a preset bone conduction frequency range, and if so, waking up an inertial measurement module; acquiring spatial motion data and performing gravity compensation to obtain a net motion vector; extracting the peak time of the bone conduction vibration signal and the start time of the net motion vector, performing time correlation comparison within a sliding time window, and identifying a valid gesture if the time interval is within a preset threshold; extracting features from the net motion vector of the valid gesture, identifying the gesture category through a classifier, and matching the interaction command. This invention employs a dual-modal correlation mechanism of bone conduction vibration and spatial motion, effectively reducing the false trigger rate, and significantly reducing power consumption through event-driven wake-up, making it suitable for low-power wearable devices such as smart rings.

A method and apparatus for video coding are disclosed, where subblock motion field is derived based on temporal motion information or BV guided blocks. According to this method, input data associated with a current block is received, wherein the input data comprise pixel data for the current block to be encoded at an encoder side or coded data associated with the current block to be decoded at a decoder side. Subblock motion field is derived for subblocks of the current block based on temporal motion information or one or more BV (Block Vector) guided blocks. The subblocks of the current block are encoded or decoded according to the subblock motion field.

The application provides a video feature modeling method and system based on differential attention and timing enhancement, and the method comprises the following steps: obtaining main feature representation of each video frame in a continuous video frame segment to be processed and spatial fine-grained features corresponding to each video frame; calculating a local motion saliency metric value of each spatial position, and performing normalization processing on the metric value to generate a spatial motion attention map corresponding to the current frame; injecting a motion context vector into the main feature representation of the current frame in the form of a residual to obtain a motion-enhanced feature representation of the current frame; and outputting a spatiotemporally enhanced global feature sequence and a spatiotemporally enhanced local feature sequence. The application aggregates features by using the weight, focuses processing on a high-weight area, automatically and softly suppresses interference of a static background at a feature level, and strengthens extraction of dynamic information of a foreground.