116 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 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.

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 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 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 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.

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.

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.

The application provides a school classroom-based child motion recognition method and system, and relates to the technical field of motion recognition, and comprises the following steps: acquiring human skeleton sequence data; inputting the human skeleton sequence data into a GCN network and a TCN network respectively to obtain prediction results based on the GCN network and the TCN network respectively; meanwhile, deducing spatial motion and temporal motion from the human skeleton sequence data through a spatial logic judgment model and a temporal logic judgment model; and fusing the deduced spatial motion and temporal motion with the prediction results based on the GCN network and the TCN network to obtain a final motion posture. The application can realize high-precision classification and recognition of child motion in a campus classroom scene.

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.

The embodiment of the invention discloses a video compression method and device, electronic equipment and a storage medium, and belongs to the technical field of video coding and decoding. The method comprises the following steps: determining a target image frame of a non-first frame in a to-be-compressed initial video and a reference frame corresponding to the target image frame; generating image space features and image time features; performing motion compensation on the reference frame according to a target optical flow between the target image frame and the reference frame and the image space feature to obtain a prediction frame, and extracting a space motion compensation feature from the prediction frame; extracting a reference feature from the reference frame, and performing motion compensation on the reference feature according to the target optical flow and the image time feature to obtain a time motion compensation feature; and determining a reconstruction frame corresponding to the target image frame according to the spatial motion compensation feature and the time motion compensation feature, and generating a target compressed video according to the reconstruction frame and a first frame in the initial video to be compressed. The quality of the video generated after the original video is compressed can be improved.

Method, device, and non-transitory storage medium for motion vector prediction (MVP) list construction for video coding are provided. One or more motion vector (MV) candidates may be retrieved from a reference MV bank, the one or more MV candidates being associated with a current block. A position to insert the one or more MV candidates from the reference MV bank into an MVP list associated with the current block is determined. The one or more MV candidates from the reference MV bank is inserted into the MVP list associated with the current block based on the position.

The invention belongs to the technical field of underwater vehicle motion analysis, and particularly relates to a vehicle motion simulation method based on a real marine environment. Comprising the following steps: establishing a real ocean database based on gridding expression, establishing spatio-temporal expression of a real ocean environment spherical surface based on one-dimensional coding, defining a space entity based on an entity model, entity attributes and space entities formed by the space entity and spatio-temporal grids, and realizing attribute description based on entity positions, entity sizes and entity motion characteristics. Completing distribution based on service paths of the aircraft and typical path aggregation matching, establishing a space motion mathematical model and a dynamics mathematical model based on structural characteristics of the aircraft, and realizing model constraint correction and simulation based on typical combination in combination with aggregation constraint. The aircraft motion simulation method based on the real marine environment is used for establishing and perfecting the simulation environment and motion path optimization matching of aircraft motion simulation under the real marine environment condition.

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.

The present application is suitable for the field of numerical control machine tool rotating shaft error term measurement, and particularly relates to a kind of numerical control machine tool rotating shaft geometric error measurement and identification method.Actual rotating shaft line is fitted out by target ball in different positions of rotating shaft axis line respectively by revolving a circle;Then, the target ball is installed at the position deviating from the center of the rotating shaft, and the theoretical circumference diameter is identified by rotating 180 degrees;Finally, the rotating shaft rotates 360 degrees, and the theoretical circumference and the actual circumference of the rotating shaft in space movement are fitted, and then the error term is identified through the difference between the actual circle and the theoretical circle.Compared with the prior art, the present application solves the problem that the angle positioning error cannot be identified by the laser tracker in the prior art, realizes the identification of all geometric errors of the machine tool rotating shaft based on the laser tracker, and can be used for error compensation of the machine tool.

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.