441 results about "Three dimensional motion" patented technology

The invention relates to the technical field of orchard unmanned vehicles, in particular to an orchard unmanned vehicle intelligent navigation and control method based on multi-sensor fusion, and the method comprises the following steps: S1, global path planning: generating discrete plane path points, and then pre-fitting a prior navigation global path; s2, three-dimensional environment perception: extracting static obstacle and dynamic obstacle information in a working path in real time, detecting and identifying a target obstacle at the same time, and performing sensor information fusion; s3, path tracking control: controlling the orchard unmanned vehicle to run according to a priori navigation global path; and S4, dynamic path optimization: realizing dynamic planning of an obstacle avoidance trajectory, synchronously establishing a trajectory overlap ratio evaluation mechanism, and adjusting a driving mode to avoid the obstacle. According to the invention, the reliability of environment perception and path dynamic adjustment is improved, and the three-dimensional motion control model is constructed, so that the unmanned vehicle can safely and accurately complete autonomous navigation work.

The invention relates to an unmanned aerial vehicle detection countering method, which comprises the following steps of: deploying a multi-dimensional sensing network to carry out full-band instantaneous scanning, synchronously acquiring noise characteristics of radio signals, material characteristics of a terahertz wave band and Doppler effect characteristics, mapping to a virtual twinborn body, reconstructing physical parameters, a communication protocol and a behavior mode of a target unmanned aerial vehicle, performing depth comparison by combining a disguise sample library generated by the antagonism generation network, and generating a holographic target file containing a three-dimensional motion vector, an energy feature and a potential threat intention; a target quantum encryption communication link is interfered through a quantum entanglement signal, a controllable plasma cloud cluster is generated, navigation and image transmission signals of the controllable plasma cloud cluster are selectively attenuated, the controllability of the target is judged, and an uncontrollable target is repelled through coded sound waves; and sending a control instruction containing a biological heuristic obstacle avoidance algorithm in stages, and guiding the control instruction to an intelligent recovery cabin. According to the invention, accurate detection, intelligent identification, safe countering and reliable takeover of the unmanned aerial vehicle are realized, and the airspace safety guarantee capability is improved.

Some embodiments of a method may include: obtaining a reference 3D Gaussian frame, a camera position C, and a time t; extracting a multi-scale feature for each 3D Gaussian of one or more 3D Gaussians using a neural network block, wherein the multi-scale feature represents multi-scale spatial information about a dynamic object or scene; predicting 3D motion based on the multi-scale features and the time t; predicting a 3D Gaussian frame for time t by manipulating the one or more 3D Gaussians in a spatial domain based on the predicted 3D motion; and outputting the 3D Gaussian frame for time t.

The invention discloses a multi-scene gait monitoring and motion function assessment method and system, a multi-camera cooperation system is deployed in a life scene to accurately identify an identity and extract multi-scene motion features, and an accurate old people gait function assessment scheme is provided through key motion hierarchical modeling, multi-scene data fusion and a risk suppression mechanism. Specifically, 2D human body key points are estimated based on an OpenPose algorithm, and a PoseLifter model is utilized to lift the 2D key points to 3D, so that a three-dimensional motion track of a target is estimated; dynamically adjusting the weights of the face features and the skeleton features during identity recognition according to ambient light; designing an independent long-short-term memory network for different actions to evaluate the motion function score and the fall risk rating of the actions; and designing a risk sensitivity mechanism and fusing multi-scene data to carry out comprehensive scoring. The gait function abnormity of the old people can be found in time, and a basis is provided for health management.

The invention discloses a scene three-dimensional reconstruction and vector information extraction method and device based on vehicle return data, equipment and a storage medium, and the method comprises the steps: carrying out the preprocessing of a time sequence image returned by a vehicle and corresponding pose data, and obtaining a semantic mask and a camera pose of each frame of image in the time sequence image; based on the semantic mask and the camera pose, performing three-dimensional geometric reconstruction on the static scene area in the time sequence image to obtain a static three-dimensional scene model; a dynamic target is separated from the time sequence image according to the semantic mask, three-dimensional motion modeling and independent three-dimensional reconstruction are carried out on the dynamic target, and a dynamic target three-dimensional model is generated; and generating a dynamic three-dimensional scene model and vector labeling information based on the static three-dimensional scene model and the dynamic target three-dimensional model. According to the method, the limitation of automatic driving shadow mode data is overcome, the three-dimensional reconstruction of the scene and the automatic generation of the true value information are realized, the data acquisition cost is further reduced, and the efficiency of automatic driving research and development is improved.

The invention discloses a self-adaptive mouse control method and device based on an inertial measurement unit and a computer readable storage medium. The method comprises the steps that basic mouse sensitivity adjusting parameters are calculated according to physical mouse sensitivity setting; obtaining original three-dimensional motion data of the inertial measurement unit to generate a standard motion feature flow; selecting parameters from the standard motion feature flow as basic cursor control input based on current human-computer interaction situation information; using the basic sensitivity parameter as an adjusting parameter, and processing the basic cursor control input by applying a preset mapping algorithm corresponding to the current effective sensitivity mapping mode to generate a mouse cursor moving instruction; and matching the standard motion feature flow with a pre-constructed hierarchical motion primitive library to obtain a mouse key instruction. The method has the advantage that the operation efficiency and the user experience of IMU-based mouse control in multiple scenes are improved.

The invention discloses a mouse cursor control method and device based on an inertial measurement unit and a computer readable storage medium. The method comprises the steps that basic mouse sensitivity adjusting parameters are calculated according to physical mouse sensitivity setting; obtaining original three-dimensional motion data of the inertial measurement unit and executing multi-stage preprocessing to generate a standard motion feature flow; selecting parameters from the standard motion feature flow as basic cursor control input based on current human-computer interaction situation information; according to the system detection condition, determining a current effective sensitivity mapping mode in at least two preset sensitivity mapping modes; and using the basic sensitivity parameter as an adjusting parameter, and processing the basic cursor control input by applying a preset mapping algorithm corresponding to the current effective sensitivity mapping mode to generate a mouse cursor moving instruction. The method has the advantage that the operation efficiency and the user experience of the IMU-based cursor control in multiple scenes are improved.

The invention relates to the technical field of trajectory measurement, discloses an underwater riprap particle motion trajectory measurement device and method, and aims to realize high-precision response tracking of stress and motion trajectory of riprap particles around a foundation under dynamic water scouring based on an underwater positioning unit sensing array and a high-frequency sampling particle motion and attitude detection technology. The technical problem that the motion characteristics of a single riprap particle cannot be observed in previous riprap protection research is solved. Through combined measurement of acceleration and angular velocity data collected by the inertial measurement unit and absolute position measured by the radio frequency unit, the three-dimensional motion condition, track and attitude process of a unit space as well as two-dimensional displacement images of a riprap surface and a vertical flow section are accurately reconstructed; and a centimeter-level-precision visual data support and a low-cost research means are provided for foundation scouring and coastal slope protection and riprap protection research, so that the engineering cost is saved.

The invention discloses a method and equipment for realizing mouse and virtual key control based on an inertial measurement unit, and a computer readable storage medium. The method comprises the following steps: acquiring original three-dimensional motion data of the inertial measurement unit to generate a standard motion feature flow; forming screen key layout information according to the screenshot of the current active application program; determining an inferred running state of the current active application program to obtain an effective virtual key set containing function annotations; determining a current effective interaction mode according to the updated human-computer interaction situation information, the updated current application program inference operation state and a user input instruction; and selecting a mapping algorithm to process the standardized motion feature flow according to the currently effective interaction mode to generate at least one of a mouse cursor movement instruction, a mouse key instruction and a virtual key operation instruction. The method has the advantage that the operation efficiency and the user experience of IMU-based mouse control in multiple scenes are improved.

The invention relates to the technical field of three-dimensional analysis, in particular to an oral cavity three-dimensional motion analysis system based on dynamic occlusion scanning. The system comprises an oral cavity occlusion feature extraction module, a dynamic occlusion reconstruction module, an occlusion track smoothing module and an oral cavity motion abnormity identification module, and a multi-view structured light scanner can be used for carrying out image scanning on the oral cavity in the dynamic occlusion process so as to obtain a multi-frame original occlusion image sequence; occlusal feature extraction and three-dimensional occlusal reconstruction are carried out on the multiple frames of original occlusal image sequences to construct corresponding three-dimensional occlusal model sequences; a dynamic occlusion trajectory prediction model is constructed based on the three-dimensional occlusion model sequence, oral cavity three-dimensional motion analysis and occlusion trajectory smoothing filtering processing are carried out, and a smooth three-dimensional occlusion motion trajectory is generated; and performing oral cavity motion abnormity identification according to the smooth three-dimensional occlusion motion track so as to generate an oral cavity occlusion three-dimensional motion abnormity identification result. According to the invention, accurate capture and analysis of three-dimensional motion of the oral cavity can be realized.

The invention discloses a non-consistency multi-focus unit modification system for laser slicing of transparent materials. The non-consistency multi-focus unit modification system comprises an ultra-short pulse laser, a light beam regulation and control system, a light beam shaping system, a focusing objective lens, a visual positioning system and a high-precision three-dimensional motion platform, a transparent material sample wafer to be sliced is placed on the high-precision three-dimensional motion platform; the ultrashort pulse laser provides picosecond laser beams for the whole system, the laser beams generated by the ultrashort pulse laser are transmitted to the light beam shaping system through the light beam regulation and control system to generate multiple inconsistent laser beams, and the multiple inconsistent laser beams are focused and shrunk through the focusing objective lens to obtain multiple inconsistent focuses. The focus is focused in a transparent material sample wafer on a high-precision three-dimensional motion platform for slicing; wherein the high-precision three-dimensional motion platform realizes the movement of a transparent material sample wafer in x, y and z directions; and the visual positioning system is used for identifying and positioning the transparent material sample. On the premise that the slicing quality is guaranteed, the processing efficiency is remarkably improved.

The invention discloses an automatic grading device for thermal shock cracks of a coating and an application method. Comprising a terahertz wave detection module, a laser ultrasonic excitation and detection module, a high-precision three-dimensional motion control platform, a multi-mode signal synchronous acquisition and processing unit, a crack intelligent grading evaluation unit, an environment simulation and temperature control unit, a protective shell and a human-computer interaction interface. The near-surface dielectric property change of the coating is represented through the terahertz technology, the deep mechanical property evolution is detected through the laser ultrasonic technology, the thermal shock service condition is reproduced in combination with a high-temperature environment simulation unit, and a multi-modal feature fusion algorithm and a physical model and machine learning collaborative inversion model are adopted to obtain the thermal shock resistance of the coating. And automatic quantitative evaluation and severity grading of the depth, density, length and network connectivity of the thermal shock cracks of the thermal barrier coating are realized. The problems that an existing single detection method is insensitive to vertical cracks, poor in high-temperature environment adaptability and low in manual evaluation efficiency are solved.

The invention provides a femtosecond and picosecond composite laser welding method and equipment for heterogeneous materials. The femtosecond and picosecond composite laser welding method specifically comprises the steps that glass and metal are stacked on a three-dimensional motion platform and clamped through a clamp; femtosecond laser (with the pulse width of 50-1000 fs and the peak power density of 10-10 W / cm) and picosecond laser (with the pulse width of 1-200 ps and the peak power density of 10-10 W / cm) are adjusted by different beam expanding systems, and after focusing, picosecond light spots completely wrap femtosecond light spots; the composite laser acts on a welding area and a femtosecond laser focusing interface in a time-space synchronization mode, plasma is excited to enable metal to be melted to fill gaps, picosecond laser forms a wide-area heating field on the femtosecond periphery, a violent temperature gradient is regulated and controlled to be in a gentle state, the preheating and after-heating effects are achieved, cracks are restrained, absorption is enhanced, and the welding strength is improved; and the composite laser is controlled by a control system to weld according to a specified path, so that high-strength connection of the glass / metal heterogeneous materials is realized. And the method becomes a breaking key for regulating and controlling the temperature gradient, inhibiting crack generation and improving the welding strength.

The invention relates to the technical field of aerial target identification, and discloses an aerial dynamic target accurate identification method and system. The method comprises the following steps: acquiring multi-dimensional spectral data of a target through a multi-spectral imaging device, extracting spatial distribution characteristics, establishing a three-dimensional motion track model according to the spatial distribution characteristics, and calculating an instantaneous velocity vector; a motion deviation index set is generated in combination with preset reference motion parameters, abnormal behavior categories are divided through clustering analysis, and a key frame sequence is marked; reconstructing a local motion characteristic spectrum based on the key frame sequence, extracting morphological change parameters, and inputting the morphological change parameters into a pre-trained target recognition network to obtain a type recognition result and a confidence score; when the confidence coefficient is lower than a threshold value, activating a supplementary recognition process, acquiring high-resolution texture data, and fusing the high-resolution texture data with the initial recognition result to generate a final recognition tag; and updating the feature database and adjusting the network weight according to the final identification tag.

The invention belongs to the technical field of laser processing, and particularly relates to a curved-surface substrate laser confinement cleaning system and method. The system comprises a control system, a three-dimensional motion platform, a laser and a laser focusing unit, wherein a curved-surface substrate of a metal pattern to be cleaned is fixed on the three-dimensional motion platform; the visual auxiliary positioning system is used for recognizing the space posture of the cleaning area and is electrically connected with the control system. And the control system generates a CAD model and a cleaning path based on an identification result, and cooperatively controls the three-dimensional motion platform and the laser, so that the laser incidence direction is kept within the range of + / -5 degrees of the normal of the target point, and confinement cleaning of the curved surface metal pattern is realized. According to the method, an intelligent reverse decision model of'performance deviation-trimming quantity-laser parameters' is further established, deviation of actually measured electromagnetic performance and a design target is used as input, the material removal quantity and the laser parameters are automatically solved, and closed-loop control of performance diagnosis and trimming machining is formed. The method has the advantages of high-precision positioning, normal incidence control, curvature adaptive compensation and performance-oriented intelligent trimming, and is suitable for high-precision and low-damage local metal removal of LTCC substrates and array plane microstrip lines.

The invention provides a target tracking method and system based on path planning and follow-up holder cooperation, and relates to the technical field of holder control, and the method comprises the steps: obtaining the dynamic trajectory data of a target in real time, constructing a three-dimensional motion trajectory diagram for path tracking, and obtaining a target tracking path; setting an expected pose parameter of the follow-up holder, synchronizing the target tracking path to the follow-up holder for dynamic updating, and obtaining a parameter coupling degree; and performing path planning based on the parameter coupling degree to generate a cooperative control instruction set, driving the follow-up holder to perform bidirectional control, and performing tracking control on the target through a bidirectional control instruction. According to the target tracking method and device, the technical problem that the target is lost or the cradle head cannot stably align to the target due to the fact that the target movement speed is high and the environment is complex is solved, and the target tracking precision in a complex scene is improved by calculating the parameter coupling degree and optimizing cooperation of path planning and cradle head control.

The invention provides a template installation gap real-time detection method and system based on image three-dimensional reconstruction, and relates to the technical field of image processing, and the method comprises the steps: obtaining image sequence data collected at multiple angles in real time in the installation process of a to-be-detected vertical wall template; performing image inversion according to the image sequence data to generate a three-dimensional moving point cloud field; performing curved surface reconstruction according to the three-dimensional moving point cloud field to obtain a fracture sensitive curved surface model; performing cross-scale image feature fusion of the installation gap according to the fracture sensitive curved surface model to generate a probability confidence map; performing geometric constraint relaxation processing on the gap boundary according to the probability confidence map to obtain a mounting gap vector boundary; and evaluating according to the installation gap vector boundary to obtain a quantization parameter set. According to the method, the defects that manual detection and the prior art are insufficient in adaptability to dynamic light change and low-texture surfaces and lack of engineering semantics are effectively overcome.

The invention discloses a three-dimensional motion estimation method based on an event camera. The method comprises the following steps: 1, constructing a time-space decoupling event time sequence and spatial representation; 2, geometric structure and context features are extracted through a space encoder, and time sequence evolution features are extracted through a time sequence encoder; 3, respectively constructing a spatial correlation graph and a time sequence correlation graph based on the geometric structure characteristics and the time sequence evolution characteristics; 4, constructing a pixel track curve according to the event density; 5, geometric structure and time sequence evolution characteristics are sampled along the pixel track curve, and a space-time correlation graph is generated; 6, iteratively optimizing pixel track curve parameters according to the space-time correlation graph and the context features; and 7, utilizing the optimized pixel track curve and the derivative thereof to accurately predict the three-dimensional motion. The method obviously improves the three-dimensional motion estimation precision of the event camera in a complex scene, is suitable for the fields of automatic driving and robots, and has a good engineering application value.

The invention discloses a Delta robot motion limit calibration method, which is characterized in that a limit theoretical value of a tail end reachable working space range in a coordinate axis direction is obtained through robot structure parameters, then a cuboid space covering the limit theoretical value is generated, and three-dimensional grid division is carried out; and performing kinematics solution verification on the generated three-dimensional grid points, filtering out unreachable points to obtain a discrete point cloud set of a reachable space, then performing dimension reduction processing in a hierarchical slicing manner, extracting boundaries in a kernel density estimation manner, performing fitting to generate a boundary curve, and obtaining the three-dimensional motion limiting boundary of the tail end of the robot. According to the method, waste of effective space can be better reduced, dependence on human subjective experience is eliminated, and calibration repeatability and efficiency are improved.

The invention belongs to the technical field of motion data optimization, and discloses a double-path parallel motion data optimization method fusing space-time priori and attention, and the method proposes a double-priori attention module, fuses space and time priori constraints, facilitates the improvement of the modeling capability of Transform on the dependence of a joint structure and a time sequence, and improves the accuracy of motion data optimization. And the space rationality of the skeleton structure is enhanced. An affinity matrix is constructed through a skeleton connection matrix and a learnable topological matrix, the spatial rationality and time sequence coherence are enhanced, prior bias is superimposed in attention calculation, data driving and kinematics constraint are considered, and the robustness and accuracy of the model are improved. Compared with a traditional method, the method has the advantages that the three-dimensional motion data optimized by the method is more accurate in detail processing, and particularly, the precision is obviously improved in expression of rapid gestures or tiny actions. In addition, the model structure is simplified, and the calculation efficiency is also remarkably improved.

The invention provides a movable base type series-parallel three-dimensional motion compensation device. The movable base type series-parallel three-dimensional motion compensation device comprises a three-degree-of-freedom motion compensation device used for compensating the influence of three-degree-of-freedom motion of a ship on a hoisting load by moving a crane base; the multi-cylinder driving parallel mechanism is used for compensating the influence of rotation, stretching and amplitude variation actions of the crane on the hoisting load and compensating the movement of the hoisting load in the heaving direction; and the lifting load receiving system is used for tracking the lifting load pose in real time, synchronously adjusting the stable platform pose and compensating the ship motion of the target ship. According to the three-degree-of-freedom motion compensation device adopted by the invention, the influence of ship motion on the hoisting weight is compensated by moving the crane base. The multi-cylinder driving parallel mechanism compensates for the influence of rotation, stretching, amplitude variation and other actions of the crane on the hoisting load, and the winch compensates for the movement of the hoisting load in the heaving direction, so that the hoisting load and the crane are kept relatively stable. The hoisting load receiving system can compensate ship movement of the target ship and can adjust the angle of the hoisting load receiving system in real time according to the hoisting load pose, and stable hoisting load transferring is facilitated.

The invention relates to bath assisting equipment which comprises a bathtub and a seat. On one hand, on the basis of lateral opening of the bath door, the bath entrance threshold is lowered, water does not need to be discharged, water can be discharged in advance to shorten the time needed by bath assistance, the bath efficiency is improved, and especially in winter, the effect is very obvious; on the other hand, based on one side of the bathtub, the position of the seat is adjusted through three-dimensional movement of the seat part, the requirement for convenient sitting and hip bath is met, time and labor are saved, the accidental injury risk is reduced, meanwhile, the seat part can be rotationally adjusted in the Z-axis direction, angle locking is formed through the radial clamping force locking set, and the sitting posture of the seat part is set or adjusted; the use requirements of different patients are met, the bath assisting workload is greatly reduced, meanwhile, based on overturning follow-up of the shielding part, shielding protection during hip bath is met, horizontal supporting of the outer suspension end is formed during in and out of the bath, and in and out of the bath is safely assisted.

The embodiment of the invention discloses a carrier integrated navigation method, device and equipment and a medium, and relates to the technical field of intelligent driving navigation, the method comprises the following steps: acquiring wheel speed data of a current epoch output by a wheel speed measurement unit, and acquiring inertia measurement data of the current epoch output by an inertia measurement unit; inputting a non-integrity constraint prediction model to obtain a non-integrity constraint component of the current epoch; and constructing a three-dimensional motion constraint observation value based on the non-integrity constraint component and the wheel speed data, performing measurement updating on a kinematics observation equation of the Kalman filter, obtaining a state estimation result obtained by updating, and outputting a positioning result in the current epoch. According to the method, the lateral and vertical velocity components are dynamically predicted through the non-integrity constraint prediction model, the three-dimensional motion constraint observation value is constructed, and the state estimation of the Kalman filter is optimized, so that the problem of carrier motion constraint performance degradation under a complex motion condition can be effectively relieved, and the integrated navigation precision can be further improved.

The invention provides a miss-seeding detection and reseeding method and a miss-seeding detection and reseeding system for a potato punching seeder. According to the method, a three-dimensional motion track is collected through an inertial navigation device, and a seeding path topological graph is generated in combination with a mechanical trigger signal; spraying a fluorescence labeling substance to the surface of the soil at the tail part of the seeding machine, and marking a topological graph coordinate corresponding to the spraying moment as a miss-seeding risk area; capturing furrow track flight by using a spectrum, and mapping the image coordinates of the mark points to the coordinates of the miss-seeding risk area in the topological graph by identifying the spectral response signal of the fluorescence mark; generating a reseeding operation path curve based on the aggregation form of the miss-seeding risk area coordinates and the furrow extension direction; and driving the reseeding device to move along the curve, and when the positioning coordinate of the reseeding device coincides with the coordinate of the miss-seeding risk area, activating the seeding mechanism to execute single-grain reseeding and updating the state identifier. According to the application, the potato seeding leak detection and reseeding efficiency and the reseeding position accuracy are improved.

The invention discloses an unmanned aerial vehicle multi-mode fusion radio positioning and signal identification method and system, and relates to the technical field of radio positioning and detection.The method comprises the steps that an airspace radio environment is continuously monitored in a monitoring area through all receiving stations, a power spectrum sequence and an unmanned aerial vehicle communication signal are obtained, and spectrum features are extracted from the power spectrum sequence; for the same launch event, acquiring a three-dimensional motion track of the unmanned aerial vehicle according to the arrival time of each receiving station; echo signals generated by unmanned aerial vehicle rotor wing and vehicle body movement are obtained through a radar, and micro-Doppler features are extracted from the echo signals; acquiring protocol related modulation features, cyclic spectrum features and protocol features according to the unmanned aerial vehicle communication signals; performing multi-modal feature fusion on the spectrum feature, the micro-Doppler feature, the modulation feature, the cyclic spectrum feature and the protocol feature to obtain a deep joint feature; identifying the type of the unmanned aerial vehicle according to the deep joint feature, and obtaining a type label; and constructing an unmanned aerial vehicle feature signature by using the category label, the three-dimensional motion trail and the depth joint feature. According to the invention, the accuracy, robustness and supervision capability of unmanned aerial vehicle positioning and signal detection in a complex environment can be improved.

The invention relates to the technical field of co-seismic landslide risk evaluation, in particular to a near-fault single co-seismic landslide motion range mapping method and system. The method comprises the following steps: acquiring fracture structure data of a research area; positioning a main seismic fracture based on the fracture structure data, and performing fracture mechanism analysis to obtain seismic source parameter data; constructing a fault geometric structure and earth crust medium structure model containing a three-dimensional terrain based on the fracture structure data and the seismic source parameter data to obtain three-dimensional structure model data; and setting fault source parameters and stratum velocity medium parameters based on the source parameter data and the three-dimensional structure model data to obtain seismic simulation input parameters. According to the method, the whole process of near-fault co-seismic landslide from seismic triggering to accumulation is accurately reproduced through an integrated physical driving simulation frame, the three-dimensional motion range and the danger partition are evaluated in a high-precision mode, and a reliable basis is provided for risk evaluation and disaster prevention decision making.

The invention relates to the technical field of intelligent sports equipment, and provides a counting error correction and sports intensity dynamic grading method and system for an intelligent skipping rope. The method comprises the following steps: acquiring three-dimensional motion data in a rope skipping process; performing feature extraction on the three-dimensional motion data to obtain rope skipping motion features; identifying a target data segment in three-dimensional motion data through the rope skipping motion features; acquiring a time interval and displacement track repeatability of two adjacent actions in the target data segment, and when the time interval exceeds a normal rope skipping frequency range or the displacement track repeatability is lower than a preset threshold value, judging that the counting is invalid counting and removing; the abnormal rope skipping counting result is corrected; and in combination with basic information and rope skipping frequency, continuous exercise time, accumulated rope skipping times and heart rate data which are acquired in real time, calculating a current exercise intensity index so as to perform dynamic grading. According to the invention, more accurate and personalized exercise experience is provided for the user.

The invention belongs to the technical field of spacecraft ground simulation testing, and discloses a high-precision space GNC full-physical simulation test platform which is composed of a three-dimensional motion execution system, a distributed real-time control system, a capture interaction simulation system, a safety protection system and a three-dimensional motion simulation and path planning system. By integrating a three-dimensional track type large-range motion execution system and a double-grating ruler closed-loop detection structure, the simulation motion range is remarkably expanded, the technical bottleneck that an existing platform is limited by a single axis, a two-dimensional sliding rail and limited motion amplitude is broken through, high-precision cooperation of a motion control system and a track system is achieved through the platform, and high-precision cooperation of the motion control system and the track system is achieved. The space high-dynamic motion simulation of a large-size and high-inertia complex target can be met, autonomous tracking of a target flight path, flexible capture of a flying claw and small multi-degree-of-freedom control verification are supported through integrated design of a capture interactive simulation system, and complex tasks such as space rendezvous and docking, target capture and micro-force control can be effectively simulated.

The invention provides a control system for a movable base type series-parallel three-dimensional motion compensation device. The control system comprises a crane action control system, a control system and a control system, the crane action control system receives the crane control signal sent by the control unit and correspondingly controls the crane according to the crane control signal; a parallel mechanism compensation system; the parallel mechanism compensation system collects position data between the hoisting weight and the stable platform and crane action and posture change data and sends the data to the control unit; a hoisting load receiving compensation system; the hoisting load receiving compensation system collects six-degree-of-freedom motion data and hoisting load pose data of a target ship and sends the data to the control unit. According to the invention, the crane action control system, the ship motion compensation system, the parallel mechanism compensation system, the hoisting load receiving compensation system and the control unit cooperate with one another, and all the systems are connected with one another and operate independently, so that high-stability and high-efficiency offshore hoisting and transferring operation is realized.

The invention discloses a brain-computer interface-based hand function rehabilitation auxiliary training method, which belongs to the technical field of rehabilitation training, and specifically comprises the following steps of: acquiring an original electroencephalogram signal of hand action of a patient, and synchronously recording an actual movement track of a healthy side hand; separating the original electroencephalogram signal into an action intention signal and an action control signal; activating a mirror image hand model in the virtual training scene based on the action intention signal, and mapping the action control signal into a three-dimensional motion parameter; dynamically correcting the joint movement range of the mirror image hand model according to the actual movement track of the uninjured side hand, and generating virtual hand actions matched with the physiological features of the patient; extracting track key point coordinates of the mirror image action and a joint angle change sequence, and converting the track key point coordinates and the joint angle change sequence into a driving instruction of affected side exoskeleton equipment; the exoskeleton resistance change is fed back to the virtual training scene in real time, and the motion damping of the mirror image hand model is adjusted; according to the invention, personalized precise assistance of hand function rehabilitation training is realized, and the adaptability and effectiveness of training are improved.