63 results about "Time trajectory" patented technology

The invention provides a mechanical arm predefined time trajectory tracking control method and system based on time delay estimation, and relates to the technical field of multi-degree-of-freedom mechanical arm trajectory tracking control. Constructing a predefined time error conversion function to define a system error and conversion error system, designing a barrier function and a feedback control rate based on the conversion error system, and designing a Lyapunov function to prove the stability of the system so as to track an expected trajectory; according to the method, time delay information is deeply fused, dependence on a complex model approximate structure is not needed, stable convergence of the mechanical arm system state within predefined time can be achieved when a mathematical model is not accurate, the system control performance and robustness are effectively improved, and the requirement of modern industry for mechanical arm high-performance control is met.

Disclosed in the present invention is a LiDAR odometer method using a piecewise linear continuous time trajectory. The present invention comprises the following steps: first, using a time window to divide an initial LiDAR point cloud time sequence so as to obtain LiDAR point cloud sub-sequences under a plurality of time windows, and constructing an initial local point cloud map; and then, on the basis of the initial local point cloud map, optimizing LiDAR poses of the LiDAR point cloud sub-sequences under the time windows to obtain an overall continuous time trajectory and a final local point cloud map. The present invention achieves high-precision motion estimation for LiDARs, has high robustness and real-time performance, is applicable to the fields such as robot navigation, simultaneous localization and mapping, automated driving, and provides a relatively simple and efficient solution that can effectively handle the characteristics of LiDARs as streaming sensors.

The invention provides a multi-sensor fusion robot grabbing path planning method and device, and relates to the field of automation. The method comprises the following steps: constructing a first time correction relation based on observation parameters of a multi-source sensor; correcting the relation based on the first time; inputting the hardware timestamp synchronized to the master clock source into the extended state estimation model; iteratively updating the observation parameters of the multi-source sensor based on the extended state estimation model, and constructing a second time correction relation according to the updated observation parameters of the multi-source sensor; constructing a pose continuous time trajectory function corresponding to the target robot based on the second time correction relation; the continuous time trajectory function and the multi-source sensor observation parameters serve as input, and a grabbing path corresponding to the target robot is output through a time sequence consistency constrained joint optimization model; and controlling the target robot to execute grabbing operation based on the grabbing path. The problem that in the prior art, the precision of a robot grabbing path is low is solved.

The invention discloses a space-time trajectory-based ship data distributed real-time fusion method and device. The method comprises the following steps: analyzing according to received AIS information, and judging whether an MMSI in ship state information appears for the first time or not; if the judgment result is yes, determining that the ship to which the MMSI belongs is the ship which is not fused; if the judgment result is no, acquiring the latest state information of the ship to which the MMSI belongs; calculating a comparison value among the AIS information of the same MMSI according to the latest state information, and judging whether a fusible ship exists or not according to the comparison value; if yes, obtaining matched ship information with the highest reasonable score and a first identifier of the ship; if not, determining that the ship with the MMSI information is a ship which is not fused, and generating a second identifier of the ship; and storing the AIS information of the ship according to the first identifier or the second identifier. According to the invention, the ship positioning precision, the track recording accuracy and the ship management effectiveness can be improved.

The invention provides a trajectory prediction method and device, electronic equipment, a storage medium and a program product. The trajectory prediction method comprises the steps of determining a to-be-predicted time period and pre-collected multi-source heterogeneous sensing data based on a motion trajectory; according to the multi-source heterogeneous perception data, through a pre-constructed multi-modal attention model, determining context information of the to-be-predicted time period; according to the context information, space-time trajectory prediction is carried out through a conditional variation auto-encoder and a conditional diffusion model, and a predicted space-time trajectory is determined by adopting a conditional diffusion model consistency distillation method; wherein weight optimization is carried out through cross entropy loss and space consistency loss to determine the predicted space-time trajectory; the cross entropy loss and the space consistency loss are subjected to parameter adjustment through any one of an empirical method, a cross validation method, a learning-based method and a method for analyzing data characteristics and task requirements to determine weights so as to complete model training.

The invention discloses a robot motion path real-time deviation rectifying method based on digital twinning, which comprises the following steps that an off-line programming system generates an initial welding track according to a welding requirement, converts the initial welding track into a code file, transmits the code file to a digital twinning system, and generates a preset track Q; the virtual model layer synchronously maps a motion path of a welding robot entity to obtain a real-time mapping track P; track points of the two tracks are matched, and wrong matching is eliminated; a robot track model is constructed, a predicted track T of entity motion of the welding robot is obtained, and track point matching is conducted on the predicted track T and a preset track Q; and the deviation value of the matched track points of the two tracks is calculated, the robot electric control system corrects the welding track of the welding robot entity according to the deviation value, and the welding track is corrected in real time. According to the correction method, track points are matched only by means of a digital twin system for real-time correction; the adopted track point matching algorithm is small in error and high in matching precision.

The invention provides an unmanned underwater vehicle preset time trajectory tracking control system with an obstacle avoidance function so as to improve trajectory tracking precision in an obstacle environment. The method comprises the following steps: establishing an unmanned underwater vehicle model; designing a preset time function; a novel artificial potential field function is designed, so that the obstacle avoidance response speed is increased, and tracking errors are reduced; a preset time obstacle performance function is designed to serve as an error limiting boundary for trajectory tracking under the obstacle condition, and the function can dynamically adjust the error limiting boundary according to error changes; designing a preset time extended state observer for estimating model uncertainty and external interference; an auxiliary system with a smooth switching function is adopted to process an input saturation problem; and finally deducing a trajectory tracking control scheme. A simulation result shows that the absolute error integral of the unmanned underwater vehicle in the advancing direction, the yawing direction and the course angle within 100 seconds is reduced by 56.37%, 43.21% and 7.20%; estimation absolute error integral of longitudinal, swaying and yaw angular velocity is reduced by 25.44%, 8.86% and 35.24%.

The invention discloses an industrial safety detection method combining time alignment and motion consistency, and belongs to the technical field of industrial safety monitoring. According to the method, through seven steps of multi-camera data acquisition and preprocessing, target feature extraction, coordinate projection, instantaneous speed estimation, multi-dimensional similarity fusion, soft matching optimization and model training and target trajectory generation, the problem of space-time inconsistency during multi-camera cooperative detection in an industrial scene is solved. A camera clock offset parameter is innovatively introduced to correct a cross-camera time difference, appearance, geometry and time prior multi-dimensional similarity are fused, a multi-loss function optimization model is constructed, and cross-camera target accurate matching and long-time trajectory tracking are realized. High-precision technical support is provided for personnel safety monitoring and equipment abnormal behavior detection in an industrial scene, and the industrial production safety protection capability is improved.

The invention provides a Markov jump-based mechanical arm preset time trajectory tracking control method, which comprises the following steps of: calculating a trajectory tracking error by establishing a two-degree-of-freedom mechanical arm dynamic model with a Markov jump characteristic; a trajectory tracking error is subjected to nonlinear transformation, a nonsingular terminal sliding mode surface is constructed in combination with a preset convergence time upper limit function, and then a control torque is synthesized through an equivalent control item and a robust switching item containing a sliding mode surface sign function and a switching gain to drive a mechanical arm. And the trajectory tracking error is difficult to converge in the preset time.

The invention discloses an intelligent robot trajectory planning method and system based on visual inspection. The method comprises the following steps: acquiring obstacle motion state data through a sensor array, performing time alignment and multi-modal fusion, and constructing an initial state vector; iteratively updating the state by adopting a particle filter algorithm, and generating a smooth trajectory sequence through continuity correction and time sequence integration; determining a potential collision area based on polynomial fitting, and performing extension to obtain a predicted collision boundary; extracting passable grids to construct a dynamic risk map, screening low-risk routes, and sequencing to determine an optimized path; performing correction according to deviation feedback by simulating a forward verification path to generate a final execution instruction; state deviation is continuously monitored in the execution process, and the control scheme is dynamically adjusted. According to the invention, real-time trajectory planning and intelligent path optimization of the robot in a dynamic obstacle environment are realized, and the movement safety of the robot is remarkably improved.

The invention relates to the technical field, in particular to a delay method and system for nozzle printing software, and the method comprises the following steps: carrying out the numbering and classification of real-time data and the item-by-item splitting of start and stop behaviors, and carrying out the stage attribution of the delay change of a nozzle at a microscopic level; a structured time sequence is formed under a unified dimension, the accuracy of subsequent calculation is established, linkage judgment is constructed through response behaviors under different load environments in combination with the ink jet amount and the pressure difference, the stability of starting delay adjustment is guaranteed, image errors are adopted as an external observation channel, a closed-loop control path is established on the time level, and the stability of delay adjustment is improved. Through coupling operation of three paths of real-time track processing, difference matrix generation, image error mapping and period correction, delay control does not depend on fixed parameter or mean value adjustment any more, dynamic mapping and fault isolation capability are achieved, and flexibility, feedback granularity and precision control of delay management are enhanced.

This application relates to a predetermined-time tracking control method for a free-floating space manipulator system, and pertains to the field of trajectory tracking control technology for manipulator systems. The aim is to address the poor stability and low robustness of free-floating space manipulator systems when facing model uncertainties and external disturbances. This application establishes a dynamic model of the space manipulator in free-floating mode; designs a nonlinear disturbance observer based on predetermined-time convergence; constructs piecewise continuous sliding mode variables based on the dynamic model; constructs a non-singular predetermined-time sliding mode controller based on the dynamic model, the nonlinear disturbance observer, and the piecewise continuous sliding mode variables; and utilizes the non-singular predetermined-time sliding mode controller to perform predetermined-time trajectory tracking control on the free-floating space manipulator system.

A kind of double-runner dehumidification energy-saving optimization control method for multivariate collaborative regulation, comprising: obtaining the state observation data and equipment limit value of each measuring point, generating material regeneration demand estimation curve and desorption boundary threshold set.According to material regeneration demand estimation curve and desorption boundary threshold set, calculate the regeneration heat trajectory and residence time trajectory required for desorption, generate a set of safe operation constraints.Based on regeneration heat trajectory, residence time trajectory and a set of safe operation constraints, combined with the decision quantity corresponding to the set optimization target, determine the control setting sequence and reference path at the current time.The control setting sequence is issued to the execution unit, and the execution unit is scheduled according to the reference path, and the actual execution record and execution deviation data are monitored and output in real time.Based on actual execution record and execution deviation data, update the estimated value of material adsorption capacity and desorption temperature, and correct the regeneration heat trajectory and residence time trajectory in adjacent rolling time window.

The present invention discloses a predefined time trajectory tracking control method for a quad-rotor drone under multi-source disturbances, and the steps include: step one, establishing a mathematical model of a quad-rotor drone containing multi-source disturbances; step two, designing a position controller; step three, designing an attitude controller; step four, performing stability analysis. This control method is used to deal with the tracking control problem of a quad-rotor drone under multi-source disturbances. The position loop designs a nonlinear disturbance observer to compensate for the disturbance, and designs a sliding surface to track the position; the attitude loop designs a predefined time non-singular terminal sliding mode controller to reduce the chattering caused by the sliding surface, and uses the convergence law to stabilize the attitude tracking error within a predefined time. The effectiveness of the present invention is verified by theoretical analysis and numerical simulation.

The present invention provides a preset time control method and device for a flexible linkage manipulator, relating to the field of robotics. The method comprises: constructing a dynamic model of the flexible manipulator; performing a dual-time-scale model decomposition of the flexible manipulator dynamic model based on singular perturbation theory to obtain a slow-varying subsystem and a fast-varying subsystem; designing a preset time trajectory tracking controller based on the slow-varying subsystem using a composite learning algorithm based on a neural network and a disturbance observer, using a time transformation function and a state transformation function; designing a vibration suppression controller based on the fast-varying subsystem by constructing sliding mode variables; and obtaining control inputs for the flexible linkage manipulator based on the preset time trajectory tracking controller and the vibration suppression controller. This method can effectively suppress flexible vibrations and improve the robustness and adaptability of the system.

The invention discloses an intelligent ocean vessel scheduling method and system based on AIS space-time trajectory data, and the method comprises the steps: obtaining the AIS space-time trajectory data of a plurality of vessels in a target sea area, constructing a space-time correlation structure of the plurality of vessels in the dimensions of course, speed and arrival time, and constructing a vessel group cooperative behavior mode based on the space-time correlation structure; identifying a space-time area where the ship tends to decelerate, stay or converge intensively in a preset time window, and dynamically generating a virtual anchor ground area according to the stability and continuity of group behaviors in the space-time area; taking the virtual anchor ground area as an implicit navigation constraint condition, forming a joint constraint in combination with a ship group collaborative behavior mode, and performing potential navigation path prediction on a ship with an AIS signal missing or abnormal state; and adjusting the scheduling of the ocean vessels based on the predicted trajectory to obtain a scheduling decision scheme. According to the invention, the congestion risk and waiting time are reduced, and the marine traffic efficiency and the scheduling intelligence level are improved.

The application relates to the field of space-time trajectory calculation, in particular to a space-time trajectory completion method and device based on big data, equipment and medium, wherein the method comprises the following steps: acquiring trajectory data of a specified target, wherein the trajectory data comprises position information and time information; generating a to-be-completed trajectory coordinate graph based on the position information; if there is a blank trajectory in the to-be-completed trajectory coordinate graph, calculating the similarity between the to-be-completed trajectory and an approximate trajectory in a historical trajectory based on a disconnected point of the blank trajectory; completing the blank trajectory according to the approximate trajectory with a similarity within a specified threshold; and performing matching degree calculation based on the completed trajectory, and retaining the completed trajectory with the highest matching degree. The method disclosed by the application can draw a reasonable complete trajectory under the condition that the position information is lost, and has low calculation complexity and high calculation performance.

The embodiment of the invention relates to the technical field of body intelligence, and provides a space-time trajectory splicing method and device of a robot, electronic equipment and a medium, and the method comprises the steps: obtaining current observation data and current absolute time when a target robot executes a current action sequence; determining a residual expected action sequence based on a time node corresponding to the current absolute time in the current action sequence; estimating a planning state starting point on the expected action sequence based on the current observation data, the current absolute time and the estimation model reasoning time; inputting the current observation data and the planning state starting point into a vision-language-action model, and outputting a target action sequence through the vision-language-action model; and the target action sequence is spliced to the expected action sequence according to the time sequence, and a space-time trajectory splicing result of the target robot is generated. Therefore, asynchronous, continuous and smooth real-time action output under large model reasoning delay is realized, and pause, jitter and impact are eliminated.

The invention provides an adaptive predetermined time trajectory tracking control method for a rigid-flexible coupling tendon-driven mechanical arm. The adaptive predetermined time trajectory tracking control method comprises the following steps: establishing a dynamic model of the rigid-flexible coupling tendon-driven mechanical arm which comprehensively considers the flexible deformation of an arm lever structure and the elastic deformation of a rope; designing a nonsingular terminal sliding mode surface according to the trajectory tracking error, and estimating system lumped interference by adopting an RBF neural network; and designing a self-adaptive predetermined time nonsingular terminal sliding mode controller, adjusting parameters through a self-adaptive law to suppress and control input buffeting, and controlling a joint trajectory tracking error to converge within a predetermined time range. The vibration of the tail end of the mechanical arm is restrained, and meanwhile it is ensured that the joint trajectory tracking error converges within the preset time range; the influence of initial conditions is avoided; according to the method, system uncertainty and external disturbance are estimated through the RBF neural network, and control robustness is improved; a self-adaptive parameter adjusting mechanism is introduced, the control input buffeting problem is effectively solved, and the tail end operation precision of the mechanical arm is improved.

The embodiment of the invention relates to the technical field of transmission, in particular to a mover control method of a transmission line, which comprises the following steps: controlling a target mover in the transmission line to move according to a preset position and time trajectory diagram to obtain an actual position and time trajectory diagram; according to the actual position and time trajectory diagram and the preset position and time trajectory diagram, performing position ring adjustment processing on the target mover to obtain a target position and time trajectory diagram; controlling the target rotor to move according to the target position and the time trajectory diagram to obtain an actual speed and time trajectory diagram; according to the actual speed and time trajectory diagram and a preset speed and time trajectory diagram corresponding to the target rotor, performing speed ring adjustment processing on the target rotor to obtain a target speed and time trajectory diagram; and obtaining a first control parameter according to the target speed and the time trajectory diagram. According to the invention, through layered adjustment of the position ring and the speed ring, double optimization of the motion accuracy and smoothness of the rotor is realized, and finally, the control stability of the rotor under load change is improved.

The application provides a screening method and device for associated target archives, comprising: obtaining a space-time trajectory corresponding to a reference archive and a space-time trajectory corresponding to a to-be-associated archive, the reference archive being an archive of a known target; calculating a first similarity value of the space-time trajectory corresponding to the to-be-associated archive and the space-time trajectory corresponding to the reference archive; determining a same-trip probability according to the number of same position collection points in the space-time trajectory corresponding to the reference archive and the space-time trajectory corresponding to the to-be-associated archive, the number of position collection points included in the space-time trajectory corresponding to the reference archive, and the number of position collection points included in the space-time trajectory corresponding to the to-be-associated archive; determining an association parameter according to the first similarity value and the same-trip probability; and when the association parameter is greater than or equal to a first preset threshold, classifying the to-be-associated archive into an associated target archive library corresponding to the known target. Through the method, the problems that the current method is only applicable to judging same-trip targets, has a small range of action, and has low archive screening efficiency are solved.

A double-rotating-wheel dehumidification energy-saving optimization control method oriented to multivariable cooperative regulation comprises the steps that state observation data and equipment limiting values of all measuring points are obtained, and a material regeneration demand estimation curve and a desorption boundary threshold set are generated; and according to the material regeneration demand estimation curve and the desorption boundary threshold set, calculating a regeneration heat trajectory and a residence time trajectory required by desorption, and generating a safe operation constraint set. And based on the regenerative heat trajectory, the residence time trajectory and the safe operation constraint set, determining a control setting sequence and a reference path at the current moment in combination with a decision amount corresponding to a set optimization target. And issuing the control setting sequence to an execution unit, controlling the execution unit to perform feedforward scheduling according to the reference path, and monitoring and outputting actual execution records and execution deviation data in real time. And based on the actual execution record and the execution deviation data, updating the estimated values of the adsorption capacity and the desorption temperature of the material, and correcting the regeneration heat track and the retention time track in the adjacent rolling time window.

The present invention discloses a homology-like space-time trajectory planning method, device and storage medium, including: dividing the trajectory planning environment into a static environment and a dynamic environment; geometrically modeling the static environment; geometrically modeling the dynamic environment by a Delauney triangulation method; making decisions on different homology-like space-time spaces based on a hierarchical cost mechanism to select the optimal homology-like space-time space; in the optimal homology-like space-time space, generating a coarse path based on search planning; in the optimal homology-like space-time space, optimizing according to the coarse path to generate a fine trajectory. The present invention geometrically models dynamic obstacles by a Delauney triangulation method, which is conducive to quickly finding different homology-like space-time spaces, and adopts a hierarchical cost evaluation mechanism to solve the problem that a single-dimensional cost cannot effectively evaluate and compare the advantages and disadvantages of different state points.

The application provides a multi-sensor fusion robot grasping path planning method and device, and relates to the field of automation. The method comprises the following steps: constructing a first time correction relationship based on multi-source sensor observation parameters; inputting hardware timestamps synchronized to a master clock source into an extended state estimation model based on the first time correction relationship; iteratively updating the multi-source sensor observation parameters based on the extended state estimation model, and constructing a second time correction relationship according to the updated multi-source sensor observation parameters; constructing a pose continuous time trajectory function corresponding to a target robot based on the second time correction relationship; taking the continuous time trajectory function and the multi-source sensor observation parameters as inputs, and outputting a grasping path corresponding to the target robot through a joint optimization model with a time sequence consistency constraint; and controlling the target robot to perform a grasping operation based on the grasping path. The application solves the problem of low precision of the robot grasping path in the prior art.

The application discloses an AUV preset time trajectory tracking control method considering performance constraints and interference influence, and relates to the technical field of trajectory tracking control.The application is to solve the problem that the existing AUV trajectory tracking control method is difficult to accurately complete trajectory tracking within the expected time.The application comprises the following steps: establishing an AUV kinematics model by using the six-degree-of-freedom position and posture of the AUV in an inertial coordinate system; combining the AUV kinematics model to establish an AUV dynamics model; establishing a performance function; converting the trajectory tracking error by using the performance function and the AUV dynamics model to obtain a trajectory tracking error vector; designing an adaptive lumped interference estimator by using the trajectory tracking error vector; and designing an adaptive posture tracking controller by using the trajectory tracking error vector and the adaptive lumped interference estimator.The application is used for AUV trajectory tracking control.

The application discloses an unmanned ship scheduled time trajectory tracking method based on asymmetric preset performance, which comprises the following steps: S1, a kinematics model and a dynamics model of a three-degree-of-freedom unmanned ship are established based on an Euler-Lagrange method, and the kinematics model and the dynamics model are expressed as a state equation of the unmanned ship system; S2, a system structure with scheduled time convergence characteristics is constructed, and stable convergence of the state of the unmanned ship system within scheduled time is realized; and S3, an asymmetric preset performance function is designed, trajectory tracking errors of the unmanned ship system are constrained, a dynamic evolution process of the errors is limited, and the errors are guaranteed to meet preset performance indexes. The application has the beneficial effects that a novel asymmetric preset performance function is constructed, the dynamic evolution process of system errors can be effectively constrained, the state errors of the system are always kept within preset performance boundaries, and therefore, the stability and control precision of the trajectory tracking process of the unmanned ship are improved.

The invention discloses a planetary detector preset time trajectory tracking control method under input saturation. The method comprises the following steps: establishing an initial kinetic model of a planetary probe in an atmosphere entry section; setting a reference radial distance of the planetary detector; determining an initial height tracking compensation error and a first-order height tracking compensation error of the planetary probe based on an actual radial distance and a reference radial distance in the initial dynamic model; obtaining a second-order height tracking compensation error based on the initial kinetic model, the initial height tracking compensation error and the first-order height tracking compensation error; setting an initial sliding mode variable, and processing the initial sliding mode variable to obtain a first-order sliding mode variable; according to the invention, the technical problem that the planetary probe cannot realize high-precision landing within the preset time in a complex space environment is solved.

The application discloses a kind of ocean-going ship intelligent scheduling method and system based on AIS space-time trajectory data, method includes: obtaining the AIS space-time trajectory data of multiple ships in target sea area, constructs the space-time association structure of multiple ships in the dimension of heading, speed and arrival time, constructs ship group cooperative behavior mode based on space-time association structure;Identify the space-time region that ship presents convergence deceleration, stay or dense convergence in predetermined time window, and dynamically generate virtual anchor area according to the stability and persistence of group behavior in space-time region;Virtual anchor area is used as implicit navigation constraint condition, and combined with ship group cooperative behavior mode to form joint constraint, potential navigation path prediction is carried out to ship with AIS signal missing or abnormal;Based on predicted trajectory, the scheduling of ocean-going ship is adjusted, and scheduling decision scheme is obtained.The application reduces the congestion risk and waiting time, improves the efficiency of maritime traffic and the intelligent level of scheduling.