32 results about "Virtual locomotion" patented technology

The invention relates to the technical field of medical rehabilitation training, and discloses a chronic obstructive pulmonary disease patient inspiration muscle endurance training method fused with a virtual reality environment, and the method comprises the steps: setting an inspiration training intensity threshold value according to the obtained individual information of a chronic obstructive pulmonary disease patient, and generating a virtual reality scene which comprises a virtual motion object and an advancing path; an inspiration signal value is obtained, the advancing speed of the virtual moving object and the inspiration signal value are in positive correlation mapping, the inspiration signal value is compared with an inspiration training intensity threshold value, and a comparison result is obtained; according to the comparison result, dynamically adjusting the visual environment resistance or kinematics resistance generated by the virtual reality scene to the virtual motion object, so that the advancing speed of the virtual motion object is matched with the inspiratory muscle endurance of the chronic obstructive pulmonary disease patient; according to the method, the problems that existing training compliance is low, a dynamic adjusting mechanism is lacked, and feedback intuition is poor are solved.

The invention provides a sub-closed-loop-containing robot kinematics calibration method and device based on constraint relaxation, and relates to the technical field of robot calibration, and the method comprises the steps: carrying out the decomposition of a main kinematic chain under the condition that there are multiple branches in the main kinematic chain of a robot, so as to generate multiple virtual kinematic chains; according to kinematic parameters and closed-loop geometric constraints of virtual joints in each virtual kinematic chain, the theoretical tail end pose of the robot is determined; parameter errors are determined according to the pose deviation between the theoretical tail end pose and the actual tail end pose of the robot; according to the parameter errors and the calibrated kinematics parameters, the corrected pose deviation is determined; and the active joint displacement is updated according to the corrected pose deviation until the corrected pose deviation or the active joint displacement meets the iteration termination condition, the robot is calibrated according to the determined active joint target displacement, and the calibration precision of the robot is improved.

Systems, methods and computer readable media comprising a virtual exercise board, which is represented by images on the screen of a pad device; wearable devices configured to attach to each shoe of a user and to collect and transmit touch data to the pad device; cameras for tracking movement and calibrating with the data collected by the wearable devices; and computer programs for collecting user data, processing user data, and generating outputs. In embodiments, features include augmented reality; ratings of performance; automated workouts / protocols; real-time progress bar; multi-location database capabilities; and reports.

The invention provides a tracking mobile interaction method, a cave automatic virtual environment system, equipment and a medium. The CAVE system comprises a real space, a virtual space, a wireless control device and projection equipment, wherein the real space comprises a single camera device; the method comprises the steps that target object information in a real space is obtained through a camera device, the target object information is updated to a virtual space, and if the first distance between the target position and the position of a virtual anchor point is smaller than or equal to a first preset distance threshold value, the virtual anchor point moves to the target position. Controlling the projection equipment to display a first virtual motion picture, wherein the first virtual motion picture comprises a virtual environment picture and a target motion picture; if the first distance is larger than the first preset distance threshold value, the projection equipment is controlled to display a second virtual motion picture, the second virtual motion picture comprises the target object and a picture enabling the virtual environment picture to move based on a control instruction of the wireless control device, and more natural and visual navigation experience can be provided.

A method and a system for providing virtual locomotion control to a user during a virtual reality (VR) session. The method includes: capturing one or more frames of a user physical space; determining a safe zone within the user physical space based on the one or more frames; generating at least one locomotion control scheme for the user based on the safe zone, at least one characteristic associated with the user, and the VR session; and providing the virtual locomotion control to the user based on the at least one locomotion control scheme.

The user device may machine segment the sensor readings by determining a context window. The context window may include a start point and an end point. The context window may be used to define a period of time within which the sensor readings are segmented.

A method and system for predicting collision-free poses of a motion system, the method comprising: receiving a 3D virtual environment; receiving a 3D representation of the motion system, hereinafter referred to as a 3D virtual motion system, and a set of 3D poses defined for the 3D virtual motion system; receiving a target task to be performed by the motion system relative to the surrounding environment; receiving a predetermined position within the 3D virtual environment, the predetermined position defining the localization in which the 3D virtual motion system must be placed within the 3D virtual environment; applying a collision-free detection function, hereinafter referred to as a CFD function, trained by a machine learning algorithm to an input dataset including the 3D virtual environment, the target task, the predetermined position, and the set of poses, the CFD function being configured to generate a set of collision-free poses as output that enable the motion system to perform the target task when located at the predetermined position; selecting at least one collision-free pose from the set; and displaying the 3D virtual motion system represented by the selected collision-free pose in the 3D virtual environment.

A method for a touch-sensitive display device includes detecting a first real-world movement of a stylus from a first surface position to a second surface position separated from the first surface position by a first real-world movement distance. The first real-world movement is translated into a first virtual movement from a first virtual input position to a second virtual input position using an absolute movement translation. Based on one or more movement translation context parameters, movement translation is switched from the absolute movement translation to a relative movement translation. A second real-world movement of the stylus is detected from the second surface position to a third surface position separated from the second surface position by a second real-world movement distance. The second real-world movement is translated into a corresponding second virtual movement from the second virtual input position to a third virtual input position using the relative movement translation.

The present technology relates to an information processing device and an information processing method that make it possible to easily generate a virtual item to be attached to a moving virtual body in a virtual space. This information processing device comprises: an image acquisition unit that acquires image data of an autonomous moving body that takes a pose corresponding to an attached item; and an image processing unit that generates, on the basis of the image data, a virtual item that can be attached to a moving virtual body in a virtual space. The present technology can be applied to, for example, smartphones.

The invention discloses a six-degree-of-freedom series-parallel mechanical arm containing a virtual motion center. The six-degree-of-freedom series-parallel mechanical arm comprises a mechanical arm body and a tail end parallel mechanism. The tail end parallel mechanism comprises a fixed platform, a sun wheel, a planet wheel, a planet wheel driving motor, a sliding block, a connecting rod and a movable platform. The sun gear is located at the lower end of the fixed platform, the three sliding blocks are distributed in the circumferential direction of the sun gear and can slide on the sun gear around the axis, each sliding block is provided with a planet gear driving motor, and an output shaft of each planet gear driving motor is connected with a planet gear meshed with the sun gear; the lower ends of the three sliding blocks are each rotationally connected with the upper end of a connecting rod, the lower ends of the three connecting rods are rotationally connected with the movable platform, the three connecting rods are distributed in a staggered mode in the space, and the axis of the sun gear and the intersection point of the three connecting rods and the rotating axes of the corresponding sliding blocks are virtual motion centers. The working point of the end effector coincides with the virtual rotation center. According to the mechanical arm, decoupling of the global position and the local posture of the end effector is achieved, and the flexibility is improved.

The application discloses an unmanned ship safety tracking control method for data forgery attack, and belongs to the technical field of intelligent control. A kinematics and dynamics model of an unmanned ship and a neural network approximation function are constructed; an observer based on an adaptive neural network is constructed, and then an observation error is obtained; a virtual kinematics control law is designed, a position tracking error model is constructed; a speed error dynamic model is constructed; a safety control compensation mechanism for compensating a control input is designed, and then a safety control compensation signal is obtained; a false control signal observer is designed to obtain a false control signal observation error; a dynamic tracking control law is constructed; the dynamic tracking control law is substituted into the speed error dynamic model, and then a speed vector error is obtained; a control input is generated according to the obtained speed vector error; and the control input is transmitted to an actuator of the unmanned ship through a communication network for execution. The application has stronger attack resistance, and the system has strong adaptability and control stability.

The invention provides a digital twinning park man-vehicle passage management and control system, and relates to the technical field of digital twinning, and the system comprises an acquisition module which obtains the spatial position data of a target object in a park; the construction module is used for loading preset static three-dimensional model data of the park and generating a corresponding digital twinborn body in combination with the spatial position data; the deduction module is used for responding to interruption of spatial position data transmission, performing virtual motion state deduction on the digital twin based on a historical passing potential energy field, updating a current deduction position and generating a virtual deduction track; and the correction module responds to recovery and acquisition of the spatial position data, extracts a real reproduction position of the target object, executes deviation convergence calculation, generates a smooth correction instruction, and controls the digital twin body to move from the current deduction position to the real reproduction position. According to the method, the problems of unnatural target trajectory prediction, poor logicality and visual sudden change during reproduction in the vision field blind area are solved, and the rationality and the simulation degree of a blind area deduction result are improved.

The present application relates to the field of artificial intelligence, and provides an exercise intervention method based on virtual reality and deep reinforcement learning technologies. The method comprises: acquiring an exercise knowledge template matching a virtual exercise scene associated with a virtual reality device; on the basis of the exercise knowledge template, performing reinforcement learning training on an exercise guidance model to be trained, and obtaining a pre-trained general exercise guidance model, the pre-trained general exercise guidance model being used to provide general standardized exercise guidance prompts to a target subject wearing the virtual reality device; acquiring virtual exercise interaction data of the target subject in the virtual exercise scene; and on the basis of the virtual exercise interaction data, performing reinforcement learning-based fine-tuning training on the pre-trained general exercise guidance model, and obtaining a personalized exercise guidance model for the target subject, the personalized exercise guidance model being used to provide personalized exercise guidance prompts to the target subject.

The invention relates to the technical field of intelligent traffic systems and multi-source data processing, and discloses an intelligent traffic information internet acquisition and multi-source data fusion system, which comprises a semantic-driven heterogeneous facility protocol reconstruction module for analyzing an internet text and generating a dynamic acquisition protocol configuration packet adaptive to underlying perception; the anchor point data-based time delay compensation module is used for associating physical anchor point time, calculating propagation time delay and delimiting a generated backtracking time drift window; the multi-source microscopic fingerprint verification module is used for extracting physical sensor data based on a protocol packet and a time window, performing isomorphic matching on the physical sensor data and the virtual kinematics fingerprint feature template, and outputting an event authenticity verification result; and the physical feedback driven semantic evolution module is used for constructing a physical truth value feedback signal to update the model weight and correct the fuzzy geographic mapping. According to the method, the problems of internet data release lag and physical facility space-time alignment are solved, and false information filtering and system self-evolution are realized through physical fingerprint verification.

The application provides a collision simulation method and device of a virtual moving object, electronic equipment and a medium, the method comprising: obtaining attribute parameters of the virtual moving object, attribute parameters of an arc-shaped collision region and motion parameters of the virtual moving object, the attribute parameters of the virtual moving object comprising a starting point of the virtual moving object, the attribute parameters of the arc-shaped collision region comprising a reference point in the arc-shaped collision region, the motion parameters comprising a target collision number and a stopping point in the arc-shaped collision region, performing collision simulation on the virtual moving object in the arc-shaped collision region according to the starting point, the reference point, the target collision number and the stopping point, obtaining a plurality of intersection points of the virtual moving object and an arc-shaped edge of the arc-shaped collision region, and generating a collision simulation path of the virtual moving object according to the starting point, the plurality of intersection points and the stopping point. Thus, the process of physical collision simulation in an arc-shaped planar region is simulated under the premise of determining the stopping point, and the experience is more realistic.

The application provides a digital twin park vehicle and pedestrian access control system, and relates to the technical field of digital twin, which comprises a collection module for obtaining spatial position data of target objects in a park; a construction module for loading preset static three-dimensional model data of the park and generating corresponding digital twin bodies in combination with the spatial position data; a deduction module for performing virtual motion state deduction on the digital twin bodies based on historical access potential fields in response to interruption of spatial position data transmission, updating the current deduction position, and generating a virtual deduction trajectory; and a correction module for extracting the real reproduced position of the target objects, performing deviation convergence calculation, generating a smooth correction instruction, and controlling the digital twin bodies to move from the current deduction position to the real reproduced position in response to the resumption of the acquisition of the spatial position data. The application solves the problems of unnatural target trajectory prediction, poor logic, and visual mutation during reproduction in the visual blind area, and improves the rationality and authenticity of the blind area deduction result.

The invention belongs to the technical field of virtual motion systems, and particularly relates to a virtual motion detection and relaxation system and method. Comprising a physiological signal acquisition module, a controller module and an upper computer module, the physiological signal acquisition module comprises a heart rate signal acquisition assembly, a skin electric signal acquisition assembly and an acquisition end wireless communication assembly; the controller module comprises an STM32 microcontroller, a multi-channel digital-to-analog converter and a control end wireless communication component; the upper computer module comprises an information management assembly, a physiological signal preprocessing assembly and a data processing assembly; according to the virtual motion detection and relaxation system and method, on the basis of actual requirements of virtual training items, physiological and pressure state monitoring analysis is conducted on the virtual motion training process, so that training content is optimized and improved according to the states of trainees in the training process, and the training effect is improved.

A method, computer equipment, and computer-readable storage medium for virtual-real interaction in sports events that integrates real-time physiological and environmental data and cheering feedback are disclosed. This method acquires real-time physiological data sets of athletes, environmental data of the sports venue, and cheering behavior data of virtual spectators during the event. These data are then processed through a role feature conversion model, an environment conversion model, and a virtual-real interaction server. This allows the role features of virtual athletes, the environmental presentation of virtual sports venues, and virtual-real cheering interactions to synchronously reflect the real-time status of the physical event, improving the real-time performance, accuracy, and immersive interactive experience of the event. The method achieves the technical effects of real-time synchronization of athlete physiological status and virtual athlete role features, dynamically maintaining consistency between the sports venue and the virtual sports venue environment, and transforming virtual spectator cheering behavior into virtual-real interactive feedback that can control physical sports venue equipment.

According to one embodiment of the present invention, there is provided a method for producing an animation, comprising the steps of: obtaining characteristic information relating to appearance and motion of a real-world object from an input video; determining a virtual object associated with the real-world object with reference to the characteristic information relating to appearance of the real-world object, and determining a virtual motion associated with the real-world object with reference to the characteristic information relating to motion of the real-world object; and producing an animation sequence based on the virtual object and the virtual motion.

The embodiment of the invention provides a control method of a robot applied to electric power inspection and a wheeled mobile robot. The method comprises the following steps: acquiring an expected pose and an actual pose of a robot; generating a virtual motion parameter according to the first error based on a preset kinematics controller; based on a preset dynamic controller, generating a control torque according to the second error and the lumped uncertainty item; wherein the lumped uncertain item is obtained by real-time estimation of a preset nonlinear extended state observer according to the actual motion parameter and the control torque; and according to the control moment, the robot is controlled to move according to the virtual motion parameters, so that the actual pose of the robot tracks the expected pose. According to the method, the motion control accuracy of the wheeled mobile robot in an electric power inspection scene is improved.

The present application relates to a kind of terrain simulation device and method for virtual reality environment, terrain simulation device includes the horizontal array splicing multiple terrain simulation units;Terrain simulation unit includes shell, attitude adjusting device and base;The top wall of shell is equipped with regular arrangement top wall through-hole, multiple ball transmission assemblies are provided in shell, each ball transmission assembly includes magnetic ball, support limiting kit, height adjusting piece and ball rolling drive device;Magnetic ball is one-to-one with top wall through-hole, is supported by support limiting kit;Height adjusting piece is used to adjust the height of magnetic ball to make it partially expose top wall through-hole or descend to shell inside;Ball rolling drive device includes the magnetic drive kit for driving magnetic ball to roll and the power piece for driving magnetic drive kit to adjust the direction of magnetic field, can truly reproduce diversified and irregular terrain scene, user body sense and virtual movement will not disjoint, improve virtual reality immersion.

The application discloses a virtual reality navigation rehabilitation training system and method, and relates to the technical field of rehabilitation training.The system comprises a multi-modal signal acquisition module, which is used for acquiring target electroencephalogram signals and target electromyogram signals of a subject under the visual prompting and guidance of a virtual reality device; a preprocessing module, which is used for preprocessing the target electroencephalogram signals and the target electromyogram signals respectively to obtain preprocessed electroencephalogram signals and preprocessed electromyogram signals; a motor intention prediction module, which is used for inputting the preprocessed electroencephalogram signals and the preprocessed electromyogram signals into a trained multi-modal feature coupling network to obtain a target motor intention prediction result of the subject; and a virtual reality navigation rehabilitation module, which is used for driving a virtual character to perform a motor task in a virtual motor task scene based on the motor intention prediction result of the subject.The application improves the motor intention recognition accuracy.

The invention provides a control method and a controller for a network-forming type energy storage system. The control method comprises the following steps: calculating a virtual torque at a current moment based on an angular frequency at a previous moment of the network-forming type energy storage system, a rated angular frequency of a power grid and a predetermined virtual damping coefficient; pI adjustment is carried out on the virtual torque at the current moment to determine the compensation angular frequency at the current moment; according to the current moment torque deviation integral value and the current moment compensation angular frequency, the current moment angular frequency of the net-forming type energy storage system is determined; generating a current moment control signal according to the current moment angular frequency and a pre-obtained potential amplitude in the current moment; and controlling the networking type energy storage system by using the control signal at the current moment. According to the control method of the network construction type energy storage system disclosed by the embodiment of the invention, through the virtual speed regulator and the virtual motion equation, the grid connection characteristic and the control stability of the network construction type energy storage system are improved.

The application discloses a kind of humanoid robot operating station position planning method, defines robot operation action template, according to robot operation action template design a series of expected operation actions that robot specifically executes;Operation trajectory automatic generator is constructed, and the virtual movement trajectory of robot is automatically generated according to the above-mentioned expected operation action;Robot operating station position is planned based on particle swarm optimization algorithm;Randomly generate several robot virtual station positions as particles, execute virtual movement trajectory on each virtual station position, obtain corresponding pose, its error with expected pose participates in the calculation of particle value, and then update particle parameters, after multiple iterations, the optimal virtual station position calculated is used as the actual operating station position of robot, and the robot moves to the actual operating station position and executes corresponding operation.The application reduces the situation that robot adjusts station position due to arm unreachability when executing multiple operation tasks, and improves overall operation efficiency.

The invention provides a near-electricity safety evaluation method based on combination of a space electric field and a six-axis system. The method comprises the following specific steps: obtaining measured space electric field vector and real-time six-axis vector data; calculating an angular offset according to a given space electric field vector and real-time six-axis vector data; calculating a transformation matrix; calculating a virtual exercise amount; calculating a reference direction; calculating a virtual distance; calculating a near-electricity safety evaluation vector; and calculating attenuation drift, and repeating. Generally, the smaller the modulus of the near-electricity safety evaluation vector is, the closer the operator to the nearest electrified body is, and the higher the risk of an electric shock accident is.

The application discloses a virtual reality navigation rehabilitation training system and method, and relates to the technical field of rehabilitation training.The system comprises a multi-modal signal acquisition module, which is used for acquiring target electroencephalogram signals and target electromyogram signals of a subject under the visual prompting and guidance of a virtual reality device; a preprocessing module, which is used for preprocessing the target electroencephalogram signals and the target electromyogram signals respectively to obtain preprocessed electroencephalogram signals and preprocessed electromyogram signals; a motor intention prediction module, which is used for inputting the preprocessed electroencephalogram signals and the preprocessed electromyogram signals into a trained multi-modal feature coupling network to obtain a target motor intention prediction result of the subject; and a virtual reality navigation rehabilitation module, which is used for driving a virtual character to perform a motor task in a virtual motor task scene based on the motor intention prediction result of the subject.The application improves the motor intention recognition accuracy.

This application provides a method, apparatus, and device for generating the task motion trajectory of a robotic arm, relating to the field of robotic arm simulation technology. The method includes: acquiring the kinematic parameters of the target robotic arm, as well as the environmental parameters of the target simulation environment and the task parameters of the target simulation task; constructing a virtual model of the target robotic arm based on the kinematic parameters; generating a task path containing multiple task nodes based on the virtual pose and target position of the configured virtual model of the robotic arm in the target simulation environment; calculating the target angle of any joint in the virtual model of the robotic arm at each task node based on the task parameters, virtual pose, and kinematic parameters; generating the joint motion trajectory of the joint based on the target angle of the joint at each task node; and obtaining the task motion trajectory of the target robotic arm based on the joint motion trajectories of each joint. This application can directly generate the virtual motion trajectory of the robotic arm in the simulation environment.

The application discloses a game scene picture display control method and device and electronic device. The method comprises the following steps: acquiring attribute information of a plurality of first key points associated with a first plot to be presented and a first target running mode of a virtual camera, wherein the plurality of first key points are a plurality of preset camera positions of the virtual camera in a three-dimensional game scene, and the attribute information comprises the position and orientation of each key point in the plurality of first key points; determining a first virtual motion path of the virtual camera in the three-dimensional game scene based on the attribute information of the plurality of first key points; controlling the virtual camera to move in the three-dimensional game scene according to the first virtual motion path and the first target running mode, and displaying a game scene picture corresponding to the first plot in a graphical user interface. The application solves the technical problem that the game scene plot transition mode provided in the related art cannot be customized and is difficult to be iterated.

The embodiment of the invention provides a manipulator control method and system based on a neural network, and the method comprises the steps: obtaining hand motion video data of a hand of a user through video collection equipment, and obtaining equipment motion data of the video collection equipment; on the basis of the hand motion video data and the equipment motion data, motion information of the hand of the user is estimated through a neural network model; mapping the motion information of the hand of the user to a digital twin space, and generating a virtual motion track of the hand of the user; and based on the virtual motion track, a motion control instruction is generated, and the manipulator is controlled to move. According to the manipulator control method and system based on the neural network provided by the embodiment of the invention, the prediction efficiency and prediction real-time performance of the hand motion of the user can be effectively improved, consumed resources are saved, the hand motion of the user can be simulated through the digital twin space, and the training of the motion of the manipulator can be completed through reinforcement learning.

A computer-implemented method can include receiving, from one or more sensors, operation data associated with operation of a vehicle. The computer-implemented method can also include updating one or more operation ratings based upon at least a portion of the operation data. The computer-implemented method can further include processing, based at least on the one or more operation ratings, as updated, one or more virtual movements simulating a performance level of the one or more operation ratings for a virtual vehicle to undertake in a virtual trip, wherein the performance level is a metric associated with at least one updated operation ratings. The computer-implemented method can additionally include transmitting for displaying, in a user interface, visual data indicative of a summary of the virtual trip based on the one or more virtual movements, wherein the summary comprises at least a score associated with the virtual trip. Other embodiments are described.