76 results about "Virtual locomotion" patented technology

The invention relates to the technical field of robot joint control, and discloses a robot dog mechanical joint control method. The method comprises the following steps: acquiring a whole-body joint real-time sensing data set which covers the torque reading of a multi-axial force sensor, the angle data of a joint encoder and the body attitude data of an inertial measurement unit; motion state compensation is carried out on the sensing data based on a dynamic window mechanism, and a dynamic compensation matrix containing kinematics compensation parameters is generated; and inputting the multi-modal motion control data set into a gradient descent model under space-time constraint to complete multi-modal motion feature fusion so as to obtain a fusion motion control data set. Joint behavior abnormity is detected through a Lyapunov stability analysis algorithm, and abnormal nodes are identified; and iteratively optimizing control parameters through a fuzzy PID optimization algorithm to generate an optimized control parameter set, finally constructing a three-dimensional virtual motion space model, and establishing a dynamic mapping relationship between a virtual track and an actual mechanism.

The invention discloses a golf motion simulation method and system based on digital twinning, and the method comprises the steps: obtaining an original data set containing a timestamp and a space coordinate from the cooperative motion of a plurality of parts and equipment of an athlete body through a sensor network technology in combination with a high-speed image capture device, and obtaining a preliminary multi-source motion information record; aiming at the initial multi-source motion information record, correcting time synchronization deviation and space matching error by adopting a data preprocessing module, and determining a corrected unified data framework by comparing timestamps and coordinate mapping relationships of data sources; according to the corrected unified data framework, a feature extraction algorithm is used for separating and marking the action analysis details and key parameters at the ball hitting moment, and a feature vector set containing the body posture and the equipment state is obtained. According to the invention, a highly vivid virtual environment support is provided for exercise training and match analysis, and the simulation precision and application value of a virtual exercise scene are effectively improved.

The invention provides a motion control method and device and electronic equipment. The method comprises the following steps: acquiring a plurality of control points of a virtual moving object; generating an initial curve track of the virtual moving object based on the plurality of control points; when the virtual moving object is controlled to move along the initial curve track, an end point in the multiple control points is changed, and a current position point, an updated end point and a target control point of the virtual moving object are obtained; the target control point is located on a tangent line of the initial curve track at the current position point; generating an updated curve track of the virtual moving object based on the current position point, the updated termination point and the target control point; and controlling the virtual moving object to move from the current position point along the updated curve track. According to the method and the device, smooth transition of the curve track of the virtual moving object can be realized when the termination point is changed.

The invention discloses a pipe gallery type low-altitude flight conflict resolution method and device based on reinforcement learning. The method comprises the following steps: mapping current physical motion state data of a current physical unmanned aerial vehicle into target virtual motion state data of a target virtual unmanned aerial vehicle; in the target simulation platform, determining a current virtual pipe gallery function area of the target virtual unmanned aerial vehicle according to the target virtual motion state data; generating a target virtual unmanned aerial vehicle formation based on the current virtual pipe gallery function area in combination with the target virtual motion state data and virtual formation motion state data corresponding to the initial virtual unmanned aerial vehicle formation; and calculating a virtual formation conflict resolution strategy of the target virtual unmanned aerial vehicle formation based on a reinforcement learning algorithm, and taking the virtual formation conflict resolution strategy as a physical formation conflict resolution strategy to control the current physical unmanned aerial vehicle to fly according to the physical formation conflict resolution strategy. The operation efficiency of the pipe gallery type low-altitude traffic system can be improved, and the method can be widely applied to the technical field of unmanned aerial vehicles.

The invention relates to a robust adaptive variable admittance control method based on different intentions in a feature space. The method comprises the following steps: determining a mapping relation between an actual contact force and a virtual contact force by adopting a mechanical arm kinematics and dynamics model; determining an adaptive stiffness coefficient based on the actual contact force change, and determining a robust adaptive virtual damping coefficient based on direct intention based on the virtual motion speed of the feature point; adjusting the robust adaptive virtual damping coefficient based on the expected contact force of the adjustment robot, and determining an admittance control virtual damping coefficient based on direct and indirect intentions; based on the mapping relation, the adaptive stiffness coefficient and the admittance control virtual damping coefficient, determining robust adaptive variable admittance control based on human intention in the feature space; and a robot image visual servo control law is determined based on the real-time image feature points and the expected feature points, the real-time joint speed of the mechanical arm is obtained, and the mechanical arm is controlled to move.

The invention provides a real-time adjustment method and system for a virtual motion scene in meta-universe intelligent motion, and relates to the technical field of meta-universe, and the method comprises the steps: obtaining the motion parameter information of a user, calculating a scene matching score, dividing a difficulty level region, and detecting the motion state and physiological data of the user in real time; and calculating a skill grade score and dynamically adjusting scene difficulty distribution and rendering parameters. According to the method, the accurate matching of the virtual scene and the exercise ability of the user is realized, the immersion and individuation degree of interaction experience are improved, meanwhile, the system resource allocation is optimized, and the smooth operation of the meta-universe exercise environment is guaranteed.

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.

A fantasy sports audio simulation system that provides an audio experience that allows contest participants and spectators to listen to a simulated virtual fantasy sports contest. These simulations can occur at any time between any two or more contest participants, like mini contests within the context of a broader league. Once a league is formed and team rosters are created, numerical calculations are performed based on real-athlete statistics to determine a current “state” of performance for all virtual athletes in gameplay. Further simulation inputs can be provided by artificial intelligence, coaching, randomization, and other factors. This statistical analysis is the basis for assigning performance variables to each virtual athlete, which allows the system to calculate numerical point values based on the performance of each virtual athlete and team in this fantasy sports auditory simulation system. Participants can experience the simulation through a variety of audio / listening devices, including extended reality.

The invention discloses a safety monitoring interaction system, method and device based on a virtual image, and the system comprises a virtual image generation module which is used for collecting the face data and behavior data of a user, and processing the face data through a feature point analysis algorithm to obtain the face features of the user; performing analysis in combination with the behavior data to obtain character characteristics of the user; based on the facial features and the character features, intelligent matching is carried out, and a personalized virtual image is generated; the safety monitoring module is used for acquiring the real-time position of the user through a multi-source positioning technology, so that the virtual movement track of the virtual image on the virtual map is synchronized with the real movement track of the user on the real map; the equipment data sharing module is used for synchronizing the state of the virtual image to the monitoring end intelligent equipment in real time; therefore, data sharing between the user-side intelligent equipment and the monitoring-side intelligent equipment is realized. According to the invention, the intelligent device for children provides all-weather personal safety monitoring for children.

The present application relates to a robust adaptive variable admittance control method based on different intentions in a feature space. The method includes: using the kinematic and dynamic models of the manipulator to determine the mapping relationship between the actual contact force and the virtual contact force; determining the adaptive stiffness coefficient based on the actual contact force change, and determining the robust adaptive virtual damping coefficient based on the direct intention based on the virtual motion speed of the feature point; adjusting the robust adaptive virtual damping coefficient based on the contact force expected by the robot, and determining the admittance control virtual damping coefficient based on direct and indirect intentions; determining the robust adaptive variable admittance control based on human intention in the feature space based on the mapping relationship, the adaptive stiffness coefficient and the admittance control virtual damping coefficient; determining the robot image visual servoing control law based on the real-time image feature points and the expected feature points, obtaining the real-time joint velocity of the manipulator, and controlling the manipulator movement.

To enable a group of multiple users to enjoy a betting game.MEANS FOR SOLVING THE PROBLEM: A game live distribution system for performing game live distribution between multiple users including a distributor and viewers includes: a game providing unit that provides a game in which, if votes made by users who have predicted the outcome of a competition performed by a virtual competitor in a game space satisfy winning conditions, the payout according to a payout ratio is imparted to the user; a distribution unit that provides a live distribution that distributes a live video of the game played by the distributor to one or more viewers' devices; and a display control unit that performs control for displaying, on a display screen of the live video, a voting status object indicating which users in a group consisting of the distributor and the one or more viewers have voted for which virtual competitors.SELECTED DRAWING: Figure 3

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.

The embodiment of the invention provides a motion management method of a virtual motion object and electronic equipment, and the method comprises the steps: obtaining the real motion information of a real motion object corresponding to the virtual motion object, and determining the first motion information of the virtual motion object according to the real motion information; obtaining second motion information of the virtual motion object from a preset standard motion information base; determining a motion information fusion coefficient; performing motion information fusion processing on the first motion information and the second motion information according to the motion information fusion coefficient, and determining target motion information corresponding to the virtual motion object; and controlling the motion of the virtual motion object according to the target motion information. Thus, through motion information fusion processing, the motion of the virtual motion object can be more fitted with the motion of the real motion object, and the motion is more standard and smoother, so that the virtual motion object can present the real motion of the real motion object more vividly and smoother, and a better motion effect is achieved.

The invention discloses a robot motion control parameter optimization method and system, an intelligent terminal and a medium, and the method comprises the steps: obtaining a to-be-optimized motion control parameter, carrying out an actual motion control test according to the to-be-optimized motion control parameter, and determining a virtual test function threshold value based on a target function and an actual motion control test result; performing a virtual motion control test according to the to-be-optimized motion control parameter, and performing iterative updating on the to-be-optimized motion control parameter until a virtual test function value determined according to a virtual motion control test result and the target function is not greater than a virtual test function threshold value; performing an actual motion control test according to the motion control parameters to be optimized, and updating the target function according to the result of the actual motion control test; and returning to execute the step of performing the virtual motion control test on the robot according to the to-be-optimized motion control parameter until the parameter optimization termination condition is met, and obtaining the optimized target motion control parameter. Therefore, the parameter optimization efficiency can be 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.

The invention provides a collision simulation method and device for a virtual moving object, electronic equipment and a medium, and the method comprises the steps: obtaining the attribute parameters of the virtual moving object, the attribute parameters of an arc collision region, and the motion parameters of the virtual moving object, the attribute parameters of the virtual moving object comprise the starting point of the virtual moving object, the arc collision region and the motion parameters of the virtual moving object; the attribute parameters of the arc-shaped collision area comprise a reference point in the arc-shaped collision area, and the motion parameters comprise the number of target collision times and a stop point in the arc-shaped collision area, and according to the starting point, the reference point, the number of target collision times and the stop point, performing collision simulation on the virtual moving object in the arc-shaped collision area, and obtaining a plurality of intersection points of the virtual moving object and the arc-shaped edge of the arc-shaped collision area, 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. Therefore, on the premise of determining the stop point, the process of carrying out physical collision simulation in the arc-shaped plane area is simulated, and the experience feeling is more real.

A system for navigating a virtual environment using seated walking-in-place footstep locomotion includes a virtual reality device, a first sensing device, and a second sensing device. The first sensing device senses the first footstep locomotion of one of feet of a user seated in a physical environment to generate and transmit a first stepping signal to the virtual reality device. The second sensing device senses the second footstep locomotion of another of the feet of the user seated in the physical environment to generate and transmit a second stepping signal to the virtual reality device. The virtual reality device navigates the virtual environment in a virtual locomotion mode based on a combination of the first stepping signal and the second stepping signal.

A method (300) for simulating a driving situation with multiple vehicles (105, 110) comprises steps of determining (305) a digital landscape model (160) with a virtual route (165); detecting multiple real vehicles (105, 110) and assigning (305) a position in the digital landscape model (160) to each of the vehicles (105, 110); and, for each of the real vehicles (105, 110), determining (315) a view of the landscape model (160) from the assigned position; providing (320) the view as an environmental view to a driver (115, 120) of the real vehicle (105, 110); detecting (325) a movement of a real vehicle (105, 110); and tracking (330) the assigned position in the landscape model (160) by a virtual movement.The virtual movement is mapped from the recorded real movement and a scaling factor which is determined (310) from a driving dynamics parameter of the vehicle (105, 110).

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 embodiments of the present application disclose a stereo naked-eye 3D picture playback method, device, equipment, and medium. The method includes: determining a target 3D virtual object interacting in a naked-eye 3D picture, and obtaining the current virtual position and virtual motion information of the target 3D virtual object in the naked-eye 3D space corresponding to the naked-eye 3D picture; obtaining the relative position information between the object's eyes and the target 3D virtual object; determining the sound playback parameters of the target 3D virtual object based on the relative position information, the current virtual position, and the virtual motion information; and playing the stereo sound corresponding to the target 3D virtual object in the naked-eye 3D picture based on the sound playback parameters. In this way, the sound playback parameters of the target 3D virtual object are accurately calculated through the relative position information, the current virtual position, and the virtual motion information, and stereo sound with greater spatial realism that is synchronized with the naked-eye 3D picture of the target 3D virtual object is played through the sound playback parameters.

The embodiment of the present application provides a kind of motor vehicle obstacle detection method, device and computer readable storage medium, the method comprises: obtaining original image frame from video image;Original image frame is handled to obtain original correction graph;Original image frame is handled to obtain compensation correction graph, and image compensation model is based on the imaging plane of vehicle-mounted camera, and original correction graph is constructed and obtained according to the minimum principle of gray difference of non-obstacle region pre-calibrated before and after virtual motion of preset virtual motion matrix;The parallax graph of original correction graph and compensation correction graph is calculated, the parallax derivative graph is obtained by derivation to parallax graph, the actual gray mean is calculated, and the reference gray value of each pixel point is calculated according to actual gray mean and parallax derivative graph;And compared actual gray value and corresponding reference gray value, mark out obstacle pixel point and be obstacle.This embodiment can effectively improve the efficiency and accuracy of obstacle detection.

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.

The embodiment of the present invention discloses a method and device for controlling the grinding depth, and a hip replacement robot, including: obtaining a real-time handheld speed matrix of a handheld device of a hip replacement robot in a handheld coordinate system; determining a virtual motion range matrix of the grinding device of the hip replacement robot in the tool coordinate system using the real-time handheld speed matrix; updating the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value; and controlling the grinding device to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix. The present application can effectively avoid penetrating the bottom of the acetabulum during grinding while ensuring grinding accuracy.

The invention provides a dexterous hand digital twinning virtual-real cooperation processing method and system, and relates to the technical field of digital twinning virtual-real cooperation. The method comprises the following steps: acquiring scene internet-of-things data and dexterous hand internet-of-things data, and performing digital twinning processing to form a scene virtual digital twinning model; dexterous hand control information is obtained, virtual motion analysis is carried out in combination with the scene virtual digital twinborn model, and real-time virtual motion data is formed; acquiring real-time motion data of the dexterous hand, and performing matching adjustment analysis in combination with the real-time virtual motion data to form matching adjustment analysis result data; and performing virtual adjustment analysis according to the matching adjustment analysis result data to form real-time virtual adjustment motion data. According to the method, data processing analysis is reasonably carried out, and an efficient and accurate virtual-real cooperation effect is ensured.

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 provides an aircraft main cabin door linkage pull rod mechanism debugging system and method based on the motion simulation technology, and belongs to the technical field of aircraft debugging. The debugging system comprises a digital virtual motion simulation module, a digital model design module and a data analysis processing module; a digital virtual motion simulation module is used for carrying out folding and unfolding motion simulation on a main landing gear and a linkage cabin door, simulation data are imported into a data analysis and processing module, a fit clearance and a locking position are analyzed and processed, and whether the linkage pull rod mechanism with the length meets the requirement or not is determined; the length of the linkage pull rod mechanism is continuously adjusted in the forward direction and the reverse direction, and the forward adjustment range and the reverse adjustment range of the linkage pull rod mechanism are determined through motion simulation data results and data analysis processing. The debugging efficiency can be improved, the length adjustment accuracy is improved, and it is guaranteed that the aircraft take-off and landing system is smoothly and rapidly debugged.

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.