1889results about "Control using feedback" patented technology

The invention relates to the technical field of marine monitoring, in particular to a marine target visual servo tracking method, which comprises the steps of multi-modal sensor fusion, a self-adaptive visual tracking algorithm, a servo control and visual collaboration mechanism and a shielding processing and target re-identification strategy. The problem that tracking is unstable under the conditions of illumination change, ship body shaking, target shielding and the like in a traditional method is solved. The IMU, the GNSS and the visual data are fused through extended Kalman filtering, ship body shaking is compensated, and the target state estimation precision is improved; the improved D-Fi ne target detection model is combined with an online feature updating mechanism to dynamically adapt to the appearance change of the target; the prediction and correction control strategy and the double-closed-loop PI D controller cooperate to adjust the camera holder, and the tracking delay is reduced; the multi-clue shielding detection and space-time joint feature matching technology ensures accurate re-identification of the target after shielding is removed. The real-time performance and robustness of the tracking system on an embedded platform are improved, and an efficient and stable target tracking solution is provided.

The invention discloses a cradle head tracking method and device based on a binocular camera and a storage medium, and relates to the technical field of computer vision, and the method comprises the steps: processing image data based on a binocular parallax principle, and generating a three-dimensional coordinate of a center point of a tracking target; based on the three-dimensional coordinates of the camera coordinate system and the offset from the optical center of the camera to the rotation center of the holder, generating three-dimensional holder coordinates through coordinate transformation solution; determining a historical track based on the tracking target feature information and a historical target feature matching result, and outputting an identifier and a three-dimensional position observation value through correlation verification of a three-dimensional holder coordinate and the historical track; inputting an observation updating equation correction state through the identifier and the three-dimensional position observation value, and outputting a three-dimensional prediction position; based on the three-dimensional prediction position and a deviation formula, calculating the angle deviation with the camera image center under the holder coordinate system, and driving the holder to center the target in the picture center according to the angle deviation. The problem that the target tracking effect is poor is solved, and the robustness of target tracking in a complex scene is improved.

The invention relates to the technical field of digital twinning control, and discloses a composite structure prefabricated segment digital twinning-adaptive assembly correction method and system, and the method comprises the steps: reading BIM geometric model data, and constructing an assembly reference coordinate system and a digital twinning geometry of a prefabricated segment; composite data are collected in real time, and end tooth groove boundary feature point cloud is extracted; matching the actually measured point cloud with the digital twinborn geometry through a dynamic point cloud registration technology, calculating a six-degree-of-freedom pose error vector, and generating a predicted total pose error vector in combination with a pre-constructed pose drift prediction model; based on the error vector, a mechanical fine adjustment jack is driven to execute position and posture adjustment until the position and posture are converged, and then tooth groove precise meshing and mechanical locking are completed; according to the method, through the synergistic effect of the dynamic mapping of the digital twinborn model and the self-adaptive correction algorithm, high-precision dynamic correction of the multi-combination structure segment assembly process is achieved on the premise that an original mechanical connection structure is not changed.

The invention relates to the related technical field of clean energy system optimization, and discloses a space-time Transform-based photovoltaic array shadow shielding optimization method and system, and a space-time Transform-based shielding modeling method, which can capture time change and space correlation at the same time, improve the prediction capability of short-time dynamic shielding (such as cloud layer change), and improve the prediction efficiency. The occlusion prediction is more real-time and accurate; by combining solar radiation prediction and power loss quantification methods, the influence of different shielding conditions on the power generation capacity of the photovoltaic module can be accurately calculated, and data support is provided for system optimization; meanwhile, through an intelligent optimization scheduling strategy, the working mode of the photovoltaic module is adaptively adjusted, including module angle optimization, MPPT dynamic adjustment and energy storage optimization scheduling, it is ensured that the photovoltaic system can still maintain efficient power generation in a complex illumination environment, and the long-term stability and benefits of the system are further improved.

The invention relates to the field of cableway transportation safety control, in particular to a cableway lift carriage operation deflection attitude monitoring device and a control method, and the method comprises the steps: collecting the position, speed, attitude angle and local micro deflection disturbance information of a lift carriage in real time by constructing a multi-mode sensing network; the frequency of the sensor is dynamically adjusted by adopting an adaptive sampling mechanism, and space-time alignment and fusion of heterogeneous data are completed in combination with dynamic time warping and minimum mean square estimation; strengthening the key disturbance dimension based on a disturbance-driven attention mechanism, and predicting a future deflection angle sequence; a decoupling torque is generated through spatial deflection vector field modeling, regional coupling tensor analysis and a dynamic direction alignment matrix, and power consumption constraint and a dynamic environment parameter optimization control instruction are fused; and finally, driving the quadrilateral moment gyroscope to execute correction, and constructing a multi-dimensional evaluation index based on the attitude response residual error. According to the method, adaptive closed-loop adjustment of the control strategy is realized, and the robustness under wind speed disturbance and load variation is improved.

The invention relates to the technical field of flight simulation control and precision measurement, provides a precise positioning method, system and device for a three-dimensional adjustable connecting piece of a flight simulator and a storage medium, and solves the problems of flight simulation control and precision measurement. The method comprises the following steps: acquiring the real-time stroke length of a motion control rod, rotation angle change data and a connecting piece vibration image, outputting a displacement prediction parameter through a platform kinematics model, and generating three-dimensional point cloud data; performing sub-pixel identification and distortion compensation on the image through a mark point identification algorithm to generate a three-dimensional visual coordinate; fusing the point cloud and the visual data, and processing through a Kalman filter to obtain a space pose offset; finally, a displacement compensation instruction is generated, the pose of the connecting piece is adjusted through a closed-loop controller, and accurate positioning of the connecting piece relative to a flight target reference coordinate system is achieved. According to the invention, the accuracy and stability of the pose control of the connecting piece in the dynamic vibration environment are improved.

The invention relates to the technical field of modern precision machining and optical scanning, and discloses a motion control method and system of a laser galvanometer. The method comprises the steps that a real-time position signal is collected and preprocessed, and a filtered position signal is obtained; the deviation between the trajectory model and a preset trajectory model is calculated, when the deviation exceeds a threshold value, the trajectory model is identified as a complex trajectory segment, offset vector data is generated, and an offset compensation demand signal is generated accordingly; driving an instruction device in combination with historical data to obtain compensation parameters; when the deviation is lower than an updating threshold value, updating the trajectory model; a stable control signal is generated based on the optimization model and filtering signal prediction, and the environmental interference is calibrated and the signal smoothness is enhanced through the stable control signal; and finally, comparing the enhanced signal with the optimization model, and repeating the compensation process when the deviation exceeds the standard to obtain a final stable control signal. According to the method, through multi-level deviation processing and iterative optimization, the control precision and the anti-interference performance of the laser galvanometer in complex track movement are improved.

The invention relates to the field of machining, and discloses an adjustable wood-working machining multifunctional clamping and positioning method which comprises the following steps: S1, acquiring three-dimensional space position information of a workpiece through laser scanning, and generating point cloud data containing a texture trend; s2, analyzing geometrical characteristics and mechanical characteristics of the workpiece based on the point cloud data, generating a clamping position distribution instruction and matching a clamping mode; s3, a grading pressure threshold value is set according to the wood density grade, and cooperative force application control of multiple clamping arms is dynamically adjusted based on distributed pressure feedback; and S4, fusing the vibration spectrum and the visual displacement data to monitor the position offset of the workpiece in real time. Through a dynamic pressure balancing strategy, according to wood density grading, pressure threshold values are set, gradient pressure control is conducted on hardwood, slope changes are limited, pre-pressing relaxation time is configured for cork wood, multiple clamping arms are adjusted in real time to cooperatively apply force through distributed feedback, and the structural integrity of wood of different densities is guaranteed.

The invention provides a box culvert jacking attitude intelligent control method and system based on digital twinning, and relates to the technical field of attitude control. Structural parameters of a box culvert entity, parameters of a construction environment, and elevation change data and axis offset data in a jacking process are obtained, and the two kinds of data are integrated to obtain a box culvert jacking attitude intelligent control system; generating a box culvert jacking attitude data frame sequence; according to box culvert entity reference information in the model and the updated box culvert real-time state information, combining the box culvert jacking attitude data frame sequence to determine box culvert actual attitude parameters, comparing the box culvert actual attitude parameters with box culvert design attitude parameters, determining attitude deviation types and attitude deviation values corresponding to the box culvert axis direction and the box culvert height direction respectively, and calculating the box culvert jacking attitude data frame sequence according to the attitude deviation types and the attitude deviation values. According to the method, the attitude adjustment control instruction is generated according to the attitude of the box culvert, so that the equipment drives the jack to adjust the jacking attitude of the box culvert according to the instruction, dynamic synchronization and accurate mapping of the structural state in the jacking process of the box culvert are realized, and the real-time performance, the accuracy and the control robustness of attitude adjustment are improved.

A method and system for discharge operation of a ship loader at a bulk cargo terminal. The method comprises: acquiring initial ship point cloud data; establishing a three-dimensional coordinate system, and acquiring an initial frame ship hold center line and a discharge planning point; continuously scanning a ship to be unloaded, acquiring real-time ship point cloud data, and acquiring a current frame ship center line and a normal vector of a ship deck on the basis of the real-time ship point cloud data; obtaining a real-time ship body deviation value on the basis of the current frame ship center line and the initial frame ship hold center line; obtaining a real-time ship body inclination angle on the basis of the normal vector of the ship deck; correcting coordinates of the discharge planning point on the basis of the real-time ship body deviation value and the real-time ship body inclination angle to obtain coordinates of a real-time discharge planning point, and acquiring coordinates of a current discharge point of a chute mechanism (5); a superordinate computer (1) controlling, on the basis of the coordinates of the real-time discharge planning point and the current discharge point, a ship loader to complete current discharge operation. The present application enables a ship loader to complete operation accurately, and enhances the safety and efficiency of operation of the ship loader.

The invention belongs to the technical field of electronic information, and discloses an unmanned aerial vehicle control method for non-cooperative target tracking, which comprises the following steps of: 1, acquiring a real-time video stream of a target by a pan-tilt camera, and extracting a target feature vector; step 2, defining and calculating a normalized visual error vector, and adjusting the attitude of the holder based on the target feature vector obtained in the step 1, so that the target is kept in the center of the image; outputting a pan-tilt yaw angle, a pan-tilt pitch angle and a normalized visual error vector; 3, designing a tracking quality factor and a pitch angle scale factor according to a result output in the step 2, and dynamically adjusting the maximum speed of the unmanned aerial vehicle to calculate an expected speed vector; and obtaining the speed and position of the unmanned aerial vehicle at the next moment. According to the invention, decoupling control is carried out on the motion of the unmanned aerial vehicle and the rotation of the holder, and the motion trajectory of the unmanned aerial vehicle is controlled on the premise of ensuring that the target is always in the view field range of the unmanned aerial vehicle, thereby realizing accurate and stable tracking of the non-cooperative target.

The invention discloses a high-precision laser double-loop tracking system suitable for a long-distance moving target and a control method, and relates to the field of laser tracking of moving targets. According to the high-precision laser double-loop tracking system suitable for the long-distance and moving target and the control method, the coarse and fine composite axis double-closed-loop tracking control system of the energy charging target and the miss distance time delay compensation system of the energy charging target are effectively combined; the problem of high-precision laser tracking of a long-distance (greater than 100 meters) moving target is effectively solved. The problem of low energy transfer efficiency caused by low tracking precision in an unmanned aerial vehicle laser wireless energy transfer system is solved, and high precision, high real-time performance and high interference resistance of unmanned aerial vehicle laser energy transfer are realized.

The invention discloses an offshore rocket recovery platform attitude stability control method based on particle swarm optimization, and the method comprises the following steps: S1, collecting and preprocessing multi-source attitude data, and generating a time series data set; s2, constructing a fuzzy PID controller, and setting nine three-axis control parameters; s3, performing global optimization by adopting an improved particle swarm algorithm, and outputting an initial parameter solution; s4, introducing a zebra optimization algorithm to carry out local refined optimization; s5, constructing a collaborative optimization architecture, and fusing and outputting optimal control parameters; s6, the optimal parameters are input into a controller, and a servo system is driven to adjust the three-axis attitude; s7, monitoring disturbance amplitude, dynamically triggering a zebra strategy and feeding back the zebra strategy to the particle swarm; and S8, evaluating the control performance, and feeding back iterative optimization if the control performance does not reach the standard. According to the method, the improved particle swarm optimization algorithm and the zebra optimization algorithm are fused, so that self-adaptive optimization and accurate attitude stable control of attitude control parameters of the offshore rocket recovery platform are realized.

The invention provides a photovoltaic module support amplitude stabilizing device, which relates to the technical field of photovoltaic equipment and comprises a support amplitude stabilizing execution module, a data acquisition module, a windproof control type determination module and a windproof control module. By constructing a three-level windproof control strategy system, accurate response to different wind levels is achieved, a first-level windproof control strategy is adapted to the vibration frequency and amplitude of a support in real time by dynamically adjusting the damping coefficient of a damping shock absorber, and a second-level windproof control strategy is adapted to the length of a windproof hydraulic cylinder based on wind speed and wind direction data. According to the three-level windproof control strategy, when strong wind exceeds a mechanical counteracting range, the dip angle of the photovoltaic panel is adjusted to a safe and efficient conversion angle, the wind resistance and the light energy utilization rate of the structure are balanced, and the wind energy utilization rate of the photovoltaic panel is increased. And the reliability and the economical efficiency of the photovoltaic system under the severe weather condition are improved.

The invention relates to a light sensation automatic alignment control method and system based on a solar photovoltaic panel, and relates to the technical field of the solar photovoltaic panel, and the method comprises the steps: collecting the installation position and the current time of the solar photovoltaic panel; responding to the installation position and the current time to obtain a sun irradiation position; collecting surrounding image information of the solar photovoltaic panel; identifying a shielding object from the surrounding image information; responding to the sun irradiation position and the shielding object to obtain a shielding shadow; obtaining a deviation distance based on the shielding shadow and the installation position; responding to the sun irradiation position and the deviation distance to obtain a change angle; and controlling an alignment device preset on the solar photovoltaic panel to operate according to the change angle and the deviation distance. The solar photovoltaic panel has the effect of improving the power generation efficiency of the solar photovoltaic panel.

The invention discloses a building curtain wall hoisting control system based on spatial pose sensing and positioning. The building curtain wall hoisting control system comprises a control platform, a sensing and positioning module, a deviation analysis module, an environmental data acquisition module, a deviation correction control module and a verification and evaluation module, according to the method, a preset hoisting track generated based on a time sequence is constructed, real-time sensing data based on the time sequence is obtained through multi-sensor fusion to generate a real-time hoisting track, position and posture deviation data are obtained based on double-track monitoring, all-directional deviation monitoring of the curtain wall in the hoisting process is improved, environment data are introduced, and the real-time hoisting track is obtained. A control strategy and parameters are dynamically adjusted by combining a deviation data directional matching deep learning model, dynamic hoisting and real-time deviation correction are parallel, the curtain wall is continuously converged to a target in the hoisting process, it is guaranteed that the matching degree of the final installation pose and the design model is extremely high, and the construction efficiency is improved. And the method is particularly suitable for an extremely complex mounting path or a multi-machine cooperative hoisting environment.

The invention belongs to the field of laboratory automation equipment, and discloses a control method and system of a task execution device for physical and chemical experiment operation, and the method comprises the steps: initializing and calibrating the device; receiving and analyzing an experiment task instruction; collecting object information through a visual sensor; the upper computer generates an execution scheme according to the strategy library; the electric control rotary clamping jaw is driven to complete operation; force and displacement parameters are monitored in real time, and dynamic adjustment actions are fed back through a closed loop; and judging that the operation is completed according to the threshold. The system comprises a visual sensor, a rotary driving body, an electric control rotary clamping jaw and an upper computer. By integrating visual identification and force sense feedback, fine operations such as clamping, taking and placing, bottle cap screwing and the like can be completed in a self-adaptive mode, the efficiency, precision and reliability of laboratory automatic operation are remarkably improved, manual operation errors are reduced, and good application prospects are achieved.

The invention is suitable for the technical field of construction safety, and provides a construction machinery collision safety protection method and system, and the method comprises the steps: constructing a distributed communication network, sharing the state information of the pose, speed and the like of a machine in real time, and dynamically managing the network topology; the binocular camera, the millimeter wave radar and the IMU are fused to perceive the environment, and the operation path of the adjacent machine in the next five seconds is predicted; a cooperative control strategy of mechanical arm kinematics constraint and sensor view field coverage is established, the track is optimized, and the pointing direction of the sensor is adjusted; and executing three-level collision risk protection, and triggering early warning, potential field correction and emergency shutdown according to the collision time TTC. According to the scheme, full-process intelligentization from information interaction to risk protection is achieved through multi-technology fusion, the safety and cooperation efficiency of the construction machinery under complex working conditions are improved, and the method is suitable for multi-machinery operation scenes in the fields of buildings, traffic and the like.

The invention discloses a harvester header height control method and system based on multi-source sensing information fusion, and belongs to the field of agricultural machinery automation control. The problems that in the prior art, actually-measured height detection deviation is large, and the height detection data source is single are solved, the longitudinal height and the transverse inclination angle of the header are calculated and adjusted in real time through multi-source sensor data, the accuracy of the height and the posture of the header is guaranteed from multiple dimensions so as to adapt to the complex working environment, and the working efficiency is improved. The precise control process of a hydraulic loop driving system on longitudinal and transverse hydraulic cylinders is defined, a reasonable height difference threshold value and a reasonable angle difference threshold value are set, fine regulation and control of the height of the header are achieved, abnormal conditions such as crop cutting missing and soil shoveling are reduced, crop and topographic feature points are extracted through a visual detection system and a deep convolutional neural network, and the accuracy of crop cutting is improved. A terrain curve and an operation plane can be accurately constructed, accurate operation path guidance is provided for a header, the accuracy and quality of harvesting operation are effectively improved, and the loss rate is reduced.

The invention relates to the technical field of remote monitoring, and discloses a high-precision holder control method and system. Comprising the steps of collecting a target scene image, performing denoising, distortion correction and resolution adjustment, obtaining a target pixel coordinate and confidence through a lightweight target detection model, and calling a corresponding image enhancement model to perform preprocessing when an abnormal environment is detected; transmitting a part of detection results as key frames to an edge end based on a frame extraction strategy, caching the rest of the detection results locally, and switching to a local tracking mode and reducing control frequency when network delay exceeds a threshold value; fusing visual detection data and inertial measurement data, and predicting a target position through extended Kalman filtering; carrying out sub-pixel-level refinement on the target position, and calculating a three-dimensional orientation in combination with a participated holder attitude in a camera; and adjusting the attitude of the holder in real time based on a prediction result and an anti-saturation integral separation PID controller.

The invention belongs to the technical field of photovoltaic power generation, and discloses a photovoltaic tracking method and a photovoltaic tracking controller, and the method comprises the steps: collecting three-dimensional illumination distribution data through a multispectral imaging sensor and a grid irradiation sensor, and constructing a real-time sun position model in combination with an MEMS inertial measurement unit; predicting a local shadow moving path by adopting a generative adversarial network, and processing irradiance time sequence data based on a time sequence convolution module to generate a pre-compensation tracking instruction; based on the deployed deep reinforcement learning model, taking a weighting function of real-time generated power and a mechanical loss coefficient as a reward mechanism, and dynamically optimizing the rotating speed and the steering control quantity of the double-shaft motor; when the wind speed is larger than a preset threshold value, fluid mechanics simulation is started to calculate the non-horizontal wind-resistant posture, and the support is locked. According to the invention, through multi-modal sensor data fusion and deep reinforcement learning, high-precision and adaptive all-weather sun tracking is realized, and a digital twinborn model is introduced to carry out predictive maintenance.

Disclosed in the present invention are a lifting synchronous control system and control method for a high-rise steel structure corridor. The control system comprises a data acquisition module comprising a sensor network, an execution module, and a data-processing and decision-making module comprising a central control unit. The execution module comprises a lifting drive provided with a receiver. The sensor network comprises a coordinate sensor, an inclination angle sensor, a temperature and humidity sensor, and a wind speed sensor. The sensor network continuously acquires coordinate information, inclination angle information, and environment information and sends same to the central control unit. By means of a machine learning or deep learning algorithm, the central control unit performs self-optimization and regulates the lifting drive in real time on the basis of the continuously collected environment data and structural data. In the present invention, by combining dynamic regulation of an intelligent algorithm with the application of an Internet of Things technology, all components in the control system are modularly designed, thereby obviously mitigating the defects of conventional synchronous control systems, and significantly improving the stability of the control system and the capability of resisting the influence of external factors.

The invention discloses a dragging positioning spraying track planning method for a local area of the surface of special equipment and a storage medium, and belongs to the technical field of industrial robot automation. The method comprises the steps of obtaining point set data of a to-be-sprayed area; calculating a convex hull based on the point set, and solving a minimum enclosing rectangle by using a rotary caliper method to determine an accurate rectangle spraying boundary; constructing a rectangular amplitude limiting sedimentary model through spraying testing and parameter identification; generating a grid track with a buffer area based on the model and the boundary, and optimizing the spraying speed by taking the minimization time as a target; and for the curved surface, performing B-spline curved surface reconstruction and extracting a normal vector to control the attitude of the spray gun. According to the method, the complex multi-parameter trajectory optimization problem is simplified into single-speed optimization through the rectangular amplitude limiting deposition model, the problems that in local spraying, trajectory planning is complex, edge control is not precise, a coating is not uniform and the like are effectively solved, and the spraying efficiency and quality are remarkably improved.

The invention discloses a high-precision robust robot detection method and system based on constraint pose graph optimization, and the method comprises the steps: collecting point cloud data of a detection object in multiple poses, and introducing a standard sphere and a standard ball rod in the collection process for constructing a graph constraint; a robust constraint pose map optimization algorithm framework SYMM-RCPGO is constructed; substituting the point cloud data into SYMM-RCPGO to construct an attitude graph and a constraint attitude graph to obtain a target function; iteratively solving the SYMM-RCPGO in the SE3N by combining the objective function according to the graph constraint, and using a dynamic constraint boundary algorithm to relax the tightness of the constraint to obtain the three-dimensional point cloud data of the detection object with a complete appearance; and registering the measured three-dimensional point cloud of the detection object with the designed CAD model, and accurately calculating the pose matrix of the detection object to complete the positioning of the detection object. According to the method, the SYMM distance function with a higher D-optimal measurement upper limit, the robust Welsch function and the constraint graph are utilized, so that the method is superior to a traditional PGO in the aspects of accuracy and robustness.

The invention relates to the technical field of pan-tilt motor control, in particular to an intelligent control method for an unmanned aerial vehicle pan-tilt stability augmentation micro motor. Synchronously acquiring operation parameter time sequence data, image data, flight attitude data, environment wind speed, pan-tilt motor power and rotating speed of the unmanned aerial vehicle; constructing a state fluctuation index (based on operation parameter time sequence data) and a flight attitude deviation degree (fusing wind speed change and flight attitude deviation), and further generating a wind resistance capability index to evaluate the influence degree of the environment on the unmanned aerial vehicle; meanwhile, on the basis of the change characteristics of the parting attitude data, the compensation effect of the pan-tilt motor is quantified by combining the image fuzziness, the power of the motor and the rotating speed fluctuation; finally, PID parameters are dynamically optimized based on double indexes of the wind resistance and the compensation effect, scene adaptation of a pan-tilt motor control strategy is achieved, the stability of the unmanned aerial vehicle is improved in a complex wind field, and the image data quality is guaranteed.

The invention relates to the technical field of robots, in particular to a redundancy-driven variable-stiffness ankle joint structure which comprises an ankle assembly connected to a shank main body through a central hinge shaft; the dual-drive unit comprises a first drive unit and a second drive unit which are independently controlled, and the first drive unit and the second drive unit are fixedly mounted in the shank main body; the traction system comprises a first eccentric wheel and a second eccentric wheel which are coaxially connected with the output ends of the first driving unit and the second driving unit respectively; by means of a redundant drive framework and a variable rigidity adjusting mechanism, elastic buffering and dynamic rigidity adjusting can be achieved, the impact adaptability is improved, the dual-drive unit can be prevented from being directly impacted, and the service life of the dual-drive unit is prolonged. Damage to a motor gear is reduced, the rigidity can be quickly reduced for buffering in an impact scene, and the rigidity is improved for maintaining the posture during stable supporting.

The invention relates to the technical field of underwater bionic robots, solves the technical problems that a traditional snake-shaped robot cannot automatically adapt to environment changes, the motion performance cannot be optimized, and multiple propelling modes of the traditional snake-shaped robot cannot be intelligently coordinated, and particularly relates to an underwater bionic snake-shaped robot and a hybrid self-adaptive control method thereof. Comprising a snakelike robot composed of a snakelike body assembly, a snakelike head assembly and a jet propulsion module. A reinforcement learning intelligent body is used for outputting control instructions for motor joints and control instructions for a jet propulsion module according to real-time environment perception and robot state feedback. The control of the motor joints may be adjusting parameters of the central pattern generator to generate a desired joint angle, or directly outputting a desired drive torque for each motor joint. The snakelike robot is suitable for tasks such as pipeline inspection and underwater detection, the manufacturing cost and the maintenance difficulty are reduced through modular design, and the intelligent level of the robot is improved through an advanced control method.

The invention provides a photovoltaic panel sun tracking support and a tracking method thereof, a photovoltaic panel elevation angle adjusting device of the tracking support comprises a rotating shaft, and the rotating shaft is driven by a first driving device so as to adjust the elevation angle of a photovoltaic panel; the horizontal rotating device comprises a bidirectional multi-stage hydraulic cylinder, and the second driving device drives the bidirectional multi-stage hydraulic cylinder to rotate in the support sleeve so as to drive the photovoltaic panel bracket and the photovoltaic panel elevation angle adjusting device to horizontally rotate; the vertical lifting device is connected with a hydraulic power system, and the hydraulic power system adjusts the lifting of a piston rod by controlling the inlet and outlet of hydraulic oil in a bidirectional multi-stage hydraulic cylinder so as to drive the photovoltaic panel bracket and the photovoltaic panel elevation angle adjusting device to vertically lift; and the computer control system is connected with the first driving device, the second driving device and the hydraulic power system and is used for controlling the first driving device, the second driving device and the hydraulic power system. According to the invention, the position of the sun is tracked constantly, so that the photovoltaic panel is perpendicular to sunlight, and the photovoltaic generating capacity is improved.

A multimodal wheelchair configured to be securely mounted to an aircraft is disclosed. The multimodal wheelchair may include: a first section, including: a processing system contained within a housing of the first section; a movement controller component positioned on a portion of the first section that is connected to the processing system; a plurality of wheels that are controllable by the movement controller; and a set of tracks recessed within a first side of the first section; and a second section, including: a seat portion located on a first side of the second section, the seat portion having an integrated harness; and a connection component, coupled to a second side of the second section, that attaches the second section to the first section via coupling with the set of tracks of the first section. Other aspects are described and claimed.

The invention relates to the technical field of bridge construction equipment, and discloses a bridge fabrication machine walking attitude real-time control system based on multi-sensor fusion, and the system comprises a heterogeneous sensing and data collection module which obtains the kinematics and structural strain data of a bridge fabrication machine in real time; the offline modeling and calibration module is used for pre-establishing an initial dynamic model and a key mapping relation; the online state estimation and model self-adaption module is used for performing state estimation, model correction and disturbance identification and outputting comprehensive state information; the multi-constraint predictive control decision module is used for solving an optimization problem containing structural security constraints and generating an optimal control instruction; and the execution and feedback module analyzes the optimal control instruction to drive an execution mechanism and adjust the attitude to form a real-time closed loop. According to the invention, a scheme of fusing multi-source data and carrying out online adaptive model correction is adopted, and the fundamental defect that the control precision is obviously reduced along with time lapse and environment change due to the fact that the model is not matched with an actual system state is overcome.