43results about How to "Achieve follow" patented technology

The invention relates to a control method of a handheld holder and the handheld holder, which can realize the following of diversified motions. The control method of the handheld holder comprises the following steps: acquiring a first input instruction; according to the first input instruction, selecting one following mode from multiple following modes used for following the movement of the input part of the handheld holder or a handheld component, wherein rotating shaft assemblies needing to move between at least two following modes are different; and using the selected following mode to control the movement of the handheld holder so as to follow the movement of the input part or the handheld component.

The invention discloses a foot device with ankle joint parameter measurement suitable for an exoskeleton auxiliary supporting robot. The foot device is characterized in that plane hooke two-DOF (Degree Of Freedom) structures of ankle joints are realized due to the matching of upper supports, lower supports, two rotating shafts and four bearings, wherein the lower supports are arranged on soles, the lower supports are provided with angular displacement sensors, thus rotating angles of the ankle joints can be measured, and the measuring requirement of a robot on angular displacements of the ankle joints can be met; shank telescopic rods are inserted into the upper supports, front and rear rotating shafts, bearing end covers and bearings are fixedly arranged in lugs of the upper supports, the front and rear rotating DOF of ankles can be realized, and the angle measuring can be realized through the angular displacement sensors which are arranged on the front and rear rotating shafts; left and right rotating shafts are inserted into the lower supports for being fixed, the axes of the front and rear rotating shafts are maintained to be vertical to the axes of the left and right rotating shafts, and the left and right swinging DOF of the ankles can be realized; pressure sensors are arranged among front feet, rear feet and the soles, the front feet and the rear feet are fixedly connected with the soles, the soles are in contact with the ground, plantar pressure is changed when a person walks, a walking intention of the person can be judged through the detecting of the pressure sensors, and the good control of the exoskeleton auxiliary supporting robot can be realized.

The invention discloses an assembled mining system for deep sea mineral resources. The assembled mining system mainly comprises a mining ship, an underwater nuclear power plant, an intermediate hopper, ocean mining machines, a lifting mine sub-system, integrated navigation systems, a pontoon crane and a pipe-laying ship, wherein the components are respectively paved by different working ships, are assembled undersea, and are disassembled and recovered in the recovery process; the mining ship is connected with the underwater nuclear power plant through a hose section; the underwater nuclear power plant is connected with the intermediate hopper through a vertical pipe section; the intermediate hopper is connected with one or more ocean mining machines through hose sections; and the integrated navigation systems are respectively arranged on the mining ship, the underwater nuclear power plant, the ocean mining machines and the seabed, and are evenly arranged on the hose sections and the vertical pipe section. According to the distributed assembled mining system for deep sea mineral resources with independent and remote control modes for operating, a mining device which is high in safety and low in cost is provided for mining of the deep sea mineral resources.

A spacecraft attitude follow-up system suitable for dynamic changes in the center of mass of the present invention includes a follow-up support frame, a spacecraft center-of-mass following clamping module, and a control module. The follow-up support frame can ensure that the spacecraft does not suffer from gravity under low friction Adjust its pitch and yaw angles under the influence of the environment; the center of mass of the spacecraft follows the clamping module to follow the rolling motion of the spacecraft, and when the center of mass of the spacecraft changes, the existing attitude of the spacecraft remains unchanged Follow its center of mass to ensure that the suspension force and the center of mass of the spacecraft are always on the same straight line; the data acquisition control module is responsible for system signal transmission and coordinated control, so that each module of the system works according to the system design, and completes the tracking and tracking of the attitude of the spacecraft. The center of mass of the spacecraft automatically follows when the center of mass changes, and has the advantages of simple and compact structure, small size, and high precision.

The present disclosure relates to a method, device, storage medium, and electronic device for displaying special effects, which can determine the position information of a special effect area, and the special effect area includes a user's touch area on a target object displayed on the screen; according to the position information, the A template area is determined on a preset object template; a target area on the target object is determined according to the template area; and the target area is rendered according to preset special effects.

The invention provides an automatic-following obstacle crossing vehicle comprising at least one inner planet type compound gear train unit. Each inner planet type compound gear train unit comprises an inner gear ring, a main bearing wheel, and a power device. The inner gear rings are arranged on the inner surfaces of tires, and the inner gear rings and the tires rotate in the same speed; the main bearing wheels are provided with gears engaged with the inner gear rings coaxially and can slide around the inner surfaces of the tires in a rolling mode; the power devices are used for driving force transmitting mechanisms and transmitting the rotating force to the main bearing wheels and the gears; and the main bearing wheels and the gears are connected with exterior loads through pin shafts. The automatic-following obstacle crossing vehicle can effectively cross an obstacle with the loads, the requirement for the pavement condition in the carrying process is low, the load weight is high, and excellent performance is achieved.

The invention discloses a concentrated alkaline concentration online measurement and control system, which comprises at least two dipping tanks, a filter box, an alkaline preparation tank, a measurement tank and a programmable logic controller, wherein a temperature measurement device and a first liquid level measurement device are installed in one dipping tank; a second liquid level measurement device is installed on the filter box, and the inlet of the filter box is communicated with the outlet of the dipping tank No.2; a third liquid level measurement device is installed in the alkaline preparation tank, the inlet of the alkaline preparation tank is communicated with the outlet of the filter box, the inlet of the alkaline preparation tank is respectively communicated with a basic material pipeline on which a concentrated alkaline control and regulating valve is assembled, a water pipeline on which a water control and regulating valve is assembled, and a first branch of a self-circulation pipeline, and a third branch is communicated with the inlet of the dipping tank No.1; and a pressure measurement device, a density measurement device and a fully-immersed sensor are installed in the measurement tank, and the measurement tank is installed in the alkaline preparation tank. The system is adopted to ensure the alkaline concentration of printing and dyeing equipment to be consistent all the time.

The present disclosure provides a rhombus-shaped vehicle automatic driving path tracking control method, system and vehicle, which determine the geometric parameters and dynamic parameters of the rhombus-shaped vehicle, set the control parameters; obtain the longitudinal speed of the vehicle, and judge the relationship between the longitudinal speed of the vehicle and the set speed control threshold , if the longitudinal speed of the vehicle is less than the speed control threshold, use the preview control method based on geometry to perform path tracking control, otherwise use the preview control method based on dynamics to perform path tracking control; Lateral dynamic characteristics, using different control strategies in high-speed and low-speed working conditions, are really suitable for diamond-shaped vehicles, and at the same time ensure that diamond-shaped vehicles can have better motion control performance in various working conditions.

The invention discloses a large and small leg device with knee joint parameter measurement suitable for an exoskeleton auxiliary support robot. The device uses a hydraulic cylinder to drive the knee joint, which improves the response speed and bearing capacity of the exoskeleton auxiliary support robot; The rod is connected with the thigh, and the lower leg is connected with the foot through the telescopic rod. One end of the hydraulic cylinder is connected to the thigh through a bracket, a pin shaft and a joint bearing, and the piston rod end is connected to the lower leg through a hydraulic cylinder connector. The knee joint is the connecting part between the thigh and the lower leg. The sensor is used to measure the angular displacement of the knee joint to realize the exoskeleton. Follow the motion control of the human knee joint. In the robot designed by the present invention, only the knee joint is controlled by the hydraulic cylinder, and the rest of the joints are used to adapt to the requirements of human leg joint movement, including the hip joint, ankle joint and plantar structure where sensors are installed, and also include the side swing of the waist, thigh ball joints etc. The robot of the present invention simulates the structural characteristics of the human body, is suitable for wearing by the human body, maintains flexible movement, has a simple structure, and can help users support the load weight.