43results about How to "Achieve follow" patented technology

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.

The invention provides a follow robot positioning system based on ultrasonic waves and Bluetooth. A Bluetooth module of the system is in communicated with a Bluetooth module of a handheld device. The position of the handheld device is positioned through a positioning module according to data of an analysis module. A local grid map module establishes a local grid map according to information which is analyzed through a detection module and scanned through ultrasonic radar. A follow area planning module plans an area where a robot can advance according to the position of the handheld device and the local gird map. A follow module drives a walking device according to the area which is planned through the follow area planning module and allows the robot to advance. The local grid map is established through the communication between the Bluetooth modules and by analyzing communication data between the Bluetooth modules and comprehensively utilizing information, scanned by the ultrasonic radar, in front of the robot, and the following aim of the robot is achieved; it is ensured that autonomous following of the robot can be safely and reliably achieved in a complex environment, and meanwhile the robot following economic cost can be reduced.

The invention discloses a grasping force active compliance control method of an apple picking robot tail end actuator, and belongs to the technical field of picking robot control. The grasping force control method is characterized in that a force sensor and an encoder arranged on the apple picking robot tail end actuator obtain the position transformation quantity and the acting force on a grasping object through collection; the displacement and the force obtained through collection are used as the input of a recursive least squares method recognizer of a variable forgetting factor; the rigidity coefficient of an impedance controller is subjected to on-line identification; the rigidity parameters of the impedance controller for adapting to different environment requirements are automatically regulated in real time according to the output result of a second-order impedance controller. The control method has the advantages that the grasping damage rate of a picking robot to apples can be effectively reduced; in addition, the anti-jamming capability of the robot during field work is improved.

The invention discloses a waist device with hip joint parameter measurement applicable to an exoskeleton auxiliary support robot. The waist device is of a bilaterally symmetrical structure, the waistline width of a waist can be adjusted by different combinations of three sets of small holes formed in a left adjusting block and a right adjusting block; connection between each adjusting block and a waist bent plate and free left-right swing of the waist are achieved by two pairs of clamping plates and two rotating shafts; front-back swing of a thigh is achieved through the bent plate connected with a hip joint, and the measurement of the swing amplitude of the thigh is achieved by an angular displacement sensor. Connection between a flexing rod and a thigh expansion rod is of a spherical hinge structure, so that the thigh can swing more flexibly in random direction, the waist device is suitable for being worn by a human body, can keep moving flexible and is simple in structure. The exoskeleton auxiliary support robot provided with the waist device provided by the invention can help a user to support loaded weight.

The invention discloses a vehicle-mounted multiplex charging machine. The vehicle-mounted multiplex charging machine comprises a high-voltage battery, three inductors L1, L2 and L3, and three IGBT bridge arms in parallel connection mutually. A positive pole of the high-voltage battery is connected with one ends of the inductors L1, L2 and L3 through relay switches S1, S2 and S3. The other ends ofthe inductors L1, L2 and L3 are connected with middle nodes of the three IGBT bridge arms correspondingly. A negative pole of the high-voltage battery is directly connected with a jointly-connecting end of the three IGBT bridge arms. The connecting ends of the relay switches S1 and S2 and the inductors L1 and L2 are a live line connector and a zero line connector of a power grid correspondingly. The two ends of the three IGBT bridge arms in parallel connection mutually are connected with an inverter-motor system. IGBT devices constituting the three IGBT bridge arms are connected and controlledthrough a controller module. When the vehicle-mounted multiplex charging machine works, a Boost working state, a state of single-phase power grid connection to charge the battery, a single-phase grid-connected inversion state, and a vehicle-vehicle mutually-charging state are included. The vehicle-mounted multiplex charging machine adopts different relay switch combinations, equipment can work indifferent states, and different functions are achieved.

The invention provides a wind generating set blade following method and device based on an unmanned aerial vehicle. The method comprises the steps that an camera shooting image returned by the unmanned aerial vehicle in real time is received, and a target object is determined according to the camera shooting image; according to the target object, a first imaging point of a centroid point of the target object in a main camera of the unmanned aerial vehicle and a second imaging point of the centroid point of the target object in an auxiliary camera are determined; the coordinate value of the first imaging point in a main camera coordinate system and the coordinate value of the second imaging point in an auxiliary camera coordinate system are acquired, and the current coordinate value of thetarget object in the main camera coordinate system is determined; and when the target object exceeds the preset position range, the position of the unmanned aerial vehicle is adjusted so as to followblades. Therefore, under the condition that an impeller is not locked, fixed-point observation can be carried out on the unmanned aerial vehicle, and follow-up can be carried out along with the movement of the blades; and the target is always in the observable range, the unmanned aerial vehicle wind power blade inspection is carried out in the unmanned aerial vehicle target automatic tracking process, and the blade checking mode efficiency of the unmanned aerial vehicle is improved.

The invention relates to an unmanned aerial vehicle and vehicle platform follow-up control system and a follow-up control method thereof. The system comprises an unmanned aerial vehicle platform, a vehicle platform and a communication link. The unmanned aerial vehicle platform comprises an unmanned aerial vehicle control device, an unmanned aerial vehicle position sensor, a height sensor and an inertial sensor. The vehicle platform comprises a vehicle platform control device, a vehicle position sensor, a vehicle speed sensor and a vehicle direction sensor. The vehicle platform transmits the detected horizontal position, speed and direction of the vehicle platform to the unmanned aerial vehicle control device through the communication link. The inertial sensor calculates the attitude and speed of an unmanned aerial vehicle according to the detected horizontal position and height of the unmanned aerial vehicle. The vehicle platform control device solves the attitude control command of the unmanned aerial vehicle according to the relative position and relative speed of the vehicle platform and the unmanned aerial vehicle and the height of the unmanned aerial vehicle. Through the change of the attitude of the unmanned aerial vehicle, the relative position of the unmanned aerial vehicle and the vehicle platform is changed, and the unmanned aerial vehicle follows the vehicle platform.

The invention relates to the technical field of communication, especially relates to an SDN-based strategy management method and device, and electronic equipment. The method comprises the steps that anetwork access request sent by a terminal based on an allocated IP address is received, and the IP address is determined by a DHCP server according to a service sub-network corresponding to the terminal and a preset association relationship between the service sub-network and an IP address pool and is returned to the terminal, wherein the service subnet corresponding to the terminal is a core switch according to the determined association relationship between the terminal and the terminal group; a preset association relationship between the terminal group and the service subnet is determined,the association relationship is snet to the DHCP server, a corresponding service subnet is further determined, and a network access permission strategy corresponding to the terminal is determined according to the preset association relationship between the service subnet and the network access permission strategy; and the network access request is processed according to the network access permission policy corresponding to the terminal, so that the network access permission policy can be accompanied without reconfiguration.

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 invention discloses a method and a device for eliminating a drift influence of temperature on an alpha-energy spectrum peak of an Si-PIN detector, and relates to the technical field of radon concentration measurement. The method for eliminating the drift influence of the temperature on the alpha-energy spectrum peak comprises the four steps: signal amplification, following of energy spectrum peaks, signal amplitude identification and determination of radon concentration. According to the method and the device disclosed by the invention, temperature measured by a temperature and humidity sensor is used as a reference evidence of actual temperature of the detector, through combination of amplitudes of the energy spectrum peaks output by a peak holding circuit and an ADC (Analog-to-Digital Converter) conversion circuit acquisition detector, the actual temperature of the detector is accurately judged, so that the following of the energy spectrum peaks and elimination of the drift influence of the temperature on the alpha-energy spectrum peak of the Si-PIN detector are realized, deviation of a measurement result caused by difference of the temperature measured by the detector and the temperature and humidity sensor is reduced to a maximum extent, the accuracy and the reliability of the measurement result are ensured, and a continuous monitoring requirement on a nuclear facility site can be met.

The invention provides an intelligent yoga mat system which comprises a first yoga mat body and a second yoga mat body. When people on the first yoga mat conduct yoga movements, a display device of the second yoga mat can synchronously display postures done by people on the first yoga mat, people on the second yoga mat can judge and correct the yoga movements according to the display of the display device, sound of the first yoga mat can be transmitted to the second yoga mat, the aims of following yoga movements and teaching yoga movements can be achieved when yoga students and yoga teachers are not in the same place.

The invention discloses an unmanned aerial vehicle laser point cloud efficient acquisition and processing method, and the method comprises the steps: employing an unmanned aerial vehicle device carrying a laser scanner, a GNSS high-precision positioning system, an MEMS inertial navigation system, an IMU system, a high-speed data acquisition and storage system and a full-frame camera to fly according to a preset region orbit, carrying out the route planning, and rapidly obtaining high-precision point cloud data, through synchronously acquired three-dimensional high-precision laser radar data and imaging technology and a three-dimensional high-precision laser point cloud and orthoimage registration algorithm, accurate exposure moment position attitude information of an orthoimage is acquired, and rapid acquisition and precision registration of a DOM result are completed. According to the unmanned aerial vehicle laser point cloud efficient acquisition and processing method, the whole point cloud acquisition and processing process is opened through a programmed process, and the method is suitable for mountainous area operation; meanwhile, based on a Beidou satellite navigation system and a CORS network, a reference station-free function is supported, and rapid acquisition of true color three-dimensional point cloud data integrating functions of acquisition, processing, color assignment, transmission, browsing and the like is realized.

The invention provides a rhombic vehicle automatic driving path tracking control method, a system and a vehicle. Geometric parameters and kinetic parameters of the rhombic vehicle are determined, and control parameters are set; the longitudinal speed of the vehicle is obtained, the relation between the longitudinal speed of the vehicle and a set speed control threshold value is judged, if the longitudinal speed of the vehicle is smaller than the speed control threshold value, path tracking control is carried out through a geometry-based preview control method, and otherwise, path tracking control is carried out through a dynamics-based preview control method; according to the special steering geometrical relationship and transverse dynamic characteristics of the rhombic vehicle, different control strategies are utilized under the high-speed working condition and the low-speed working condition, the method is really suitable for the rhombic vehicle, and meanwhile it is guaranteed that the rhombic vehicle can have good motion control performance under all the working conditions.

The invention discloses a UWB label based sharing intelligent following-carrying system and method. The system comprises a database server subsystem, a mobile end connection subsystem, an intelligentcontrol following subsystem and a target identification and positioning subsystem, and the subsystems form a communication network in a wired or wireless manner. The system can be used to alleviate the load in carrying heavy objects, position a target accurately, and walk following the object automatically, sharing is realized via the Internet of Things technology, a data background is used to monitor the sharing intelligent following-carrying system in real time, convenience is provided for unified scheduling and management, and compared with a COW ROBOT intelligent draw-bar box that can be only used in private, the system can be used while being taken, is low in price, easy to popularize, low-carbon, environment-protective, and convenient to use and has high popularization and application values and wide market prospects.

The invention belongs to the technical field of electric steering engines of a flight control system, and designs a parallel type dual-redundancy electric steering engine based on an overrunning clutch. The electric steering engine includes a first servo motor ( 5), a second servo motor(19), a first one-way clutch (7), a second one-way clutch (17), a third one-way clutch (12), a fourth one-way clutch (6), a fifth one-way clutch (18), a sixth one-way clutch (11), a first reducing transmission mechanism (8), a second reducing transmission mechanism (9), a third reducing transmission mechanism (15), a fourth reducing transmission mechanism (16), a first position sensor (13), a second position sensor (14) and an output shaft (10), wherein the first one-way clutch (7), the second one-way clutch(17) and the third one-way clutch (12) are rotationally locked clockwise towards the output shaft; the fourth one-way clutch (6), the fifth one-way clutch (18) and the sixth one-way clutch (11) are rotationally locked anticlockwise towards the output shaft; the first reducing transmission mechanism (8), the second reducing transmission mechanism (9), the third reducing transmission mechanism (15)and the fourth reducing transmission mechanism (16) make the rotation direction of the output shaft same as the rotation direction of a servo motor shaft.

The invention provides a visual generation method of a self-adaptive combat scene. The method comprises steps of obtaining perspective projection of a current terrain visual range through a scene viewpoint; drawing the two-dimensional vector data of the current terrain on the texture bound with the terrain in real time through perspective projection so that a three-dimensional battlefield geographical environment is formed; carrying out displacement on vertexes on military mark grids according to textures bound with terrains, and rendering the vertexes into a screen frame cache to obtain a final military mark drawing result, so that visualization of battlefield situations is achieved, and self-adaptation is conducted on the battlefield environment and the battlefield situations. Accordingto the invention, visualization of battlefield situation is realized, three-dimensional terrain following of the irregular military standard can be realized, the operation efficiency is high, and thereal-time requirements of interactive editing and dynamic deduction can be met.

The invention discloses a TWS earphone and a control method thereof. The TWS earphone comprises a main earphone used for establishing a first communication link with terminal equipment, and an auxiliary earphone used for establishing a second communication link with the main earphone, wherein the main earphone is used for sending channel information of a first communication link to the auxiliary earphone through a second communication link when it is detected that the first communication link with the terminal equipment is established; the auxiliary earphone is used for forming an initial linkaccording to the channel information of the first communication link, and then adjusting a second clock of the initial link to be synchronous with a first clock according to the first clock of the first communication link so as to establish an interception link for intercepting the terminal equipment; the auxiliary earphone is also used for adjusting a third clock of the second communication linktogether with the main earphone according to the first clock according to the synchronized second clock after the second clock is synchronized with the first clock, and adjusting the third clock of the second communication link to be synchronous with the first clock and the second clock.

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 relates to a DSP-based high-voltage capacitive equipment insulation performance online monitoring device, which comprises a signal acquisition module, a signal conditioning module, a signal sampling module, a signal processing module, a data communication and transmission module and a man-machine interaction module. The signal acquisition module acquires ground current and bus voltage signals of capacitive equipment and transmits the ground current and bus voltage signals to the signal conditioning module. After signal amplification, filtering, following isolation and other preprocessing, the signals enter the signal sampling module. Sampled digital signals are subjected to fast Fourier transformation by the signal processing module, and the signals are then sent to the man-machine interaction module and a background central control room host through the data communication and transmission module. The field display of data and a change curve is achieved through the man-machine interaction module. The background central control room host can achieve the functions of data storage, data management, alarm triggering and the like. The problem of low precision caused by hardware measurement is avoided, and timely and accurate acquisition of the insulation information of a plurality of pieces of equipment is realized. The device is easy to popularize and apply.

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 provides a spine vertebral pedicle positioning system, which comprises a detection device, a sensing device, a positioning device, an adjusting device, a deviation correcting device, a marking device and a processor, and the sensing device is used for detecting the current spine state of a patient; the detection device is configured to detect the position of the spine of the patient;a positioning mechanism is configured to position a reference point piece of the spine; the adjusting device is configured to adjust the position of the detection device; the deviation correcting device is configured to correct the position of the marking device; and the marking device is configured to mark the pedicle of the vertebral pedicle. The sensing device and the detection device are usedin cooperation, the spine position of a patient can be positioned, the moving range of a detection probe is limited on the basis of the position information of the sensing device, the detection probecan adjust the detection of the vertebral pedicle within a small moving range, and therefore the detection precision of the vertebral pedicle is improved. Therefore, the condition that the whole vertebral pedicle is calibrated at different angles is guaranteed.

The present application discloses a follow-up curtain, a control method and device and a storage medium. The follow-up curtain comprises a curtain body, a control component, at least one detector, a processor, and a driving motor; the control component comprises a processor, a detector and a driving motor, the at least one detector is used for sending a detection result to the processor, and the detection result indicates whether a captured object is in the edge region of the curtain; the processor is used for generating a driving signal based on the detection result, and the driving signal isused for changing the current running state of the driving motor; and the driving motor is used for changing the current motion state of the curtain based on the driving signal so that the captured object is located within an effective coverage area of the curtain. In the embodiment of the present application, whether the captured object is located in the edge region is detected and captured through the detector, a driving signal is generated by the processor based on the detection result of the detector so as to trigger the driving motor to operate and drive the curtain to move, thereby preventing the captured object from moving out of the effective area covered by the curtain, realizing follow-up movement of the curtain and ensuring smooth conduction of hybrid display imaging.

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.

The invention provides a high-strength anti-pulling angle moving device, a tethered unmanned aerial vehicle and a tethered unmanned aerial vehicle system. The angle moving device comprises a bearing,a mounting seat, a rocking bar and a tethered rope, wherein the bearing is fixed in the mounting seat, the rocking bar penetrates through the bearing so as to be connected with the bearing, a threading hole is formed in the rocking bar in a penetrating mode, the threading hole penetrates through the bearing, the tethered rope penetrates through the threading hole, a limiting block is arranged at the upper end of the tethered rope, and the limiting block is in limiting fit with the upper end of the rocking bar. Because the tethered rope is arranged in the rocking bar in a penetrating mode, thetethered unmanned aerial vehicle can perceive the positional relationship by detecting the angle of the rocking bar so that even slight twisting of the tethered rope does not affect the angle of the rocking bar; and through the design of the bearing, in the self-rotation process of the tethered unmanned aerial vehicle, the rocking bar cannot easily rotate with the tethered unmanned aerial vehicle,the tethered unmanned aerial vehicle rotates relative to the rocking bar without affecting the connection position of the rocking bar, and the angle of the rocking bar cannot be changed, so that thephenomenon that the tethered rope deviates from the connection position is not easy to occur, and the follow-up of the tethered unmanned aerial vehicle can be facilitated.

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.