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 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 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 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 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 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 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 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.