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42results about How to "Avoid blunt" patented technology

Realization method for running of hexapod robot

The invention discloses a realization method for running of a hexapod robot. The realization method comprises the following steps: a camera module is controlled to rotate to be aligned with a target end point, and a translation path of the body centre of the robot is calculated by virtue of the coordinates of the target end point; a corresponding relationship between a foot coordinate system of each foot and a body coordinate system is established by virtue of a transform algorithm, and a translation path of the tail end of each foot is calculated; through a movement track of the tail end of each foot on the vertical plane of the translation path of the tail end of the foot, a corresponding rotation angle of each joint of the tail end of the foot on different coordinate points of the movement track is obtained, and a preset rotation angle of the joint is configured; and the robot is controlled to lift up two non-adjacent feet, run along the translation path of the tail end of each foot at the beginning, and always keep four feet touching the ground during running, wherein the two non-adjacent feet are lifted up, each joint of each foot is periodically rotated to the corresponding preset angle, and the tail end of each foot is lifted up and down on the translation path thereof. The hexapod robot disclosed by the invention is smooth and stable in gait, the head is rotated only and the body is fixed during steering, and the front surface of the robot is kept always straight forward, without angle distortion.
Owner:QINU BEIJING TECH CO LTD

Automatic generation method and system for cultural relic building graphs and storage medium

The invention discloses an automatic generation method and system for cultural relic building graphs and a storage medium, and a storage medium. The method comprises the steps: recognizing a pluralityof boundary points forming a color edge line in a three-dimensional orthographic image corresponding to a cultural relic building; fitting all the boundary points into a uniform boundary line; repeatedly identifying the edge lines to obtain a plurality of uniform boundary lines; and combining the plurality of fitted boundary lines to generate two-dimensional graphs required by archiving culturalrelic buildings. Three-dimensional orthographic images of the cultural relic buildings is converted into the two-dimensional vector line graph through the automatic identification software, the derived vector line graph is continuous and clear in line shape, the drawing specification is combined, and layers can be distinguished through different line shapes and the density of lines; compared witha drawing displayed through manual drawing, details are more complete, the line type is smoother, and corner angles are prevented from being stiff; moreover, automatic generation of cultural relic building patterns provides a convenient technology for large-scale development of existing cultural relic archiving requirements, and provides early-stage achievements for other related researches.
Owner:BEIJING UNIV OF TECH

Meniscal stitching needle used for arthroscopic knee surgery

The invention discloses a meniscal stitching needle used for arthroscopic knee surgery. The stitching needle comprises a needle tubing, a handle which covers one end of the needle tubing, and a lead blocking device arranged in the handle, wherein the handle is provided with a needle tubing mounting slot, a lead through slot, a cavity and a mounting hole; the needle tubing mounting slot and the lead through sot are coaxial; the cavity is arranged between the needle tubing mounting slot and the lead through slot; the mounting hole is arranged on the side wall of the handle and is communicated with the cavity; the needle tubing is fixedly arranged in the needle tubing mounting slot; the lead blocking device comprises a button, a connection pipe and a spring; the connection pipe is arranged in the cavity and parallel to the axial direction of the needle tubing; the button runs through the mounting hole and then is connected with the upward side of the connection pipe; one end of the spring is fixed at the bottom of the cavity and the other end of the spring is connected with the lower side of the connection pipe; when the button is compressed, the connection pipe is limited by a locating device arranged in the cavity, at this time, the axis of the connection pipe is coincided with the axis of the needle tubing mounting slot and the lead through slot, in this way, the lead through slot is communicated with the needle tubing; and the connection pipe resets under the action of the spring when the button is released.
Owner:SOUTHEAST UNIV

Gait Planning Method for Improving Walking Stability of Hexapod Robot

A gait planning method for improving the walking stability of a six-legged robot. The method comprises: moving: lifting two non-adjacent legs, and initiating movement of the two legs along translation paths of the terminal ends of the legs, the translation paths being parallel to a line connecting a center of a body of the robot and a destination point, wherein during moving, there are always four legs contacting the ground and two non-adjacent legs being lifted, and joints of each leg are periodically rotated to corresponding predetermined angles, such that the terminal end of each leg is lifted up and lands on the translation path thereof; and turning: rotating a camera module of a head portion of the robot to a direction directly facing a target destination, and then performing the basic moving operation. By employing the method, the present invention prevents the robot from moving in a staggering, rigid or leaning manner, and enables a smooth and stable gait. In addition, upon rotating, only the head portion needs to be rotated rather than the body, thus enabling the robot to always move in a straight line facing forwards without twisting, and achieving fast change of the forward direction without moving the legs or fast movement toward a specified direction.
Owner:QINU BEIJING TECH CO LTD

Electric vehicle hydraulic brake system according with brake energy recovery and having ABS/ESP function

The invention discloses an electric vehicle hydraulic brake system according with brake energy recovery and having ABS / ESP function, which comprises a pedal and a pedal push rod. The pedal push rod is connected with a pedal brake valve; a P port of the pedal brake valve is connected with an outlet oil way of a high pressure accumulator, a T port of the pedal brake valve is connected with an oil way of a liquid accumulator, and an A port of the pedal brake valve is connected with an oil way of an ABS / ESP hydraulic valve block; the oil way connecting the pedal brake valve and the ABS / ESP hydraulic valve block is provided with a pedal brake valve pressure sensor; the high pressure accumulator supplies oil by an oil pump through a one-way valve, and the oil pump is connected with the liquid accumulator; the ABS / ESP hydraulic valve block are respectively connected with four wheel cylinders on the front and rear of a vehicle through an oil way, and the four wheel cylinders are respectively provided with a wheel speed sensor; and a brake controller of the vehicle is in circuit connection with the pedal brake valve pressure sensor, the high pressure accumulator, the ABS / ESP hydraulic valve block and each wheel speed sensor. The hydraulic brake system has high safety, can meet the requirement of electric vehicle series brake energy recovery technology, and can realize the ABS / ESP function by controlling the ABS / ESP hydraulic valve block.
Owner:TSINGHUA UNIV

A Realization Method of Hexapod Robot Walking

The invention discloses a realization method for running of a hexapod robot. The realization method comprises the following steps: a camera module is controlled to rotate to be aligned with a target end point, and a translation path of the body centre of the robot is calculated by virtue of the coordinates of the target end point; a corresponding relationship between a foot coordinate system of each foot and a body coordinate system is established by virtue of a transform algorithm, and a translation path of the tail end of each foot is calculated; through a movement track of the tail end of each foot on the vertical plane of the translation path of the tail end of the foot, a corresponding rotation angle of each joint of the tail end of the foot on different coordinate points of the movement track is obtained, and a preset rotation angle of the joint is configured; and the robot is controlled to lift up two non-adjacent feet, run along the translation path of the tail end of each foot at the beginning, and always keep four feet touching the ground during running, wherein the two non-adjacent feet are lifted up, each joint of each foot is periodically rotated to the corresponding preset angle, and the tail end of each foot is lifted up and down on the translation path thereof. The hexapod robot disclosed by the invention is smooth and stable in gait, the head is rotated only and the body is fixed during steering, and the front surface of the robot is kept always straight forward, without angle distortion.
Owner:QINU BEIJING TECH CO LTD
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