3results about How to "Avoid head-to-head" patented technology

The laser head protection mechanism comprises a base and a movable seat, the base is fixedly connected with a mechanical arm, the movable seat is fixedly connected with a laser head, and the base is provided with a first side face, a second side face and a magnetic attraction part on the first side face and the second side face. The movable seat is provided with a first connecting surface and a second connecting surface, electromagnetic suction plates are arranged on the first connecting surface and the second connecting surface, after assembly, the first connecting surface is attached to the first side surface, the second connecting surface is attached to the second side surface, and the electromagnetic suction plates attract the magnetic suction parts in a power-on state; wherein an anti-falling device is arranged between the movable seat and the base to prevent the movable seat and the laser head from falling, the movable seat is provided with a bearing part and an offset sensor, the bearing part is connected with the base to bear the weight of the movable seat and the laser head, and the offset sensor is used for detecting the deviation value between the movable seat and the base. And the offset sensor is electrically connected with the electromagnetic suction plate. And during collision, the laser head can fall off, and the laser head is prevented from falling off and being broken in cooperation with the anti-falling device.

The utility model relates to a multi-stage separation type ridge culture rhizome crop harvesting device which comprises a vehicle body and is characterized in that a soil screening assembly used for bearing and screening crops is arranged in the vehicle body, the soil screening assembly comprises a screen, the peripheral side of the screen is connected to the vehicle body through an elastic plate, top plates are symmetrically arranged on the two sides of the screen, and the top plates are arranged on the vehicle body. A sliding rod extending in the inclined direction is vertically arranged on each top plate in a penetrating and sliding mode, a sleeve is fixedly connected to the bottom of each sliding rod, an eccentric wheel for driving the corresponding sleeve to push and pull the corresponding sliding rod in a reciprocating mode is arranged in each sleeve, and the eccentric wheels penetrate through the same driving rod and are in linkage; a conveying belt is arranged below the screen, a stirring assembly used for circularly stirring the inner surface of the conveying belt is arranged between the upper layer and the lower layer of the conveying belt, and the multi-stage separation type ridge culture rhizome crop harvesting device is reasonable in structure, high in adaptability and capable of effectively protecting crops.

The present application belongs to the field of aircraft control technology, and relates to a kind of active stick control method based on double closed loop, comprising the following processes: obtaining aircraft state information, joystick position signal and stick force signal;Desired control force is obtained by calculation according to aircraft state information and joystick position signal;Desired control force and stick force signal of joystick are obtained through force closed loop control to obtain virtual sensing signal;Virtual sensing signal and position signal of joystick are output through position closed loop control to output closed loop motor instruction;According to the stick force signal of joystick, the force feedback motor instruction based on the stick force is obtained through force compensation;The closed loop motor instruction and the force feedback motor instruction are integrated, and the motor driving instruction is output through instruction conversion to drive the motor to move.After obtaining the force signal, the force signal is directly acted on the motor driving model through the force compensation control model, so that the motor follows the force sensed by the sensor to move quickly first, and the redundant force effect of the hand is inhibited.