2results about How to "Eliminate mutation" patented technology

The application discloses a mobile parallel robot with high-load pointing positioning function and a control method, and the robot comprises a three-wheeled vehicle body, three universal wheels and a vehicle leveling device are installed on the outer wall of the vehicle body, a space posture adjusting device is installed on the upper surface of the vehicle body, a force sensor top plate is installed on the top of the space posture adjusting device, and a force sensor and a moving platform are installed on the upper surface of the force sensor top plate. The control method comprises the following steps: establishing an institution and a universal wheel inverse solution; solving a second derivative to obtain acceleration information; obtaining human-machine interaction force signals from the force sensor and carrying out denoising processing; extracting state characteristics and initializing adaptive parameters; combining layered adaptive admittance control of state characteristics; designing a gradient optimization evaluation function; and controlling and driving motors. The method effectively overcomes fluctuations and disturbances under high-load working conditions, and realizes high-precision pointing positioning and smooth motion control of the robot.

The invention provides a meter display remaining oil quantity calculation method and device, and the method comprises the steps: carrying out the filtering processing of a real-time fuel resistance value, and obtaining a filtered resistance value; inquiring a first oil quantity value corresponding to the filtered resistance value from a preset corresponding relation between the resistance value and the oil quantity; state information of the vehicle is dynamically monitored to judge whether the vehicle enters a stable state or not, and a vehicle stable flag bit is generated; dynamically calculating an oil quantity correction coefficient based on the vehicle speed in the state information, the remaining oil quantity displayed on the surface at the previous moment and a reference oil quantity value; and based on the fuel quantity correction coefficient, the instantaneous fuel injection quantity and the reference fuel quantity value, the meter display remaining fuel quantity at the current moment is calculated. By dynamically capturing the reference fuel quantity in the stable state of the vehicle and fusing the real-time vehicle speed and the fuel injection quantity for correction, smooth and accurate display of the meter display fuel quantity in the driving process is achieved, abrupt change is effectively eliminated, and the reading credibility is improved.