16results about How to "Follow exactly" patented technology

The invention relates to the technical field of automobile steer-by-wire, and provides a torque closed-loop control method for a steer-by-wire control system, which comprises the following steps of: firstly, simplifying a steering wheel assembly part into a two-degree-of-freedom model, and constructing a kinetic model of an upper steering system based on the two-degree-of-freedom model; then, selecting angles and angular velocities of the upper end and the lower end of the torsion bar as state variables, and establishing a state-space equation; in order to accurately observe the state of the system, an LQE optimal observer is designed to observe the optimal state of the system. Selecting TAS torque as an output signal according to the observed state and the expected torque, designing an LQR controller to calculate a gain matrix, and obtaining the required control torque according to the gain matrix. The whole control process forms a closed loop, and the system stability and accuracy are ensured. In addition, the invention further provides a steer-by-wire control system for implementing the control method, a sensor, an observer, a controller, an executing mechanism and a feedback mechanism are integrated, and therefore efficient and accurate steering control is achieved.

The invention discloses a longitudinal driving method and device for automatic parking of a traditional fuel vehicle, the vehicle and a medium, a transmission control unit (TCU) is actively introduced into a control loop of a parking working condition, two interfaces of a longitudinal control signal and a target creeping speed are introduced to be respectively sent to an IPB and the TCU, and a staged arbitration mechanism is introduced into an engine controller (EMS), so that the automatic parking of the traditional fuel vehicle is realized. Smooth starting of the vehicle is ensured, backward sliding and accurate following of the target crawling speed are effectively prevented, and the common problems of unsmooth vehicle speed, rushing and the like in the automatic parking process of a traditional fuel vehicle are solved from the source.

This application discloses a method and apparatus for water-guided laser curve processing based on curvature adaptive variable voltage amplitude-frequency, relating to the field of water-guided laser processing technology. It includes: collecting curvature radius data at various points along the water-guided laser processing path; establishing a control mapping model between the curvature radius and deflection voltage parameters based on the curvature radius data; wherein the deflection voltage parameters include voltage amplitude and driving frequency; using the curvature radius of the current processing point as input, obtaining a target voltage amplitude and target driving frequency that match the curve characteristics corresponding to the current curvature radius through the control mapping model; converting the target voltage amplitude and target driving frequency into driving signals and outputting them to the deflection electrode array to dynamically adjust the deflection voltage parameters and control the water beam to complete deflection scanning processing along a preset curve trajectory. This solves the problems of mismatch between deflection response and curve geometry, large trajectory tracking errors, and poor surface quality consistency in existing curve processing technologies.

The present invention discloses a distributed wire-controlled vehicle trajectory tracking control method considering communication delay, including: step 1, establishing a distributed wire-controlled vehicle nonlinear two-degree-of-freedom dynamics model based on the magic formula; step 2, establishing a nonlinear system trajectory tracking controller with communication delay characteristics based on the nonlinear two-degree-of-freedom dynamics model; step 3, establishing an error function and a nonlinear system trajectory tracking controller evaluation index, and obtaining the optimal controller parameters based on the BEO algorithm. Based on the magic formula, the communication delay is considered in the model establishment, and the controller parameters are optimized through the BEO algorithm to improve the controller accuracy, ensure that the autonomous driving vehicle accurately follows the preset path, and improve road safety and traffic efficiency.

A manipulator and a method for controlling the manipulator are disclosed. The manipulator includes: a plurality of links respectively corresponding to a user's upper arm, fore arm, and hand, a plurality of motors rotating the plurality of links, a communication interface comprising communication circuitry, a memory storing at least one instruction, and a processor configured to execute the at least one instruction, wherein the processor is configured to: based on first rotation angle information for motors corresponding to the upper arm and the fore arm among the plurality of motors, obtain information for a body frame of a link corresponding to the fore arm, obtain equilibrium angle information that positions the body frame in equilibrium with a specified reference frame, based on receiving a sensing value indicating the posture of the hand from an external sensor through the communication interface, obtain second rotation angle information for motors corresponding to the hand among the plurality of motors based on the sensing value and the equilibrium angle information, and control the motors corresponding to the hand based on the second rotation angle information.

The invention provides a fast path correction algorithm based on an intelligent robot, which is characterized in that a genetic algorithm (GA) and a particle swarm optimization (PSO) algorithm are fused to improve a Steiner (Stanley) method, so that a GAPSO-Stanley algorithm is formed. When it is detected that the robot deviates, points are randomly inserted within the turning radius range of the robot to serve as an initial point of a GAPSO algorithm, the Euclidean distance between the initial point of the algorithm and an original path point serves as an evaluation standard, and the robot returns to an original path in time through rapid convergence iteration. Finally, according to the actual measurement result, the algorithm provided by the invention greatly improves the tracking precision of the robot and reduces the energy consumption of the robot.

The invention provides a three-dimensional space positioning system based on laser and camera fusion, and relates to the field of three-dimensional space positioning, the three-dimensional space positioning system comprises a ground terminal subsystem and a mobile terminal subsystem, the ground terminal subsystem comprises a laser emitter, a ground camera and a mechanical arm, and the mobile terminal subsystem comprises a mobile device and a far-end camera. According to the positioning system, the laser sensing technology and the camera vision technology are fused, and space positioning of mobile terminal equipment is achieved through cooperative work of the ground terminal and the mobile terminal; the method not only gets rid of the constraint of traditional satellite navigation, but also avoids the common accumulative error problem of an inertial sensor, thereby showing excellent stability and positioning precision in various complex environments; the three-dimensional space positioning system can be widely applied to the fields of mobile robots, unmanned aerial vehicle inspection and the like, powerful technical support is provided for guaranteeing operation safety and achieving precise control, and the popularization value is high.

The invention provides an exhibition interaction method and platform, and relates to an intelligent interaction technology, and the method comprises the steps: determining a target person and an interaction device corresponding to the target person according to the real-time collection data of an exhibition monitoring device, binding the target person and the interaction device, determining an exhibition point location corresponding to the target person, and generating a preferred route corresponding to the exhibition point location. Obtaining a crowd activity index collected by the interaction device based on the optimal route, updating the optimal route according to the crowd activity index to obtain a real-time route, receiving a posture adjustment request sent by the interaction device based on a blind area point location in the real-time route, and adjusting the posture of the target person according to real-time interaction data shot by the interaction device for the target person. The method comprises the steps of determining a real-time route of an interaction device, determining a posture adjustment parameter corresponding to the interaction device, controlling the interaction device to go to an exhibition point based on the real-time route and the posture adjustment parameter, responding to termination information of the interaction device at the exhibition point, unbinding the interaction device and a target person, and efficiently and accurately guiding exhibition participants to arrive at the target exhibition position.

The present application relates to a precise following interaction method, device and storage medium based on Unreal Engine platform, belonging to the field of three-dimensional interaction technology. The method comprises: displaying the current virtual scene corresponding to the camera position coordinates of the camera of Unreal Engine platform in the spatial coordinate system through a display screen; obtaining the screen coordinates before and after the mouse movement when a mouse movement operation is received; converting the screen coordinates to the spatial coordinate system to obtain the spatial coordinates before and after the mouse movement; determining the position update parameters of the camera based on the spatial coordinates before and after the mouse movement; updating the camera position based on the position update parameters; the problem of low mouse following accuracy of the traditional translation operation method can be solved, and compared with the native matrix transformation method of Unreal Engine, the error can be significantly reduced, and the accuracy and stability can be improved.

This application relates to a laser welding equipment for a roll-formed beam battery pack frame, belonging to the technical field of laser welding of battery pack frames. It includes a base, a laser welding robot mounted on one side of the frame, a welding worktable mounted on the base, and a rotary table mounted on the base for rotating the welding worktable. The welding worktable is further equipped with a bonding component for stably fitting and tightening the bottom frame and the crossbeam, and a suppression component for suppressing deformation on the welding side of the crossbeam. The base is rotatably mounted on the ground, and the rotation axis of the base is perpendicular to the rotation axis of the welding worktable. This application effectively reduces welding deformation during the welding process of the roll-formed beam frame, improves the welding quality of the battery pack frame, and thus improves the assembly adaptability of the battery pack frame.

The invention relates to the technical field of insulator surface dirt treatment, and discloses an insulator lower surface dirt rapid collecting device which comprises a water storage device, a collecting device and a chain type structure unit. The water storage device is mounted above a to-be-sampled insulator base, distilled water is stored in the water storage device, and the water storage device is provided with a water flow controller and a flushing head; the collecting device is installed on the outer edge of an insulator to be sampled, the top is open, and a PLC is installed outside the collecting device. The two chain type structure units are arranged between the umbrella edge and the iron cap of the insulator in a V shape. The chained structure unit is a flexible body, and the bottom of the chained structure unit is attached to a fluctuating structure on the lower surface of the insulator; according to the insulator lower surface dirt rapid collection device, the chain type structure unit is attached to the fluctuating structure of the surface of the insulator, intelligent distilled water flow control is combined, blocky dirt is cleaned through the brush head, dirt collection is quite efficient, the surface area needing dirt collection is fixedly washed, unnecessary distilled water and energy consumption is reduced, and the cost is reduced. And the acquisition speed is greatly improved.

The present invention belongs to the technical field of motor control, and specifically discloses a PWM control method for a reluctance motor based on a torque distribution function, comprising the following steps: determining the reference phase torque of each phase; obtaining a random predicted duty cycle; obtaining the phase current at time k and the rotor position at time k of the reluctance motor, and determining the phase flux linkage at time k of the reluctance motor; predicting the phase flux linkage at time k+1 and the rotor position at time k+1 of the reluctance motor; determining the phase current at time k+1 of the reluctance motor, and determining the phase torque at time k+1; establishing a third-order linear relationship expression and calculating a complex correlation coefficient; determining the predicted duty cycle and the predicted phase torque corresponding to the predicted duty cycle; determining the optimal phase torque of each phase, and determining the optimal duty cycle of each phase; converting the optimal duty cycle of each phase into a control signal of a switch tube to control the reluctance motor. The present invention can improve the following accuracy of the reference torque. The problem of inaccurate calculation of the following accuracy of the reference torque in the prior art is solved.

The invention discloses a crown block operation control method and crown block equipment, and the crown block operation control method comprises the steps: obtaining an image collected by visual detection equipment on a crown block in real time in the moving process of the crown block; determining a traffic environment in a certain range in front of the crown block based on an image acquired by visual inspection equipment on the crown block and acquired in real time and information acquired from a scheduling system; whether the crown block where the visual detection equipment is located needs to enter a protection operation mode or not is determined at least according to the passing environment within a certain range in front of the crown block; and controlling the moving speed of the visual inspection equipment based on the real-time distance between the crown block on which the visual inspection equipment is located and another crown block moving in the same direction in front of the crown block determined by the real-time acquired image acquired by the visual inspection equipment when entering a protection operation mode. Compared with traditional radar or laser positioning, the method has higher precision and reliability through a visual scheme.

The invention provides a multi-angle displacement switching chassis structure used for a follow-to-talk sound box and a control method thereof, and relates to the field of sound amplification systems.The method comprises the steps that the real-time relative position relation between the follow-to-talk sound box and a follow target is determined through UWB positioning equipment; real-time road surface information is obtained through vibration detection equipment; real-time obstacle information is obtained through obstacle detection equipment, and a dynamic following path and dynamic following parameters are generated; determining a dynamic sound amplification angle according to the real-time relative position relation, the dynamic following path and the dynamic following parameters; according to the real-time road surface information, the dynamic following speed and the dynamic driving wheel rotating speed difference, a dynamic counterweight scheme is determined; controlling the wheel set mechanism to advance according to the dynamic following path and the dynamic following parameters; according to the dynamic sound amplification angle, an angle adjusting assembly is controlled to adjust the rotation angle of the follow-speaking sound box; according to the dynamic counterweight scheme, the counterweight mechanism is controlled to adjust the three-dimensional coordinates of the plurality of counterweight blocks, and the automatic following of the follow-up loudspeaker box is realized.

The application relates to the technical field of automatic conveying equipment, in particular to a deformation inhibition method and system in vertical conveying of a PCB thick plate. The method is applied to an equipment comprising a vertical conveying mechanism, a flexible support chain system and a control system, and comprises the following steps: initializing the flexible support chain system according to the specifications of the PCB thick plate; in the vertical conveying process, acquiring a tension feedback signal of the support chain and a deformation displacement feedback signal of the plate body in real time; taking the displacement signal as a main controlled variable and the tension signal as a secondary controlled variable, and generating a control instruction through a cascade control algorithm; and dynamically adjusting the tension of the support chain and an effective support contour according to the instruction, so that the support force distribution is self-adaptive to the real-time deformation state of the plate, thereby inhibiting the middle sag and edge warping of the plate. The system corresponds to the vertical conveying mechanism, the flexible support chain system and the control system for execution.

The invention belongs to the technical field of motor control, and particularly discloses a reluctance motor PWM control method based on a torque distribution function, and the method comprises the following steps: determining the reference phase torque of each phase; obtaining a random prediction duty ratio; obtaining a k-moment phase current and a k-moment rotor position of the reluctance motor, and determining a k-moment phase flux linkage of the reluctance motor; predicting a k + 1 moment phase flux linkage and a k + 1 moment rotor position of the reluctance motor; determining a k + 1 moment phase current of the reluctance motor, and determining a k + 1 moment phase torque; establishing a three-order linear relation expression and calculating a multiple correlation coefficient; determining a predicted duty ratio and a predicted phase torque corresponding to the predicted duty ratio; the optimal phase torque of each phase is determined, and the optimal duty ratio of each phase is determined; and converting the optimal duty ratio of each phase into a control signal of a switching tube so as to control the reluctance motor. According to the invention, the following precision of the reference torque can be improved. The problem that in the prior art, calculation of the following precision of the reference torque is not accurate is solved.