8results about How to "Good motion control" patented technology

The invention relates to the field of robot technology, machine vision, deep learning, computer graphics and digital twinning, in particular to a mechanical arm action recognition and control method based on the machine vision and the digital twinning technology. The motion state and environment information of the mechanical arm are captured in real time through the machine vision technology, high-precision recognition of the motion of the mechanical arm can be achieved in combination with an image processing algorithm, and a control strategy is adjusted in real time according to the recognition result; based on the digital twin model, the state change of the mechanical arm can be monitored in real time, and the mechanical arm and the virtual model are synchronously driven, so that the action of the mechanical arm is ensured to be consistent with the expected action; through intelligent identification and automatic adjustment, manual operation errors are reduced, the working efficiency and the production precision are improved, and the complexity of system maintenance is reduced; real-time optimization of the operation process of the mechanical arm can be achieved through combination of digital twinning and machine vision, potential faults are avoided through simulation and prediction, and stable operation of a production line is ensured.

The invention relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

According to the body surface breathing movement simulation device and the target spot monitoring system based on binocular vision, the body surface breathing movement simulation device is simple in structure, the thoracico-abdominal body surface is simply divided into four blocks, and abdominal respiration of the human body and movement of the thoracico-abdominal body surface during the thoracico-respiration are simulated by controlling reciprocating movement of the four thoracico-abdominal body surface simulation plates. According to the device, rigid components are used, the lead screw stepping motor is used for directly driving the thoracico-abdominal body surface simulation board to move, higher repeatability is achieved, the motion precision is high, the motion control capacity is better, control is easier, and the cost of the whole system is low. The monitoring system can measure the distance of a placed body surface target spot in real time and draw a real-time displacement curve of the target spot, the system can monitor the motion state of a body surface breathing motion simulation device after the body surface breathing motion simulation device is combined with the system, and codes in a driving plate can be changed to correct the motion of a thoracico-abdominal body surface simulation plate if the requirements are not met, so that the operation is convenient. Therefore, the reliability of the body surface breathing movement simulation device is improved.

The utility model provides a kind of annular cutting equipment, it is related to cutting field, including main support, rotary support, radial feed mechanism, it is characterized by: the main support is composed of base, linear motion mechanism, drive mechanism, gravity balance system, the drive mechanism is composed of rack, first speed reducer, gear and first servo motor, the rack is fixed on base by bolt, the first speed reducer is fixed on linear motion mechanism, the gear is fixed on the output shaft of first speed reducer and is engaged with rack, the first servo motor is installed in the input end of first speed reducer, drive gear linearly moves along rack by first speed reducer speed reduction and torque increase, in the utility model, each transmission part adopts speed reduction and torque increase mechanism, under the premise of guaranteeing output torque, the whole machine power is reduced, by adopting gravity balance mechanism, the load caused by further reducing gravity is reduced, to realize the maximization of whole machine driving efficiency.

The present invention relates to a tetrahedron tumbling robot and a method for optimizing its motion joint parameters, wherein the robot realizes tumbling motion by the combined swinging of its support arms, the motion steps are simple and each joint can be independently controlled, which simplifies the overall structure of the robot and reduces the control difficulty; by determining the characteristic parameters of the tetrahedron tumbling robot, the tumbling shape of the tetrahedron tumbling robot is screened out in combination with the tumbling conditions; the optimal target value of the swing joint is determined by the relationship between the robot's shape and the time required for tumbling at a specific joint motion speed; and a method for changing the angle of the robot's rotating joint is provided. Compared with the prior art, the present invention solves the shortcomings of the tetrahedron tumbling robot having many motion steps and a time-consuming motion process, so that the corresponding tetrahedron tumbling robot takes the shortest time to move under the joint parameters, thereby improving the robot's motion efficiency.

The present application provides a control method, device and unmanned vehicle with limited speed. The method includes: obtaining the current motion information of the unmanned vehicle with limited speed, including the current position and current orientation angle of the unmanned vehicle; setting the switching angle constraint of the unmanned vehicle under the corresponding time optimal motion trajectory configuration according to the motion characteristic information of the unmanned vehicle and the given motion duration; using the pre-constructed time optimal control law under different time optimal motion trajectory configurations and the constraint condition, calculating the target position that the unmanned vehicle can reach from the current position under the current orientation angle under each configuration; taking the set of all target positions as the isochrone of the unmanned vehicle under the time optimal motion condition; and controlling the unmanned vehicle to perform corresponding motion according to the isochrone. The method can obtain the isochrone of the time optimal motion in real time under the condition of limited speed of the unmanned vehicle, thereby providing optimal strategy support for motion control, etc.

The utility model provides special arrowhead harvesting equipment, which belongs to the technical field of agricultural machinery, and comprises a floating mechanism and a loading mechanism, the floating mechanism comprises a connecting platform, the outer side wall of the connecting platform is fixedly connected with a floating block, and the middle part of the connecting platform is provided with a placing hole. Stable floating is achieved through the floating mechanism through the connecting platform and the floating block, the arrowhead can be conveniently placed through the middle containing hole, the high-pressure water pump can provide needed water flow power, and water flow is controlled and guided through the water pumping pipe, the connecting hose, the limiting block and the connecting hard pipe; power transmission and operation flexibility of the equipment are further enhanced by adding a transmission shaft and blades, the loading mechanism realizes motion control of a cover plate through a sliding cover plate and a bearing seat, a stable loading platform is provided by fixed mounting of a loading frame and arrangement of foot pads, and water is convenient to discharge after arrowhead is harvested by designing a water outlet.

The utility model relates to a curtain wall crawling robot moving mechanism, and relates to the field of self-walking robots, the curtain wall crawling robot moving mechanism comprises a deformable main body, a plurality of connecting rods, a plurality of electric push rods and a plurality of adsorption mechanisms, the deformable main body comprises four rod pieces, the end of each rod piece is rotatably connected with the ends of other rod pieces, and the multiple rod pieces are spliced into a frame structure; the multiple connecting rods are rotationally connected to the rod piece, each connecting rod is provided with an electric push rod, and the adsorption mechanisms are installed at the ends of the electric push rods. The effect of improving the moving flexibility of the crawling robot on the curtain wall is achieved.