59results about How to "Guaranteed attitude" patented technology

The invention discloses a visual-sense-based aircraft position and attitude determination method under a mark-free environment. The method comprises the following steps of: detecting characteristic points or characteristic blocks, and confirming the characteristic points or the characteristic blocks under the condition that a communication signal and an external positioning signal are good; detecting the characteristic points or the characteristic blocks again under the condition that the communication signal and the external positioning signal are blocked or can not be used; and matching the characteristic points or the characteristic blocks detected in the step above with the characteristic points or the characteristic blocks to confirm the position and the attitude of an aircraft. According to the method, under the condition that the communication and positioning signals are blocked, and geographic information of a fly region lacks, the position and the attitude of the aircraft can be exactly determined by an imaging system carried by the aircraft, and the guarantee can be provided for the safe fly of the aircraft. Furthermore, the precision can be further improved by using the method in combination with a sensor such as a gyro, a distance measurement machine and an inertia measurement unit, and the autonomous navigation of the aircraft can be carried out in combination with the method.

The invention relates to a forecasting and correcting method for joining a main deceleration stage and an approaching stage. The forecasting and correcting method includes the steps of calculating main deceleration stage guidance parameters, conducting rapid adjustment stage terminal forecasting based on the main deceleration stage guidance parameters and current states of a detector, correcting a main deceleration stage guidance target based on approaching stage inlet conditions, judging whether main deceleration switching conditions are met or not, switching into rapid adjustment guidance if the approaching stage switching conditions are met, otherwise, executing the first step, the second step and the third step again until the main deceleration switching conditions are met, determining rapid adjustment stage guidance parameters according to switching time states, determining current guidance commands according to the rapid adjustment stage guidance parameters, planning approaching stage inlet guidance commands according to the current state, and when an included angle of rapid adjustment stage current guidance commands and the approaching stage inlet guidance commands is smaller than a set value, or the guidance time is completed, switching into approaching stage guidance. According to the forecasting and correcting method, requirements of an approaching stage inlet for gestures, heights, speeds and accelerated speeds are met, and the requirement of the detector for transiting from the main deceleration stage to the approaching stage is met.

The invention discloses an intelligent loading and unloading vehicle system based on visual servo, and belongs to the technical field of intelligent loading and unloading vehicle robots. The intelligent loading and unloading vehicle system comprises an unstacking and stacking mechanism, a conveying mechanism and an AGV loading and unloading mechanism, wherein the two ends of the conveying mechanism are connected to the unstacking and stacking mechanism and the AGV loading and unloading mechanism correspondingly; the AGV loading and unloading mechanism comprises an AGV trolley capable of achieving front-back, left-right and rotation displacement, a pose adjusting device arranged on the AGV trolley, a flexible grabbing device arranged on the pose adjusting device, and a first image obtainingmechanism arranged on the flexible grabbing device; and the unstacking and stacking mechanism comprises a movable carrying platform, a three-coordinate machine arranged on the carrying platform, anda second image obtaining mechanism arranged on the three-coordinate machine. The intelligent loading and unloading vehicle system solves the problem that an unstacking and stacking machine is not suitable for narrow space and space needing to be moved, full-automatic loading and unloading of goods in limited space such as a van are achieved, and manpower replacement is achieved.

The invention belongs to the technical field of harvest machinery, and relates to a Chinese cabbage head harvester. The Chinese cabbage head harvester comprises a harvest mechanism, a self-propelled chassis and a hanging adjusting mechanism, wherein the harvest mechanism is used for harvesting Chinese cabbage heads, the self-propelled chassis is provided with a loading box, and the hanging adjusting mechanism is used for connecting the self-propelled chassis and the harvest mechanism and adjusting the angle of the harvest mechanism. V-shaped cutters cut roots in soil, damage to the Chinese cabbage heads is reduced in the harvest process, meanwhile environment requirements of Chinese cabbage headplanting are low, ridging is not needed, flatness requirementsof soil blocks are not high, secondary root cutting and defoliation are conducted, and thus the harvested Chinese cabbage heads do not to be machined again and directly meet the quality requirements of merchandise Chinese cabbage head. The whole harvest mechanism is simple in structure, working is reliable, the harvest efficiency is high, the damage rate is low, and adaptation is high, the problems that the structure is complex, and reliability and the adaptation are poor in the prior art are solved.

Provided is a foundation ground creating method for providing the high ground stabilizing action by maximally effectively revealing a hard-to-settle characteristic of a top-shaped block. A circular system row or square system row top-shaped block 10 having a body 11 in the lower part of a flat upper surface board 12, and having a shaft leg 13 in a lower part of the body 11, is used by being formed independently or formed by connecting in a plurality, and the object ground 1 is dug down up to the depth corresponding to a lower end level of the shaft leg 13, and a top-shaped block 10 or a connecting top-shaped block 100 is mutually arranged in close contact by erecting the shaft leg 13 on a bottom surface 3 of a dug-down part 2. The whole of this top-shaped block 10 group or the connecting top-shaped block 100 group is integrally wrapped in by a filling filler 50 up to an upper end level of the flat supper surface board 12 from the lower end level of the shaft leg 13. A reaction support wall 20 having the height corresponding to the lower end level of the shaft leg 13, is formed in an outer peripheral part of the dug-down part 2.

The invention relates to a human motion synthesis method based on a convolutional neural network, and the method comprises the steps: training a model and testing the model: the step of training the model comprises the steps: inputting collected motion capture data into the network for training; Establishing a three-layer convolutional neural network model, superposing an auto-encoder network model on the three-layer convolutional neural network model, and encoding, decoding and training input motion data; Adding a position constraint, a bone length constraint and a track constraint into a hidden unit of the convolutional auto-encoder; And before the three-layer convolutional neural network is output, adding a character style constraint network, and training position constraint, bone length constraint, trajectory constraint and style network extraction at the same time. The step of testing the model comprises the step of inputting tested motion data into the trained model to test whether the data can synthesize motion or not. The method has no data set requirements, and can be expanded to a large number of data sets for parallel processing.

The invention provides an oceanographic engineering towing test traction system and method. The traction system comprises a supporting column and elevated driving pile cap subsystem and a winch type traction subsystem. The winch type traction subsystem comprises a traction winch (5), a tension winch (6), a guide pulley block (7) and an electrical system. The electrical system is used for driving and controlling the traction winch (5) and the tension winch (6) to act, and then carries out towing motion on a towing body. The oceanographic engineering towing test traction system and method have the advantages that tension of multiple mooring ropes is cooperatively controlled in a self-adaptive mode, so that it can be ensured that the posture of the traction system is stable, particularly, it is ensured that the towing body is stable in six degrees of freedom and free of skewing, and then the design requirement of the towing test system is met.

The invention relates to an attitude rail coupling adjusting method based on a high-thrust satellite. The method includes steps of 1), optimizing the structure layout at inside and outside of a satellite body on the basis of the satellite structure design by taking the symmetrical design in the satellite body and no shielding at surrounding of propellent releasing nozzle at outside of the satellite body as a principle; 2), analyzing the influence of high thrust on the satellite body when the satellite propellent is released, designing an attitude control system to guarantee the normal running of the satellite after releasing the propellent; 3), processing a propellent storage bottle on the satellite so that the propellent release meets the normal release requirement of high thrust; 4), controlling the satellite attitude by the attitude control system, and realizing the attitude rail coupling control of the high-thrust satellite. Through the optimized design of the satellite structure, the calculation analysis of satellite centroid and rotational inertia in the centroid coordinate system after the propellent is release, the satellite attitude is adjusted before the release of propellent every time.

The invention relates to the technical field of automatic parking systems, in particular to a parking space angle recognition method and an automatic parking method, and the method comprises the following steps: scanning an obstacle, close to one side area of a vehicle, of a parking space entrance in real time in a reverse parking process, and obtaining the coordinate value of the obstacle; obtaining a discrete point set of a plurality of coordinate values; fitting the discrete point set into a straight line through a least square method; and calculating the slope of the obstacle according tothe straight line formed by fitting, wherein the slope is the parking space angle. The invention aims to provide the parking space angle identification method and the automatic parking method. By adopting the method provided by the invention, the technical problem that a current automatic parking system cannot accurately identify a parking space is solved.

The invention relates to the technical field of construction, in particular to a comprehensive receiving construction method of a shield steel sleeve under a complex environment. WSS horizontal grouting is firstly adopted for reinforcing a receiving end, and after construction of a receiving well bottom plate steel sleeve foundation is completed, steel sleeve mounting, steel sleeve bottom anchor bar welding and cushion layer construction are carried out. After glass fiber bars on a tunnel portal protection layer and a surface layer are stripped off, steel sleeve closing and packing construction in the sleeve are carried out. After backfilling is finished, tunnel portal grinding is carried out, and the tunnel portal continues to be pushed forwards in a tunneling manner to enter the steel sleeve. When tunneling is carried out to the shield tail to arrive at the middle of a concrete diaphragm wall, shutdown is achieved, blocking is carried out for the first time, after the shield tail isseparated out of a tunnel portal steel ring, blocking is carried out for the second time, after the sleeve is dismounted, an arc steel plate is adopted for blocking, meanwhile, post grouting and filling are carried out on the arc steel plate, and shield receiving is completed safely and smoothly. The process operability is high, operation is safe and reliable, the influence on surroundings is reduced, and popularization is easy. The comprehensive receiving construction method is mainly applied to the shield steel sleeve receiving aspect.

The invention relates to an automatic screw-in device for screws. The automatic screw-in device (1) for the screws comprises a screw conveying mechanism (10) used for conveying the screws (50) one by one, a screw keeping mechanism (20), a workpiece table (30) carrying a workpiece (60), and a screw screw-in mechanism (40). The screw keeping mechanism (20) contains the screws (50) output from an outlet (101) of the screw conveying mechanism (10) and keeps the postures of the screws (50). The screw screw-in mechanism (40) is used for screwing the screws (50) in the workpiece (60). The screws (50) are moved to the screw-in position (A) on the workpiece (60) from the outlet (101) of the screw conveying mechanism (10) in the state that the postures of the screws (50) are kept by the screw keeping mechanism (20) and the screws (50) are connected with the screw screw-in mechanism (40) in an abutting manner, and then the screws (50) are screwed into the workpiece (60) by the screw screw-in mechanism (40) in the state that the screws (50) are not kept by the screw keeping mechanism (20).

The invention discloses a method for testing pipe soil contact pressure of large section rectangular pipe-jacking construction of a comprehensive pipe gallery. The method comprises the steps of: 1, soil pressure detection hole forming, which is implemented by forming a soil pressure detection hole of a pipe soil contact pressure detecting device before carrying out jacking construction by adoptinga pipe-jacking machine; 2, working well and receiving well construction, which is implemented by conducting construction on a working well and a receiving well, arranging a cave outlet reinforcing structure right ahead a cave outlet, and arranging a cave inlet reinforcing structure right behind a cave inlet; 3, jacking construction and pipe soil contact pressure detection. The method has the advantages of simple steps, reasonable design, convenient construction and good reinforcement effect, adopts an actual measuring method for testing the pipe soil contact pressure in the pipe-jacking construction process timely and precisely, adopts soil pressure gauges of adjustable soil pressure detection devices which can be adjusted in a telescopic manner for conducting soil pressure detection on pipe soil contact pressure, and can effectively prevent the damage to the soil pressure gauges caused by a cave outlet portal water-blocking steel plate, the cave outlet reinforcing structure and the cave inlet reinforcing structure.

The invention discloses a coil assembling system of a camera module assembling machine. The coil assembling system comprises an iron sheet feeding device, a coil tray assembly and a first carrying manipulator, wherein the iron sheet feeding device and the coil tray assembly are both mounted on a rack, and the first carrying manipulator is connected with the iron sheet feeding device and the coil tray assembly; the iron sheet feeding device comprises an iron sheet material rail, a bearing table, a push plate and a material pushing air cylinder; and the iron sheet material rail is mounted on a material vibrator, iron sheets are sent out in order in the iron sheet material rail, the bearing table is mounted on the rack through a supporting plate, the bearing table is connected with the discharging end of the iron sheet material rail, a sinking table is arranged on the bearing table, and a notch is further formed in the bearing table. The coil assembling system has the advantages that thecoil iron sheets are efficiently assembled, and the moving and taking are accurate and reliable.

The invention discloses a clamping and moving device of winding type cable terminal crimping equipment. The clamping and moving device comprises a moving sliding table, a transverse moving mechanism,a second rotating air cylinder, a longitudinal moving mechanism and a first clamping assembly, wherein the moving sliding table is installed on the rack, the transverse moving mechanism is installed on a moving part of the moving sliding table, the second rotating air cylinder is fixed to the moving part of the transverse moving mechanism, and the longitudinal moving mechanism is installed at therotating end of the second rotating air cylinder; the mounting plate is fixed to a moving part of the longitudinal moving mechanism, the middle clamping air cylinder is arranged in the middle of the mounting plate, and clamping jaws are arranged at the two moving ends of the middle clamping air cylinder; the end clamping air cylinders are horizontally mounted at the two ends of the mounting plate,and clamping jaws are arranged at the two moving ends of each end clamping air cylinder. The device is advantaged in that multi-point clamping is adopted, and the clamping device has advantages of being high in adaptability and high in clamping precision.

The invention provides a feeding pipe for agricultural radish slicing, and relates to the field of agriculture. The feeding pipe for agricultural radish slicing comprises a throwing box and three groups of supports, wherein the three groups of supports are positioned under the throwing box, and the upper ends of the three groups of supports are fixedly connected with the bottom surface of the throwing box; the bottom surface of the throwing box is fixedly connected with a tapered pipeline, and the end, far away from the throwing box, of the tapered pipeline is fixedly connected with a regulating pipeline; and the end, far away from the tapered pipeline, of the regulating pipeline is fixedly connected with a guide bent pipe. According to the feeding pipe for agricultural radish slicing, bythe arrangement of a fixed ring, a moving ring, a guide plate, a guide rod, a toothed plate and a motor, radishes can be placed in the throwing box, and the motor is controlled to rotate, so that thestaggered movement of the guide rod and the guide plate can achieve an effect of changing the radish direction, and the problem that a large number of radishes can be probably blocked during slicing so as to affect later slicing in the prior art is solved.

The invention discloses a soft foundation pore pressure meter embedding method which comprises the steps that first, a drilling machine is used for drilling; second, a pore pressure meter placed at the lowest position is pressed into a hole, and the steps are that 1. a probe of the pore pressure meter is wrapped in a filter membrane sleeve where medium-coarse sand is placed, and the medium-coarse sand covers a water filtering stone of the probe; one end of a nylon rope is tied to the middle portion of the pore pressure meter, and the embedding depth position is marked on the nylon rope; 2. a drill pipe is taken out, a drill bit is detached, and a sleeve is refitted; 3. the pore pressure meter is inserted into the sleeve, and the nylon rope is used for upward tight lifting; 4. the drill pipe is put downwards, the pore pressure meter is pressed into the hole, and the nylon rope is fixed; and 5. the drill pipe is taken out, and the pore pressure meter is hung at the designed embedding depth position; third, the steps 1-5 are repeated by multiple times, and pressing in of all pore pressure meters is completed; and fourth, soft soil backfill is carried out, so that all the pore pressure meters placed at the designed embedding positions and soft soil around are compact. The poses of the pore pressure meters can be accurately guaranteed, and the smearing effect of the soft soil on the pore pressure meters can be lowered.

The invention discloses a three-dimensional damping hinge base for parallel machine tool vibration reducing. An upper cylinder cover, damping liquid bags, a rigidity porous plate, a supporting plate,a lower cylinder cover and a hinge sleeve are included. The upper cylinder cover and the lower cylinder cover are fixedly connected with the upper end and the lower end of the hinge sleeve correspondingly. The damping liquid bags, the rigidity porous plate and the supporting plate are sequentially arranged in a cavity between the upper cylinder cover and the lower cylinder cover from interior to exterior. The supporting plate is fixedly connected with the upper cylinder cover and the lower cylinder cover. The inner side and the outer side of the rigidity porous plate are fixedly connected withthe damping liquid bags and the supporting plate. The damping liquid bags are attached to the hinge sleeve. The multiple damping liquid bags are arranged on one circle of the hinge sleeve, and the adjacent damping liquid bags are connected through capillary oil conveying pipes. An oil storage cavity is formed between the rigidity porous plate and the upper cylinder cover. Liquid in the upper oilstorage cavity and liquid in a lower oil storage cavity are in communication through the rigidity porous plate. A second seal ring is arranged between the hinge sleeve and each damping liquid bag. Theupper cylinder cover and the lower cylinder cover are symmetrically arranged relative to the hinge sleeve. The upper cylinder cover and the lower cylinder cover are of a tooth-shaped structure. The tooth number is 2n, and n is larger than or equal to 2. The supporting plate is provided with a plurality of seams corresponding to tooth positions. The three-dimensional damping hinge base can achievemulti-dimension vibration reducing.

The invention discloses a visual positioning method of a mobile manipulator. The visual positioning method at least comprises the following steps: performing planar visual positioning by a camera, wherein the planar visual positioning comprises positioning of two translation degrees of freedom and one rotation degree of freedom; performing deep visual positioning compensation by a flexible mechanism, wherein the deep visual positioning comprises positioning of translation degree of freedom, preferably, the planar visual positioning comprises a step of obtaining an error of the translation degrees of freedom and an error of the rotation degree of freedom through a template matching mode. According to the visual positioning method, the technical problem of how to improve the robustness of the mobile manipulator is at least solved.

The invention discloses an information processing satellite suitable for distributed remote sensing formation. The information processing satellite comprises a microwave network unit, a comprehensiveelectronic and communication module, an attitude determination and control module, an information processing satellite power supply system, a first measurement and control antenna A, a second measurement and control antenna A, a first phased array antenna B, a second phased array antenna B and a mounting side wall. The requirements of inter-satellite and satellite-ground data transmission and remote measurement and control can be met.

The invention provides a water chamber end socket welding tool table, and relates to the technical field of welding tools. The water chamber end socket welding tool table comprises a welding flat plate (1), stand columns (2), a supporting plate (5) and angle iron (9), and the welding flat plate (1) is of a rectangular plate structure and is arranged on the supporting plate (5); the number of the supporting plates (5) is not less than two, and the supporting plates (5) are supported by the multiple stand columns (2). The number of the angle irons (9) is two, and the angle irons (9) are arranged between the stand columns (2) and located below the supporting plate (5). Each angle iron (9) comprises an angle iron base (901), two side plates (902) and a side plate frame (903), and the angle iron (9) is used for supporting and fixing a water chamber seal head (10). The water chamber sealing head can be supported and positioned, and the technical problems that when an existing water chamber sealing head is welded, fixation is inconvenient, and the angle is difficult to control are solved.