38results about How to "Improve exercise efficiency" patented technology

The invention discloses a control method and device for linkage of a wearable device and a limit scooter and a storage medium, and belongs to the technical field of motion data processing.The method comprises the steps that a motion trigger signal is obtained, and the wearable device is connected with the limit scooter through a near-field communication module to obtain and record motion parameters of the limit scooter; key actions are recognized, the motion parameters are analyzed, the key actions and key action moments of the limit scooter are recognized, and key motion indexes of the limit scooter are obtained; comparing a motion target with a historical record, obtaining the motion target, comparing a proportional relation between the motion parameter or the key motion index and the motion target, and / or comparing a size relation between the motion parameter or the key motion index and the best score of the historical record; according to the control method combining the wearable device and the extreme scooter, the exercise data can be collected, analyzed, fed back and visualized, and the healthy development of extreme exercise is promoted.

The invention relates to the technical field of intelligent sports data analysis, in particular to an intelligent sports data analysis method and system based on the Internet of Things and a medium. The method comprises the following steps: acquiring real-time state data of physical exercise of an athlete through an intelligent bracelet worn by the athlete; based on an electronic video recording device, motion posture data mapping is carried out according to the real-time state data of the athletes in physical exercise, and motion posture mapping data is obtained; performing instantaneous explosive power evaluation on the motion attitude mapping data, performing abnormal load limit coupling processing, and performing motion risk level evaluation to obtain motion risk level data; making an intelligent motion feedback strategy based on the motion risk level data to obtain the intelligent motion feedback strategy; and sending the intelligent motion feedback strategy to the intelligent bracelet to execute sports data analysis. The intelligent sports data analysis technology is optimized, so that the intelligent sports data analysis technology is more perfect.

The invention belongs to the related technical field of hydraulic robot body structures, and discloses a humanoid robot trunk structure and a hydraulic humanoid robot, the trunk structure forms a closed oil way system, and a flow channel of the closed oil way system is embedded in the trunk structure; the trunk structure comprises a bottom plate, an arm supporting column, an oil inlet valve block, a motor pump, an oil outlet valve block and a hydraulic cylinder, the arm supporting column is arranged on the bottom plate, the oil inlet valve block and the oil outlet valve block are connected with the two opposite ends of the motor pump respectively, and the motor pump is arranged on the bottom plate; the hydraulic cylinder is arranged on the arm supporting column; the bottom plate, the arm supporting column, the oil inlet valve block, the oil outlet valve block and the hydraulic cylinder are all constituent parts of the closed type oil way system. According to the invention, the integration level is improved.

The utility model discloses a pneumatic and manual switching device which comprises a piston rod, a support is fixedly installed outside the piston rod, a rotating handle is fixedly installed inside the support and located on the surface of the piston rod, a protective cover is fixedly installed outside the rotating handle, and a valve rod is movably installed inside the lower end of the piston rod. A nut positioning block is fixedly installed at the bottom of the support and located outside the valve rod, a trapezoidal nut is installed in the nut positioning block in a threaded mode, a shell is fixedly installed outside the nut positioning block, and a gear disc is movably installed at the bottom of the shell. Through the application of the rotary gear shaft, the gear disc, the nut positioning block and the trapezoidal nut, the operation stability of the internal structure of the pneumatic actuator can be effectively guaranteed, the balance of the internal valve rod in the vertical movement process can be guaranteed, the movement efficiency is higher, and in addition, the device is lighter in weight, smaller in size and more time-saving to disassemble and assemble.

The utility model discloses a deformed steel bar clapper type brake which comprises a clapper brake block, a leveling spring, a driving lever and a brake cylinder, the brake cylinder is hinged to an apron board protection platform through a pin shaft, the end of a piston rod of the brake cylinder is hinged to the tail end of the driving lever, and the middle of the driving lever is hinged to the front end of the apron board protection platform. The front end of the driving lever is bent and hinged with a beating plate brake block; the leveling spring is arranged between the back surface of the beating plate brake block and the front part of the driving lever; an apron board roller way supporting wall plate is arranged below the apron board protection platform, and an apron board roller way driven by a roller way motor is arranged on the wall plate.

The present invention provides a bionic manta ray robot based on a sinusoidal oscillating wave fin structure, comprising: a body unit; a fin unit, comprising two wave fin assemblies respectively connected to both sides of a main body plate; a sinking and floating unit, located in the shell and installed above the main body plate, the sinking and floating unit comprising a center of gravity adjustment mechanism and a first driving device driving the center of gravity adjustment mechanism to operate; wherein the wave fin assembly comprises a plurality of second driving devices, a plurality of flexible rods and a flexible skeleton, the plurality of second driving devices are installed at intervals along the direction from the head end to the tail end of the shell, and the plurality of flexible rods are respectively connected to the plurality of second driving devices. The present invention moves by means of the propulsion force generated by the wave fin assembly, and controls the sinking and floating of the present invention by the sinking and floating unit, so that the present invention has the advantages of high movement efficiency, good maneuverability, strong stability and anti-interference ability, and low environmental disturbance, and can complete underwater detection, underwater shooting and other tasks at a low speed.

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 utility model relates to the technical field of air conditioning units, and provides a pull-out type U-shaped air conditioning heat pipe convenient to overhaul, which comprises a unit base and a unit frame fixedly mounted on the unit base, a unit access door is arranged at one end of the unit frame, a unit panel is arranged at the other end of the unit frame, a heat exchange coil is arranged on the unit base, and the unit access door is arranged on the heat exchange coil. A U-shaped heat pipe connected with the heat exchange coil pipe is arranged on the unit base, a door locking assembly used for installing the unit access door is arranged between the unit frame and the unit access door, and a drawing assembly facilitating disassembly of the U-shaped heat pipe is arranged in the unit frame. According to the utility model, through the arrangement of the drawing assembly, the dismounting difficulty of the U-shaped heat pipe is reduced, the mounting and dismounting convenience of the U-shaped heat pipe is improved, and through the arrangement of the bearing pulleys, the friction force between the U-shaped heat pipe and the unit base is converted from sliding friction to rolling friction, so that the friction force during the movement of the U-shaped heat pipe is greatly reduced, the movement efficiency of the U-shaped heat pipe is improved, and the service life of the U-shaped heat pipe is prolonged. And a worker can conveniently pull out the device.

The invention relates to a telegraph pole climbing machine, in particular to a roller type telegraph pole climbing machine which comprises a first pole climbing assembly and a second pole climbing assembly, and the first pole climbing assembly and the second pole climbing assembly are connected through a telescopic assembly. Brake wheels are arranged on the first pole climbing assembly and the second pole climbing assembly respectively and used for changing the height of the first pole climbing assembly and the height of the second pole climbing assembly; and a safety channel is arranged at the bottom of the second climbing rod assembly. The first pole climbing assembly and the second pole climbing assembly are the same and comprise a first main body and a second main body, the first main body and the second main body are connected through a hinge assembly, a plurality of fixing holes are formed in the first main body and the second main body respectively, and the brake wheels are connected into the fixing holes. According to the invention, the motion load is reduced by reducing the motion frequency of the first climbing rod assembly, so that the motion speed and the motion efficiency are improved.

The invention discloses a wearable massage power assisting device for sports, which relates to the technical field of sports auxiliary equipment and comprises a waist base worn on a waist area, a shoulder base worn on a shoulder area and an arm outer sleeve worn on an arm area, the power rope is connected with the elbows and the waist, the front traction rope is connected with the shoulders and the front portions of the arms, and the rear traction rope is connected with the shoulders and the rear portions of the arms. An arm neck bush is arranged in the arm outer sleeve in a sleeved mode, a plurality of spherical grooves are formed in the positions, corresponding to the arm front muscle group and the arm rear muscle group, in the arm neck bush, and massage balls are installed in the spherical grooves in a sliding mode; the power rope is stretched periodically along with swinging of the arm. When the arms swing forwards, the massage strength of the rear parts of the arms is increased, and the arms are assisted to swing forwards; when the arm swings backwards, the device increases the massage force of the front part of the arm and assists the arm in swinging backwards, so that the dual effects of assisting and massaging are realized in the exercise, and the exercise experience and comfort are improved.

The application relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, and belongs to the technical field of foot-type robots. The method solves the problem that the foot end of a foot-type robot is prone to sinking when the foot-type robot travels on soft terrain. The method comprises the following steps: acquiring real-time ground reaction force of each foot of the foot-type robot in a current gait cycle supporting phase and joint control information in a previous gait cycle supporting phase; obtaining an expected ground reaction force time curve of each foot in the current gait cycle supporting phase based on the joint control information of each foot in the previous gait cycle supporting phase and a standard ground reaction force time curve; and obtaining control torque of each foot at each time by using a PID controller based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and corresponding real-time ground reaction force, and applying the control torque to each joint motor of each foot to optimize the contact force distribution of each foot. The method realizes walking stability of the foot-type robot on unstructured terrain.

The utility model discloses a steel processing transfer device with stable performance, which comprises a transport vehicle platform and wheels arranged at four corners of the bottom of the transport vehicle platform, two moving grooves are transversely arranged on the transport vehicle platform, clamping plates are respectively arranged on the left side and the right side of each moving groove, and bottom plates are arranged at the bottoms of the clamping plates. A plurality of reinforcing ribs are arranged between the clamping plate and the bottom plate, fixed rods are arranged between the reinforcing ribs, pulleys are arranged on the fixed rods on the two sides of the clamping plate respectively, a threaded sleeve is arranged at one end of each fixed rod, a threaded rod is arranged in the middle of each threaded sleeve, a motor is arranged at one end of each threaded rod, and the motor is powered by a control box. And side sliding grooves are formed in the inner walls of the two sides of the interior of the moving groove correspondingly, a sliding platform is arranged in the moving groove, and the device is beneficial for improving the working efficiency of steel transportation, guaranteeing the safety of workers and meanwhile reducing the risk in the transportation process.

The utility model relates to the technical field of guide connecting pieces, and discloses an automatic guide connecting piece of an electric operating shaft, which is suitable for being mounted on a cabinet door of a switch cabinet. Locking mechanisms are arranged on the two sides of the chassis truck, and the chassis truck can be disconnected with the two sides of the switch cabinet through the locking mechanisms; the transmission screw rod is arranged on the chassis truck; the middle of the transmission lead screw is threaded, and the bottom of the transmission lead screw is provided with a square operation hole. The external operating mechanism is mounted on the cabinet door; wherein the external operating mechanism comprises a driving motor and an output shaft; the driving motor is mounted on the cabinet door; one end of the output shaft is connected with the output end of the driving motor; the other end of the handle is in a horn mouth shape and meshed with the square operation hole.

The invention relates to the field of intelligent information processing, in particular to a method for collecting and processing motion data in real time. The method comprises the steps that multi-dimensional motion data are collected and corrected, space-time enhancement processing is conducted on the corrected motion data, and enhanced space-time data are obtained; mapping the enhanced spatio-temporal data into a graph convolutional network, and extracting spatio-temporal features; predicting a motion state based on the spatio-temporal characteristics; a reward mechanism and a feedback mechanism are introduced, the exercise behavior effect is evaluated, and the exercise behavior strategy is dynamically adjusted. The problem that data fusion accuracy and motion state analysis precision are affected due to the fact that collected motion data cannot be aligned in time and space in a traditional method is solved. The space-time dependency relationship in complex motion cannot be effectively captured, and the precision of motion mode recognition and motion state reasoning is low; a dynamic optimization capability is lacked, and a prediction strategy is difficult to adjust in real time; an analysis strategy and an optimization scheme cannot be dynamically adjusted, and the universality and the practicability of an application scene are limited.

The invention provides a bionic fermented soybean beetle robot capable of rapidly rotating and swimming on water and a working method thereof, a robot main body comprises a control module, and further comprises a fermented soybean beetle head assembly, a fermented soybean beetle belly assembly with a pair of middle foot propelling mechanisms and a fermented soybean beetle tail assembly with a pair of rear foot propelling mechanisms which are sequentially arranged from front to back, the middle foot propelling mechanism and the rear foot propelling mechanism respectively form a middle foot part and a rear foot part of the robot and respectively comprise a crank rocker mechanism driven by a stepping motor, and the crank rocker mechanism is used for converting rotary motion of the stepping motor into reciprocating swing of the foot part; the control module adjusts the swing strength of the feet by setting the amplitude of each crank rocker mechanism so as to execute the linear motion of the robot, and drives water to form a vortex by changing the coupling motion parameters of the middle foot and the rear foot during the tiny water stirring action so as to drive the robot main body to rotate; the carrier platform is high in maneuverability and can rapidly swim on the water in a rotating mode.

The invention relates to the related technical field of snakelike robot control, in particular to a CPG distributed control system and method of a snakelike robot, the system comprises 11 CPG units corresponding to different modules, each CPG unit is an independent Hopf oscillator, a rhythm propagation chain is formed through hierarchical bus communication, and a multi-source sensing module, a master control coordination module and an execution driving module are matched. The method comprises the steps of initialization, environment perception, rhythm generation and the like, parameters can be dynamically adjusted, feedback coefficients are optimized by adopting head end leading, tail end following phase synchronization and reinforcement learning, and modular redundancy design is achieved. The response speed, the fault-tolerant capability and the motion efficiency of the robot in a multi-medium environment are improved, and the method is suitable for complex scene operation.

The utility model discloses an attendance checking device for student management, which comprises a machine body, a display screen and a camera, the display screen is fixedly connected to the left side of the front side of the machine body, the camera is fixedly connected to the bottom of the front side of the machine body, a moving cavity is arranged in the machine body, and a protective shell is arranged on the front side of the camera. A sliding block is fixedly connected to the back face of the protective shell, a sliding groove used in cooperation with the sliding block is formed in the bottom of the front face of the machine body, and the sliding block is slidably connected with the sliding groove. By arranging the cleaning assembly, a user moves the protective shell through the moving assembly, assists the movement of the protective shell through the auxiliary assembly, and cleans the camera through the cleaning assembly, the problems that when an existing student attendance checking device is used, stains such as dust and oil stains exist on the device, the stains can interfere with an identification algorithm, and the recognition efficiency is poor are solved. The facial features of the user cannot be correctly matched or authenticated, the biological feature information cannot be accurately read, and the clock-in process is influenced.

The invention provides a whole body posture linkage method and device when a humanoid robot stretches hands to reach an object, and the method comprises the steps: obtaining a swing arm angular velocity, a gait phase angle and an azimuth deviation angle between the tail end of an arm and a target object in a walking state of the humanoid robot, and determining a freezing switching judgment threshold value according to the azimuth deviation angle and the swing arm angular velocity; screening a preliminary candidate point set according to comparison of the freezing switching judgment threshold value and a preset threshold value; updating a correction value of a freezing switching judgment threshold value in a next-step state period according to an evaluation result of a suppression result of the trunk pitching oscillation amplitude, mapping the correction value into a phase deviation compensation value in gait phase synchronization, and determining a hand stretching action starting opportunity; and fusing the hand stretching action starting time and the swing arm freezing time, and evaluating the standard reaching degree of the overall action time shortening amount and a preset time optimization threshold so as to determine whole body posture linkage parameters.

The present invention discloses an above-water power generation device, including a counterweight assembly, a floating body assembly, a reciprocating motion mechanism and an energy conversion assembly. The counterweight assembly includes a counterweight base and a counterweight block. The floating body assembly includes a pontoon connected to the counterweight base. The reciprocating motion mechanism includes a slide rail and a synchronization device; the synchronization device includes a housing, two synchronization gears, a toothed synchronization belt and a slide. The energy conversion assembly is arranged on the floating body assembly, including a transmission gear assembly, a generator and an energy storage mechanism. In this above-water power generation device, the slide rail and the synchronization device are connected to the pontoon, and the guide rail causes the pontoon to slide on the slide rail under the action of water waves, and the synchronization gear drives the transmission gear assembly to rotate, and then after the action of the transmission gear assembly, the generator shaft is driven to rotate unidirectionally, and the electric energy generated by the generator is stored in the energy storage mechanism. Such a design can improve the response speed of the generator, enhance the energy conversion efficiency of the device, and has a simple structure and reduces production costs.

The utility model relates to a shoe and an accessory thereof, in particular to a carbon plate, a shoe sole and a shoe, the shoe sole and the shoe middle comprise the carbon plate, the carbon plate comprises a half sole part, an arch part and a heel part which are integrally connected in sequence, the half sole part is an arc-shaped surface which is gradually upwarped from back to front, the arch part is an arc-shaped surface which is gradually upwarped from front to back, and the heel part is an arc-shaped surface which is gradually upwarped from front to back. The two arc-shaped surfaces jointly form a groove, and the lowest point of the groove is located at the position, corresponding to the toe bone of the human body, of the carbon plate, or the lowest point of the groove is located on the rear side of the position, corresponding to the toe bone of the human body, of the carbon plate. By the adoption of the carbon plate, certain forward force can be provided for the foot sole after the arc of the foot moves upwards and the middle foot touches the ground, improvement of the later movement efficiency in long-distance running is facilitated, meanwhile, the lowest point moves backwards, the rolling performance of the carbon plate can be improved, the propelling performance of shoes is improved, and a user can run faster.

This utility model discloses a spring-type mechanical force gauge, comprising a cylindrical body, a guide post, and a linear bearing. The upper end of the cylindrical body is provided with an upper cap, and the lower end with a lower cap. The guide post is mounted inside the cylindrical body via the linear bearing, with its upper end passing through the upper cap and extending to the outside of the cylindrical body. An upper lifting ring is provided at the upper end of the guide post, and a lower lifting ring is provided on the lower cap, penetrating the lower cap. The lower lifting ring is connected to the guide post located inside the cylindrical body. A compression spring is provided inside the cylindrical body, and the compression spring is sleeved on the guide post. Using the mechanical force gauge described in this utility model, one end of the cylindrical body is connected to the rotating safety hook of the wing mooring cable, and the other end is connected to the ground ring, thus securing an aircraft parked on the ground and meeting usage requirements. Its overall structure is simple, operation and use are convenient, greatly improving work efficiency. It is highly practical and suitable for widespread application.

The utility model discloses a grabbing mechanism and a crown block. The grabbing mechanism is connected with a belt on a lifting mechanism of the crown block and comprises a mounting plate, a driving assembly, a first clamping assembly, a second clamping assembly and three belt adjusting assemblies, and the driving assembly is arranged on the mounting plate and used for driving the first clamping assembly and the second clamping assembly connected to the driving assembly to move in the opposite direction or the back direction; the belt adjusting assemblies are installed on the installation plate and used for being connected with the free end of a belt of the lifting mechanism, and the three belt adjusting assemblies are not located on the same straight line. According to the grabbing mechanism, the levelness of the first clamping part and the levelness of the second clamping part can be rapidly and conveniently adjusted.

The present application relates to a vehicle active suspension control system, control method, computer equipment and storage medium based on SOA architecture. The system includes: a state analysis module, which is used to obtain a state identification result after performing vehicle state identification on equipment working data; a fault diagnosis module, which is used to obtain a fault diagnosis result after performing fault diagnosis on fault monitoring data; a demand analysis module, which is used to obtain a data analysis result after performing data analysis based on the current vehicle mode, current vehicle speed and state identification result; a target arbitration module, which is used to obtain a target height of an air spring device after performing height arbitration and step-by-step adjustment, and is also used to obtain a target damping of a continuous vibration reduction control device after performing damping arbitration and step-by-step adjustment; a control execution module, which is used to control the valve pump of the air spring device, and is also used to control the solenoid valve of the continuous vibration reduction control device. The use of this method can avoid repeated signal calls and improve operating efficiency.

The utility model discloses a wearable intelligent sportswear, and relates to the technical field of clothes. Comprising an intelligent sportswear body, the intelligent sportswear body comprises a clothes body and sleeves, a cervical artery sensor is arranged in the neck of the clothes body, a heart rate sensor is arranged in the left chest of the clothes body, wrist artery sensors are arranged in the wrist of the sleeves in a surrounding mode, and a waterproof bag is connected to the back of the clothes body in a sewing mode and internally provided with a main board. The surface of the main board is electrically connected with a Bluetooth module, a positioning module and a main control chip, the heart rate sensor, the carotid artery sensor and the wrist artery sensor are all connected with a serial port of the main board, a battery pack is connected to the waist of the garment body in a sewing mode, and a lithium battery is installed in the battery pack and used for supplying power to the main board; the user can grasp the physical condition, the exercise efficiency can be improved, positioning information can be sent out through the positioning module when the user goes out and has an accident, help seeking is facilitated when the user is in danger, and the safety is improved.

The present disclosure provides a control method and system for a four-wheeled and legged robot based on reinforcement learning and a composite model, which relates to the field of robot automatic control technology, introduces multiple control modes (wheeled, legged, and wheel-legged composite modes) to achieve efficient passage through various terrains. The use of reinforcement learning methods to replace traditional model predictive control greatly simplifies the complexity of the control system and enhances the real-time response capability to dynamic environments. The composite model optimization controller further optimizes speed distribution through quadratic programming to ensure optimal speed and stability performance. Users can manually switch control modes to meet the needs of different mission scenarios, such as patrolling, rescue, and transportation tasks in complex terrains. The present disclosure has shown excellent passing efficiency and energy consumption performance in experiments, especially in terms of terrain transition and smoothness of multi-mode switching.

The utility model provides a high-precision margin nozzle coating mould for a metallized film, which comprises a mould body, a groove is arranged on the mould body, the bottom end face of the groove is arranged in an inclined manner relative to the horizontal plane, coating through holes are arranged on the bottom end face of the groove, the coating through holes are of a frustum-shaped structure, and the bottom end face of the groove is provided with a groove. According to the utility model, the prismatic table-shaped hole with the narrow upper part and the wide lower part is adopted by the die, so that more oil-gas molecules are changed from irregular evaporation operation into linear motion, and the motion efficiency of the oil-gas molecules is improved, thereby improving the coating effect; the prismatic table surface is polished to be smooth until the Ra is 0.8 mu m, so that the friction of oil gas molecules on the hole surface of the mold is reduced, the oil outlet quantity is increased, the precision of the reserved edge is controlled, the width of a fuzzy boundary of an edge area of the reserved edge is reduced, and the reserved edge is clearer; due to the change of the hole surface structure of the mold, the final integral spraying angle of oil gas molecules is closer to the vertical angle after the oil gas molecules are guided by the slope, the funnel-shaped structure is beneficial to formation of oil gas pressure, and the efficiency and quality of the evaporation process are improved.

The present invention belongs to the technical field of thermal machines, and in particular, relates to a dual-station high-precision testing device for thermal sheets, comprising: a housing, in which a manipulator loading and unloading assembly, a material frame discharge assembly, a visual positioning system and a defective product marking system, a testing system module and a linear motion module are arranged; a marble platform, on which marble columns are symmetrically fixedly installed, and the tops of the two marble columns are fixedly installed with the same marble beam, the linear motion module is located between the two marble columns, and the material frame discharge assembly is located on the rear side of the linear motion module. The present invention has high maintainability, and a single camera + industrial computer can be used to realize dual-station mark point recognition and positioning. The mechanism is designed to be stable and accurate and is installed on marble that has been aged for a long time to ensure the stability of the mechanism. In addition, a linear motor is used to achieve accurate positioning without compensation, and the positioning accuracy is <2μm. The whole machine has high integration, simple maintenance, and a simple architecture.

This utility model discloses a cleaning mechanism and an internal working device for a generator enclosed busbar. It includes a cleaning component with cleaning blades for cleaning dust from the surface of insulators, a driving component mounted on the cleaning component to control its movement, and a driving tenon at the driving end of the driving component. A mounting assembly is disposed between the driving component and the cleaning component, including a receiving cavity inside the cleaning component, and connecting plates one and two for transmission connection between the driving component and the cleaning component. The advantages of this utility model are that by driving the cleaning component and cleaning blades to rotate, the cleaning of dust on the surface of fixed insulators can be achieved. Simultaneously, the cooperation of the receiving cavity and mounting sleeve, among other related structures, achieves the effect of embedding the driving component within the cleaning component, making the entire cleaning mechanism more compact, reducing its volume, improving the movement efficiency of the cleaning component, and making the cleaning mechanism lightweight and easy to operate in confined spaces.

The invention relates to the technical field of automation control, and discloses an air trolley full-closed-loop position control method and system, and the method comprises the following steps: S1, calling target position data through a control system; s2, measuring the current position of the trolley by using distance detection equipment; s3, comparing the target position with the current position of the aerial trolley; s4, according to the distance difference between the real-time position and the target position, in combination with a closed-loop control algorithm, outputting movement speed and direction signals; s5, when the distance from the target position is far, the control system outputs an acceleration signal, and when the distance from the target position is close, the control system outputs a deceleration signal; and S6, data abnormity alarm is carried out. The speed of the trolley is adjusted through the dynamic distance difference between the real-time position feedback and the target position, the positioning precision can be remarkably improved, the control system adjusts power output based on the distance error, it is ensured that the trolley decelerates stably when approaching the target position, the overshoot phenomenon is avoided, and finally high-precision and rapid positioning control is achieved.

The present invention provides a microrobot and a control method thereof, which relates to the technical field of medical devices. The microrobot comprises a microrobot body and an in vitro control system connected to the microrobot body by signal; the magnetization direction of the microrobot body has an angle α with the radial direction; the angle α is an acute angle; the in vitro control system controls the operation of the microrobot body through a magnetic field. The microrobot provided by the present invention can generate a partial magnetic moment in the forward direction by obliquely magnetizing the microrobot body so that the microrobot body has a magnetization direction with an oblique angle, thereby significantly improving the reaction force of the fluid and increasing the propulsion force of the microrobot body, which is beneficial to improving the movement efficiency of the microrobot and expanding its application range.