16results about How to "Improve motion smoothness" patented technology

The invention discloses a control method for switching sitting and standing postures of a wheel-foot robot. The control method comprises the following steps of S1, initial modeling, S2, strategy network and value network setting, S3, strategy network optimization and S4, deployment implementation. The invention provides the control method for switching the sitting posture and the standing posture of the wheel-foot robot, and the control method gives consideration to stability, smoothness and generalization ability.

The present application relates to the technical field of agricultural robot path planning, and particularly relates to a water product breeding feeding robot path planning method and system based on energy consumption and safety joint constraint, the steps of the method comprising: constructing an environment grid map and calculating a terrain gradient vector field; constructing a single-step multi-dimensional comprehensive cost model; establishing a safety constraint judgment mechanism, including longitudinal slope constraint judgment and transverse stability constraint judgment; performing global search on the environment grid map, always preferentially expanding the candidate grid node with the minimum comprehensive evaluation cost in the search process, and searching for a target discrete path of the water product breeding feeding robot under the premise of meeting the safety constraint; performing parameterized smoothing processing and secondary safety verification process on the key points of the target discrete path, calculating the linear velocity and angular velocity reference control instructions of the water product breeding feeding robot at each time, and performing feeding operation along the smoothed path trajectory. The present application can reduce the total energy consumption of operation and improve driving safety.

The invention discloses an idle stroke path automatic planning method and device, a computer program product and laser cutting equipment. The method comprises the steps that the current pose state of a cutting gun and the initial target pose state of a next machining section are obtained in real time; on the basis of the state information and preset safety parameters, automatically planning an idle stroke moving path comprising at least one intermediate point through an algorithm; and finally, the cutting gun is controlled to move along the planned path. By introducing an intelligently calculated middle point, the space position and the attitude angle of the cutting gun are forced to be synchronously and smoothly transited instead of directly jumping in the moving process. The motion smoothness is obviously improved, and the cutting efficiency is effectively improved.

This invention relates to a prediction-based robotic arm path planning method, apparatus, electronic device, and medium. The method involves real-time acquisition of hand position data and storage in a raw dataset, which also includes the current position data of the robotic arm, target position data, and actual obstacle position data. Based on the raw dataset, an Informer model is trained to obtain model weights and output predicted hand position data. The predicted hand position is used as a virtual obstacle, and a predicted repulsive potential field is obtained based on the predicted hand position data. Based on the predicted repulsive potential field, the repulsive potential field of the actual obstacle, and the gravitational potential field of the target position, the current resultant force is calculated to optimize the robotic arm's trajectory, control the robotic arm's movement, and perform sorting. The target position is the endpoint of the robotic arm's movement. Compared with existing technologies, this invention has advantages such as higher prediction accuracy, faster calculation speed, and higher human-machine collaboration efficiency.

This utility model relates to the field of semiconductor component manufacturing technology, and particularly to an ejection mechanism for a wafer heating plate, comprising a heating plate, a base plate, a vertical plate, a sliding cylinder, a connecting plate, and support columns. The heating plate is positioned above the base plate, and the sliding cylinder is positioned below it. A central circle is located in the middle of the heating plate, where the wafer is placed. The center of the central circle is concentric with the center of a circular hole. The sliding cylinder is connected to the base plate via the vertical plate, and the vertical plate and base plate are connected by a locating pin. Three support columns are positioned above the connecting plate at the top of the sliding cylinder, with the tops of the columns inserted into through holes in the heating plate. This utility model uses ceramic support columns to lift the wafer from below. Ceramic material has excellent high-temperature resistance and minimal thermal deformation, improving the stability of the mechanism. The sliding cylinder is connected to the base plate and located away from the heating plate area, avoiding the impact of the high temperature of the heating plate on the performance of the sliding cylinder. A speed control valve controls the lifting speed of the support columns, improving the smoothness of the lifting process.

The invention relates to the technical field of robots, and discloses a robot, a recharging control method and device thereof and a storage medium. The method comprises the steps that the relative pose of the robot relative to a charging pile is acquired; based on the relative pose, solving the constructed nonlinear optimization problem with the operation constraint, and generating a reference trajectory from the position of the robot to the target preparation point; wherein at the target preparation point, the terminal motion state of the robot comprises a non-zero linear speed suitable for the robot to directly enter a charging docking state; performing real-time tracking on the reference trajectory by adopting model prediction control, and outputting a control instruction based on a tracking result to drive the robot to move along the reference trajectory; and after the robot arrives at the target preparation point and moves to be connected with the charging pile, the robot stops moving and is charged. According to the method, seamless charging in the robot recharging process can be achieved, namely seamless connection from advancing to charging is achieved, and the recharging efficiency and stability are improved.

The invention relates to the technical field of obstacle avoidance control, in particular to a multi-mode sensing cooperative obstacle avoidance control method for an intelligent vehicle. The method comprises the following steps: acquiring perception data, preprocessing the perception data, performing feature extraction on the preprocessed perception data, and then performing unified processing; introducing a high-dimensional space-time manifold embedding algorithm, performing mapping processing on the uniformly processed feature data to obtain a high-dimensional manifold embedding vector, and constructing a global perception vector; dividing a candidate obstacle area based on the global perception vector, and calculating a disturbance risk score of the candidate obstacle area; and based on the disturbance risk score of the candidate obstacle area, generating an obstacle avoidance trajectory in real time, generating a control decision signal, and realizing collaborative obstacle avoidance control. The problems that in the operation process of the intelligent vehicle, due to the fact that multi-source sensor data are inconsistent in time delay, space coordinates, data dimensions and distribution structures, obstacle recognition is inaccurate, path obstacle avoidance response is slow, and control instructions jump frequently are solved.

The application relates to the technical field of tackiness testing, in particular to a printing ink tackiness testing device which comprises a detection box body, a metal ink-distributing roller, a rubber testing roller, an ink returning pipeline, an ink applying assembly and a balanced ink sticking assembly. The printing ink tackiness testing device of the application adjusts the coating position by cooperation of a metal telescopic pipe and a blanking pipe, ensures that the ink uniformly covers the metal ink-distributing roller, circulates the ink by a built-in ink guiding slope, reduces ink waste, maintains constant ink amount, avoids test deviation caused by ink sedimentation. In addition, the fine grinding turntable cooperates with the embedded groove to ensure the accurate moving track of the rubber testing roller, avoids deflection, the torque sensor monitors and dynamically feeds back the separation resistance in real time, improves the data accuracy, the pneumatic cylinder drives the push sleeve rod and provides constant pressure, reduces mechanical vibration interference, so that the separation process of the device is closer to the real printing condition, and the data has higher reference value.

The invention, which relates to the technical field of the motor, discloses a brush motor comprising a conductive assembly and a lubricating assembly. The conductive assembly comprises motor brush wires and a motor commutator, and the motor brush wires are in contact with the motor commutator; the lubricating assembly comprises a flow guide part and an oil storage area, one end of the flow guide part makes contact with the motor brush wires, the other end of the flow guide part is located in the oil storage area, the oil storage area communicates with an air inlet channel, and an air inlet of the air inlet channel faces the motor commutator. According to the application, the lubricating oil in the oil storage area is guided to the contact surface of the motor brush wire and the motor commutator through the flow guide piece, and the gas pressure generated by rotation of the motor commutator is utilized to push the lubricating oil in the oil storage area to flow towards the direction of the flow guide piece through the gas inlet channel; the long-term effective lubricating effect of the lubricating oil in the brush motor is achieved, the friction loss of the brush motor is reduced, the service life of the brush motor is prolonged, and the conversion efficiency of the brush motor is improved.

The application belongs to the technical field of humanoid robot motion control, and is especially a Multi-Critic humanoid robot sitting-to-standing conversion control model driven by stages, comprising the following steps: step 1: constructing a humanoid robot sitting-to-standing control environment and collecting state information; and step 2: establishing a stage-driven control architecture, and dividing the robot sitting-to-standing process into a guided descent stage, a stable sitting stage and a dynamic standing stage. The application solves the problem of robot stable sitting posture control under complex contact states by decoupling the stage driving and the Multi-Critic function; reduces the optimization conflict of different motion targets by dynamically activating the corresponding control target through stage state determination; improves the stability and practical application ability of complex contact tasks by respectively evaluating the task completion, action continuity and contact stability using independent value networks; and effectively reduces the contact impact, forward instability and high-frequency oscillation problems in the sitting-to-standing process, as compared with the traditional single-Critic unified optimization mode.

This invention relates to the field of feeder terminal technology, specifically to a feeder distributed automated power distribution terminal, comprising a main control unit and a data acquisition unit. The data acquisition unit is electrically connected to an external control cable. The main control unit is equipped with a support base, on which a square guide rail is fixedly mounted. A sliding frame is mounted on the guide rail, and the sliding frame has a square guide groove for threading through the guide rail. A probe is fixedly mounted on the sliding frame. An elastic body is fixedly mounted on the sliding frame, with its other end fixedly connected to a protective cap. The protective cap has a detection hole for threading the probe. This invention solves the problem of existing distributed feeder terminals being easily damaged during wiring due to exposed probes.

The application provides an electric vertical injection molding machine with a mold locking mechanism, and relates to the technical field of injection molding equipment. The electric vertical injection molding machine with the mold locking mechanism comprises a rack, a lower mold plate fixedly arranged at the upper portion, a movable mold plate capable of sliding up and down above the lower mold plate, and a pull rod connecting the rack and the lower mold plate. The top of the rack is provided with an upper support frame. A composite mold locking driving mechanism and a self-balancing gravity compensation mechanism are installed on the upper support frame. The composite mold locking driving mechanism comprises a main driving servo motor arranged in a biasing mode. A speed reducer is connected to the main driving servo motor. In the application, high-speed stable mold closing is realized through gravity compensation and self-adaptive leveling, and the lead screw is protected. The combination of the mechatronic and hydraulic separation layout makes the servo and the hollow hydraulic responsible for mold opening and closing and center mold locking injection, respectively. The electric precision and the hydraulic large mold locking force are combined, and the molding precision and the service life of the equipment are effectively improved.

The application provides a reinforcement learning path planning model training method fusing potential field prior guidance. Firstly, local observation data of a vehicle in an unstructured environment is acquired, and environment state characteristics are constructed; on this basis, an Actor-Critic policy network based on a TD3 algorithm is constructed. In view of the problem that a target cannot be reached in a traditional artificial potential field method, the repulsive force function is improved, a target distance adjustment factor is introduced into the repulsive force function, and a mapping model from a virtual potential field force to a kinematic control instruction of the vehicle is established. A hybrid action exploration strategy is further constructed, the output action of the policy network and the artificial potential field guided action are linearly weighted and fused, and a dynamic weight self-adaptive attenuation mechanism based on the simulated annealing idea is designed, so that a smooth transition from rule guidance to autonomous decision is realized. In the network training process, a behavior cloning (BC) auxiliary loss function is introduced, and the update direction of the policy network is constrained by using the potential field guided action. The application can effectively alleviate the problems of cold start difficulty and large exploration blindness in the early stage of deep reinforcement learning training, and has the advantages of fast convergence speed, high obstacle avoidance safety and smooth path planning.

This invention discloses a method for generating smooth trajectories for robotic arms that combines visual keypoint cues with a hierarchical diffusion model, applicable to complex robotic arm operations based on visual and verbal commands. The method constructs a hierarchical robotic arm operation framework. The high-level layer utilizes a sub-target generator guided by a visual-language model to predict the six-DOF pose sequence of the end effector as operation sub-targets from visual observations and verbal commands. The low-level layer proposes a dual diffusion model trained based on a random sampling strategy to generate smooth, low-curvature joint position trajectories between sub-targets. A keypoint extraction module that requires no training is introduced to provide visual cues. This invention improves the success rate of operations, reduces trajectory jitter and redundant motion, and enhances the smoothness and execution stability of robotic arm operations through the synergy of hierarchical planning and diffusion trajectory optimization.

The application discloses a novel bidirectional balance valve, and belongs to the technical field of balance valves. The bidirectional balance valve comprises a valve body, two valve cavities are symmetrically arranged in the valve body, an overflow valve assembly and a one-way valve assembly are arranged in the valve cavities, the overflow valve assembly comprises a valve seat fixed on the valve body, a valve core movably arranged in the valve cavity and a pressure regulating spring arranged between the valve core and the valve seat, the one-way valve assembly comprises a one-way valve sleeve movably arranged in the valve cavity and a one-way valve spring connected between the one-way valve sleeve and the inner wall of the valve cavity, a front section of the valve seat is located at the communication position of a V oil port and the valve cavity, and a throttling oil hole in communication with the V oil port is arranged on the outer circumferential surface of the end of the front section of the valve seat, which is away from the middle section of the valve seat. The application can effectively reduce load vibration, effectively improve micro-control performance, better match different flow load requirements, improve working stability and safety, and reduce the machining and manufacturing difficulty of the balance valve by adopting a large-diameter small-passage.

The application discloses an indoor robot path planning method, and belongs to the field of indoor robot path planning. The method comprises the following steps: S1, outputting a standardized multi-dimensional weight parameter set; S2, constructing a hierarchical semantic cost map containing a dynamic risk area, a semantic label and an energy consumption cost; S3, building a differentiated task rule library and constructing a four-target joint optimization cost model; S4, adopting a local obstacle density adaptive Octile JPS algorithm to complete global path search, combining B-spline curve smoothing optimization, and outputting a global optimal benchmark path and a dynamic waypoint sequence; S5, adopting a heading deviation-obstacle distance double-input fuzzy control algorithm to dynamically optimize DWA evaluation weights, combining dynamic obstacle pre-judgment risk to complete local trajectory correction, and outputting real-time instructions of robot motion speed and angular velocity; and S6, executing the real-time instructions and iteratively updating. The above indoor robot path planning method has the advantages of high real-time performance, low energy consumption, strong adaptability, high intelligence and no human intervention, and is fully suitable for actual operation scenes of various household indoor robots.