113results about How to "Improve walking efficiency" patented technology

The invention provides a hevapod universal walking multifunctional moonshot robot which comprises two parts of a mechanical structure and a control system; the mechanical structure is composed of a round objective platform and six multi free-degree arms which are evenly distributed according to a regularhexagon, thus, on the basis, various of required functional modules are loaded on the round objective platform so as to expand the function; the control system adopts an AVR singlechip structure to combine the functional modules and the mechanical structure together so as to form a moonshot robot system. The robot has two walking modes of leg-type crawling and wheel type crawling, and has the universal walking function; and the walking efficiency is improved obviously and the scope of application is wider. Meanwhile, the functions of self-adaption to topography, counterguard, path optimization process and grabbing by a mechanical arm, automatical fault distinguishing and repairing and the like are increased newly on the basis of the existing functions; and the invention can be applied to the field of moonshot and the like, and the civil fileds such as ground location, rescuing, transportation and the like.

The disclosure belongs to the technical field of lower limb exoskeleton, and specifically discloses a hip-knee passive exoskeleton device based on clutch time-sharing control, comprising a waist support subassembly, connection subassemblies, thigh subassemblies, clutch subassemblies, shank subassemblies and elastic member subassemblies, the waist support subassembly is configured to be connected to the waist, the connection subassemblies are configured to include two connection subassemblies which are arranged in bilateral symmetry on two sides of the support subassembly, the thigh subassemblies are configured to include two thigh subassemblies which are respectively connected to the two connection subassemblies, the clutch subassemblies are configured to include two clutch subassemblies which are respectively mounted on the two thigh subassemblies, the shank subassemblies are configured to include two shank subassemblies which are arranged in bilateral symmetry below the two thigh subassemblies, the elastic member subassemblies are configured to include two elastic member subassemblies which are arranged in bilateral symmetry. The disclosure can assist the movements of the knee and hip joints, thereby improving the energy utilization efficiency and reducing the metabolic energy consumption of walking.

The invention relates to a method for repositioning a robot. By using a path of the robot walking along the edge of an isolated object as a reference, a position deviation caused by the excessive accumulation of a robot walking error can be corrected to achieve repositioning, thereby improving the positioning accuracy and walking efficiency during subsequent travelling.

An object loss determine method and a device in visual tracking are applied to object loss determination in a tracking application scene; the method comprises the following steps: selecting an object detection model, wherein the model is used for parsing and detecting the tracking application scene; parsing according to the tracking application scene video data and the object detection model, thus determining an interceptive value corresponding to the video data, wherein the interceptive value is used for determining whether object loss exists or not; using the object detection module to detect a to-be-detected image in real time, thus obtaining an object zone of the to-be-detected image; determining whether the object zone has object loss or not according to the interceptive value, wherein the object zone refers to the object-containing zone in the to-be-detected image. The method and device can solve the problems that an existing method needs other auxiliary equipment and auxiliary information in determination, and can fast, simply and accurately determine whether the object is lost or not.

The invention provides an environment detection robot sampling device. The device comprises a main body, and a driving mechanism is mounted on a front side of the main body. In the invention, a soil sampling mechanism and a river water sampling mechanism are arranged; when sampling is required to be performed on soil, the soil sampling mechanism stably slides downwards through a lifting mechanism;then, under the action of a sampling motor, a drill bit at a lower end of a auger drills the soil; meanwhile, the auger is matched with a feeding barrel so that the soil is conveyed into the soil sampling mechanism, and sampling of the soil is completed; when river water is required to be sampled, the river water sampling mechanism slides downwards stably through the lifting mechanism so that theriver water sampling mechanism moves downwards into the river water; and the river water enters the river water sampling mechanism through four water inlets in the river water sampling mechanism to complete river water collection work, and flexibility and practicability of the robot sampling device are improved.

The invention relates to a method for predicting and controlling walking of a robot. The method includes the following steps: constructing a grid map based on grid units with states marked; on the basis of the grid map, establishing a dynamic detection model by using a current position of a robot as a reference point; according to the dynamic detection model, predicting a path situation in front of the robot; and on the basis of the prediction result, controlling a walking manner of the robot. According to the method, on the basis of the grid map formed by the grid units marked with various states, the robot is able to predict the path situation in front of the robot accurately and quickly by the dynamic detection model during the walking process and thus the walking manner of the robot iscontrolled reasonably based on different path situations, so that a problem that a robot walks over a cliff or enters a dangerous area repeatedly and thus the walking efficiency of the robot is improved.

The invention discloses a wearable body weight support type walking aiding device. Through the addition of a chair and shoe part, the wearing and the fixation of the device are facilitated; meanwhile,through the structural design between the two legs, the space occupation can be reduced; the walking convenience can be realized; a motor is used for driving a gear; the bending and the extending ofa leg connecting rod are driven; a chair is further lifted so as to support the partial body weight; the burden of the leg muscle and joints during walking can be reduced; a Teflon rope and a spring device are arranged inside a calf connecting rod; the shinbone outwards extending assistance force during the walking is provided; the walking efficiency is improved; through the human body exercise and physical parameters obtained by a gyroscope and a foot sole force sensor, the exercise intention of the user is detected; the natural walking effect is achieved. In addition, the communication connection is built between an embedded control system and a mobile phone, so that the man-computer interaction and the real-time control on the robot can be better realized. The wearable body weight support type walking aiding device can be well applied to the wearable walking aiding device, can reduce the energy consumption during walking, can improve the comfort degree, and has great application values.

The invention discloses an edge walking method of a robot. The method comprises the following steps of stepS100, acquiring map information of a robot edge walking environment; stepS200, according to the acquired map information, filtering a blank interval and creating an initial route containing obstacle space information; stepS300, according to the initial route, carrying out simulation walking and correcting and creating a first route of robot edge walking; stepS400, making a robot complete edge walking according to the first route. The invention aims at providing the edge walking method of the robot and a system thereof. By using the method and the system, in an known environment, a nonholonomic restriction robot can complete whole edge walking following the generated route for one time and a collision or backing behavior is not generated so that robot walking efficiency is increased and safety is guaranteed.

The invention provides a labor-saving walking aid without external power input. The labor-saving walking aid without external power input comprises a walking aid body, a connecting kit, a ratchet mechanism and an energy storing torsional spring. The labor-saving walking aid can be worn on two feet of a user, energy used for doing negative work in the human body walking process is stored and released when positive work is done, and then external power input free type assisting is achieved. Meanwhile, the exoskeleton dead weight is reduced on the basis of optimized structure design, and the exoskeleton flexibility and the people walking efficiency are improved. In addition, any state stopping of the user in the walking process is achieved by applying the non-return ratchet mechanism, therefore, the walking aid locks the energy when the user is static, the design purposes of storing energy and saving labor are achieved, and the stability and the controllability of the device are greatly improved. According to the novel exoskeleton wearing mode, the portability and the practicability of the product are enhanced.

The invention provides an engineering machine and a travelling driving system thereof. The travelling driving system of the engineering machine comprises a reversing valve, a main driving motor and a secondary driving motor, wherein the reversing valve is connected with an oil supply oil way, an oil inlet oil way of the main driving motor and an oil inlet oil way of the secondary driving motor; and the reversing valve is used for dividing hydraulic oil in the oil supply oil way and conveying the hydraulic oil to the oil inlet oil way of the main driving motor and the oil inlet oil way of the secondary driving motor respectively in the first operating state and conveying all hydraulic oil in the oil supply oil way to the oil inlet oil way of the main driving motor in the second operating state. According to the travelling driving system of the engineering machine, the switching of speed gears of the travelling driving system can be realized.

The invention discloses a wheel-foot conversion type obstacle-surmounting wall-climbing robot and an obstacle-surmounting method thereof, relates to the field of wall-climbing robots. The robot consists of a frame, a propeller, a propeller driving mechanism, wheel-foot conversion mechanisms, wheels, wheel driving mechanisms and vacuum adsorption systems. The propeller driving mechanism is installed in the center of the frame of the robot, the four wheel-foot conversion mechanism are symmetrically installed on the frame and provided with the wheel driving mechanisms, and the wheel driving mechanisms are provided with the wheels and the vacuum adsorption systems. The wall-climbing robot has the functions of wheel type linear walking, wheel type omnidirectional moving obstacle surmounting andfoot type rolling obstacle surmounting. The wheel-foot conversion type obstacle-surmounting wall-climbing robot has compact structure, high walking efficiency, small turning radius and strong obstacle crossing capability.

The invention discloses a continuous milling machine and a traveling and loading control system. The traveling and loading control system comprises a controller, at least two paths of frequency converters, a traveling motor and a shovel motor, wherein the controller is connected with the frequency converter; the traveling motor and the shovel motor are respectively connected with the frequency converters; the frequency converters are used for detecting the working current of the traveling motor and/or the shovel motor; the controller receives the working current and controls the output signals of the frequency converters according to the magnitude of the working current; and the output signals are used for changing the rotating speed of the traveling motor and/or the shovel motor. According to the continuous milling machine and the traveling and loading control system, the frequency converters are connected with the traveling motor, so that the traveling speed can be changed in real time, and the traveling efficiency is improved; and besides, the frequency converters are connected with the shovel motor, so that the loading capacity of a star wheel of the shovel part is enhanced, and the loading efficiency is improved.

The invention discloses auxiliary rehabilitation equipment for the orthopedics department. The equipment comprises an armpit support, a containing plate, outer sleeves and a third supporting rod. Theequipment is characterized in that a positioning base is arranged at the upper end of the third supporting rod, a bandage is installed on one side of the positioning base, an elastic locking ring is arranged at the end, away from the positioning base, of the bandage, a first supporting rod is installed on the side, close to the elastic locking ring, of the top end of a buffer device, a storage battery is arranged in the middle of the side, close to the elastic locking ring, of the first supporting rod, and an LED compensation lamp is installed in the middle of the side, away from the elastic locking ring, of a second supporting rod. Threaded holes, positioning threaded holes, the outer sleeves and supporting inner pipes are installed to be used for achieving a cooperation effect, the height of the armpit support can be adjusted, and therefore the device is suitable for being used by patients with different heights; the device is provided with the elastic locking ring, so that wounds ofthe patients are protected, legs of the patients can be assisted in walking through upper limb strength, and therefore a good treatment effect is achieved.

The invention discloses a dynamic concave obstacle crossing method for a quadruped robot, and belongs to the technical field of robot motion control. The method comprises the following implementationsteps that firstly, the dropping safety area aiming at a concave obstacle encountered by the robot is detected; secondly, the swinging leg track is re-planned; and finally a robot dynamic concave obstacle crossing stabilization controller is established by using the terrain attitude angle as an input. According to the method, the robot dynamic concave obstacle crossing stabilization controller isestablished, so that crossing of the concave obstacle is realized, and the walking efficiency of the quadruped robot to the complex obstacle pavement is improved.

The present invention relates to a walking assistance robot load compensation system which cancels out the load of a walking assistance robot worn by a walking trainee, the walking assistance robot load compensation system comprising a dynamic compensation part compensating for a dynamic load which changes according to the displacement or inertia of the walking assistance robot, the dynamic compensation part, which may compensate for a dynamic load which changes according to the displacement or inertia of the walking assistance robot, comprising: a first plate which is movable in association with the displacement or inertia; a second plate which is spaced apart from the first plate and is movable; a connection wire which is connected to the first and second plates; and a dynamic compensation unit which applies resistance force to the connection wire.

The invention discloses a method for dynamically spanning a protruding obstacle for a four-foot robot, and belongs to the technical field of robot motion control. The implementation steps of the method are as follows, firstly, a footing safety area is detected when the robot faces the protruding obstacle, secondly, the swing leg track is re-planned, and finally, a robot dynamic protruding obstaclespanning stabilization controller is established. According to the method, by establishing the robot dynamic protruding obstacle spanning stabilization controller, spanning of the protruding obstacleis achieved, and the travelling efficiency of the four-foot robot to the complex obstacle pavement is improved.

The invention discloses a handling system of a dry trolley used for placing a denitration catalyst. The handling system comprises a trolley, a rail steel beam, and a power system, wherein the trolleyis used for handling the denitration catalyst, the rail steel beam is used for hanging handling tools, the power system is hung on the rail steel beam and used for grabbing the trolley, the power system comprises a hanging connection assembly, a clamping jaw assembly, a hydraulic guide lifting and lowering assembly, a hydraulic assembly, a control box, and a remote-control unit, wherein the hanging connection assembly is used for connecting with the rail steel beam in a hanging mode, the clamping jaw assembly is used for grabbing the trolley, the hydraulic guide lifting and lowering assembly is used for lifting or lowering the clamping jaw assembly, the hydraulic assembly is used for providing power for the hydraulic guide lifting and lowering assembly and the clamping jaw assembly, the control box is used for controlling the hydraulic assembly, and the remote-control unit is used for remotely controlling the handling system to grab and lower the trolley through the control box, and the hydraulic assembly, the hydraulic guide lifting and lowering assembly and the control box are successively fixed into a load bearing frame body from left to right. The handling system is stable andreliable, continuous operation can be realized, personnel fatigue caused by manually pushing trolley does not exist, and the handling time is greatly shortened than the original method; and the automation level of production line equipment is increased, and the site environment is improved.

The invention provides a method and device for bypassing an object, a medium and electronic equipment. When a self-walking device detects a bypassing object in the walking process, the self-walking device firstly moves to an observation position away from the bypassing object, the situation around the bypassing object is observed at the observation position, and a navigation route is planned according to the situation. The collision probability of the self-walking device and a hidden obstacle is reduced, the time for repeatedly identifying the hidden obstacle is saved, and the walking efficiency is improved.