69results about How to "In line with the laws of motion" patented technology

The invention relates to a novel cross-diamond searching method. Firstly, a crosslet mode is adopted for pre-search to find a minimum block-matching distortion (MBD) point, the MBD is taken as a center to construct a large cross searching mode to find the MBD; secondly, the MBD of the large cross mode is taken as the center to start the diamond search that a large diamond is searched first, a small diamond mode is adopted for search if the MBD is positioned at the center, and the found MBD point is the final block-matching distortion point; and if not, the large diamond search is continued. A cross-diamond also adopts the halfway stopping technique, and the speed for searching stationary blocks and half stationary blocks is improved obviously; and the modified partial distortion criterion greatly reduces the computational complexity without influencing the distortion factor. The laboratory result shows that the novel cross-diamond searching method respectively saves 41 percent and 16 percent of searching points compared with the diamond searching method and the cross-diamond searching method under the circumstances that the signal-to-noise ratio is less reduced or even is not reduced; compared with other prevalent block-matching motion estimation methods, the novel cross-diamond searching method has higher searching speed and less distortion degree.

The invention relates to a method and a device for compensating the torque of a single-rotor compressor. A detection module detects the state parameter of a refrigerant in the single-rotor compressor; a collection module obtains the corresponding compensation angle and compensation amplitude by using the state parameter; a waveform generation module generates a triangular wave compensation waveform by using the compensation angle and the compensation amplitude; and an execution module starts the triangular wave compensation waveform to compensate the torque of the single-rotor compressor. By the method and the device for compensating the torque of the single-rotor compressor, the compensation angle and the compensation amplitude are considered in the torque compensation link, and the triangular wave compensation waveform instead of a sine wave compensation waveform is adopted, so that the vibration of the single-rotor compressor during operation is reduced, and the using performance of the compressor is improved.

The invention relates to the technical field of medical instruments, in particular to a postsurgical rehabilitation nursing device for the department of cardiology. The postsurgical rehabilitation nursing device comprises a bed and a speed reducing motor. A backrest is hinged to the right portion of the upper end face of the bed, the speed reducing motor is fixedly connected to the right portion of the lower end face of the bed, a power toothed disc is fixedly connected to an output shaft of the speed reducing motor, hand rests are arranged on first bases, and leg rests are arranged on left sides of second bases. A first cam, a second cam and a third cam are sequentially fixed to each tail end of a connection shaft, the power toothed disc and a first toothed disc are connected through a first transmission chain, and a second toothed disc and a third toothed disc are connected through a second transmission chain. The postsurgical rehabilitation nursing device is reasonable in structuraldesign, the first cams, the second cams and the third cams support a bottom frame in motion to enable rehabilitation training, motion processes of the hand rests and the leg rests accord with human motion laws, and changing of contact between the bottom frame with the cams in different diameters, the motion amplitude of the arm rests or the leg rests can be adjusted to adapt to patients in different rehabilitation stages.

The invention discloses a bionic underwater vehicle flapping wing propulsion device. An underwater vehicle comprises a drive motor assembly, a transmission gear set, a ball screw, a steering engine, asteering shaft, an adaptive under-actuated flexible wing framework, a single-sliding block and double-rocker mechanism, and a fixing seat, the drive motor assembly, the ball screw and the fixing seatare connected with an underwater vehicle body separately, the drive motor assembly is composed of a motor, a speed reducer and an encoder, the ball screw is composed of a screw rod, a screw nut and ascrew fixing seat, and an output shaft of the speed reducer is connected with a driving gear of the transmission gear set; a driven gear of the transmission gear set is connected with the screw rod of the ball screw, and the motor drives the screw rod to rotate through the transmission gear set. The bionic underwater vehicle flapping wing propulsion device has the advantages that the integral structure is provided with a front end swing and a rear end swing, the whole device has two degrees of freedom, and propulsion, turning, floating, submergence and other movements of the underwater vehicle can be achieved.

The invention discloses a spatial four-degree-of-freedom rehabilitation training device for lower limbs. The device mainly consists of an arc-shaped baseplate, a main arc-shaped guiding rail, a left main arc-shaped guiding rail, a right main arc-shaped guiding rail, an arc-shaped rack, an auxiliary arc-shaped guiding rail, a left auxiliary arc-shaped guiding rail, a right auxiliary arc-shaped guiding rail, a leg rehabilitation training mechanism, a square bottom shell, a six-dimensional force sensor, a second hinge base, a third hinge base, an electric ankle joint pushing rod, a middle shaft,a fisheye bearing, a driving bearing sliding base, a driven bearing sliding base, a gear motor, a gear, universal wheels, lifting legs, a chair, a controller, a left leg training mechanism, a right leg training mechanism and the like. Multifunctional, multi-posture and more comprehensive rehabilitation training of the lower limbs can be carried out, flexion and extension movement of the lower limbs in a vertical plane can be achieved, retraction and extension movement around the hip joints of the human body is achieved, high rigidity can always be maintained, and movement stability is improved. The retraction and extension movement around the hip joints of the lower limbs of the human body is better in line with a movement law of the human body, and a better rehabilitation effect is achieved.

The invention relates to a method for planning a shortest obstacle-avoiding route of an autonomous navigation agricultural vehicle. The method includes the following steps of firstly, conducting positioning on the basis of a binocular vision obstacle; secondly, judging the effectiveness of the obstacle; thirdly, determining the extreme turning radius when the vehicle avoids the obstacle; fourthly,planning a four-segment type route; fifthly, determining the optimal turning radius; sixthly, conducting tracking control on the segmented route. The method is reasonable in design and convenient tocontrol, can better conform to the movement rule of the vehicle and realize the optimal obstacle avoiding in the vehicle running process, and therefore can effectively improve the work efficiency of the vehicle and sufficiently meet market requirements.

The invention relates to the technical field of pump body hydraulic design, in particular to a transitional flow channel structure of a multi-stage centrifugal pump and a design method of the transitional flow channel structure. The transitional flow channel structure is formed by splicing a plurality of stages of transitional flow channels. Each stage of transitional flow channel comprises a pumping chamber, a diffusion elbow and a water absorbing chamber, wherein the pumping chamber communicates with the water absorbing chamber, and the diffusion elbow is arranged on the outer side of the water absorbing chamber; and a water inlet of the diffusion elbow communicates with a pumping chamber of the same stage, a water outlet of the diffusion elbow communicates with a next stage of water absorbing chamber, the water absorbing chamber is in a full spiral shape, and the diffusion elbow is annular. By adopting the annular diffusion elbows, the transitional flow channel is smoother, the size is greatly reduced, and a pump body is compact in structure and better in intensity. In addition, one full-spiral water absorbing chamber is additionally arranged in front of an inlet of a next stage of impeller, the fluid absorbing performance is better, and the flowing speed is even and stable.

The invention discloses a novel steel wire mesh flanging machine, which belongs to the technical field of textile machinery. The novel steel wire mesh flanging machine is mainly composed of a spindle mechanism, a swing arm mechanism, a crochet hook mechanism, a shear mechanism, a guide mechanism, a base, a box body, a cover plate and the like, wherein the spindle mechanism is connected with the box body through a bearing, the spindle mechanism is connected with the swing arm mechanism through a bearing, the swing arm mechanism is connected with the box body through a swing arm shaft, the shear mechanism is fixed with a crochet hook shaft in the crochet hook mechanism, the base is arranged on the lower end of the box body, and the cover plate is arranged on the top end of the box body. According to the novel steel wire mesh flanging machine, a spindle is rotated to drive a conjugate cam and a convex and concave wheel to rotate, and the swing arm mechanism is driven to move back and forth by the convex and concave wheel, so as to drive the shear mechanism to shear; meanwhile, the crochet hook mechanism is driven to push, hit and press, then returning is performed in sequence in accordance with the original action, and correct operation of the crochet hook action is guaranteed; and the novel steel wire mesh flanging machine has the advantages of high stability, simple structure, lower manufacturing cost and the like, and the appearance requirement of the flanging of woven fabric can be satisfied.

The invention discloses a three-freedom-degree generalized spherical face parallel connection mechanism. A movable platform, a fixed platform and branch chains are included. The parallel connection mechanism has two rotating sphere centers without coinciding with each other, and the sphere centers are a fixed sphere center and a movable sphere center correspondingly; it is considered as a whole that the movable platform does the spherical face movement with the freedom degree being 1 around the movable sphere center, and the movable sphere center does the spherical face movement with the freedom degree being 2 around the fixed sphere center; the branch chains of the three-freedom-degree generalized spherical face parallel connection mechanism are in two types, namely, a ABAA type branch chain used for controlling the movable platform to move around the movable sphere center and an ABA type branch chain used for controlling the movable sphere center to move around the fixed sphere center, two ABA type branch chains are arranged, and one ABAA type branch chain is arranged; all the branch chains are composed of A type connection rods and B type connection rods, each A type connectionrod is a spherical face connection rod, and the shaft axes of two end holes of the A type connection rods intersect on one point; and each B type connection rod is a double-sphere-center spherical face connection rod, all the B rod fixed sphere centers coincide with one another to form the fixed sphere center of the parallel connection mechanism, and all the B rod movable sphere centers coincide with one another to form the movable sphere center of the parallel connection mechanism. The mechanism is high in flexibility degree and movement precision.

The invention discloses a driving device for model insect wings based on PIV. The driving device comprises model wings, a model wing driving mechanism, an oil tank, an oil medium, tracing particles and a PIV imaging device. The model wing is mounted on the model wing driving mechanism, and the frame is erected above the oil tank. One part of the model fin driving mechanism and the model fins are immersed into the oil medium. A motor and a steering engine of the driving mechanism enable the model wing to simulate a flapping wing track of a real insect in a horizontal and vertical rotation and translation coupling manner. Flapping is carried out according to a set speed, counter-acting force of the oil medium on the model wings drives the model wings to advance forwards, a PIV imaging device is adopted to irradiate a section area of a measured flow field, and tracer particle images exposed twice or for many times in the flapping wing action process are shot through an imaging recording system. On the basis of the principle that Reynolds numbers are equal, the size and the beating speed of model wings and a proper oil medium are designed, the dynamics principle of the actual flight process of insects can be conveniently researched, and observation is easy.

The invention discloses a hierarchical crowd simulation method and system used for a complex scene. The method comprises the steps that regional division is carried out on the complex scene, and a topological structure diagram of the complex scene is obtained; global path planning is carried out on the complex scene, and a global path which comprises a scene entrance and a scene exit and a specific interest region is calculated, wherein the scene entrance, the scene exit and the specific interest region are in the complex scene; crowd grouping information and position information of individuals, of the crowd, in the complex scene are confirmed, a potential field of the individuals is established in the complex scene, and according to the potential field of the individuals, acting force exerted on the individuals in the complex scene is calculated; real-time velocities of the individuals during the crowd simulation process are calculated, and by using a traffic flow model, the real-time velocities of the individuals during the crowd simulation process are corrected in real time, so that the crowd simulation is achieved. According to the technical scheme, a velocity control mechanism in a potential field method crowd simulation is improved, and the problem that the velocity variation is unnatural is solved, so that the velocity variation is more conformed to the crowd moving rule, and the actual requirement of the crowd simulation is met.

The invention discloses an automatic oil gas recovery system with a remote monitoring function. The automatic oil gas recovery system comprises a main recovery device, an oil gas absorption tank, an underground oil tank and a monitoring device, wherein the main recovery device comprises a main recovery pipeline, a first recovery group and a second recovery group; the first recovery group and the second recovery group are arranged in parallel; a first pipeline is communicated with an oil gas inlet pipeline, and a second pipeline is communicated with a waste gas discharge pipeline, so that the first recovery group and the second recovery group adsorb and desorb oil gas alternatively; a first adsorption bed and a second adsorption bed are arranged in the first recovery group and the second recovery group respectively; each of the first adsorption bed and the second adsorption bed is internally provided with a polyvinyl fluoride nanometer material for adsorbing and desorbing the oil gas; the monitoring device comprises a controller and a monitoring device; the monitoring device is connected with the controller to monitor the concentration of gas at an outlet of the waste gas dischargepipeline in real time. The automatic oil gas recovery system provided by the invention can be used for monitoring an emission index in real time, so as to ensure that the system is operated under thecondition that emission reaches the standard; the adsorption beds are used for adsorbing and desorbing in turns so that the operation efficiency of the recovery system is improved and the occupied area is small.

The invention discloses a water saving water tank and a Dish washer, relates to the cleaning sanitary equipment technical field, and solves the problems that an existing Dish washer water tank is low in water outlet efficiency and large in water consumption; the water saving water tank comprises a water tank cavity, and a motor water outlet and a discharge pump water outlet connected with the water tank cavity; the motor water outlet is arranged on the edge of the water tank cavity, and extends in the tangent direction of the water tank cavity; in addition, the dish washer having the water saving water tank is provided; the motor water outlet of the water saving water tank is arranged on the edge of the water tank cavity, and extends in the tangent direction of the water tank cavity, so water current can flow in the tangent direction on the bottom of the water tank instead of flowing in the middle, thus complying with fluidic motion rules, improving water outlet efficiency, and reducing noises.

The invention discloses a heart rate continuous output method of a heart rate measuring device and the heart rate measuring device. The heart rate continuous output method is executed after a pulse sensor measures the heartbeat each time, whether the time interval between the current heartbeat measurement time point and the previous heart rate measurement time point exceeds a first threshold value or not is judged, and the current heart rate sudden drop caused by short-time loosening or falling of the pulse sensor can be avoided. Whether a human body is in a static state or a moving state is judged through an instantaneous acceleration value measured by an acceleration sensor, and whether the first heart rate value is in a reasonable interval or not can be judged by differentially treating according to the judgment result. The heart rate measuring device comprises the pulse sensor, the acceleration sensor, a strap, a display and a controller, wherein the controller outputs the current first heart rate value serving as the current heart rate value to the display according to the heart rate continuous output method. By adopting the technical scheme, the abnormal jitter of the heart rate curve can be effectively removed.

The invention discloses a two-dimensional season cracking model considering a bending moment contribution factor. The two-dimensional season cracking model comprises a rock meso-level particle parallel bond stress two-dimensional mode considering the bending moment contribution factor, a meso-level particle parallel bond season cracking deterioration attenuation two-dimensional exponential mode considering the bending moment contribution factor, a Mohr-Coulomb meso-level particle parallel bond season cracking criterion considering the bending moment contribution effect and with a tensile cut-off limit, and a meso-level particle linear contact two-dimensional model considering a damping effect. The season cracking model disclosed by the invention is applicable to two-dimensional granular discrete elements, two-dimensional granular discontinuous deformation analysis methods and two-dimensional granular manifold methods, and is capable of providing a technical support for long-term stability prediction, evaluation and optimization design of surrounding rock in deep rock mass engineering in a planar state.

The invention discloses an automatic driving simulation method and device, a storage medium and electronic equipment. The method comprises the steps of in response to a first instruction, acquiring kinetic parameters of a target vehicle and N sets of first constraint parameters corresponding to N control points, obtaining N sets of first state parameters corresponding to the N control points through calculation according to the N sets of first constraint parameters, according to the N sets of first state parameters, generating and displaying a first target track of the target vehicle and the state parameters of each point on the first target track, judging the state parameters of the points on the first target track, and generating and displaying target prompt information when judging thatthe state parameters do not meet the kinetic parameters. The technical problem that the simulation result is not accurate enough due to the fact that the simulation track does not conform to the motion law in the prior art is solved.

A novel twistable flapping wing structure comprises at least a wing, a pipe and a pump, wherein the root of the wing is a flapping wing shaft, the wing vibrates around the flapping wing shaft, the pipe is located inside the wing, the pipe comprises an inflow section, a connecting section and an outflow section, the pump is in communication with the pipe, and the pump circulates fluid in the pipe.The novel twistable flapping wing structure provided by the invention has the advantages of simple and efficient control, automatic frequency matching, and remarkable effect on the wing with high aspect ratio.

The invention discloses an appearance composite material connecting process of an electronic mechanical animal. The process comprises the following steps: (1) manufacturing an appearance body of the electronic mechanical animal, and determining a boundary at the joint of a soft material part and a hard material part; (2) carrying out soft material area reinforcement treatment on the appearance body; (3) carrying out hard material area reinforcement treatment on the appearance body; (4) carrying out bonding pretreatment on the hard material area of the electronic mechanical animal; and (5) bonding the appearance body obtained in the step (3) with the hard material area obtained in the step (4). According to the process, seamless connection between silica gel and resin glass fiber reinforcedplastic material can be effectively solved, and connection strength required by stretching of electronic mechanical animals can be achieved.

The invention discloses a method and equipment for simulating rain drops of window glass and wiping effect of a windscreen wiper in rainy days, and the method comprises the steps: building a three-dimensional space model of a vehicle windscreen, putting the model into a uv coordinate system, cutting the model into a plurality of equant grids, and taking each grid as a coordinate system for drawing water drops; fitting a noise function, a pull-up function and a motion curve function, calculating a pull-up value of an X axis and a motion value of a y axis for a water drop, calculating a water drop coordinate and a pixel deviation value, calculating a trailing water drop coordinate and a pixel deviation value, and superposing the coordinates and the pixel deviation value into a pixel deviation value; performing offset sampling on the original image to obtain a water drop sliding image, and performing fuzzy algorithm processing to obtain a simulated water vapor effect image; calculating two radian distance fields, and superposing the two radian distance fields into one radian distance field; and mixing the simulated water vapor effect image and the original image through a radian distance field to obtain a final simulated effect image. The simulation reality sense is greatly improved, simulation is easily and quickly deployed, the effect is better, and the efficiency is better.