103results about How to "Precise motion trajectory" patented technology

The invention discloses teaching track planning method and system for a robot, and relates to the field of robot teaching in an industrial process. The teaching track planning method comprises the following steps: collecting a space key point of a teaching track in the process of teaching the robot; obtaining a teaching track curve by using a multi-knot spline interpolation function and the least square fitting method according to the space key point of the teaching track. By adopting the method, action smoothness reappearing in teaching is also achieved by adopting an arc length error control interpolation algorithm. The method and the system can be applicable to robot teaching under general conditions, and the accurate robot movement track can be obtained. The method and the system have the characteristics of accurate space track planning and smooth predictive error control and teaching action, and can be used for achieving the teaching track planning of the robot in the industrial process.

The invention discloses a motion track reconstruction method and device, a storage medium and an electronic device. The method includes the following steps: obtaining a data set, wherein positioning data obtained by positioning a target object during movement of the target object is stored in the data set; fitting a part of the positioning data in the data set to obtain multiple sections of firstcurves, wherein the first curve are obtained by fitting a plurality of positioning data with adjacent acquisition time and a proportion of noise data in the other part of the positioning data of the data set is higher than a proportion of noise data in the part of the positioning data of the data set; and determining a motion track of the target object based on the multiple sections of the first curves. The motion track reconstruction method and device, the storage medium and the electronic device solve the technical problem of low accuracy rate of reconstruction of the motion rack of a vehicle in the related art.

The embodiments of the present invention provide a high-precision map-based visual loopback detection method and device. According to the method and device, element information in a high-precision mapis matched with information extracted from a real-time image, and whether the element information in the high-precision map and the information extracted from the real-time image are information of the same location is judged; when it is detected that the element information in the high-precision map and the information extracted from the real-time image are the information of the same location,an error function is constructed through position coordinates in the high-precision map and positions in a real-time visual odometer; and a real-time pose is optimized by minimizing the error function, and therefore, the real-time pose in the visual odometer can be optimized, more accurate motion trajectories can be obtained, and the accuracy of the precise position calculation of the visual odometer can be improved. With the high-precision map-based visual loopback detection system adopted, more loopback detection constraints can be brought about; and since the information of the high-precision map is abundant, the accuracy of the high-precision map is higher than that of road sign points in a traditional visual odometer, and therefore, the accuracy of the real-time visual odometer can beimproved.

The invention discloses an active simple pendulum spherical robot. The active simple pendulum spherical robot comprises a spherical shell and a simple pendulum. The spherical shell is formed by matching a front hemispherical shell body with a rear hemispherical shell body in a screwed mode through screws. In an inner cavity of the spherical shell, the simple pendulum is installed through a front fixing strip and a rear fixing strip. According to the simple pendulum, a long-axis motor and a short-axis motor are coaxially installed in an inside casing, wherein the long-axis motor is directly connected with the front hemispherical shell body and drives the front hemispherical shell body to rotate around the central axis Y of the inner casing, the short-axis motor drives a driving pendulum to rotate around an X axis perpendicular to the central axis Y through a transmission mechanism, and therefore the spherical robot can walk stably in an all-dimensional mode. The active simple pendulum spherical robot is compact in structure, high in rigidity, and smooth and steady in movement.

The invention discloses a structure for sensing the motion track of a voice coil motor. The voice coil motor at least includes a yoke plate, an upper cover, a coil, a driving magnet, a bracket, and a base. The voice coil motor also includes a The circuit board on the inner wall of the board, the circuit board includes a PET circuit board and an injection molding board for fixing the PET circuit board, the PET circuit board is provided with a Hall IC chip and a capacitor connected in parallel with the Hall IC chip, and the bracket corresponds to the Hall IC chip. One side of the Hall IC chip is provided with a feedback magnet matched with the Hall IC chip, the coil is wound outside the bracket, and the driving magnet is arranged on the outer periphery of the coil without interfering with the feedback magnet. The driving magnet and the coil play the role of driving the vertical movement of the lens set in the bracket to adjust the focal length, and the feedback magnet and Hall IC chip play the role of negative feedback to adjust the current of the input coil, so that the movement track of the bracket and the lens is more accurate. precise. The invention has low cost and stable performance.

An apparatus for placement of an optical marker for radiotherapy onto a surface, wherein the optical marker has a reflective element positioned on a body having an outline and shaped and configured such that the reflective element is in a predetermined position relative to the outline of the body, the apparatus comprising a sheet of material having a hole therethrough which is shaped and configured to conform to the outline of the body and which has an upper surface with markings thereon configured for aligning with an image projected onto the surface on which the optical marker is to be placed.

The invention discloses a large-area unfoldable solar energy turnover plate. A base of the solar energy turnover plate is welded to a satellite main body, a second side rod is connected with the base through a twelfth cylindrical pin, a first side rod is connected with the second side rod through a ninth cylindrical pin, a first rotating plate and a second rotating plate are mounted on the ninth cylindrical pin and can rotate around the ninth cylindrical pin, the second cylindrical pin is welded to the top of the first side rod, and a combined hinge is formed by combining a first rotating body of the combined hinge, a second rotating body of the combined hinge, a third rotating body of the combined hinge and a fourth rotating body of the combined hinge. The metamorphic mechanism form is adopted for the solar energy turnover plate, greater controllability is achieved, the solar energy turnover plate has the secondary unfolding function, the angle of the solar energy plate can be adjusted flexibly, and sunlight is better received.

The invention discloses a method and a device of characterizing a person movement trajectory, a mobile terminal and a storage medium. The method includes: determining a plurality of data types adoptedfor characterizing the predetermined-person movement trajectory, wherein the data types at least include any two of the following items: an identification-card number, a vehicle-license-plate number,a telephone number, face information and bank-card numbers corresponding to an identification card; acquiring data which are of all the data types and meet a predetermined time condition; extractingoccurrence times and position coordinates of all the acquired data; and connecting all the position coordinates according to an order of the occurrence times to obtain the movement trajectory of a predetermined person. When the method characterizes the person movement trajectory, the various data types are adopted, the movement trajectory of the person is constructed through the various data types, the characterized person movement trajectory is enabled to be more specific and accurate, and the problem that trajectories characterized by the prior art are imprecise is solved.

The invention discloses an obstacle trajectory prediction method and device, a storage medium and electronic equipment. According to the embodiment of the invention, the historical motion tracks of obstacles are input into a first model to obtain global interaction features; the map data of the more than two scales and the historical motion tracks of a to-be-predicted obstacle are input into a second model; map aggregation features corresponding to the to-be-predicted obstacle are obtained; the global interaction feature, the map aggregation feature and the historical motion track of the to-be-predicted obstacle are input into a third model; the third model can express the movement speed of the to-be-predicted obstacle through the historical movement track of the to-be-predicted obstacle,the map features adaptive to the motion speed of the to-be-predicted obstacle are adaptively selected from the map aggregation features of the maps aggregated with various scales to assist in predicting the motion track of the to-be-predicted obstacle, so that the finally obtained predicted motion track of the to-be-predicted obstacle is more accurate.

The invention discloses a wheel-foot type robot leg system with a damping function. The wheel-foot type robot leg system comprises a hip joint mechanism, a thigh mechanism, a shank mechanism, a springdamping system and a wheel-foot mechanism; the hip joint mechanism is used for rotating relative to a robot main body structure; the thigh mechanism is used for rotating relative to the hip joint mechanism; the shank mechanism is used for rotating relative to the thigh mechanism; the spring damping system is used for damping; and the wheel-foot mechanism is used for driving the robot main body structure, the hip joint mechanism, the thigh mechanism, the shank mechanism and the spring damping system to do wheel-type movement along with the wheel-foot mechanism. According to the wheel-foot typerobot leg system, wheel type movement and foot type movement can be achieved, compared with a traditional wheel-foot combined type robot, the robot is simpler in structure, the wheel type movement and the foot type movement can be achieved only by adding the wheel-foot mechanism to the foot end of a foot type movement robot, a wheel type movement mechanism does not need to be independently designed at other positions of the robot, and the overall weight of the robot is effectively reduced.

The invention relates to electric light source equipment, in particular to a device for bending a tube pin of a helical energy-saving lamp tube. The invention aims to provide a tube-pin auto-bending machine for helical tubes, and the machine can bend the tube pin automatically and has the characteristics of good bending quality, high production efficiency and unified product standard. The technical scheme of the invention is as follows: the tube-pin bending machine for the helical tubes comprises an elongated frame, a conveyer belt which is positioned between a machine head and a machine tail end to end and driven by a clearance mechanism, and a plurality of positioning moulds which are uniformly arranged on the conveyer belt in a line and used for positioning processed tubes. Meanwhile, the tube-pin bending machine for the helical tubes also comprises a tube mounting/dismounting station, a drying oven, a heating rotor and a pin bending station which are sequentially arranged from the machine head to the machine tail, wherein the pin bending station is provided with a pin bending mechanism which is driven by a driving mechanism and used for bending the tube pin burned to be soft according to preset requirements; and the conveyer belt is a chain arranged in the center of the frame, and the chain respectively surrounds two chain wheels with horizontally-arranged axis from the machine head to the machine tail, and then form a circle end to end.

The invention provides a KNN indoor target positioning method based on an adjacent weighted adaptive k value, and the method comprises the following steps: 1, constructing a position fingerprint database which comprises a position set P and a signal intensity value R through the RSS data, collected by RFID equipment, of each indoor position; and 2, acquiring a corresponding signal intensity valueof a to-be-positioned target by using a RFID card reading antenna, matching the signal intensity value with the position fingerprint database by using a KNN improved algorithm to obtain a fingerprintwith the highest matching degree, and taking the fingerprint mapping position as the current position of the to-be-positioned target. According to the KNN improved algorithm, the optimal k value corresponding to the fingerprint information of the to-be-positioned target is obtained by calculating the correlation between the RSS data set measured on line and the fingerprint data set in the positionfingerprint database, and the matching error probability is reduced as much as possible by using an adjacent weighting method. Simulation results show that compared with KNN and WKNN, the matching precision of the improved algorithm is improved by at least 7.1 times.

The invention relates to a casting ladle with a molten iron flow control mechanism. The casting ladle consists of a ladle frame and a ladle, wherein the ladle is provided with a ladle spout. The ladle frame is provided with a vertical beam vertically and glidingly. A horizontal beam is arranged on the upper end part of the vertical beam. The horizontal beam is vertically provided with a check block on one end corresponding to the ladle spout. A motor driving the vertical beam to do vertical movement is arranged on the ladle frame at a position corresponding to the bottom of the vertical beam. The casting ladle adopts a central control system to send a signal to a servo motor using gears and racks to realize the vertical movement of the vertical beam according to digital revolution given by a controller, realizes precise multi-point positioning displacement control with a digital control signal, and can cast stably and precisely compared with the prior pouring mode of casting ladle. The casting ladle is suitable to be used for casting castings which are complex in shape and light in mass and volume and is suitable for adjusting iron flow during mass product casting.

The invention provides a rotor-type variable pump which comprises a pump body, a pump cover, an inner rotor and an outer rotor. The pump body and the pump cover enclose to form a rotor cavity and a pipeline structure. The pipeline structure comprises an inlet area and an outlet area which are located on two sides of the rotor cavity and not communicated with each other; at least one operation area provided with a sealed outline and alternatively communicated with the inlet area and the outlet area is arranged between the inner rotor and the outer rotor; a drive device drives the inner rotor to rotate around a central axis of the inner rotor through a drive shaft; the rotor-type variable pump further comprises an adjusting ring, a fixed-tooth section and an applying device; an adjusting-tooth section is arranged on the adjusting ring which deflects under the limitation of the fixed-tooth section and under the action of external force. Rotation of the adjusting ring is completed through a gear cooperation mode, a gear cooperation part of the adjusting ring only accounts for a small proportion of the periphery of the adjusting ring, while other positions are in simple circular surface contact, so that airtightness at the position of the adjusting ring can be easily guaranteed.

The invention provides an intelligent line edge bin storing and taking method and a line edge bin, and the intelligent line edge bin storing and taking method comprises the steps: forming a storage directory through a line edge bin and a pressure sensor arranged in the line edge bin, and carrying out the precise storing and taking according to the storage directory during storing and taking. The invention further provides a line edge binwhich comprises a bin body structure. The bin body structure is arranged in a polyhedral shape. A storage library is formed on each surface of the bin body structure; a plurality of evenly-arranged storage spaces are arranged on each storage bin, a belt wheel mechanism is arranged on each storage space, a pressure sensor is arranged at the bottom of each belt wheel mechanism, a 360-degree rotary sorting mechanical arm is arranged in the middle of the interior of the bin body structure, and a lifting mechanism is arranged along the bottom of each storagebin.

Apparatus for dental simulation comprising: a display; one or more processors; a hand piece comprising a light emitter and an inertial measurement unit (IMU), wherein the IMU is in communication with at least one of the one or more processors, and wherein the IMU is configured to generate IMU position and orientation data, wherein the IMU position and orientation data describes the position and orientation of the hand piece; at least two cameras in communication with at least one of the one or more processors, wherein each of the at least two cameras is configured to generate a series of images using light emitted by the light emitter; wherein the one or more processors are configured to: receive the series of images from each of the at least two cameras, generate, based on two dimensional coordinate data derived from the series of images, three dimensional coordinate data identifying the position of the LED; receive the IMU position and orientation data; and further wherein the one or more processors are configured to combine the IMU position and orientation data and the three dimensional coordinate data to generate simulation instructions, and to display, on the display, a three dimension virtual image of an object and animate movement of the object according to the simulation instructions.

The invention discloses a front wheel steering mechanism of a steerable three-wheel carbon-free trolley driven through energy conservation. The front wheel steering mechanism comprises a steering fixing device, a front wheel threaded rod, a threaded rod support, an angle regulator, a driven rod, a front wheel, a front wheel holder, a sliding sleeve support, a groove cam and a rope (C). The steerable front wheel threaded rod is installed inside the threaded rod support, the threaded rod support is fixed to the steering fixing device, the lower end of the front wheel threaded rod is provided with the front wheel holder, the front wheel is installed on the front wheel holder, the middle portion of the front wheel threaded rod is fixedly provided with the angle regulator, the angle regulator is connected to one end of the driven rod, the other end of the driven rod is connected to the groove cam, the groove cam is installed to a trolley frame, the groove cam is connected to a drive shaft right wire wheel of a back wheel drive mechanism through the rope (C), the driven rod is sleeved with the sliding sleeve support, and the sliding sleeve support is installed on the trolley frame. Through the method, the front wheel steering mechanism of the steerable three-wheel carbon-free trolley driven through energy conservation is high in energy utilization rate, precise in motion trail, low in machining and manufacturing cost and low in trolley body weight.