7results about How to "Protect the mechanical structure" patented technology

The application provides a vision-based cleaning robot mechanical arm grabbing method and system, comprising: according to the original current time sequence signal, using a low-pass filtering algorithm to strip low-frequency drift and high-frequency coupling interference introduced by environmental disturbance, and aligning the baseline of the filtered sequence through a sliding window to obtain a denoised current sequence; if the current collision state label is accidental collision, a rigid release instruction is issued to the bottom servo driver of the joint high-rigidity position ring, the closed-loop control loop structure is switched by the rigid release instruction, and the position feedback gain value and the speed feedback gain value are down-regulated to generate a compliant control instruction; the joint target position is reversely interpolated along the trajectory deviation path, the accumulated contact stress in the connecting rod and the speed reducer is unloaded beat by beat until the joint driving current falls back to the no-load threshold interval, and it is determined that the mechanical arm completes the contact stress release.

This utility model relates to the field of sampling technology for building materials, and discloses a sampling device for testing building materials, including a sampling mechanism, a transmission mechanism, and a main body mechanism. The sampling mechanism is located on the outer wall of the transmission mechanism, and the transmission mechanism is located on the outer wall of the main body mechanism. The sampling mechanism includes a sampling barrel, a control cylinder is fixedly connected to the upper surface of the sampling barrel, a pneumatic connecting rod is fixedly connected to the outer wall of the control cylinder, and a scraper is fixedly connected to the lower surface of the pneumatic connecting rod. This utility model, by setting the sampling barrel fixedly connected to the control cylinder, and the control cylinder fixedly connected to the pneumatic connecting rod, allows the pneumatic connecting rod to retract via the control cylinder. The pneumatic connecting rod is fixedly connected to the scraper. After sampling, the scraper can be moved by the control cylinder, thereby effectively cleaning residual materials on the inner wall of the sampling barrel and ensuring the accuracy of subsequent sampling and testing.

This invention relates to a method and apparatus for calculating hydraulic pressure increases and decreases in a four-wheeled vehicle. The method includes: obtaining the instantaneous target hydraulic pressure of the vehicle's lifting device corresponding to each wheel at the previous moment, as well as its corresponding steady-state target hydraulic pressure and the maximum allowable hydraulic pressure change within the task cycle; determining an instantaneous hydraulic pressure difference ratio based on the instantaneous hydraulic pressure ratio at the previous moment; determining a first hydraulic pressure change ratio based on the instantaneous hydraulic pressure difference ratio and the steady-state hydraulic pressure ratio at the previous moment; determining a third hydraulic pressure change ratio based on a second hydraulic pressure change ratio and a hydraulic pressure change control coefficient; and determining the instantaneous target hydraulic pressure at the current moment based on the instantaneous hydraulic pressure execution ratio and the steady-state target hydraulic pressure. This invention avoids damage to the hydraulic lifting device caused by excessively rapid changes in hydraulic pressure in the lifting devices of each wheel.

This invention relates to an intelligent laying system, method, equipment, and medium for a self-propelled lawn mower ballast, belonging to the field of agricultural machinery control technology. The system includes an intelligent display terminal, a guide plate detection component, a controller, and a position adjustment device. The intelligent display terminal, the guide plate detection component, and the position adjustment device are all connected to the controller. The intelligent display terminal acquires the target adjustment mode, the guide plate detection component detects the guide plate position information, the controller generates a target control signal based on the target adjustment mode and position information, and the position adjustment device adjusts the position of the guide plate laying device according to the signal. This application achieves the effect of flexibly adjusting the guide plate position according to different adjustment modes, realizing intelligent laying control of the self-propelled lawn mower ballast, and improving laying efficiency and accuracy.

This invention discloses a method, device, equipment, and storage medium for time-frequency synchronous control of four-wheel steering assist in automobiles. The method includes: determining a normalization coefficient for the difference in target steering assist for each steering wheel based on the target steering assist change value of each steering wheel; determining a theoretical steering assist coefficient for each steering wheel based on the maximum change in steering assist for each steering wheel within a single task cycle; calculating and determining the current transient target steering assist for each steering wheel based on the normalization coefficient for the difference in target steering assist and the theoretical steering assist coefficient; and controlling the time required for the transient steering assist change of each steering wheel to reach its steady-state target steering assist to be equal. This invention considers the maximum change in steering assist for each steering wheel, thus avoiding over-capacity operation of the steering mechanism of each steering wheel; and controls the time required for the transient steering assist change of each steering wheel to reach its steady-state target steering assist to be equal, thus avoiding the problem of uncoordinated steering assist.

The application discloses a real-time speed regulation method based on jerk constraint, comprising the following steps: obtaining a planning trajectory and current motion state information; determining a constraint condition of a time scaling function based on the planning trajectory, the current motion state information and preset speed, acceleration and jerk constraints; constructing a system state equation represented by the time scaling function and its derivative, and defining a deviation between a current state of the time scaling function and a target state of a reference time function based on the equation; solving a group of control parameters according to the deviation in the coordinates of a characteristic plane based on a geometric figure search strategy; and generating control input according to the control parameters to adjust the time scaling function in real time, so that the joint motion of the robot satisfies the jerk constraint, and online smooth speed regulation satisfying the jerk constraint is realized for any given reference trajectory.