61results about How to "Walk accurately" patented technology

The invention belongs to the field of industrial robots, and particularly relates to an infrared temperature measurement track inspection robot. The infrared temperature measurement track inspection robot comprises a robot control system. The robot control system comprises a cradle head, a robot control cabinet, a track, a slide wire, a current collector, an infrared photoelectric sensor and a bogie. The robot control cabinet is installed on the upper surface of a longitudinal girder of the bogie. The cradle head is installed on the upper surface of the robot control cabinet. The track is of a T shape, wherein an infrared detection scale is arranged on the upper surface of the protruding side. The bogie is operated on the track. The slide wire connected with an external power source is arranged on one side face of the track. One end of the current collector slides on the slide wire and the other end of the current collector is electrically connected with the robot control cabinet. The infrared photoelectric sensor is of a U shape and is installed on an upright inside a side baffle of the robot control cabinet and transversely suspended above the track with the infrared detection scale. According to the infrared temperature measurement track inspection robot, control over accurate walking, localization and the like on the arranged track can be achieved, infrared temperature measurement and inspection are conducted, and the inspection quality is improved.

The invention provides a method and system for controlling motion of a robot. The method comprises a step S20 of judging whether a current position of the robot is on a planned route according to input map information, the planned route and real-time position information, and calculating target position information of the robot on the planned route; a step S30 of making the robot be towards a target position according to the real-time position information and the target position information if the current position of the robot is not on the planned route, or else directly skipping to a step S40; and the step S40 of calculating linear velocity, angular velocity and real-time direction of the robot according to the real-time position information and the target position information and then controlling the robot move. According to the method, a point on the planned route, which is the nearest to the robot, can be calculated to serve as the target position, the robot is towards the target position, so that not only can the robot return to the planned route in the shortest time, but also the robot can walk quickly and precisely according to any planned route.

The invention provides a three-dimensional warehouse system. The three-dimensional warehouse system comprises shipping space, a ground rail and a piler, wherein the shipping space comprises cargo cells distributed in an array way; the piler comprises a vertical column; the geometric center of the cargo cells corresponds to a line positioning point on the vertical column and a row positioning point on the ground rail; the three-dimensional warehouse system also comprises a line address recognizing piece and a row address recognizing piece; the line address recognizing piece is arranged on the line positioning point; and the row address recognizing piece is arranged on the a row positioning point. A travelling positioning method of the piler is applied to the three-dimensional warehouse system; the coordinate data of the piler positioned at an original point is reset; a PLC (programmable logic controller) controls the operation of a travelling motor through a frequency changer, so as to ensure that a driving wheel is smoothly operated; the PLC collects the coordinate data of an encoder; stopping is performed till signals of a target address recognizing piece are received; and a double optical axis groove-shaped optoelectronic switch receives feedback of one signal or two signals of the target address recognizing piece, so as to perform check and hang-up prevention. The three-dimensional warehouse system has the beneficial effects that the intersection point of the row address recognizing piece and the line address recognizing piece is adopted as the geometric center of the cargo cells, and the absolute address recognizing mode guarantees the operation accuracy of the piler.

The invention discloses a middle-low-speed magnetic suspension rescue robot. The middle-low-speed magnetic suspension rescue robot comprises a rack, folding bending mechanisms, a detecting rescue mechanism and an autonomous cruise module; the rack stretches over two middle-low-speed magnetic suspension F rails to be detected; the two folding bending mechanisms are arranged at the two ends of the rack and are located above the F rails, and each folding bending mechanism is provided with a walking wheel pair and a clamping wheel pair; the detecting rescue mechanism comprises a distance measuring sensor, a camera and a rescue contact rod, the distance measuring sensor is arranged on the rack and located between the two F rails, the camera is arranged above the rack, and the rescue contact rod is horizontally mounted on the side face of the rack; the autonomous cruise module is mounted below the rack and used for achieving free walking of the rescue robot along the F rails. In-time rescue of the F-rail abnormal detection robot is achieved, and the beneficial effects of being simple in structure, convenient to operate and the like are achieved.

The invention discloses a low and medium speed magnetic levitation icebreaking and snow melting cleaning robot which comprises a machine frame, two folding bending mechanisms, an ice melting cleaning mechanism and an autonomous cruising module. The machine frame stretches over two rails F of low and medium speed magnetic levitation to be detected. The two folding bending mechanisms are arranged at the two ends of the machine frame and located above the rails F. Each folding and bending mechanism is provided with a walking wheel pair and a clamping wheel pair. The snow melting cleaning mechanism comprises a fixed frame, a rail F obstacle removal cleaning unit and an ice melting heating unit. The fixing frame is installed on the machine frame and located above the folding bending mechanisms and arranged in the extending direction of the rails F. The rail F obstacle removal cleaning unit and the ice melting heating unit are arranged at the two ends of the fixing frame. The autonomous cruising module is installed below the machine frame. Rail F ice and snow melting and cleaning can be achieved, and the low and medium speed magnetic levitation icebreaking and snow melting cleaning robot has the advantages of being simple in structure, convenient to operate and the like.

The invention provides a path control method and system for a robot. The method includes the steps of setting a movable virtual robot in front of the actual robot on a planned path according to input maps and the planned path for the actual robot, calculating the distance between the actual robot and the virtual robot according to the current position information of the virtual robot and the current position information of the actual robot, adjusting the current speed of the virtual robot according to the distance between the actual robot and the virtual robot, controlling the actual robot to follow the virtual robot according to the current speed of the virtual robot, and calculating the current position information of the virtual robot and the actual robot. In the invention, the virtual robot does not deviate from the planned path, and control the general running direction, so as to further control the actual robot to follow the virtual robot. The actual robot moving along the planned path is realized.

The invention discloses a high-precision electronic mouse for a maze competition, and a using method thereof. The high-precision electronic mouse comprises a hardware system and a software system. The hardware system comprises a frame module, a microprocessor module, a motor driving module, a sensor detection module, a memory storage module and a power module. The software system comprises a speed adjusting module, an interruption module, a coordinate algorithm module, a driving module and a position rectification module. The high-precision electronic mouse for the maze competition employs a design scheme of double driving wheels and double driven wheels, takes a four-axle range finding type infrared emission receiving sensor as a primary detection device and a gyroscope as a secondary detection device, performs processing calculation on signals through a novel maze-searching algorithm, controls the running of a low-loss high-speed coreless DC motor to enable the miniaturized maze electronic mouse to find an outlet, and through organic integration of the hardware system and the software system, finally enables the electronic mouse to have the advantages of small size, fast speed, high precision and high stability.

A fully-automatic gas-shielded welding robot with single gun, double wires and high speed is disclosed, and is characterized by comprising a robot walking trolley body (1), magnetic wheels (2), as well as a trolley acting system, a trolley steering system, an X-axis correction device and a Z-axis correction device disposed on the robot walking trolley body (1), wherein the trolley acting system is connected with the magnetic wheels (2), and a welding gun (7) is disposed on the Z-axis correction device. The invention discloses a novel welding robot which is small in size, freely movable, flexible, fast in welding speed, high in welding quality, energy-saving, environment-friendly and intelligent. The fully-automatic gas-shielded welding robot with single gun, double wires and high speed is mainly used for heavy industrial factories with high welding quantity and very high demands, for example, large-scale shipyard.

The invention relates to a traveling device of a frame spinning automatic doffer, belonging to the technical field of frame spinning doffing equipment. The traveling device comprises a base, a motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel, a transmission piece, a guide rail and a plurality of stretching units. The device utilizes the motor to drive the stretching units to continuously move through a transmission mechanism, simultaneously utilizes the guide rail to realize sliding bar stretching, and utilizes a dialing block to dial a spindle whorl so as to realize the function of driving the doffer to travel, so that exact positioned traveling of the doffer is realized and slippage phenomenon is avoided. Because the dialing block is stretching, the interference between the dialing block and the spindle whorl in the transmission piece movement process is avoided; and because the center lines of the spindle whorl and spindles are consistent, the traveling accuracy is guaranteed. Due to use of the device, the upper and lower rails of the traditional ring spinner are not needed to be changed; and the device is simple and reliable in structure, and low in manufacture and maintenance cost, and is suitable for intermittent moving type or continuous moving type automatic doffers.

The invention provides a vehicle straight run navigation method and a vehicle straight run navigation device and belongs to the technical field of vehicle navigation. The vehicle straight run navigation device comprises a line laser emitting mechanism which is used for installing a line laser and emitting line laser, a line laser receiving mechanism which is used for installing a line laser receiving plate and receiving the line laser, a visual recognition mechanism which is used for photographing the laser received by the line laser receiving plate through a camera so as to acquire an image and performing recognition in the system, and a vehicle which adjusts a running direction based on the recognition result of the visual recognition mechanism. Compared with the prior art, the vehicle straight run navigation device provided by the invention can make the vehicle accurately run along a straight line, has high navigation precision, is not affected by the space of a site, and can be used for both fixed sites and unfixed sites.

The invention provides a sidewalk for blind people on the basis of a magnetic field. The sidewalk comprises sidewalk pavement, wherein the sidewalk pavement is provided with a magnetic induction sidewalk for blind people; a plurality of permanent magnets are laid on the magnetic induction sidewalk for blind people; the sidewalk pavement is provided with the magnetic induction sidewalk for blind people; the plurality of permanent magnets are arranged on the magnetic induction sidewalk for blind people; the magnetic induction sidewalk for blind people can be similar to the normal pavement; only the magnetic induction sidewalk for blind people is additionally provided with the permanent magnets. In order to distinguish the magnetic induction sidewalk for blind people, projected patterns or warning colors are added onto the magnetic induction sidewalk for blind people. When the blind people go out, the magnetic induction sidewalk for blind people can be detected through the handheld magnetic detection rod; when the magnetic detection rod is maintained in the magnetic field of the permanent magnets, the magnetic detection rod can generate reminding sound; when the magnetic detection rod does not detect the permanent magnets, no sound is generated, so that the blind people are guided to correctly walk on the sidewalk for blind people.

The invention discloses a medium-low speed magnetic suspension auxiliary working robot, which comprises a frame, two sets of folding and bending mechanisms, an auxiliary working mechanism and an autonomous cruising module. The frame spans between two F rails of medium-low speed magnetic suspension to be detected. The two sets of folding and bending mechanisms are respectively arranged at two endsof the frame and above the F rail, and each group of the folding and bending mechanism is provided with a traveling wheel pair and a clamping wheel pair. The auxiliary work mechanism comprises an auxiliary work platform and an auxiliary work equipment, wherein the auxiliary work platform is installed on the machine frame and the auxiliary work equipment is installed on the auxiliary work platformfor completing the auxiliary work. The autonomous cruise module is installed under the rack, which is used to realize the free walking of the auxiliary robot along the F-track. The invention can realize auxiliary operation of field maintenance and can realize autonomous cruising, and has the advantages of simple structure, convenient operation and the like.

The invention discloses a double-workstation welding device for a box parts automatic welding flow production line. The double-workstation welding device comprises a welding robot for welding a workpiece and a traveling mechanism enabling the welding robot to reciprocatingly travel between two workstations, the traveling mechanism comprises a portal frame, a traveling rail and a longitudinal beamfor realizing traveling of the welding robot along the traveling rail, the traveling rail is arranged on a top crossbeam of the portal frame, and one end of the longitudinal beam is fixedly connectedwith the welding robot while the other end of the same is arranged on the traveling rail and can travel and move along the same. The double-workstation welding device does not need to stop and wait, so that working efficiency of equipment can be improved substantially, investment of the equipment is reduced, and utilization rate of the equipment is increased.

The invention relates to a control circuit inside a supermarket shopping robot. The robot control system of the invention takes an ARM cortex-A8 and an STM32 as the core and adopts a two-level distributed structure composed of upper and lower computers, and the flexibility of the robot control system is enhanced through the two-level distributed structure design. The control circuit specifically comprises an image processing module, a microprocessor module, a line tracking module, a Bluetooth communication module, a motor driving module, a mechanical arm degree-of-freedom control module and a power module. The supermarket shopping robot of the invention has a mechanical arm with five degrees of freedom and a holder capable of rotating by 300 degrees, so that the range of grabbing activities of the supermarket shopping robot is increased greatly, and the success rate and efficiency of item grabbing by the robot are improved to a great extent.

The invention discloses a medium and low speed maglev auxiliary operation robot. The auxiliary operation robot comprises a rack, folding and bending mechanisms, an auxiliary operation mechanism and an autonomous cruise module. The rack stretches across two F rails of a medium and low speed maglev; the two folding and bending mechanisms are arranged at the two ends of the rack respectively and located on the F rails, and each folding and bending mechanism is provided with a walking wheel pair and a detent wheel pair; the auxiliary operation mechanism comprises an auxiliary operation platform and auxiliary operation equipment, wherein the auxiliary operation platform is installed on the rack, the auxiliary operation equipment is installed on the auxiliary operation platform and used for completing auxiliary operation; the autonomous cruise module is installed below the rack and used for making the auxiliary operation robot walk along the F rails freely. Auxiliary operation of on-site maintenance and autonomous cruise can be achieved, and the medium and low speed maglev auxiliary operation robot has the advantages of being simple in structure, convenient to operate and the like.

The invention discloses a dual-core four-wheel drive UWB positioning mowing robot capable of being wirelessly controlled and a control method of the dual-core four-wheel drive UWB positioning mowing robot. The mowing robot uses the UWB wireless positioning system; pre-embedded boundary line can be avoided, manpower saving is achieved, a self-precise position can be avoided, a DSP + FPGA dual-coreprocessor cooperative work design is adopted. The operation speed and the control precision are greatly improved; a WIFI wireless transmission module is adopted, the mowing robot can be accessed to the Internet; even if a user is traveling outside, the work of the mowing robot at home can be monitored and controlled anytime and anywhere; the mowing robot is more practical and convenient, based ona servo system of the latest embedded technology, an intelligent mowing task program is adopted, a mowing area grid map is established, global coverage path planning is carried out, a mowed area and an unmowed area are marked, the mowing efficiency can be greatly improved, and the phenomenon of missing mowing of grassland is reduced.

The invention relates to an unmanned vehicle trajectory recording and tracking method. The method comprises steps of manually controlling an unmanned vehicle to walk, recording a path trajectory, andrecording coordinate information and speed information of each trajectory point by using the positioning information provided by a differential GPS or a multi-line laser radar; searching a first target point and a next target point which are closest to each other; for a three-point fitting circle, solving an arc tangent function of a tangent line of a first target point on the circle as a radian value of the first target point, calculating a difference value between the radian of the first target point and the current radian of the unmanned vehicle to calculate a vehicle angle. The method is advantaged in that the speed information is loaded to control the vehicle to walk, angle-making walking is updated in real time, the vehicle tracks the track step by step along the track points, the patrol function is achieved, the method has the advantage of being accurate in tracking, the starting point can be located at any point on the track line or outside the track line, and applicability ishigh, and a technical scheme is suitable for outdoor patrol, can be carried back and forth for a long time, and is high in robustness.

The invention discloses a control system of a biped travelling robot. Structurally, an upper computer and lower computer distributed control structure is adopted, a decision-making master controller of an upper computer and a left leg all-joint controller and a right leg all-joint controller of a lower computer are included, the decision-making master controller is used for processing image information collected by an image collector and current robot movement situations collected by a left foot plantar sensor and a right foot plantar sensor, and sending control instructions to the left leg all-joint controller and the right leg all-joint controller of the lower computer through a CAN bus controller of a CAN bus; and the left leg all-joint controller and the right leg all-joint controllercontrol all-joint motors to execute motion instructions and receive information fed back by a motor encoder and a joint angle sensor, the motor is controlled precisely through a fuzzy adaptive PID control method according to feedback information, and thus the robot can travel precisely in real time according to the ground conditions.

The invention provides a self-balancing robot control method. A stable DC power supply driving module is provided through a power supply module; a control module issues a command to control a DC motorof an execution module to run according to a program, and a feedback loop is formed by an encoder; an attitude detection module collects each attitude angle in the system, the attitude angles are transmitted to a main controller, a control loop is formed, and the motor is controlled. A sensor in the attitude detection module can directly read a quaternion and an acceleration, an inclination valueand an angular velocity value can be precisely obtained, the stability of the self-balancing robot is higher, an external environment is adaptive, interference on the self-balancing robot by the external environment can be reduced maximally, and the safety and the stability are thus ensured; and besides, the algorithm pressure of the main controller is reduced, the data transmission accuracy is improved, and the real-time performance of the system is improved.

The invention discloses a walking control method and device of a biped robot, a storage medium and a terminal, and relates to the technical field of electronics, and mainly aims at solving the problems that in an existing dark or bright environment, when the biped walkable robot walks according to a black line road, recognition of a black line is easily influenced by exposed brightness, and the accuracy of a walking route is reduced. The method comprises the steps that a processor receives image signals and image information sent by a linear CCD image sensor and image shooting equipment respectively; exposure is determined according to the voltage value of the image signal, and a black line image is determined according to pixel information in the image information; the processor comparesthe exposure with a preset exposure, and compares the black line image with a preset black line image to obtain a first comparison result and a second comparison result; and a walking control instruction is generated according to the first comparison result and the second comparison result, and the walking control instruction is sent to a steering engine controller.

The invention discloses a coiled material for AGV vehicle-mounted environment and a preparation method of the material. The coiled material has a layered structure and sequentially comprises a stitched felt reinforcing layer, a fiber cloth reinforcing layer, a two-dimensional code printing layer and a transparent surface layer from bottom to top, wherein the stitched felt reinforcing layer is formed by coating a coating material with high permeability on the stitched felt and curing; the fiber cloth reinforcing layer is formed by coating a coating material with high-permeability on the fiber cloth and curing; the fiber cloth reinforcing layer and the stitched felt reinforcing layer are bonded by an adhesive coating material; the two-dimensional code printing layer is formed by printing anadhesive paint on the fiber cloth reinforcing layer and curing; and the transparent surface layer is formed by coating a surface layer coating material on the two-dimensional code printing layer and curing. Through the structural design of the transparent surface layer, the two-dimensional code printing layer and the double-layer reinforcing layer, and the use of the surface coating material, thecoating material with high permeability and the adhesive coating material, the coiled material for the AGV vehicle-mounted environment is obtained; and the coiled material has the characteristics of wear resistance, high skid resistance and high pressure resistance at the same time, and can meet the requirements of AGV vehicles on the ground.

The invention provides a shearing method and system and belongs to the field of machining equipment. The shearing method comprises the steps that a plate is clamped through a clamp mechanism arranged on a feed device; the to-be-sheared part of the clamped plate is fed into a shearing machine through a pushing mechanism arranged on the feed device; the plate is sheared through a shearing mechanism arranged on the shearing machine; whether the plate is completely sheared or not is judged, and if shearing is not completed, after the shearing machine is transversely moved by a machine station through an automatic linear travelling mechanism, the plate is repeatedly sheared by the shearing mechanism, and if shearing is completed, the step is completed; the clamped plate is moved out of the shearing machine through the pushing mechanism; and the clamp mechanism is loosened. By adoption of the plate shearing method and system, the problems that in the prior art, plate shearing is high in cost input and low in efficiency, and use is uneasy are solved, plate shearing precision and efficiency are improved, and the plate shearing system has the advantages of being low in cost, small in size, high in efficiency, wide in adaptability and the like.

The invention relates to a linkage control method and system for a mechanical arm and a bed and intelligent human body meridian conditioning equipment. The method comprises the steps that a meridian walking route is obtained; a stroke threshold value is preset, and the mechanical arm is controlled to execute a walking instruction according to the meridian walking route based on the preset stroke threshold value; whether the stroke of the mechanical arm reaches the preset stroke threshold value or not is judged, and if yes, an instruction signal is sent out, and a linkage control instruction is generated according to the instruction signal; and the bed and the mechanical arm are controlled to act in a linkage mode according to the linkage control instruction. According to the linkage control method and system for the mechanical arm and the bed and the intelligent human body meridian conditioning equipment, linkage control over the mechanical arm and the physiotherapy bed can be achieved by judging whether the stroke of the mechanical arm reaches the preset stroke threshold value or not, so that the mechanical arm can achieve full-coverage conditioning of the human body through linkage of the mechanical arm and the bed under the conditions that the range of the mechanical arm is short and the stroke cannot reach the whole human body, the bed and the mechanical arm are in linkage, synchronization is guaranteed, and deviation is avoided.

The invention relates to a traveling device of a frame spinning automatic doffer, belonging to the technical field of frame spinning doffing equipment. The traveling device comprises a base, a motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel, a transmission piece, a guide rail and a plurality of stretching units. The device utilizes the motor to drive the stretching units to continuously move through a transmission mechanism, simultaneously utilizes the guide rail to realize sliding bar stretching, and utilizes a dialing block to dial a spindle whorl so as to realize the function of driving the doffer to travel, so that exact positioned traveling of the doffer is realized and slippage phenomenon is avoided. Because the dialing block is stretching, the interference between the dialing block and the spindle whorl in the transmission piece movement process is avoided; and because the center lines of the spindle whorl and spindles are consistent, the traveling accuracy is guaranteed. Due to use of the device, the upper and lower rails of the traditional ring spinner are not needed to be changed; and the device is simple and reliable in structure, and low in manufacture and maintenance cost, and is suitable for intermittent moving type or continuous moving type automatic doffers.

The invention relates to a feedback driving type sparse planting pot transferring device used for transferring seedling raising pots in small hole trays into large plug trays which are arranged sparsely by rows, so that the follow-up full-automatic sparse planting pot transferring can be higher in efficiency. The device is characterized by comprising a suspension mechanism, N movable claw clamping mechanisms and a driving mechanism, wherein the suspension mechanism comprises a cross beam, a side plate and at least two polished shafts; each movable claw clamping mechanism comprises a sliding block mounting plate, a sliding block and a paw; the driving mechanism comprises a gear-rack component, N gear driving components and two driving shafts; the gear-rack component comprises a rack and a travelling gear.

The invention relates to the technical field of AGV intelligent three-dimensional parking. The AGV intelligent three-dimensional parking positioning system comprises a vehicle pre-parking positioningsystem and an AGV carrying and parking positioning system, and the vehicle pre-parking positioning system and the AGV carrying and parking positioning system are in signal connection with a central control table through wireless network connection. According to the invention, the vehicle pre-stop positioning system is arranged, a vehicle is driven into a garage and is parked in pre-parking space,and the parking position can be adjusted timely according to the voice prompt, so that the AGV can accurately find the position of the vehicle, and the vehicle is taken away from the pre-parking spaceor sent back to the pre-parking space; and moreover, by arranging the AGV carrying and parking positioning system, the AGV can accurately walk, collision is avoided, a parking space can be accuratelyfound, a vehicle can be accurately parked, the vehicle to be driven out can be accurately found, and the vehicle can be smoothly sent back to the pre-parking space.

The invention discloses a slicer walking control device of a cloth paving machine. The slicer walking control device comprises a walking slicer motor for providing power for a slicer, wherein a motor fixed seat is fixedly arranged at the tail part of the slicer motor, a through hole is formed in the center of the motor fixed seat, a shaft of the slicer motor penetrates through the through hole, a shaft of an encoder penetrates through an encoder connecting plate with a communicating hole, the shaft of the encoder and the shaft of the slicer shaft are connected through an encoder coupling, the two ends of the encoder coupling are respectively provided with a hole, the encoder connecting plate and the motor fixed seat are connected through a plurality of struts to form a central cavity, so that the encoder coupling is positioned between the encoder connecting plate and the motor fixed seat. The assembled slicer walking control device is fixedly arranged on a tool rest, the turns of the slicer motor can be controlled through the turns of the encoder, so that the walking distance of a slicer can be controlled, the walking distance of the slicer can be set according to the width of cloth amplitude, the walking time of the slicer can be saved, and the walking distance and cloth slicing stability of the slicer can be more accurately set, so that a better cloth slicing effect with higher efficiency can be achieved.

The embodiment of the invention provides a system and method for positioning a railway wagon hook stop and a readable storage medium, and belongs to the field of vehicles. The system comprises a positioning module which is used for determining the position of a positioning vehicle on walking tracks, a control module which is used for determining the position of the railway wagon hook stop to be positioned by the positioning vehicle according to the position where the positioning vehicle is positioned when the positioning vehicle executes large arm retracting operation, and an executing modulewhich is used for controlling the positioning vehicle to walk to the position where the railway wagon hook stop to be positioned by the positioning vehicle is located. Through the technical scheme ofthe application, the problem about automatically positioning the railway wagon hook stop is solved, and the purpose that the positioning vehicle accurately walks to the position where the corresponding railway wagon hook stop is located is achieved.