21results about How to "Walk fast" patented technology

The invention discloses a drag suction type beach garbage cleaning device and method attached to a complex substrate layer. The device comprises a beach garbage cleaning vehicle, and the beach garbage cleaning vehicle is provided with a vehicle body driving module, an image recognition module, an automatic pickup module and a garbage treatment module; the image recognition module comprises camera equipment, an infrared sensor and a deep learning algorithm module, the automatic pickup module comprises V-shaped soil penetrating rake teeth and industrial-grade dust collection equipment, and the garbage treatment module comprises a vibration conveying screen and a garbage collection box; according to the beach garbage cleaning device, highly automatic and intelligent beach garbage cleaning is achieved through the image processing module, manual intervention is reduced, the cleaning efficiency is improved, meanwhile, the ecological environment on a beach is protected, and therefore the beach garbage cleaning device can complete the cleaning task more accurately and efficiently.

The invention discloses a biped robot landing point planning method based on an NURBS curve, a computer readable storage medium and a foot device. The method comprises the following steps: acquiring a foot starting point, a foot falling point and a leg swinging height of the biped robot as control points of an NURBS curve; generating an initial landing point trajectory curve based on the control point, and solving a first-order derivative of the initial landing point trajectory curve to obtain the speed of an actual landing point; the speed of the actual landing point is compared with the speed of an expected landing point, and when the absolute value of the error between the speed of the actual landing point and the speed of the expected landing point is smaller than or equal to a preset value, a control landing point track curve is obtained; and according to the control landing point track curve, the swing of the swing legs of the biped robot is controlled. The speed of the foothold relative to the ground is matched with the speed of the robot relative to the ground, and the swinging state and the supporting state of the motion of the foot type robot are combined, so that the switching of the motion states is smoother, and the walking speed of the robot is improved.

The invention relates to the technical field of crawling robots, in particular to a stable auxiliary device and method for multivariate data acquisition of a seabed crawling robot. Comprising a crawling robot, and an auxiliary crawling mechanism is arranged at the bottom of the crawling robot; movement mechanisms, supporting mechanisms and stabilizing mechanisms are arranged on the two side faces, in the movement direction, of the crawling robot correspondingly. The movement mechanisms on the two side faces, the supporting mechanisms on the two side faces and the stabilizing mechanisms on the two side faces are symmetrically arranged. A pushing mechanism is arranged on the side face, away from the movement direction, of the crawling robot, and an information collecting mechanism is arranged on the top surface of the crawling robot. The stability of the robot in the seabed walking operation process is greatly improved, and the accuracy of underwater experiments or observation data of the robot is improved.

The invention discloses a window cleaning machine, which is used for cleaning a to-be-cleaned surface, and comprises a machine body, a first cleaning element, a second cleaning element, a negative pressure device and a driving device, the first cleaning element and the second cleaning element are rotatably arranged on the machine body, the first cleaning element is used for forming a first space with a to-be-cleaned surface, and the second cleaning element is used for forming a second space with the to-be-cleaned surface; the negative pressure device is used for extracting air in at least one of the first space and the second space; the driving device is used for driving at least one of the first cleaning element and the second cleaning element to generate displacement on the surface to be cleaned; in a first preset time period, the driving device drives the machine body to swing around the first cleaning element, and the second cleaning element and the machine body can rotate around the first cleaning element together. When the window cleaning machine walks, the power loss is small.

The utility model relates to the technical field of robots, in particular to a robot sole segmented walking device which comprises a shank part, an ankle seat, a rear sole part and a front sole part. The ankle base can swing front and back, the rear sole part can swing up and down, and the front sole part can swing up and down. Compared with a walking device of a traditional robot, the walking device can execute the action that the tiptoe touches the ground and the heel lifts off the ground, and can also execute the action that the tiptoe lifts off the ground and the heel touches the ground. The rear sole part can swing left and right, and the front sole part can swing left and right along with the rear sole part. Compared with a walking device of a traditional robot, left turning actions of the front foot sole part and the rear foot sole part can be executed, and right turning actions of the front foot sole part and the rear foot sole part can also be executed. As a whole, the robot sole segmented walking device is split into a plurality of modules, normal gaits of human beings are restored as much as possible during working, the requirements of a supporting phase and a swinging phase are met, and the walking speed of a robot is increased.

The utility model relates to the technical field of science popularization teaching, and discloses an archbacked insect robot which comprises a walking mechanism, the walking mechanism is formed by connecting a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are each provided with a ratchet wheel and make contact with the ground, and each ratchet wheel is provided with a pawl; a motor is installed in the first connecting rod, a power source is installed in the second connecting rod, and the motor is electrically connected with the power source. The cranks are connected to the two sides of the motor correspondingly, the relative installation angle of the two cranks is 180 degrees, the second connecting rod is alternately pushed to do opening and closing movement relative to the first connecting rod, and the walking speed is increased; the pawl is meshed with the first ratchet wheel, the pawl is loosened from the second ratchet wheel, and the first ratchet wheel rotates anticlockwise to move towards the first connecting rod side; the pawl is meshed with the second ratchet wheel and loosened from the first ratchet wheel, the second ratchet wheel clockwise rotates the archbacked insect robot to move towards the side of the second connecting rod, and the robot can move in two directions.

The rear walking type self-pushing working machine comprises a main machine and a handle device, and the main machine comprises a walking assembly and a motor for driving the walking assembly; the handle device is connected to the host; the handle device further comprises an operating piece, a connecting rod assembly, a sensing device, a first connecting piece and a second connecting piece. The operating piece comprises a holding part used for being held by a user. The connecting rod assembly comprises a first connecting rod connected to the host; the sensing device is used for sensing thrust applied to the handle device to drive the rear walking type self-pushing working machine; the first connecting piece is fixedly connected with the operating piece; the second connecting piece is fixedly connected with the connecting rod assembly; the first connecting piece and the second connecting piece are in running fit so that the operating piece can rotate relative to the connecting rod assembly. In the using process of the backward walking type self-pushing working machine, when the acting force of a user on the operating piece enables the operating piece to rotate relative to the connecting rod assembly, the speed of the backward walking type self-pushing working machine can be increased, the detection precision is higher, and the reliability is better.

The utility model provides fault rescue equipment which comprises a fixing plate and a walking part arranged on the fixing plate, the fixing plate is fixed to a fault robot, the walking part is arranged below the fixing plate, a height adjusting part used for adjusting the distance between the walking part and a walking face is arranged between the walking part and the fixing plate, and the height adjusting part is used for adjusting the distance between the walking part and the walking face. And when the walking part is in contact with the walking surface, the fault robot is separated from the walking surface. The robot walking device replaces a faulty robot to walk, even if the faulty robot has a large load, the faulty robot can rapidly run, and the rescue efficiency is improved.

This invention provides an anti-sway system for a suspended display screen, comprising: a folding display screen suspended in mid-air; a lifting component for moving the folding display screen up and down; a height sensor for acquiring the ground clearance data of the folding display screen; a walking component for synchronously translating the folding display screen; a programmable logic controller (PLC) for obtaining swing length data based on the received ground clearance data; an anti-sway controller for obtaining speed data of the lifting component and the walking component based on the received swing length data and a target speed command, and transmitting the obtained speed data of the lifting component and the walking component to the PLC; and the PLC controlling the speed of the lifting component and the walking component based on the received speed data. This invention can prevent the swaying problem of the folding display screen during high-altitude suspended movement.

The utility model discloses a cleaning machine and a walking mechanism thereof, the cleaning machine comprises a machine body, and the walking mechanism comprises a walking disc arranged on the machine body; the cleaning disc is arranged on the walking disc in a sleeving mode, and the walking disc and the cleaning disc rotate on the to-be-cleaned face so as to drive the machine body to move on the to-be-cleaned face; a guide piece is connected between the walking disc and the cleaning disc, and the cleaning disc is arranged on the walking disc in a floating and sleeving mode in the direction facing or deviating from the to-be-cleaned face through the guide piece. According to the walking mechanism, the walking disc and the cleaning disc rotate on the to-be-cleaned face, friction force is generated between the walking mechanism and the to-be-cleaned face, then the machine body of the cleaning machine is driven to move on the to-be-cleaned face, and the cleaning disc cleans the to-be-cleaned face at the same time. According to the cleaning machine, the cleaning disc serves as a part of the walking mechanism, compared with the mode that the machine body is driven to move only through rotation of the walking disc, the radius of the disc body used for promoting the machine body to move is increased, the linear speed is increased, then the walking speed of the cleaning machine is increased, and the cleaning efficiency is improved.

The invention relates to the technical field of walking assisting equipment, in particular to a control method of a walking assisting device capable of improving gaits, increasing walking speed and improving walking ability, which comprises the following steps of: connecting first power rotating shaft parts on left and right limbs of a body at inverted convex connecting ends on two sides of a waist-surrounding fixing frame body through pin shafts; the first power rotating shaft part is connected with the thigh supporting guide rod sections on the two sides, the second power rotating shaft part and the shank supporting guide rod section, so that paired or single three-section swinging auxiliary walking equipment is formed; the thigh supporting guide rod sections and the shank supporting guide rod sections on the two sides are guided to move through the synergistic effect of a control computer and motors on the two sides by applying an inverted simple pendulum principle method, bending and stretching of hips and knee joints are assisted, then the shanks are guided to do kicking motion, and the requirements of different users are met; the user is helped to improve the gait, and the walking speed and the walking ability are intelligently improved.

The utility model relates to the technical field of kudzu vine root processing, and discloses a peeling device for kudzu vine root processing, which comprises a cabinet body, a platform is fixedly arranged at the top of the cabinet body, a plastic cover is fixedly arranged at the top of the platform, a motor is fixedly arranged on the inner top wall of the cabinet body, and a lower turntable is fixedly arranged at the output end of the motor. Firstly, radix puerariae is vertically placed in a groove of a lower rotating disc, a motor drives a lead screw to rotate, the lead screw drives a lead screw sleeve, an extension plate and an upper rotating disc to move downwards till the upper rotating disc abuts against the top of the radix puerariae in the vertical state, and therefore the vertical radix puerariae is fixed; the kudzu vine roots and the upper rotating disc can also rotate, the tool apron and the tool can be driven to walk by manually holding the handle, then the tool can be close to the surfaces of the kudzu vine roots, the rotating kudzu vine roots are rapidly cut by the tool, and therefore the purpose of rapidly scraping the kudzu vine roots is achieved.

The hydraulic walking system comprises an oil tank, an oil supplementing pump, a plunger pump assembly and a motor assembly, the plunger pump assembly comprises a plunger pump and a plunger pump adjusting assembly, the motor assembly comprises a motor and a motor adjusting assembly, the displacement of the plunger pump is controlled through the plunger pump adjusting assembly, and then the rotating speed of the motor is changed. The motor displacement is adjusted through the motor adjusting assembly, and the rotating speed of the motor is further adjusted. According to the hydraulic walking system and the crawler operation machine, parking gear shifting and extra gear shifting operation are not needed during transition acceleration, continuous change of motor displacement is achieved, and therefore stepless speed change of the walking speed is achieved; meanwhile, gear shifting operation in the advancing process is prevented, large pressure change caused by two-point displacement change of the motor in the advancing process is avoided, impact on a control valve set and the motor is reduced, and the service life is prolonged.

The present invention provides a positioning system and a positioning method based on a two-dimensional code, a gyroscope and an accelerometer, as well as an information service method. The system comprises a two-dimensional code, a mobile phone with a built-in gyroscope, an accelerometer and a camera, and a system server. A two-dimensional code mark representing the user's own position is arranged at a main position of a user's walking path. The user's mobile phone camera establishes an image information capture connection with the two-dimensional code mark, shoots the two-dimensional code to obtain main position information, the mobile phone gyroscope and accelerometer establish a motion information capture connection with the user's action, captures the user's motion direction and acceleration information, the user's mobile phone establishes a communication connection with the system server, the acquired two-dimensional code position information and the user's motion direction and acceleration information captured by the gyroscope and the accelerometer are sent to the system server, and the actual position and position map information sent to the mobile phone by the receiving system server are provided for the user to view.

The utility model discloses a plate floating grinding device which comprises a grinding mechanism and a displacement device used for driving the grinding mechanism to move horizontally relative to a plate workpiece. The grinding mechanism comprises a grinding head, a swing arm, a floating amount detection mechanism, a grinding wheel counter weight and a lifting mechanism, the swing arm is hinged to the displacement device, the grinding head is arranged at one end of the swing arm, a grinding wheel is installed on the grinding head, the floating amount detection mechanism and the grinding wheel counter weight are arranged at the other end of the swing arm, and the floating amount detection mechanism comprises a transverse pin; one end of the lifting mechanism is hinged to the displacement device, the other end of the lifting mechanism is provided with a kidney-shaped hole extending in the stroke direction of the lifting mechanism, and the transverse pin is installed on the swing arm and located in the kidney-shaped hole. The lifting mechanism can stretch out and draw back so that the transverse pin can move in the kidney-shaped hole in the length direction in the grinding process of the grinding wheel, and when the grinding wheel is close to the edge of the plate workpiece, the lifting mechanism shrinks so that the hole wall of the upper end of the kidney-shaped hole can abut against the transverse pin to keep the height of the grinding head unchanged. While the cost is controlled, stable performance and efficient operation are ensured.

A driving mechanism includes a driving part and a transmission part; the driving part includes a motor and a planetary reducer, and the motor shaft of the motor is fixedly connected to the sun gear of the planetary reducer; the transmission part includes an input shaft, an output shaft and a steel wire rope wound on the input shaft and the output shaft, the steel wire rope is in a tensioned state, and the input shaft is fixedly connected to the planetary carrier of the planetary reducer. In the above-mentioned driving mechanism, the driving part uses the motor and the planetary reducer together to form a near direct drive mode, and the driving part is fixedly connected to the sun gear of the planetary reducer through the motor shaft of the motor, and the planetary carrier of the planetary reducer is fixedly connected to the input shaft, so as to realize the output of the motor driving force. This method can realize the high torque density and high reverse driving ability of the driving mechanism, and the control accuracy is higher. The transmission part adopts steel wire rope for transmission, has no forward and reverse transmission gap error, is light in weight and low inertia, can increase the leg swing frequency, increase the walking speed, and have higher control accuracy.

The present application relates to the technical field of robot joint drive structure, and specifically discloses a dual-degree-of-freedom direct-drive joint, including one axis and two axes; both the one axis and the two axes are driven by brushless permanent magnet motors and a first-stage planetary reducer with a reduction ratio of ≤10; the motor shafts of the brushless permanent magnet motors of the one axis and the two axes are placed concentrically relative to each other; the output of the one axis is connected to the motor housing of the two axis, and the two axes as a whole can rotate 360° around the one axis. The dual-degree-of-freedom direct-drive joint of the present invention adopts a brushless permanent magnet torque motor + a low reduction ratio (reduction ratio ≤10) planetary reducer. The brushless permanent magnet torque motor provides a reliable large torque, and the low reduction ratio reducer achieves a lower internal friction, which is more conducive to the realization of joint force control.

The invention discloses an electrochemical biosensor and a preparation method, the electrochemical biosensor comprises a nucleic acid nanoprobe, a three-electrode system and a sensor platform, the three-electrode system comprises a working electrode, a reference electrode and a counter electrode, the nucleic acid nanoprobe is a three-metal nanoenzyme modified by a hairpin DNA S1 sequence, and the three-metal nanoenzyme is a three-metal nanoenzyme modified by the hairpin DNA S1 sequence. The sensor platform constructed by the invention comprises a three-legged DNA walker formed by hybridizing a hairpin DNA H1 sequence, a hairpin DNA H2 sequence and a hairpin DNA H3 sequence; according to the electrochemical biosensor prepared by the invention, the detection limit of an ultra-low expression miRNA-21 sequence reaches 1.6 aM, the constructed fitting equation is high in fitting degree and wide in detection concentration range, and the recognition degree of the miRNA-21 sequence is high, so that the method is higher in selectivity, false positive or false negative in detection can be effectively avoided, and the detection sensitivity is high. And accurate qualitative detection and quantitative analysis of the ultra-low expression miRNA-21 sequence in the early stage of cancer are facilitated.

The invention discloses a submarine sediment acoustic in-situ measurement device and method, and belongs to the field of submarine sediment acoustic in-situ measurement, and the submarine sediment acoustic in-situ measurement device comprises a main frame, a lifting type measurement sampling mechanism integrated in the main frame, and an obstacle crossing type walking mechanism arranged at the bottom end of the main frame, the obstacle crossing type walking mechanism comprises split type elastic telescopic wheels rotationally arranged at the four corners of the bottom end of the main frame, each split type elastic telescopic wheel comprises a hub motor, a rotating cylinder connected with the output end of the hub motor, an elastic unit and an arc-shaped wheel unit, the elastic units and the arc-shaped wheel units are arranged in the rotating cylinders, and mode switching units are arranged between the elastic units and the arc-shaped wheels. The switching mechanism is used for switching the split type elastic telescopic wheel to walk in an obstacle crossing walking mode or a flat ground walking mode; the drum is rotationally connected with the bottom end of the main frame. According to the acoustic in-situ measurement device and method for the seabed sediments, the obstacle crossing type walking mechanism is arranged, so that walking on the uneven seabed is realized, the measurement range is widened, and the measurement efficiency is improved.

The invention relates to the technical field of mower control, in particular to an intelligent electric mower control method based on walking efficiency matching, and the method comprises the steps: carrying out the closed-loop detection of parameters of a walking motor, carrying out the closed-loop detection of parameters of a mower, and analyzing the parameters collected in the mower; the quality and hardness analysis and real-time updating of weeds in the real-time environment are automatically completed, automatic adjustment of push rod lifting control and walking speed reduction / mower torque output control is adopted in the corresponding control mode, optimal efficiency matching of walking and the mower is achieved, and the mower is adaptive to various weed environments, high in adaptability and low in cost. Therefore, the problem of energy consumption waste caused by excessive energy consumption matching due to the fact that the same set of parameter configuration is used for different scenes in an existing mower control method is solved.

The invention discloses a surface object collection device and method with a comb-shaped shovel rotary structure and an integrated conveying-separating structure. The surface object collection device comprises a frame, two electric drive tracks, a battery, an automatic baler, a hollow conveyor belt, a frequency-adjustable vibrating screen, a rotary comb-shaped shovel, rake teeth, a hard brush and an image recognition and sensor module. The image recognition and sensor module comprises a camera device, an infrared sensor, a deep learning algorithm module and a pressure sensor. By identifying the characteristic size, type, density and burial degree of surface objects and measuring the force applied to the rotary comb-shaped shovel, the sand entry angle of the rotary comb-shaped shovel, the operating speed of the hollow conveyor belt and the vibration frequency of the frequency-adjustable vibrating screen are adjusted to reduce the sand entry resistance of the rake teeth, and adjustments are made for bottom materials with different particle sizes, types and densities and objects of different scales to improve the sand screening efficiency of the mixture.