30 results about "Active stabilization" patented technology

The invention provides a ship active stabilization control method and system, and relates to the field of ships. The ship active stabilization control system comprises a stabilization execution mechanism which comprises an upper platform constructed according to a ship body of a ship and a lower platform constructed according to multiple sets of water pressing plate execution mechanisms, and the multiple sets of water pressing plate execution mechanisms are arranged at any positions below waterlines of the two sides of the ship correspondingly; each water pressing plate executing mechanism comprises a water pressing plate assembly and a driving cylinder connected with the water pressing plate assembly; the data acquisition unit is configured to acquire ship body attitude and motion state information and environment data of the ship; the stabilization controller is configured to calculate and generate correction torque according to the parallel robot kinematic mechanics mechanism model, the ship posture and motion state information and the environment data, and distribute the correction torque to an execution instruction corresponding to each driving cylinder; and the driving cylinders drive the corresponding water pressing plate assemblies to execute water pressing movement or return movement according to the execution instructions.

The invention belongs to the field of ship control, and provides a self-adaptive active stabilization method and system for a ship. The ship is configured to be provided with a plurality of water pressing plate executing mechanisms, each water pressing plate executing mechanism comprises a water pressing plate assembly and an executor connected with the water pressing plate assembly, and the method comprises the following steps that ship body attitude information of the ship is obtained; calculating a target moment according to the hull attitude information; generating an execution instruction corresponding to each actuator according to the target torque; and the executor responds to the execution instruction so as to drive the connected water pressing plate assembly to execute water pressing movement. According to the self-adaptive active stabilization method and system for the ship, the ship can be effectively controlled to reduce shaking, and the navigation stability, comfort and safety of the ship are improved.

The application discloses a kind of amphibious equipment measuring hydrologic flow method, it is related to hydrologic flow monitoring field, including using bottom as hull, top installation multi-rotor amphibious platform, integration ADCP, GNSS / IMU, environmental sensor etc., by real-time sensing water flow, wave, wind and ship attitude, with the aid of prediction model, interference trend and threat level are predicted in advance.Adopt active stabilization control algorithm, dynamically coordinate and distribute the power output of underwater propeller and air rotor, suppress ship movement to the measurement allowable error range, its core lies in intelligent switching operation mode: in low water, rely on underwater power contact measurement;High water or flood, lift off and use GNSS positioning to carry out non-contact type hovering measurement, completely solve the traditional cableway flow measurement easy broken, sailing ADCP in torrent easy out of control failure industry problem, realize full range, high precision, full-automatic hydrologic flow online monitoring, provide reliable technical means for flood control and disaster mitigation and water resources management.

The present invention relates to an AI posture correction system for customized spinal care and may comprise: a smart seat (100) including a frame unit (110) configured to, when pressure is received from a body, continuously apply upward and inward compression forces for active stabilization support, a cushion unit (120) including a cushioning member such that compression resistance is generated when in direct contact with the body, a sensor unit (130) positioned between the cushion unit (120) and the frame unit (110) and having a plurality of pressure sensors distributed in a pressure region that receives pressure from the body, and a control unit (140) that transmits, to a computing apparatus (200), pressure data sensed by the sensor unit (130); and a computing apparatus (200) that calculates, on the basis of the pressure data, a first center point that is a center point of pressure, calculates a difference value between the first center point and a second center point that is a center point of the pressure region, recognizes a posture pattern on the basis of the difference value, and outputs an AI-customized operation related to posture correction from the posture pattern.

The application discloses a cutter head repairing method in a tunneling process of a shield machine, and belongs to the technical field of shield construction, and solves the problems that an existing method does not construct an active stability system for a working face and a soil bin environment, and lacks accurate detection and regulation means for large-scale poses of a cutter head, the method comprising the following steps: dividing a shield soil bin and a working face area into multiple operation layers, layer-by-layer cleaning of the working face and grading fixation of the cutter head, synchronous control of multiple horizontal displacement oil cylinders for adjusting the pose of the cutter head by a hydraulic pump station, taking out broken wires by using a welding auxiliary pulling or a counterbore tapping process, resuming tunneling after completing a main drive pressure maintaining test and cutter head operation verification, and in-situ repairing of the shield machine after a major structural failure such as cutter head falling in a tunneling process, without the need of withdrawing the shield machine from the tunnel or adding a ground vertical shaft, and meanwhile, secondary disturbance to surrounding strata is avoided, thereby providing systematic technical support for safe and continuous pushing of shield construction under complex geological conditions.

The invention discloses a sea-crossing cluster assembly type bridge rapid assembly device, and relates to the technical field of bridge construction, the sea-crossing cluster assembly type bridge rapid assembly device comprises a supporting and walking mechanism, and the supporting and walking mechanism comprises a supporting frame and supporting beams arranged on the two sides of the supporting frame; the hoisting mechanism is located in the supporting frame, can move transversely and is used for hoisting and transversely conveying the bridge prefabricated part; the at least one pair of retractable stabilizing mechanisms is symmetrically arranged on the supporting beam and is used for downwards extending out and being inserted into the ground to stabilize the whole equipment during hoisting operation; and a first hydraulic rod, a sliding frame, an inserting plate, a limiting sliding block and a limiting hole are arranged to be matched with one another, and the active stabilizing function of the equipment is achieved. The first hydraulic rod pushes the inserting plate to move downwards along the sliding frame, meanwhile, the limiting sliding block on the inserting plate slides and guides in the limiting hole of the supporting frame, it is ensured that the inserting plate is perpendicularly inserted into the ground, and the effect of firmly anchoring the equipment on the foundation is achieved.

The invention discloses a quick-response universal flexible auxiliary towing device which is applied to a floating fan towing system, the towing system comprises a floating fan foundation, a floating fan and a towing boat, the fan foundation comprises a plurality of wind power foundation piles, and the adjacent wind power foundation piles are fixedly connected through connecting rods. Through closed-loop control of real-time monitoring of the attitude sensing assembly, accurate instructions of the control system and dynamic adjustment of the power assembly, technical spanning from passive assistance to active stabilization is achieved, attitude changes caused by wind waves and flows can be quickly responded, targeted restoring force is provided, the risk that a floating type draught fan foundation drastically deflects and overturns is effectively avoided, and the service life of the floating type draught fan foundation is prolonged. Ballasting adjustment does not need to be carried out at a machine location point, and the construction difficulty is remarkably reduced.

This invention discloses a semi-passive gait control method and system for bipedal robots based on adaptive Hopf-CPG, relating to the field of robotics. The method includes the following steps: establishing a dynamic model of the bipedal robot with knee joints; optimizing key structural parameters of the robot based on the dynamic model; constructing an adaptive Hopf-CPG network; introducing an adaptive mechanism, including frequency adaptation, amplitude adaptation, and phase adaptation; and fusing the adaptive Hopf-CPG network with semi-passive gait control, dynamically adjusting the active adjustment ratio of the CPG network according to the robot's walking environment to achieve a balance between passive energy saving and active stability. Compared with existing technologies, this method significantly improves motion stability, enhances anti-disturbance capabilities, reduces energy consumption, improves endurance, and exhibits strong environmental adaptability, eliminating the need for manual parameter adjustment.

The invention belongs to the technical field of nondestructive testing, and discloses a nondestructive testing method for X-ray equipment carried by an unmanned aerial vehicle, which comprises the following steps of: fixing an X-ray transmitting module and an X-ray receiving module on a load cabin of the unmanned aerial vehicle through a damping shock absorption bracket; the damping coefficient of the damping bracket is preset according to the weight of the X-ray equipment and the maximum vibration frequency of the unmanned aerial vehicle, and meanwhile, a three-axis gyroscope and an air pressure sensor are mounted at key parts of a fuselage of the unmanned aerial vehicle. Through a multi-layer stable control system of the damping shock absorption support, the three-axis gyroscope and the air pressure sensor, flying vibration of the unmanned aerial vehicle can be actively absorbed, environment air pressure changes can be dynamically adapted, the vibration amplitude of the vehicle body is controlled within + / -0.5 degrees, the attitude adjustment response time is smaller than or equal to 0.3 s, and the unmanned aerial vehicle can be stably controlled. The problem of detection offset caused by fixed and simple equipment and no active stabilization mechanism in the existing method is solved, the stability of the detection process is remarkably improved, and the data distortion rate is reduced.

This invention relates to a counterweight attitude adjustment device, an aircraft attitude control system, and a control method thereof, comprising a track module, a counterweight slider module, a motor drive module, a battery module, a limiting structure, and a guide rail. The counterweight slider module can slide at high speed within the track, releasing angular kinetic energy by impacting the limiting structures at both ends of the track to correct aircraft attitude deviations. The motor drive module is powered by the battery, supporting energy recovery during the sliding process to form a closed-loop power supply system. The counterweight slider module is slidably connected to the guide rail to suppress deflection and maintain sliding stability. The limiting structure employs a combination of buffer and energy-absorbing structures to ensure efficient energy transfer and prevent structural fatigue. This invention further proposes a formula combining the attitude deviation angle and the aircraft's rotational inertia to solve for the impact velocity, achieving precise control of the attitude adjustment force. The proposed solution has advantages such as compact structure, rapid response, and strong modular versatility, and is suitable for active stabilization control of high-dynamic flight platforms such as rockets and spacecraft.

The invention discloses an active stabilization and power generation system of a floating type fan and a cooperative control method. The system comprises an inerter power generation subsystem and a hydraulic load regulation power generation subsystem. The inerter power generation subsystem comprises an inerter power generator, a damper sleeve and a disc. The inerter power generator comprises a power generator shell, a stator, a rotor and a ball screw. One end of the ball screw is used for being connected with a mooring cable, and the other end of the ball screw is connected with the disc which is slidably arranged in the damper sleeve. The hydraulic load regulation power generation subsystem comprises a pipeline assembly, a hydraulic generator and a piston type hydraulic cylinder, the piston type hydraulic cylinder is connected between the bottom of the damper sleeve and the disc, and the pipeline assembly can selectively control whether hydraulic oil flows through the hydraulic generator to do work or not. Based on the principle of a hydraulic load-adjusting power generation subsystem and a mass inerter, efficient absorption of motion energy under different working conditions can be achieved, the comprehensive power generation capacity is improved, and the method belongs to the technical field of wind power generation and vibration reduction.

The utility model discloses an active stabilizer bar, a suspension system and a vehicle. The active stabilizer bar comprises an outer cylinder, a fixing piece, a transmission piece and a sensor assembly, and a containing cavity and a mounting opening which communicate with each other are defined by the outer cylinder. And the fixing piece is positioned at the mounting opening and is connected with the outer cylinder. The transmission part is connected to the side, facing the containing cavity, of the fixing part. The sensor assembly is located in the containing cavity and connected to the end, away from the fixing piece, of the transmission piece. Through the design of the active stabilizer bar, the tiny strain of the fixing piece can be directly transmitted to the sensor assembly, and compared with a traditional scheme of utilizing magnet magnetic induction, the scheme can remarkably improve the measurement precision and the response speed of the active stabilizer bar and reduce feedback lag of the active stabilizer bar. According to the scheme, the structural strength of the active stabilizer bar can be improved, and the stability, comfort and controllability of the vehicle in the running process are ensured.

A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.

The invention provides an automatic control method and device for a hydraulic support, and relates to the technical field of hydraulic control. The method comprises the following steps: obtaining a support quality evaluation index according to a pre-constructed hydraulic support moment model; if it is determined that the stable supporting degree is within the preset numerical value interval, a control target is determined according to a first comparison result between the supporting eccentricity and a preset supporting eccentricity threshold value, automatic control is conducted in a corresponding control mode, and automatic control is conducted in a corresponding control mode according to a second comparison result between the parallelism and a preset parallelism threshold value. And a control target is determined, and a corresponding control mode is adopted for automatic control. According to the automatic control method and device of the hydraulic support, self-adaptive adjustment and active stability control of the support can be achieved.

The invention belongs to the technical field of port machinery automation control, and particularly relates to a remote control system for a container tire crane. Comprising a remote operation terminal, a communication transmission module, a central cooperative controller, a wind load sensing module, a structure dynamic response sensing module, a coupling modeling engine, an active stability instruction generation module and a hydraulic servo execution mechanism. Through deep fusion of environment wind load sensing and structure inertia response sensing, a complete closed-loop active stable architecture is constructed, and the architecture adopts a physically quantized dynamic model driving control strategy, so that source suppression of wind-induced resonance is realized, and the stability of the system is improved. According to the system, the combined swing amplitude of the tail end of the suspension arm and the container can be remarkably reduced under the strong wind working condition, the positioning precision and the operation continuity are remarkably improved, meanwhile, safe shutdown caused by oscillation overrun is avoided, and the technical requirement for all-weather efficient operation of a port is met.

The invention discloses a liver active stabilization and deformation control device in a laparoscopic surgery. A double-finger executing mechanism of the device comprises two flexible finger-shaped bodies capable of being independently driven, and the two flexible finger-shaped bodies are folded to penetrate through a Trocar hole and then are bent and unfolded at any angle in the laparoscopic surgery so as to conduct multi-point lossless negative pressure adsorption stabilization on the liver surface. The root ends of the two flexible finger-shaped bodies are installed at the tail end of the handheld control mechanism, the two flexible finger-shaped bodies are controlled to be folded and unfolded through the handheld control mechanism, and the two flexible finger-shaped bodies are controlled to stabilize the liver after negative pressure adsorption is stable. The drive control mechanism is installed outside the handheld control mechanism and used for controlling adsorption and position adjustment of the two flexible finger-shaped bodies. The problem that the operation space of a traditional instrument is limited is solved, the target liver segment can be actively and adaptively stabilized, a stable operation platform is established for high-precision puncture, and the device is suitable for precise puncture operations such as liver cancer ablation and liver biopsy.

The 360-degree rotating gripper with the weighing function comprises a mechanical sliding arm, the surface of the mechanical sliding arm is slidably connected with a weighing component, the bearing end of the weighing component is connected with a steel cable capable of being electrically retracted and released, and the end, away from the weighing component, of the steel cable is fixedly connected with a gripper assembly. The steel cable can carry the gripper assembly to grab an object and synchronously retract and move, and when the gripper assembly carries the object to break away from the ground, the steel cable can be used for applying pulling force to the weighing component, and the weighing component is used for measuring the weight. The gripper assembly is extruded and positioned through the swingable positioning plate which is an active stabilizing measure, after an object is lifted and before the robot starts to move, the transmission structure can drive the positioning plate to clamp the gripper assembly, the swing phenomenon of a steel cable and the gripper assembly in the carrying process is remarkably reduced or even eliminated, and the safety of the robot is improved. The safety and stability of operation are improved, the whole structure provides possibility for 360-degree rotation of the gripper assembly, and meanwhile the stability in the rotating and moving process is guaranteed.

The application provides a four-wheel independent driving full-rotation profiling chassis and a pose stability control method, which comprises a chassis frame, four steering and walking components, four profiling adjusting components, an inertial measurement unit and a control system; the control system controls the walking and full-rotation steering movement of the chassis, and actively controls the pose of the chassis frame based on the measurement data of the inertial measurement unit through the profiling adjusting components. The steering and walking components of the chassis adopt an independent differential wheel train structure with two inputs and two outputs, and can realize multiple walking and steering movement modes; the series active suspension system can realize ground profiling and pose stability control. Based on the vertical dynamics model of the chassis degrees of freedom, a linear quadratic regulator is designed, the feedback information of the inertial measurement unit and the displacement sensor is fused, active adjustment of the suspension is realized, and the stability of the chassis in complex terrain is improved.

The present application belongs to the technical field of port machinery automation control, and in particular to a container rubber-tired crane remote control system, which comprises a remote operation terminal, a communication transmission module, a central cooperative controller, a wind load sensing module, a structural dynamic response sensing module, a coupling modeling engine, an active stabilization instruction generation module and a hydraulic servo actuator. By deeply integrating environmental wind load sensing and structural inertia response sensing, a complete closed-loop active stabilization architecture is constructed. The architecture adopts a physical quantitative dynamic model driven control strategy to achieve source suppression of wind-induced resonance. The system can significantly reduce the combined swing amplitude of the boom end and the container under strong wind conditions, significantly improve positioning accuracy and operation continuity, and avoid safety shutdown due to oscillation overrun, thereby meeting the technical requirements of all-weather efficient operation in ports.

This invention relates to the field of deep-sea engineering equipment and underwater robot technology, specifically to a swing suppression and precise positioning mechanism for heavy-duty deep-sea equipment, and particularly to an active stabilization deployment and docking lifting device for underwater base stations. The main frame of this invention has a cross-shaped structure, connecting the mother ship's lifting cable and the deep-sea AUV base station, used to transfer gravity loads; the thruster assembly includes four thrusters, respectively installed at the four ends of the main frame, used to output multi-vector thrust; a sensing module is installed on the main frame, used to monitor the device's attitude, position, and environmental flow field information in real time; buoyancy components are covered or installed on the cantilever of the main frame; the control unit is located in a pressure-resistant sealed chamber on the main frame, communicating with the mother ship and obtaining power through an umbilical cable. The control unit drives the thruster assembly to move according to the data from the sensing module, realizing active steady-state control of the deep-sea AUV base station. The technical solution of this invention solves the problems of large swing amplitude in passive lifting, low efficiency of manual or ROV assistance, and poor accuracy in the prior art.

The invention discloses a vehicle, a control method and device thereof and a readable storage medium, and relates to the technical field of vehicles. In the running process of the vehicle, obtaining a running mode of the vehicle; according to the driving mode, a target temperature threshold value of the active stabilizer bar and a target opening value of the electronic expansion valve are determined; after the active stabilizer bar works, the real-time temperature of the active stabilizer bar is obtained; and under the condition that the real-time temperature is larger than the target temperature threshold value, the opening degree of the electronic expansion valve is set to be the target opening degree value, so that the cooling loop cools the active stabilizer bar. The reliability of the active stabilizer bar is improved, and the service life of the active stabilizer bar is prolonged.

The invention discloses a tracked robot active stability control method based on an air power source, and belongs to the technical field of tracked chassis control methods. The device comprises a crawler chassis and an active stabilizing mechanism, wherein the active stabilizing mechanism comprises an air power source assembly, a power motor, a mounting base, a cantilever, a cantilever supporting rod and a control box; the cantilever supporting frame is fixedly installed on the crawler chassis, the cantilever is rotationally installed at the top end of the cantilever supporting rod, the installation machine base is fixedly installed at the end, away from the cantilever supporting rod, of the cantilever, the power motor is fixedly connected to the installation machine base, and the air power source assembly is fixedly connected with an output shaft of the power motor. The control box is also installed on the crawler chassis, a sensor and a controller are integrally arranged in the control box, the sensor is used for obtaining the posture of a vehicle body, the obtained angle value is calculated through the controller to obtain a corresponding torque value, and then the torque value is calculated according to the rotating speed-torque relation matched with the model of the air power source assembly. And obtaining the rotating speed value of the air power source assembly.

This invention discloses a launch vehicle recovery and capture system and method, belonging to the field of launch vehicle recovery technology. The system includes: a recovery platform; at least three towers symmetrically arranged around the recovery platform, each tower equipped with at least two sets of robotic arms at different heights, each robotic arm having an arc-shaped holding mechanism at its end; and a target system, including a ring target placed on the ground and top targets placed at the top of each tower. The rocket simultaneously observes the ring target on the ground and at least two top targets through a terminal vision system, transmitting image data back to a ground computing center. The ground computing center cross-checks the calculation results of the two sets of targets; when one target is obstructed or its image quality degrades, the calculation result of the other target maintains the continuity of its pose output. Sufficient distance is maintained between the towers and the platform to avoid direct impact from the rocket engine exhaust. After the rocket touches the ground, each robotic arm employs a "zero-force contact - graded force control - active stabilization" control strategy, using multi-point holding to form a spatial force closed constraint, achieving highly reliable rocket capture and recovery.

Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and / or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.

The invention discloses an automatic welding device for tank welding, and relates to the technical field of welding, the automatic welding device comprises a gun neck, a magnetic field dynamic focusing assembly and a magnetic particle micro-injection assembly, the magnetic field dynamic focusing assembly and the magnetic particle micro-injection assembly are respectively arranged on the outer surface of the gun neck; by means of the synergistic effect of the magnetic field dynamic focusing assembly and the magnetic particle micro-injection assembly, active stable control and multi-scene adaptation of a molten pool in the full-position welding process of the large tank are achieved, and different from a traditional lag scheme depending on mechanical compression roller passive constraint and open-loop parameter presetting, high-end tank welding operation is more stable and more accurate, and the welding efficiency is improved. Firstly, a magnetic focusing cover of the magnetic field dynamic focusing assembly is matched with a follow-up compensation structure, the bottleneck that a traditional static magnetic field is not matched with a dynamic molten pool is broken through, real-time dynamic adaptation of the magnetic field action range is achieved, and it is ensured that the magnetic field can always accurately cover the core area of the molten pool under different welding positions and different grooves.

A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.

This invention relates to a dynamic detection method for the roundness fluctuation of the inner ring of a bearing in the field of bearing testing technology, comprising the following steps: S1, supporting the outer ring of the bearing with non-contact magnetic force and actively stabilizing the outer ring in a preset spatial posture; S2, applying a preset multi-dimensional dynamic excitation force to the outer ring of the bearing; S3, driving the inner ring of the bearing to rotate around its axis. This invention combines non-contact magnetic support and stabilization of the outer ring with independent driving of the inner ring rotation, so that the bearing under test is in a dynamic condition that is closer to the actual complex support state, thereby stimulating a more realistic and richer dynamic fluctuation signal. Based on the dynamic response signal, the dynamic roundness fluctuation component caused by the roundness error of the inner ring raceway is separated and quantified by a coupling and decoupling algorithm.

The invention discloses an active stabilizer bar test method and system, and the method comprises the steps: building a test environment of an active stabilizer bar through a test bench, and then enabling a to-be-tested front active stabilizer bar and a to-be-tested rear active stabilizer bar to be installed on a front wheel simulation rack and a rear wheel simulation rack in a real vehicle installation manner respectively; and the two racks are controlled to execute corresponding actions according to the preset working condition control logic. In the test process, verifying the real-time working condition, and judging whether the real-time working condition meets a preset working condition requirement or not; if yes, the front active stabilizer bar and the rear active stabilizer bar are controlled to act according to the preset stability control logic, and whether the real-time working states of the front active stabilizer bar and the rear active stabilizer bar meet the preset working state requirement or not is verified. The method is suitable for various working conditions in vehicle driving, can verify the control effect of the stability control logic on the front and rear active stabilizer bars according to different working conditions, effectively improves the test efficiency, and guarantees the test safety.

The invention relates to the technical field of aerospace, and particularly provides an active control device and method for supersonic air inlet shock waves. The device comprises a vacuum pump which is arranged at the downstream of a throat in a supersonic air inlet of the wide-speed-range aircraft; the output end of the super capacitor bank is electrically connected with the vacuum pump; the pressure sensor array is arranged on the inner wall of the supersonic air inlet channel, located on the upstream of the vacuum pump and used for monitoring shock wave oscillation in the supersonic air inlet channel under the high-maneuvering flight condition of the wide-speed-range aircraft; the control circuit is electrically connected with the vacuum pump, the super capacitor bank and the pressure sensor array; the control circuit is configured to generate a control signal of the vacuum pump based on the driving current of the vacuum pump, the voltage drop rate of the super capacitor bank and the airflow pressure fed back by the pressure sensor array so as to drive the vacuum pump to generate corresponding airflow disturbance control force to actively suppress shock wave oscillation. According to the invention, active stability control can be carried out on unsteady shock wave oscillation.