59 results about "Control posture" patented technology

A stereo camera supporting apparatus of the present invention comprises a joining member constituted in such a manner as to support a stereo camera on a vehicle, and a control device which controls posture or position of the stereo camera supported on the vehicle by the joining member. The control device controls the posture or position of the stereo camera with respect to video obtained by the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in the video is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.

A stereo camera supporting apparatus of the present invention comprises a joining member constituted in such a manner as to support a stereo camera on a vehicle, and a control device which controls posture or position of the stereo camera supported on the vehicle by the joining member. The control device controls the posture or position of the stereo camera with respect to video obtained by the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in the video is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.

The invention discloses a method for stably controlling the posture of a complex after a target is caught by a space tethered system mechanical arm. First, a posture controller for the complex formed after the target is caught by the space tethered system mechanical arm is designed, the expected posture control moment of the complex is worked out, and then the expected posture moment is achieved through a thruster of the space tethered system mechanical arm, the structure of the mechanical arm and the tension of a tether. According to the method, the changes of the form of the space tethered system mechanical arm are considered for use, the posture of a space tethered system robot can be stably controlled through the tension of the space tether and the thruster of the space tethered system robot, the application range of the tension of the tether is broadened substantially due to the changes of the form of the mechanical arm, and thus stable control over the posture of the complex formed after the target is caught by the space tethered system robot can be effectively achieved.

The invention provides a surgical robot adjustment system. Each mechanical arm is provided with an optical target lens, positions and Euler angles of the optical target lenses are measured by an optical tracking instrument, a calculation module calculates according to measured values to obtain a posture mapping relation of the optical target lenses, and a posture mapping relation of surgical instrument arms is obtained by calculation according to the posture mapping relation of the optical target lenses and a posture mapping relation between the surgical instrument arm of each mechanical arm and the optical target lens on the corresponding mechanical arm. A surgical robot controls postures of corresponding surgical instrument arms according to the posture mapping relation of surgical instrument arms, and accordingly movement control precision of the surgical robot is improved.

The invention discloses a method for controlling postures of an aircraft converged at a fixed time, relates to an aircraft posture control method, and belongs to the technical field of aircraft control. The method comprises the following steps of (1) establishing a reentry aircraft dynamic model and offering a limited time posture tracking task; (2) performing feedback linearization treatment on a model established in the step (1); and (3) giving out a limited time control law, starting the state of a system from an optional initial value and consulting a trace on tracking within a set time. The method can be used for implementing system error fixed time convergence when part of initial value information is unknown. Moreover, the method has high robustness under the conditions that system parameters are uncertain and external interferences exist.

A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint.

The angular velocity sensor for detecting an angular velocity for detecting movement amounts and for controlling postures of vehicles, airplanes, cameras, and the like. The angular velocity sensor is provided with a piezoelectric vibrator, a temperature compensation function generating section, a correction coefficient setting section, an oscillation section, a synchronous pulse forming section, and a Coriolis output detection section. If an angular velocity is applied to the piezoelectric vibrator vibrating in a specific direction being driven by the oscillator section, a Coriolis force acts on the piezoelectric vibrator, and a vibration is generated which is perpendicular to the vibration in a specific direction. An electric charge generated by this vibration is detected at the detection electrode of the piezoelectric vibrator. The detected electric charge is converted to a voltage at the Coriolis output detection section, and a temperature compensation is performed, and further, the output is detected and a DC component is extracted. After that, a DC detecting signal having high stability without being influenced by factors such as the ambient temperature, power supply voltage fluctuations and unevenness in circuit devices is output from the Coriolis output detection section.

Methods of enabling locomotor control, postural control, voluntary control of body movements (e.g., in non-weight bearing conditions), and / or autonomic functions in a human subject having spinal cord injury, brain injury, or neurological neuromotor disease. In certain embodiments, the methods involve stimulating the spinal cord of the subject using an epidurally placed electrode array, subjecting the subject to physical training thereby generating proprioceptive and / or supraspinal signals, and optionally administering pharmacological agents to the subject. The combination of stimulation, physical training, and optional pharmacological agents modulate in real time electrophysiological properties of spinal circuits in the subject so they are activated by supraspinal information and / or proprioceptive information derived from the region of the subject where locomotor activity is to be facilitated.

A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint.

The invention relates to a method for regulating and controlling a posture of a spacecraft by the flow velocity and an actuating mechanism thereof and belongs to the field of control to the posture of the spacecraft. The method comprises the following steps that: according to a difference value of a current posture and a desired posture, a three-axis control moment vector required by the spacecraft is obtained, and according to a principle of the momentum moment, a relation between the three-axis control moment vector and the variation of a liquid fuel flowing angular velocity is obtained; according to the working principle of ring-shaped pipe liquid angular momentum exchange equipment, a relation between the liquid fuel flowing angular velocity and the change rate of a velocity vector inthe tangential direction of a pipe when liquid fuel flows is obtained; according to corresponding generated required conditions, the power of the pressure pump is controlled to apply work to the liquid, so that the flow velocity of the liquid is changed, and thus, the angular momentum H of a mass center of the spacecraft is changed and the posture of the spacecraft 10 is changed; and the changed posture is measured by a sensor and is compared with the desired posture and the steps are circularly repeated from the beginning of the step 1. The actuating mechanism for regulating and controlling the posture of the spacecraft by the flow velocity, which is used for implementing the method disclosed by the invention, comprises a liquid filled ring-shaped pipe, the pressure pump, an oil storage tank, a valve, a liquid outlet connecting pipe, a liquid return connecting pipe and a control mechanism.

The invention provides a spherical-bottom device and method for tracking a video target and controlling the posture of the video target. Horizontal adjustment is realized by virtue of an upper motor vertically arranged in the device and a lower motor horizontally arranged in the device in cooperation with a lower shell capable of rolling or inclined adjustment is realized by virtue of gravity, and the problem that the conventional device equipped with an exposed rotating mechanism is damaged or deflected easily by an outer force is solved; and the method can be used for automatically shooting and tracking a face image in cooperation with a proper program; furthermore, the method is integrated with a gesture identification instruction processing technology for image identification; therefore, response control of the device can be realized through actions and postures.

The invention provides a spacecraft heliocentric ellipse suspension track design method based on the solar sail propulsion technology. The method comprises the steps that the characteristics of track suspension height are analyzed, and the suspension height is decomposed into the suspension height with a constant value, and the suspension height changing in direct proportion to the sun-planet distance; on the basis, a track dynamic model of a solar sail spacecraft under a rotation inconsistent fit coordinate system is established, conditions for forming a heliocentric ellipse suspension track are given according to the balance of a two-level dynamic model, the balance conditions are met by controlling posture changes of a solar sail and changes of reflectivity, and then the heliocentric ellipse suspension track of the solar sail is obtained. The spacecraft heliocentric ellipse suspension track design method based on the solar sail propulsion technology provides a worthy reference general method for heliocentric ellipse suspension track design based on the solar sail propulsion technology.

The invention provides a method and a system for controlling postures of a display device by using gestures, and relates to the technical field of man-machine interaction. By using the method and the system, the postures of the display device can be controlled and adjusted in real time; the display device is operated visually and accurately; and user experiences are high. According to an embodiment, the method for controlling the postures of the display device by using the gestures comprises the following steps of receiving the gestures of a user; recognizing the received gestures; transforming the gestures into control commands which can be recognized by the display device; and controlling and adjusting the postures of the display device according to the control commands.

The invention provides a fire fighting positioning method combining a drone and ultra wide band radar. The method comprises steps that a positioning tag sends a wireless narrow pulse signal to an ultra wide band radar base station; a microwave radiometer adopts the passive measurement technology; an infrared thermal imager measures surface temperature of objects in a fire disaster place and sends temperature signal of the fire disaster place to a control platform; a video monitoring system extracts video signals of the fire disaster place and sends the video signal to the control platform; a real-time onsite image acquisition system based on the Tango technology sends the signals to the control platform; and the control platform receives position information, the temperature information and the video signals from a base station, sends a control signal for controlling postures of the drone to the base station so as to process positioning information in real time, extract fire information, video signals and real time images extracted through the Tango technology and control the postures of the drone. According to the invention, the method can be applied to an indoor positioning system of any fire disaster place and used for extracting fire information.

The invention discloses a grid rudder wing mixing pneumatic layout applied to box type launching and a design method. A grid rudder wing mixing pneumatic layout scheme is composed of two pieces of chord length changing horizontal arc-shaped grid wings and four pieces of straight grid rudders, the two pieces of horizontal arc-shaped grid wings play a role of flight autostability, the four pieces ofstraight grid rudders are used for controlling postures in the flight process, at a launching initial stage, a folding state is mounted in a launching box, and in the flight process, the grid wings and the grid rudders unfold and are used for autostability and control of an aircraft; the grid rudder wing design method and process taking initial box type launching as geometric constraint are further provided, and the design efficiency of the grid rudder wing mixing layout can be improved. According to the grid rudder wing mixing layout mode, a larger longitudinal control torque can be provided, higher pneumatic efficiency within a wider mach number range is achieved, design of a flight control system is facilitated, and the grid rudder wing mixing layout mode is especially applied to the using of the control rudder surface of a high lift-drag ratio gliding class aircraft booster stage.

The invention discloses a system and method of regulation and control of postures and landing experiments for a space robot simulating a gecko, and belongs to the field of robots. The system mainly comprises a rotary landing panel (2), three-dimensional force-sensor array (1) distributed on the rotary landing panel, a robot imitating the gecko, high-speed video cameras, a computer control terminal (18), a force-sensor data acquisition system (19), and a wireless data transmission module (20). Through the system and method disclosed by the invention, the regulated and controlled postures, and the landing experiments of the space robot can be effectively simulated under the microgravity environment, and a novel method for the experiments of posture control and landing collision of the space robot is provided.

The invention provides a control system and a control method of a robot nursing bed. The robot nursing bed comprises a wheelchair part and a bed part. The robot nursing bed comprises a control device, a motor component, an electric push rod component, an induction device, a laser scanning measurement device, an image acquisition device, a communication device, a handle and a display, wherein the motor component is used for controlling movement of the wheelchair part; the electric push rod component is used for controlling posture change of the bed part and posture change of the wheelchair part; the induction device is connected to the control device and is used for inducing actions of the bed part and the wheelchair part; the laser scanning measurement device is used for offering autonomous navigation for the movement of the wheelchair part; the image acquisition device is connected to the control device and is used for conducting visual positioning when the wheelchair part returns to a library; the communication device is connected to the control device and is used for transmitting actions between the wheelchair part and the bed part to the control device; by virtue of of the handle, posture adjustment of the wheelchair part, synchronous actions after the wheelchair part and the bed part are combined as well as moving speed and direction of the wheelchair part are controlled by a user; and the display is used for displaying a navigation map and an operation interface.

The invention discloses hydraulic and self-adaptive cleaning equipment for a photovoltaic module and solves the problem that a mechanism in the prior art cannot meet the requirement for fast cleaning of a photovoltaic module in a large-scale group photovoltaic plant. The hydraulic and self-adaptive cleaning equipment is mainly technically characterized by comprising two groups of cleaning assemblies mounted on a cleaning robot, wherein each cleaning assembly comprises a brush carrier assembly for cleaning the surface of a photovoltaic panel and a driving assembly for controlling posture adjustment of the brush carrier assembly, and the driving assembly comprises a lifting module for driving the brush carrier assembly to finish lifting motion in the vertical direction and a rotating module for driving the brush carrier assembly to rotate to adapt to the angle of the photovoltaic panel; a gantry assembly is further fixed on the cleaning robot, and an adjusting unit for horizontally driving the gantry assembly to get close to or far away from a photovoltaic panel assembly is arranged between the cleaning robot and the gantry assembly. The horizontal position of each cleaning assembly is adjusted by the adjusting unit added in the technical scheme, so that the requirement for efficient cleaning of the photovoltaic module in the large-scale group photovoltaic plant is met.

A media stocker includes: a paper feeding table configured to support plural recording media in a stacked state; a lifting and lowering mechanism configured to lift and lower the paper feeding table; a bottom plate attached to the paper feeding table and configured to receive the recording media placed thereon and support the recording media such that a downstream side end in a conveying direction of the recording media on the paper feeding table moves up and down relatively to an upstream side end in the conveying direction; and a control section configured to make an angle of the bottom plate adjustable such that a surface of the recording medium at the top extends along a direction substantially orthogonal to a lifting and lowering direction of the paper feeding table.

In an apparatus for controlling posture of a small boat having a hull and an even number of outboard motors mounted side by side on a stern of the hull, each equipped with a propeller driven by an engine and a throttle actuator adjusting a throttle valve opening of the engine, an inclinometer is installed in one of the outboard motors that produces an output indicating inclination of the hull relative to a vertical axis around a roll axis. It is determined whether the hull inclines to port or starboard from the output of the inclinometer and when it does, operation of the throttle actuators of the outboard motors are controlled on a side determined to incline downward to increase engine speed, while controlling operation of the throttle actuator of the outboard motor on a side determined to incline upward to decrease the engine speed.

The invention discloses a working part power transmission mechanism of a combine harvester. The working part power transmission mechanism comprises an intermediate shaft, one end side of the intermediate is connected with an engine while the other end side of the same conveys power frontwards and backwards, the power conveyed forwards is transmitted to a threshing transmission box and transmitted to a conveying groove and a threshing drum respectively through transition and reversion, the power transited by the conveying groove is then transmitted to a header, and the power conveyed backwards is transmitted to a front fan and a number one horizontal auger respectively, and transmitted to a number two horizontal auger, a vibrating screen and a smashing and grass discharging device through transition of the number one horizontal auger. Power of a grain unloading auger directly comes from the engine, and hydraulic pressure is independently adopted as power for controlling posture of the grain unloading auger. The working part power transmission mechanism is reasonable in power transmission path arrangement, simple, convenient, reliable and especially suitable for a self-propelled-crawler combine harvester.

The invention provides an intelligent lamplight control method, and relates to the technical field of stage control. The method comprises the steps of S1, sequentially numbering lamplight irradiationstates according to a change sequence; S2, inputting a human body control posture corresponding to each lamplight irradiation state change; S3, acquiring the current human body action posture during stage performance, and extracting action posture features; S4, judging whether the similarity between the current action posture feature and the human body control posture is greater than a preset threshold value or not, if so, executing the step S4, and otherwise, not operating; and S5, judging whether the human body control posture corresponds to the current lamplight irradiation state or not, ifso, controlling the lamplight irradiation state to change, otherwise, prompting, and repeatedly executing the step S3. The intelligent lamplight control method is convenient to control, intelligent and reasonable, lamplight change control is conducted through specific actions of performers on the stage, a change program can be set in advance, the lamplight change precision is higher, the error issmaller, and manual control of workers is not needed.

The invention discloses a fuel-electricity hybrid power unmanned aerial vehicle. The fuel-electricity hybrid power unmanned aerial vehicle comprises a main vehicle frame, two subsidiary vehicle frames, two main rotors, four subsidiary rotors, a fuel engine and a plurality of electric engines, wherein the two main rotors are arranged at the two ends of the main vehicle frame correspondingly, and the four subsidiary rotors are arranged at the four ends of the two subsidiary vehicle frames correspondingly. The fuel engine supplies power to the two main rotors, and each electric engine supplies power to the corresponding subsidiary rotor. The fuel engine and the electric engines are matched for use, the fuel engine drives the two main rotors to supply lift force and advancing power to the unmanned aerial vehicle, and the electric engines drive the four subsidiary rotors to control postures of pitching, rolling, yawing and the like of the unmanned aerial vehicle. The two main rotors are controlled only by one fuel engine, various parameters such as the rotating speeds of the two main rotors can be consistent easily, a complex control system for adjusting does not need to be matched, therefore the fuel-electricity hybrid power unmanned aerial vehicle has the advantages of large load and long cruise duration, meanwhile, the structure is concise, control is easy, and the development and manufacturing costs are reduced by a large margin.

The invention discloses an assembly system for assembly of micro parts and an online assembly method of micro parts. The assembly system comprises multiple microscopic visual systems, a microscopic visual system control module, a motion platform control module, an image basal measurement module, a micro part assembly module, a three-dimensional animation display module, and a three-dimensional animation display system. The assembly system is suitable for assembly of various micro parts and has good universality and applicability. The invention further discloses the online assembly method of micro parts. The method includes on the basis of three ways of microscopic visual guidance approximately orthogonally arranged in space, detecting relative postures of micro parts online, and controlling posture adjustment for the micro parts so as to complete assembly. The online assembly method is applicable to the assembly of the complex-structure micro parts in three-dimensional space. The system and the method have promising application prospect and considerable social and economic benefits.

The invention provides an actuator of a vehicle and an apparatus for controlling posture of a vehicle with the said actuator. The actuator includes a gap reducing mechanism for axially pre-pressing gears inside, and a position sensor assembled close to a motor inside. The actuator of a vehicle also includes a fixed stabilizer bar fixed to one side of a housing; a rotary stabilizer bar assembled to the other side of the housing in a rotary manner; a central gear, a planetary gear, a support, and a multi-stage planetary gear unit; a stator which generates magnetic forces when being powered on, a rotor rotating through the magnetic forces, and the motor assembled inside the housing; and the gap reducing mechanism for axially pre-pressing the central gear at one side of the multi-stage planetary gear unit. Through adoption of the actuator, the vehicle is prevented from tilting leftwards or rightwards to the maximum, so active side tilting prevention effects are achieved. Passengers feel much safer, and inconvenience brought to passengers, caused by tilting and cornering of the vehicle, is eliminated, and a vehicle driving effect is improved.

The invention provides a nursing bed control system. A nursing bed comprises a wheelchair part and a bed part. The nursing bed control system comprises a control device, a motor assembly, an electricpush rod assembly, a sensing device, a laser scanning measuring device, an image collection device, a communication device, a handle, a displayer, a nursing module, a recovery module, a cloud storagemodule and a monitoring module, wherein the motor assembly is used for controlling the wheelchair part to move, the electric push rod assembly is used for controlling posture change of the bed part and the wheelchair part, the sensing device is used for sensing action of the bed part and the wheelchair part, the laser scanning measuring device is used for providing autonomous navigation for the wheelchair part, the image acquisition device is used for performing visual location when the wheelchair part returns back to a base, the communication device is used for sending action between the wheelchair part and the bed part to the control device, the handle is used for a user to control action of the wheelchair part and the bed part, the displayer is used for displaying navigation maps and displaying an operation interface, the nursing module is used for nursing the user, the recovery module is used for performing rehabilitation on the user, the cloud storage module is used for storing operation action, nursing action and recovery action of the user, and the monitoring module is used for monitoring state parameters and position parameters of the user.

The invention discloses a cantilever excavator capable of controlling the posture of a cutting head, wherein the front of a telescopic arm (1) of the excavator comprises a swing frame (2), a rotary hydraulic cylinder (4), a rotary cover (5), a swing frame control hydraulic cylinder (10) and a hydraulic drive cutting head (3), wherein the rotary hydraulic cylinder is fixed at an extending end of an extending part of the telescopic arm; the rotary cover is fixed at a rotary output shaft of the rotary hydraulic cylinder; two lug shafts (6) are correspondingly arranged at the two sides of the rotary cover; the swing frame is controlled to rotate around the lug shafts by the swing frame control hydraulic cylinder; the hydraulic drive cutting head is connected with the swing frame. According to the cantilever excavator, the whole hydraulic drive cutting head can rotate around the axis vertical to a cutting arm, so that the space posture of the hydraulic drive cutting head can be freely controlled; the hydraulic drive cutting head is connected with the swing frame in a fixed or detachable way, so that other operation tools can be installed and replaced on the swing frame after the hydraulic drive cutting head is disassembled in the detachable connection way, more auxiliary operation functions can be realized by the excavator, and the excavation efficiency is improved.

The invention discloses a control method for a miniature underwater robot, relating to an underwater robot. The control method comprises the following steps: establishing a communication mode model, establishing a control mode model, controlling rotation and switching of a camera, controlling an underwater illuminating lamp and the brightness thereof, controlling postures and actions in water and designing a leveling device. According to the control method disclosed by the invention, the communication between the underwater robot and a upper computer is carried out by adopting a CAN (Controller Area Network) bus, so that a command sent by the upper computer can be correctly received and accurately executed, and various real-time parameters can be sent back to the upper computer in time for a user to observe. The underwater environment can be clearly observed by the loaded underwater illumination and the camera, and various posture behaviors, such as moving up and down or advancing and retracting are controlled by an operator. The control method sufficiently considers the demands of the operator and provides multiple functions.

The invention relates to a method and a system for controlling the posture of an extra-large gear. The method comprises the following steps: corresponding adjustment amount of four driving motors for driving a posture adjusting platform is acquired through an upper computer; the upper computer sends a first control command to a motion control unit according to the corresponding adjustment amount of the four driving motors; the motion control unit sends corresponding impulse control signals to four stepping motors respectively according to the first control command; and the four stepping motors drive four mechanical transmission structures corresponding to the four stepping motors respectively according to corresponding impulse control signals, so as to control the posture adjusting platform to adjust the position of a three dimensional measuring platform. The embodiment of the invention has the advantage that low-angle and quick measurement of an in-suit measuring system of the whole extra-large gear can be realized according to the position of the extra-large gear.