4023 results about "Corner angle" patented technology

The invention discloses a device for measuring six-dimensional position poses of an object, which consists of a laser tracking instrument, a receiver, a computing unit and at least one small-sized laser light emitter, wherein the computing unit and the laser tracking instrument are fixedly arranged on the ground surface; the receiver is arranged on a moving object to be measured; the laser tracking instrument and the receiver communicate with the computing unit; the small-sized laser light emitter is arranged on the laser tracking instrument; a horizontal intersection angle and a pitching intersection angle of the laser tracking instrument are controllable, and the laser tracking instrument is provided with a laser distance measuring instrument; and the laser distance measuring instrument and the small-sized laser light emitter project laser light to a projection panel of the receiver respectively. The laser tracking instrument acquires a three-dimensional position of the receiver, and the computing unit solves three-dimensional postures of the receiver corresponding to a fixed coordinate system on the ground surface according to an azimuth angle of the laser tracking instrument and image data of laser faculae on the projection panel. The device can continuously measure moving objects or static objects in a large space, has the advantages of high precision, quick measuring speed, low cost and convenient arrangement, and can replace an expensive laser tracking instrument for measuring the six-dimensional poses.

A control method of a two-wheeled self-balance vehicle comprises the steps as follows: (1), performing initialization: (2), reading values of a gyroscope, an accelerometer and a rotation angle sensor as well as the pulse number of an encoder respectively; (3), obtaining a vehicle body inclination, a handlebar turning angle, motor speeds and a vehicle speed; (4), then calculating PWM (pulse width modulation) values of vertical control, direction control and speed control respectively through a PID (proportion integration differentiation) control algorithm; (5), superposing the three PWM values together and outputting the three PWM values to left and right motors; (6), then sending data of the gyroscope, the accelerometer, the vehicle body inclination, a battery voltage, motor currents and the vehicle speed to an upper computer so as to monitor the operating status of the whole vehicle; (7), when the battery voltage is monitored to be smaller than a preset value, and the motor currents or the vehicle speed is monitored to be larger than the preset value through monitoring, turning on corresponding LED warning lights; and (8), when the vehicle body inclination is larger than a preset angle through monitoring when the vehicle body inclination is monitored to be larger than a preset angle, determining that the vehicle body falls down, stopping the operation and returning to an initializer. According to the control method, a more accurate operational method is adopted.

A method and apparatus for cleaning the surfaces of a pool by a programmed robotic pool cleaner initially set at an arbitrary position in the poll. The pool can be of any standard or non-standard shapes, and the surfaced with any conventional materials. The robot is advanced until it encounters a first obstacle (1), then reverses direction and advances along the same path to an opposing second obstacle (2) to form a first path between the opposing first (1) and second (2) obstacles. At the second obstacle (2), the robot reverses and advances to a predetermined point (A) between the opposing obstacles along said first path. At the predetermined point (A), the robot stops and turns in a first direction at a predetermined angle of turn, and repeats the above steps along additional paths until the sum of the predetermined angle of turns generates a quantity of paths sufficient to substantially clean the pool surfaces.

The invention discloses a method for measuring a geometric error parameter value of a rotary oscillation axis of a five-axis linkage numerical control machine tool. The method comprises the following steps of: measuring displacement errors of X, Y and Z directions on at least three positions under different rotating angles of the rotary oscillation axis respectively by using a ballbar, wherein translation axis linkage coordinates provided by a revolving tool central point (RTCP) cutter central point movement control function of a five-axis machine tool serve as measurement datum; and performing data processing according to the displacement errors to identify and calculate the geometric error of each rotating angle of the rotary oscillation axis. The rotary oscillation axis is measured independently by the method, so the geometric error value of the five-axis linkage numerical control machine tools of various structures at each rotary oscillation angles can be obtained. The method is not limited by the structures of the machine tools, is convenient to arrange and has high measuring precision.

Materials for use in installing a deck include a plurality of decking tiles, each of the tiles having an outside corner angle with a hole at a predetermined location with respect to the corner and a plurality of decking tile connectors. Each of the connectors includes a plate, spacer flanges upstanding from the plate arranged to divide the plate into quadrants defined by angles that are the same as the corner angles of the tiles, and Christmas tree fasteners upstanding in the quadrants at locations to align with the holes in the tiles.

The amount of lean to be provided is determined by force sensors, the speed, and/or the angle of turn. Then the vehicle is leaned by actuators in the suspension in accordance with a predetermined protocol in an electronic control unit (ECU). The protocol also provides shock absorption by rapidly tracking a contour of a surface on which the vehicle rides. The suspension is provided by a plurality of arm assemblies each including a lower arm, an upper control arm, and an actuator motively connected to the lower arm and to the upper control arm. The arm assemblies are pivotally connected to the frame on a common axis. The arm assemblies generally form parallelograms and are actuated in concert to remain generally parallel to each other through a range of angles to adjust the lean of the vehicle. The arm assemblies are also actuated independently of each other to accommodate variations in the contour. In one aspect, an actuator controlled by an ECU can be replaced by a mechanical actuator that can be activated manually such as by a driver's own leaning weight.

The invention discloses an aggregate digital image assessment system which comprises a motion control module, a computer module, an image acquisition module and a power supply module, an image preprocessing module, an aggregate identity module, an aggregate analysis and evaluation module and a data storage module. The assessment method includes that: a computer sends an instruction to a motion controller for controlling the linear sliding of a laser scanner; a CCD camera takes a picture of aggregate on a scanning board and transforms the image to a digital image; the digital image is transformed to a grey-scale map, And an edge detecting operator is utilized for carrying out image enhancement and restoration to the transformed grey-scale map so as to transform the grey-scale map to a binary image; the aggregate in the binary image is projected and the image of the aggregate in the binary image is detected and separated; IPP image processing and analysis software is used for calculating the three-dimensional coordinate of the surface of the aggregate; quantitative assessment category is carried out to the characteristics of the aggregate to obtain the gradation, the shape, the corner angle and the texture of the aggregate; the computer stores experimental data as well as analysis and assessment results. The aggregate digital image assessment system of the invention can be used for analysis and assessment of the aggregate.

The invention relates to a truck combination hinge angle measuring and controlling system, which mainly consists of a truck combination hinge angle measuring portion and a hinge angle controlling portion and particularly comprises a GPS (global positioning system) tester, input equipment, a microprocessor, a steering wheel rotation angle sensor, a driving front-wheel steering controller, an executing mechanism and power supply equipment. The GPS tester, the input equipment and the steering wheel rotation angle sensor are respectively connected with the microprocessor, the steering wheel rotation angle sensor is connected with a steering wheel of the truck combination, the microprocessor is connected with the driving front-wheel steering controller which is connected with the executing mechanism, the executing mechanism is connected with a truck combination steering mechanism, and the power supply equipment supplies power for the integral system. By the truck combination hinge angle measuring and controlling system, truck combination hinge angle can be measured accurately, steering harmony and running stability of the truck combination during insufficient steering and over-steeringcan be effectively controlled by the truck combination hinge angle measuring and controlling system utilizing the hinge angle as control variable.

The invention relates to a rollover prevention dynamic detection method for a wagon on a curved conduit and a warning device. The method comprises the following steps: 1, installing a rollover prevention dynamic detection method for a wagon on a curved conduit which comprises a steering wheel rotation angle measuring device, a yaw angle velocity measuring device, an inclination angle measuring device and an electronic control unit which comprises a single chip microcomputer, wherein a solidification program of the single chip microcomputer is equipped with a centroid height dynamic detection algorithm module and a rollover prevention warning algorithm module, and a rollover alarming range is arranged in the rollover prevention warning algorithm module. 2, collecting steering wheel rotation angle singles, vertical yaw angle velocity measuring singles of the wagon, side-tipping angle singles of a carriage of the wagon, the side-tipping angle singles of a rear shaft of the wagon and vertical speed singles of the wagon. 3, a lateral acceleration and a centroid height of the wagon is counted through the centroid height dynamic detection algorithm module. 4, counting a rollover acceleration threshold value through the rollover prevention warning algorithm module according to the centroid height. 5, sending a corresponding alarm command according to a difference value of the lateral acceleration and the rollover acceleration threshold value of the wagon and the reset rollover alarm range.

The invention discloses a parking control device, a parking control system and a parking control method for solving the problem of high error between a vehicle running locus and a designed locus during parking control in the prior art. The parking control device comprises an acquisition module and a calculation module, wherein the acquisition module is used for acquiring the starting position and the final position of a vehicle; the calculation module is used for calculating a parking locus at a preset speed according to constrained conditions, the starting position and the final position, wherein the constrained conditions comprise a highest allowed speed of the vehicle, a maximum turning speed of a front wheel of the vehicle and a maximum turning angle of the front wheel of the vehicle during parking; and the curvature of the parking locus is continuously changed, the parking locus comprises an arc and a curve connected with two ends of the arc, and the radius of the arc is the turning radius when the front wheel of the vehicle reaches the maximum turning angle. By using the technical scheme, the actual running locus of the vehicle accords with the designed locus during parking.

The invention discloses a photovoltaic generation device capable of automatic tracking sun position comprising a sun time-angle tracking unit, an array inclination angle regulating unit, a photovoltaic cell fixedly connected to the upper frame and bearings with holders on the bottom front frame and a motor arranged on a connector on top of the photovoltaic cell, wherein the motor brings along the connector and the photovoltaic cell rotating coaxially under the signal drive, at the same time the left and right sides of the photovoltaic cell are supported by two side frames with a linkage beam connecting to the lower end, a lead screw is crossed between the bottom front frame and the bottom back frame of the bottom frame, when the lead screw rotates under the external motive power action, the linkage beam connected to the lead screw shifts along the sliding guideway, the frames stands or lay down thereupon and the inclination angle of the photovoltaic cell changes correspondingly. The device of the invention can real-timely regulates the rotation angle and inclination angle, has advantages of low cost, easy to expand, simple structure and high control precision.

The invention discloses a vehicle stability integrated control method based on a variable-weight model prediction algorithm. The method is mainly aimed at yawing motion and side-tipping motion of a vehicle to improve the stability and the riding comfort of the vehicle. The method mainly comprises steps as follows: step one, vehicle driving state information is acquired and subjected to estimation processing; step two, reference state values for keeping the yawing stability and the side-tipping stability of the vehicle are decided respectively; step three, a variable-weight model prediction control algorithm is used, a front wheel rotating angle and tire braking force are taken as control variables, and vehicle yawing and side-tipping stability control are integrated; step four, expected tire braking force is compared with actual pressure of a brake tube, an action instruction of an electromagnetic valve is determined, an additional front wheel rotation angle and steering action of a driver are superposed, and a final front wheel rotation angle is obtained; step five, a brake executer and a steering executer execute the action instruction of the electromagnetic valve and a front wheel rotation angle instruction, so that the vehicle keeps the yawing stability and side-tipping stability.

The invention discloses a hierarchical system used for a four-wheel-hub motor-driven electric automobile, and a control method. First of all, yaw moment is calculated as a yaw moment decision-making layer according to a vehicle speed sensor, a steering wheel rotary angle transmitter, an electronic throttle sensor and an inertia measurement unit; then according to automobile longitudinal force constraints, yaw moment constraints, a maximum adhesion force which can be provided by a pavement and restrictions of motor maximum output moment, target torque of each wheel hub motor is calculated as a target optimization analysis layer; and finally, degrees of similarity to six standard pavements are obtained by inputting two parameters, i.e., an adhesion coefficient and a wheel slip rate into a pavement adhesion coefficient estimation fuzzy controller by means of a current pavement, and an adhesion coefficient estimated value of the current pavement is obtained as a pavement adhesion coefficient monitoring layer after weighted averaging is performed. According to the invention, whole-vehicle stability is taken as a control target, motor torque is reasonably distributed according to operation working conditions, and the controllability, the stability and the economic property of vehicles are improved.

The invention relates to a method for cutter-axis vector fairing of complex curved surface five-axis numerical control machining based on kinematical constraints, which belongs to the field of precise and efficient processing of complex curved surface five-axis numerical control machining, and particularly relates to a method for cutter-axis vector fairing based on machine tool kinematical constraints in the process of complex curved surface five-axis numerical control machining. The method is characterized by establishing a machining tool swivel feeding shaft angle optimized mathematical model on the basis of determining a cutter-axis fairing adjustment interval on a processing track curve and determining a discrete point according to the cutter step length, carrying out optimization on the corresponding machining tool swivel feeding shaft angle of the discrete point, and determining a corresponding coordination calculation method of a cutter-axis vector; then calculating the rotation angle of the cutter-axis vector opposite to the curved surface normal vector corresponding to the discrete point; and finally, carrying out fitting on the acquired discrete processing track normal vector angle, thereby acquiring a cutter-axis vector function for fairing, and ensuring a rotation axis of a machine tool to be smooth in motion. The method provided by the invention realizes smooth motion of the rotation axis of a five-axis numerical control machine tool, is wide in application range, and effectively improves the processing quality of the complex curved surface.

The invention discloses a ground line device of a power transmission line tower, and the device comprises a line clamp which consists of two articulated splints and a torsion spring, a block pin is arranged between the two splints, the line clamp is connected with a grounding seat by a flexible copper wire, the tail ends of the two splints are respectively provided with symmetric connecting plates, opposite surfaces of the two connecting plates are symmetrically provided with clamping blocks which are respectively provided with cross clamping slots, and one end of the flexible copper wire which is connected with the line clamp correspondingly are divided into two connecting terminals and are respectively connected with the two connecting plates. A dedicated hitching device of the ground line device comprises an insulating bar, the front end of which is provided with a connecting shaft, and the front end of the connecting shaft is provided with a cross shaft head which is matched with the cross clamping slot of the ground line device of the power transmission line tower. The device has the advantages of simple structure, convenient use, time-saving and labor-saving operation, high safety performance, light self-weight, easy carrying and labor-saving disassembly, and the device can realize the ground line hitching on various towers at one step and is especially suitable for a tower with a large rotation angle and a terminal tower.

The invention discloses an integrated control method for distributed control of an electric automobile. The integrated control method comprises the following steps of according to automobile speed, a steering wheel rotating angle and a steering wheel rotating angular speed, obtaining an expected yaw angular speed and an expected mass center sideslip angle by a signal processing layer by referring to a module; in an integrated control layer, according to the actual value of the yaw angular speed and the expected yaw angular speed, deciding a rear wheel additional yaw torque required for realizing control of the stability of the automobile; according to the actual valve of the mass center sideslip angle and the expected mass center sideslip angle, deciding the front wheel additional rotating angle required for realizing control of the stability of the automobile; in a control distribution layer, according to a target driving torque of a driver and the rear wheel additional yaw torque, reasonably distributing four-wheel driving force, and according to a target front wheel rotating angle of the driver and the front wheel additional rotating angle, correcting the front wheel rotating angle; and controlling the yaw stability by an executing layer through a hub motor. The integrated control method disclosed by the invention has the characteristics that the handling safety stability of the automobile is high, and the steering comfortability of the driver is improved.

The invention discloses an electro-hydraulic power steering system for an engineering mechanical vehicle based on vehicle speed and load signal control. A steering hydraulic pump of the electro-hydraulic power steering system is connected with a rotary valve and is connected between an oil storage device and a direct current motor; the rotary valve is connected with a power-assisted steering oil cylinder; the direct current is connected with a steering control unit through a driving circuit; the steering assisted cylinder is connected with a steering gear plumbing arm; the other end of the steering gear plumbing arm is connected to a steering knuckle arm through a steering straight pull rod; the steering knuckle arm is connected with wheels; a wheel rotary angle sensor, a vehicle speed sensor, a steering shaft load sensor, a steering wheel rotary angle sensor and a torque sensor are respectively connected with a steering control unit; both the vehicle speed and the load are consideredin the whole control system; the steering control unit is controlled by closed loop feedback; the defects that a steering force is insufficient or over great caused by incomplete signal acquisition is prevented; the precision of steering control is improved; and the aim of saving energy is achieved.

There is provided a position ensuring system for oblique machining in a five-axis machine tool which, based on the inclination and the direction of an inclined hole to be machined, carries out measurement of an error in the pivot angle of a spindle head and an error in the rotation angle of a table before initiating machining of the hole, and can automatically correct the pivot angle of the spindle head and the rotation angle of the table upon machining of the hole, thereby precisely ensuring the position of the spindle head and the position of the table in the machining.

The position ensuring system includes: an A-axis calibration means for measuring a displacement angle, which is an error between a target value and a measured value of the pivot angle of the spindle head about the A-axis as the spindle head is pivoted to meet the inclination angle of an inclined hole to be machined in a workpiece, and correcting the pivot angle about the A-axis in such a manner that the displacement angle as measured with the corrected pivot angle as a target value fall within a tolerable range, before initiating machining of the workpiece, the measurement of displacement angle being carried out for all the inclined holes to be machined by execution of a measurement program prepared based on data on the shapes, including the inclination angles and the directions, of the inclined holes to be machined; a corrected data storage means for storing the corrected pivot angle about the A-axis for each of the inclined holes to be machined; and an A-axis control means for reading out the corrected pivot angle about the A-axis for each inclined hole upon executing a machining program for the workpiece by means of an NC apparatus, and instructing the corrected pivot angle about the A-axis to pivot the spindle head when executing oblique machining of the inclined hole.

The invention relates to a torsional fretting friction wear test method, the method is that: an upper testing part is clamped in an upper clamp, a lower clamp is fixed with a high-precision low-speed rotation table by a thread, a vertical central line of a holding cavity of the lower clamp is aligned with a rotating shaft of the high-precision low-speed rotation table, a spherical lower testing part is clamped by the lower clamp; the upper clamp is controlled for up and down movements by a data collection control system, the upper and lower testing parts are contacted and are exerted by a set load, at the same time, the lower clamp and the lower testing part clamped by the lower clamp are controlled by the data collection control system to carry out a plurality of times of reciprocating rotations by a set rotation speed and a rotation angle; at the same time, the friction torque is measured by a six-dimension force/torque sensor which is connected with the upper clamp and is sent to the data collection control system, and a torque-angular displacement curve under the set rotation speed and the load conditions can be obtained by analysis. The method can conveniently allow the materials to generate the small angle torsional fretting friction wear, the degree of the automation is high, the precision of the control and the test is high and the reproducibility of the test data is good.

The invention relates to a laser amplification measurement method of the deformation of a twisted structure by utilizing laser. The technical proposal of the invention is as follows: a support is arranged on a rotation angle part to be measured of the twisted structure to be measured, a laser beam transmitter is arranged on the support, a scale optical target is set, when the twisted structure to be measured is displaced or twisted, a laser beam which is transmitted by the laser beam transmitter is displaced at a projection point on the optical target, a deformation valve of the rotation angle or a twist angle of a measurement point of the twisted structure to be measured is obtained according to the formula that Theta is equal to arctg (Delta divided by L), and the stiffness parameters of the twisted structure to be measured is calculated, thereby obtaining the tiny rotation deformation amount of the point to be measured. The shortcoming that the non-contact measurement instruments are always lack of precision on the long-distance measurement of the tiny deformation of large-scale structures is solved. The laser amplification measurement method of the invention arranges the measurement instrument on a measured object to allow the measurement instrument to move together with the deformed part of the measured object, thereby having the advantage that the tiny displacement to be measured is fully amplified by utilizing the optical lever principle.

The invention provides a numerical control wire arranging device adaptable to occasions of drawing machines, enameling machines, tin machines, bare wire rewinder and the like and a wire arranging method thereof. The numerical control wire arranging device comprises a motor, a lead screw, a master screw, a forward rotating limit device, a counter-rotating limit device and an encoder, and thereby the numerical control wire arranging device has the advantages of simple structure, hard breakage and easy overhaul. In the wire arranging method, counting value of the encoder connected to the lead screw reflects angles of rotation and numbers of revolution of the lead screw, thereby reflecting straight-line motion distance of the master screw, and the encoder controls the motion of the motor through programs, thereby controlling range of motion and mode of motion of the master screw. Extreme position of the linear motion of the mater screw is limited by the forward rotating limit device and the counter-rotating limit device. After an input device of a control system is controlled to input set value, a combination of subprograms of system initiation, fixed distance wire arrangement, variable distance wire arrangement, variable speed wire arrangement and stop wire arrangement is operated for meeting requirements of wire arrangement of different take-up reels.

The invention relates to an electronic speed differential control system of an electric wheel drive vehicle, which comprises a controller, a motor controller of each hub motor, a rotation angle sensor, an electronic accelerating pedal and a rotation speed sensor, wherein the rotation angle sensor is used for measuring the rotation angles of a steering wheel; the electronic accelerating pedal can output opening values; and the rotation speed sensor is used for measuring the actual rotation speed of the hub motor. The signal output ends of the electronic accelerating pedal, the rotation speed sensor and the rotation angle sensor are respectively connected with the signal input ends of the controllers. The controller is communicated and connected with the controller of each hub motor. Each controller comprises a first-stage following control module and a second-stage following control module. The invention can be used for reasonably controlling the electronic differential speed of each driving motor.