313 results about "Curvilinear motion" patented technology

Automotive electronic control unit programmed to realtime estimate either or both of vehicle mass and road slope, wherein; a. road slope, is estimated; a1. when vehicle is considered stopped based on an accelerometer signal indicative of vehicle acceleration, wherein the vehicle is considered stopped in the presence of substantially zero values of a speed signal indicative of vehicle speed, and a2. when vehicle is in rectilinear and curvilinear motion by implementing a road slope observer based on a linear Kalman filter, which is designed to: a21. operate based on signals indicative of vehicle speed and acceleration, and a22. compensate for accelerometric disturbances due to; a221. vehicle static pitch resulting from vehicle load distribution, and a222. vehicle dynamic pitch due to acceleration to which vehicle is subjected during motion, and a223. accelerometric disturbance components due to vehicle lateral dynamics; b. vehicle mass is estimated: b1. when vehicle is in motion, and b2. based on a recursive least square algorithm with forgetting factor, and b3. based on an accelerometric signal indicative of vehicle acceleration, on a vehicle speed signal, and other signals representing a vehicle propulsive/resistive torque, and b4. at different low gears, to provide a mass estimation and an associated variance for each gear, and b5. based on mass estimations and corresponding variances for each gear, and b6. compensating for accelerometer disturbances due to: b61, vehicle dynamic pitch; and b62. accelerometrie disturbance components due to vehicle lateral dynamics; and b7. minimizing uncertainties on propulsive/resistive torque due to gear efficiency and roiling resistance.

An apparatus (102) comprises a mechanical interface configured to mechanically receive a module (101) into an assembled configuration. Within said mechanical interface, the apparatus comprises a first connector configured to receive a first matching counterpart in a first insertion direction (103), and a second connector configured to receive a second matching counterpart in a second insertion direction (104), which second insertion direction is the direction of a curvilinear motion and different from said first insertion direction (103). The apparatus (102) comprises a hinge joint between said first connector and a body of the apparatus. The hinge joint has an axis of rotation, which is essentially perpendicular against said second insertion direction (104).

The invention discloses a parameter adapting and calibrating robot NURBS curvilinear motion interpolation method. The method includes the steps of 10, according to input motion parameters, obtaining an NURBS curve expression and a derived function expression adopted in the parameter calibrating process; 20, according to an improved Admas differential equation, estimating a node vector u of motion parameters; 30, according to constraint condition, correcting the node vector u of the motion parameters adaptively; 40, smoothing the motion parameters in the adaptive process; 50, completing posture interpolation through the spherical linear interpolation slerp method to obtain position interpolation coordinates and posture interpolation coordinates; and 60, carrying out positive solution and inverse solution calculation of robots to obtain a joint angle interpolation sequence. According to the method, the problem that the deceleration distance is long at the parts with large curvature change in the NURBS track interpolation process can be effectively solved, and the flexibility of joints of the industrial robots in the motion process can be improved.

The invention relates to a target tracking method based on a double-layer forecasting mechanism in a sensor network, wherein, the sensor network is based on a hierarchical wireless sensor network and consists of an SN node and a CH node; the detailed steps of the invention are that the SN node adopts a Bayes estimation method to carry out the micro-forecast of a target location; the CN node obtains the observed value of the target location by combining the result of the SN node; based on a curvilinear motion equation, the CH node carries out the macro-forecast of the target location so as to obtain the estimated value of the target location; the CH node carries out the linear fitting of the observed value and the estimated value of the target location to solve a final target tracking location. The invention is technically characterized in that a WSN is fully utilized to realize the target tracking; the tracking method fully considers the needs of low complexity, low communication traffic and low energy consumption of the WSN target tracking method and passes a theoretical analysis and a simulated verification. The locating and tracking method in the invention is capable of accurately and quickly solving the motion parameters of the target by programmed location software.

Belonging to agricultural machinery, the invention relates to a mixed higher-order deformed elliptical gear planetary pot seedling transplanter seedling separation mechanism, which mixes two pairs of deformed oval gear pairs and two pairs of deformed elliptical gear pairs to serve as a variable speed transmission mechanism. Specifically, a sun gear and two middle gears engaged with it are deformed oval gears, and the rest are all deformed elliptical gears, two parallel middle wheels are respectively positioned on middle wheel shafts, which are parallel with a central driving shaft and planet wheel shafts, but these shafts are not in one plane; planting arms are fixedly installed to the planet wheel shafts perpendicularly; a seedling separation housing is perpendicularly mounted at the outer ends of the planet wheel shafts, and the seedling separation housing is equipped with a seedling fetching rod, a seedling pushing rod, a shifting fork, a pressure spring, a cam and spring steel sheet seedling needles. The mechanism of the invention realizes a seedling fetch curvilinear motion of the needle point in a static track which is seal shaped and has an olecranon-like projection, and has the characteristics of simple and novel structure, small volume, light weight, small vibration, high work efficiency and good operation quality.

The invention discloses an omnidirectional mobile device for an electric wheelchair, comprising a driving chassis, a swing mechanism and a supporting chassis, wherein a driving gear is installed on the supporting chassis, and the supporting chassis plays a role in supporting; a direction locking caster is arranged on the driving chassis, and the swing mechanism is used for connecting the supporting chassis and the driving chassis and causing the driving chassis to move axially along the swing mechanism. The omnidirectional mobile device for the electric wheelchair implements three modes of linear motion, curvilinear motion and side moving motion through cooperation of the direction locking caster and the driving gear. And the omnidirectional mobile device for the electric wheelchair has the following advantages: the omnidirectional mobile device can implement omnidirectional flexible movement, and has a function of implementing omnidirectional motion without turning radius; the omnidirectional mobile device is high in load capacity, non-slipping, high in controllability, quiet, high in reliability and low in production cost.

The invention discloses a method and a device for inserting a video advertisement. The method comprises the following steps: acquiring video data, and analyzing the characteristic data frames of the video data; associating the characteristic data frames of the video data with advertisement data according to the result of analysis, wherein the advertisement data is stored in a preset advertisement database; determining an advertisement image popped up at each characteristic data frame and a pop-up position thereof, wherein the advertisement image is a thumbnail image of the advertisement data associated with the characteristic data frame, and the pop-up position is a position matching the associated advertisement data in an image of the characteristic data frame; and when each characteristic data frame is being played, flying out an advertisement in the corresponding pop-up position, and doing curvilinear motion according to a preset trajectory. According to the method, an advertisement is inserted by popping up an advertisement image in a pop-up position, the advertisement image occupies a small area of a screen and is of low interference to users, and the advertisement data is an advertisement associated with a characteristic data frame. Thus, advertisement delivery is more accurate, and the effect is more outstanding.

The invention discloses a point contact gear and a meshing pair based on conjugate curves and a machining tool of the point contact gear and the meshing pair. The point contact gear comprises a convex gear and a concave gear which are in one-point or multi-point contact meshing, and a contact curve composed of meshing points on a tooth profile curved surface of the convex gear and a contact curve composed of meshing points on the concave gear are the conjugate curves. According to the point contact gear meshing pair based on the conjugate curves, a convex gear tooth surface and a concave gear tooth surface are in one-point or multi-point contact at the same time according to the meshing mode of the meshing pair, and the contact tracks of the contact points on the tooth surfaces are smooth space curves. The meshing characters of the conjugate curves are inherited by the transmission, point contact tooth profiles are high in contact strength, high in bearing capacity, high in transmission efficiency and low in lubricating oil temperature rise, the sliding ratio is greatly lowered, and abrasion is low. Meanwhile, gear meshing achieves one-point contact or double-point contact or multi-point contact at the same time through different contact curves according to different use needs, and the problem that an existing point contact gear with a ball race pipe type envelope surface with a sphere center moving along a circle center curve as a tooth profile curved surface only achieves one-point contact in the meshing process is solved.

The invention discloses a method for thermally adjusting width of a crystallizer. The method comprises the following steps of: 1) positioning the narrow side of the crystallizer at an initial position; 2) performing uniformly accelerated curvilinear motion on the top end of the narrow side of the crystallizer relative to a casting blank, and after the top end reaches a preset middle position, performing uniformly retarded curvilinear motion on the top end of the narrow side of the crystallizer; 3) after the bottom end of the narrow side of the crystallizer moves for a certain time at the top end, performing motion according to the track of the top end of the narrow side in the step 2); and 4) after the top end and the bottom end of the narrow side of the crystallizer reach the target set positions, finishing a width-adjusting process. Online width quick adjustment on the crystallizer can be realized under the condition of a full pulling speed, and the metal yield and the production operation rate are improved. The invention also discloses a crystalline wedge-shaped blank. Envelope lines on the two sides of the crystalline wedge-shaped blank are symmetrical mutually. Each envelope line comprises two sections of externally tangent arc lines, wherein the radians of the arc lines are alpha-0 and 0-alpha respectively, and circle centers are respectively positioned on the left side and the right side of the envelope line. Due to the shape of the envelope lines of the crystalline wedge-shaped blank, a casting blank shell can be stably and continuously supported in a width-adjusting process, a steel-leaking accident is prevented, and a casting defect is overcome.

The present invention relates to a magnetic sensor of rotary, linear or curvilinear displacement using at least one permanent magnet and at least one magnetosensitive element, which can move with respect to one another, characterized in that the magnet exhibits a direction of magnetization that varies continuously along the direction of displacement, with the exclusion of a diametral magnetization in the case of a rotary sensor.

The invention provides a co-location method of AUVs (Autonomous Underwater Vehicles) in a curvilinear motion state based on a polar coordinate system. A main AUV is equipped with an IMU (Inertial Measurement Unit) with high precision, and sub SUVs are equipped with IMUs with relatively low precision. The co-location method comprises the steps of measuring motion information of a carrier by fusion of the IMUs of the sub AUVs, measuring information of distances and orientations of the sub AUVs relative to the main AUV, and finally, performing co-location by virtue of EKF (Extend Kalman Filter). Compared with a traditional algorithm based on a Cartesian coordinate system, the co-location method is higher in precision when the AUVs do curvilinear motion.

The invention is applicable to the technical field of robots, and provides a space trajectory transition method and system for an industrial robot and the robot. The space trajectory transition methodcomprises the following steps of: constructing a transition region curve according to a linear motion trajectory, an arc curve motion trajectory and transition normalization parameters, calculating the boundary speed of the transition region curve according to a bow height error and a maximum acceleration, and optimizing the transition region curve according to the boundary speed, obtaining position information of each interpolation period of the transition region based on the transition region curve and controlling the robot to move according to the position information. By constructing thetransition region curve and limiting the boundary speed, the transition trajectory can be kept consistent at a low speed and a high speed. Since the trajectory speed of the transition region is determined according to the bow height error and the maximum acceleration, the transition speed can be ensured to be within the allowable range, and the curvature of the transition trajectory and the original trajectory changes continuously at the junction, thus realizing smooth transition.

The invention relates to a numerical control universal worm grinder. The numerical control universal worm grinder is characterized in that a rear grinder body and a front grinder body are fixedly connected into a T-shaped layout; the front grinder body is provided with a Z-axis guide rail, and a sliding platform is positioned on the Z-axis guide rail and is driven to move by virtue of a Z-axis servo motor and a lead screw; and a head frame and a tail frame are arranged on the sliding platform, a workpiece is supported between the head frame and the tail frame, and a C-axis servo motor drives the workpiece to rotate by virtue of a synchronous tooth-shaped belt, a shifting fork and a chuck on the workpiece. The rear grinder body is provided with an X-axis guide rail, a cutter platform is positioned on the X-axis guide rail and is driven to move by virtue of an X-axis servo motor and a lead screw; a rotary platform surface is arranged on the cutter platform and is driven to rotate by a B-axis servo motor; the rotary platform surface is fixedly provided with a grinding head vertical column which is provided with a rotary sleeve, and the front end of the rotary sleeve is provided with a front flange which is provided with a grinding head; and the rotary sleeve and the front flange are driven to rotate by virtue of an A-axis motor, and a grinding wheel on the grinding head is drivenby a grinding wheel motor. In the numerical control universal worm grinder, the axial parallel motion or curvilinear motion of the grinding wheel relative to the workpiece and rotary motion of the workpiece and the grinding wheel can be realized, and the grinding of the common cylindrical worm and a ring-surface worm is realized.

The invention discloses a four-slider zoom compensation mechanism of a zoom lens and relates to a zoom compensation mechanism, which belongs to the technical field of photoelectric instruments. The technical problem to be solved is to provide the four-slider zoom compensation mechanism of the zoom lens. The technical scheme is that the four-slider zoom compensation mechanism of the zoom lens comprises the following parts: a cover plate, a left adjusting nut, a left bearing retainer ring, a first steel ball, a first slider, a cam, a zoom carriage, a zoom guide shaft, a lens cone, a second steel ball, a second slider, a third slider, a compensation lens set, a compensation carriage, a zoom lens set, a fourth slider, a compensation guide shaft and the like. When the cam rotates, the zoom guide shaft performs curvilinear motion along a cam groove to drive the zoom lens set to move axially along the first slider and the second slider; meanwhile, the compensation guide shaft performs the curvilinear motion along the cam groove to drive the compensation lens set to move axially along the second slider and the forth slider, so that the focus distance regulation of a large-aperture zoom lens is realized, and regulation precision is high.

The invention relates to a power machinery closed loop face-to-face double gear case inclination type excitation test stand. The power machinery closed loop face-to-face double gear case inclination type excitation test stand comprises a transverse gear case excitation device, a power machinery closed loop face-to-face double gear case inclination type test stand, a portal frame vertical excitation device, a vibration isolation T-shaped groove cast iron base platform, a vibration isolation concrete base and a vibration isolation spring group system arranged at a lower end of the vibration isolation concrete base. Through cycle use of the power in a closed loop system, energy consumption is reduced, tests can be maintained through utilizing a motor with small power to compensate a part of the power, so the energy saving purpose is realized; the test stand is an inclination type test stand, so the gear cases are enabled to generate certain inclination angles transversely and vertically, lubrication oil distribution and the lubrication situation of the gear cases can be simulated and detected when a high speed train is under conditions of curvilinear motion, braking and acceleration, through the test stand, safety operation of a high speed train group is improved, travelling comfortableness of a high speed motor train unit is improved, and development of the motor train unit technology is greatly facilitated.

The invention relates to a Legendre-orthogonal-decomposition-baesd curve motion trajectory SAR wave-number domain imaging method. The method comprises: constructing a slant range history expression ina curved motion trajectory mode by using a three-dimensional speed and a three-dimensional acceleration; carrying out polynomial expansion on the constructed slant range history expression and carrying out keeping to the fourth order; transforming an SAR echo signal corresponding to the slant range into a two-dimensional frequency domain to obtain a two-dimensional frequency spectrum; with a Legendre orthogonal polynomial, spreading the two-dimensional frequency spectrum for a distance range frequency and carrying out keeping to a third order; carrying out phase compensation based on a two-dimensional frequency spectrum developed based on Legendre and completing distance migration correction and distance range focusing; and carrying out azimuth compression in a distance-Doppler domain andcarrying out transformation in a two-dimensional time domain to obtain a focusing image. Therefore, a target imaging blurring problem at the scene edge is solved.

The invention discloses a worm and a worm gear on the basis of conjugate curves, and a mesh pair with the worm and the worm gear. The worm gear and worm mesh pair comprises the worm gear and the worm which are meshed with each other; a contact curve gamma 1 which consists of meshed points on a tooth profile curved surface of the worm and a contact curve gamma 2 which consists of meshed points on a tooth profile curved surface of the worm gear are the conjugated curves; the tooth profile curved surface of the worm is a spherical enveloping surface in the shape of a tube nest, and the spherical center of the spherical enveloping surface moves along circle center curves gamma 1' equally distanced from the contact curve gamma 1; and the tooth profile curved surface of the worm gear is a spherical enveloping surface in the shape of a tube nest, and the spherical center of the spherical enveloping surface moves along circle center curves gamma 2' equally distanced from the contact curve gamma 2. The worm gear, the worm and the worm gear and worm mesh pair on the basis of the conjugate curves have the advantages that the tooth profile curved surfaces of the worm gear and the worm which are meshed with each other are the spherical enveloping surfaces in the shapes of the tube nests, and the meshed points between the worm gear and the worm move along the conjugate curves; and the mesh characteristics of the conjugate curves are inherited for the worm gear and worm mesh pair, the contact strength of tooth profiles which are in concave-convex point contact with one another is high, the carrying capacity and the transmission efficiency are high, and temperature rise of lubricating oil and abrasion are low.

The invention relates to a quantitative rock soil ore loading station, which is a device capable of loading bulk cargos into a railway wagon by a hopper. The quantitative geotechnical ore loading station comprises a steel structure frame, and a conveying belt machine head arranged at the topmost end of the steel structure frame, wherein a buffer bin with a double-wing radial gate, which is arranged on the steel structure frame, is arranged below the conveying belt machine head, and a quantitative bin with a double-wing radial gate, which is connected with the steel structure frame by a weighing device, is arranged below the buffer bin; and a swing type chute with a radial gate, which is arranged on the steel structure frame, is arranged below the quantitative bin, and an anti-wear grating is respectively arranged on the inner walls of the oblique bin plates of the buffer bin and the quantitative bin. The anti-wear gratings allow the gratings in the bin wall plates to be filled with materials after loading and protect the bin wall plates, and the curvilinear motion formed by the closing of the swing type radial gate can effectively prevent large-particle materials from being stuck and ensure the closing of the gate; and the swing type chute with the radial gate can effectively control rock soil material flow and prevent the rock soil from vertically falling down to cause too great impact on the wagon.

The invention discloses a unit arc length increment interpolation method for interpolation of a space curve in a numerical control machine tool. The unit arc length increment interpolation method comprises the steps as follows: taking an arc length as an independent variable and an arc length increment in each interpolation calculating cycle as a unit length, projecting the increment on coordinate axes respectively by calculating the projections of the increment on the coordinate axes and determining if the axis is fed by using a rounding-off method. The unit arc length increment interpolation method has the advantages of both a pulse increment interpolation method and a data sampling interpolation method, so that curve interpolation has the advantages of high precision and simplicity for calculation in the pulse increment interpolation method, linear speed and angular speed can be kept uniform, two or more curvilinear motions can be synchronously interpolated, and curve interpolation of multi-axis linked complex space taking angle and displacement as independent variables can be also realized.

The lower hook housing driving device with compact structure and stable operation for net weaving machine includes one frame and one lower hook housing. The frame is provided with spindle and upper shaft and lower shaft with orifice plate. The lower hook housing has one right driving mechanism and one left driving mechanism with gear, upper cam, low cam and link rod mechanism separately, which realize complex curve motion of the lower hook housing and the lower hook so as to weave net via fitting with shuttle and other mechanisms in the net weaving machine. The lower hook housing can result in high work efficiency and lower labor strength.