673 results about "Foot type" patented technology

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

The invention provides a composite transformation mobile robot combining an elastic foot and a wheel type motion mechanism, which comprises a space machine body frame unit of a foot-wheel composite mobile transformation robot, driving wheel drive units, driven wheel driven units, four modular leg units, a control sensing system unit, a hermetical casing and a power source. The robot used elastic foot replaces the traditional rigid foot to increase the kinetic stability of the robot and reduce the vibratility and impact force of the robot, and is combined with a wheel type moving method, so that the quick mobility and high efficiency of the wheel type movement on a flat ground can be guaranteed, and the excellent maneuverability and strong obstacle crossing function of the foot type moving, creeping and climbing motion under complex terrains such as complex mountain environment and city terrain can be taken into account; as the foot type composite transformation mobile robot adopts modular design, the foot and wheel cannot interfere each other, the maintenance and replacement are convenient, and the motion pattern is flexible and variable; and the athletic ability of the robot is improved in virtue of the mutual transformation, coordination and combination of the foot type motion and the wheel type motion.

A system for custom fitting athletic shoes to an individual wearer includes a foot measurement device, an adjustable footform and an infrared activation chamber. Shoes of a single width for each length size have at least a portion of the upper made of heat malleable material to be custom fitted for width. Foot measurement data is used to calculate length size, width size and a number of custom adjustment factors. After the length size is calculated, the appropriately sized shoe and last are assembled together and subject to infrared radiation until the heat malleable material becomes plastic. Adjustments are then made to the last in accordance with the adjustment factors to provide custom width sizing. After further heat treatment to set the shoe upper and cooling, the shoe is complete. In this manner, if used in a retail setting, shoes are custom fitted to the wearer in a matter of minutes.

The name of the invention is 'system for fully automatically reconstructing foot-type three-dimensional surface from a plurality of images captured by a plurality of cameras simultaneously'. The invention relates to a system for fully automatically reconstructing foot-type three-dimensional surface from a plurality of images, comprising the following main steps of: firstly carrying out statistical analysis on a shoe-tree sample set so as to obtain the statistical deformation model; arranging the imaging environment; obtaining the calibrated template and the image of the human foot by a plurality of cameras; deforming statistical model, and fitting the foot type image so as to obtain the initially estimated model and generate the sparse grid model; and iterating to finely divide the grid model, wherein the image characteristic points from each image are divided in each turn of iteration, the plane characteristic point is matched with the space point, and the grid model is subdivided by using the spatial characteristic point; and finally obtaining the foot type model consistent with the target object. In the invention, a mark point is unnecessary to be set on the foot, and a high-precision laser measurement device is unnecessary; the camera and the computer are only used, and the shutter imaging time and the calculation processing time are only required. The system has fast speed, and can be widely applied to the condition for the three-dimensional reconstruction of the biological skin with relatively low precision request.

The invention provides an intelligent glass robot cleaner based on foot type wall climbing. The intelligent glass robot cleaner comprises a robot main body, a walking unit, four absorbing units, a driving unit, a machine body control unit, a clean unit, an image identification unit and a wireless control unit. The walking unit comprises four mechanical feet, the four absorbing units are respectively arranged on the four mechanical feet to form four absorbing feet, and the four absorbing feet and the driving unit conduct coordination motion under the effect of the machine body control unit and drive the robot main body to move. The image identification unit is connected with the machine body control unit, an obstacle and a curtain wall edge are detected by real-time collection of an image signal, and the collected image signal is transmitted to the machine body control unit after processed. The wireless control unit is connected with the machine body control unit and used for remotely controlling motion of the robot main body. The intelligent glass robot cleaner absorbs obstacles such as a crossed window frame on one side of glass, has an image identification function, and is flexible in walking mode, and stable in motion.

The invention provides a motion control system and method for electrically-driven a hexapod robot, relates to the field of motion control of hexapod robots, and aims to overcome the defects that a robot is usually low in independent flexibility, low in integral adaptability, low in motion control response speed, strong in dependence on the work environment and the like, and to solve the problem that complexity of the control system is increased because of various degrees of freedom. The control system comprises a foot-type module and a wheel-type module, and the control system is carried out according to the following steps particularly: 1, building a hexapod robot modeling module; 2, building a coordinate system calculating module; 3, controlling a servo motor through a motion controller for accurate position movement, and determining variation of the mass center of a robot platform through a posture motion module by applying a robot coordinate transforming matrix; 4, realizing moving forwards, retreat, left turn, right turn and the like of a wheel-type system. The control system and the control method are applied to the field of motion control of the hexapod robot.

The invention relates to a measuring method for rapidly obtaining foot three-dimensional foot-type information and a three-dimensional reconstruction model by means of an RGB-D camera. The method comprises the steps that the RGB-D camera is applied to rapid obtaining of three-dimensional information of the foot surface and fine reconstruction of the foot surface model, and under the situation that no mark points are used, three-dimensional coordinates of the foot curved surface are rapidly collected; an RGB-D camera is utilized for scanning the foot curved surface, depth information is obtained in real time, depth map data of different time sequences are fused, the overall model of the foot curved surface is reconstructed, and foot-type characteristic parameters are extracted and measured according to actual requirements. The measuring method is high in measuring efficiency, good in real-time performance, easy to implement, low in measuring cost, easy to operate and good in using effect.

The invention discloses a comprehensive foot profile three-dimensional individualized shoe tree model generation method for adjusting global parameter and local cross section. The method is taken in the following steps: 1, a three-dimensional standard shoe tree model and a user foot profile model are read in; 2, the foot profile parameter of the read-in foot profile model in the step 1 is measured and the shoe tree model parameter is calculated according to the foot profile parameter, then the shoe tree model is deformed under the drive of the shoe tree model parameter; 3, position control points are respectively defined for the foot profile model and the shoe tree model formed in the step 2; 4, the foot profile model is aligned with the shoe tree model in accordance with a match position reference point; 5, the section of the key position of the foot profile model is defined; 6, the section got in the step 5 and deform the shoe tree model is analyzed on the basis of the section; 7, the three-dimensional shoe tree model designed well is output. Based on the thought of stepwise refinement, the invention generates the individualized shoe tree model with high matching level according to the foot profile of the user and changes the actuality of rough classification and less comfort in the traditional shoe tree generation method.

The invention provides a six-wheel-foot type moving robot with three robot bodies, and belongs to the technical field of robots. The problems that an existing moving robot is singular in moving mode and insufficient in moving mechanism flexibility can be solved. The rear end of the front robot body is rotationally connected with the front end of the middle robot body through a front robot body hinge joint. The rear end of the middle robot body is rotationally connected with the front end of the rear robot body through a rear robot body hinge joint. A left front leg and a right front leg are distributed at the left and right sides of the front robot body and both rotationally connected with the front robot body. The left middle leg and a right middle leg are distributed at the left and right sides of the middle robot body and both rotationally connected with the middle robot body. A left rear leg and a right rear leg are distributed at the left and right sides of the rear robot body and both rotationally connected with the rear robot body. The wheel-foot composite type design is adopted by the legs of the robot, and switching of foot type movement and wheel type movement is achieved through a plane four-bar mechanism. The robot has a foot type stable walking function and a wheel type rapid moving function; a mammal-imitating type moving mode and an insect-imitating type moving mode can be achieved through foot type walking, and three steering modes of differential steering, front-wheel steering and pivot steering can be achieved through wheel type moving.

A foot shape generation system that is based on digital photography and a database to provide three-dimensional point cloud information for footwear designers and manufacturers to realize footwear customization. The subject 102 stands on a self-contained platform equipped with cameras 601, 602, 603, 604 and a computer 104. A set of digital cameras 601, 602, 603, 604 are positioned to capture the images from different views. A special calibration jig 1401 is preferably used for the software to convert image pixel data into real world dimensions. The software also extracts the foot profiles 1509 from the images 1504 and thereafter searches for similar foot shapes from a foot shape database 1513. A real-time mean foot shape 1515 is then generated from the similar shapes, which is thereafter modified 15116 using the person's dimensions and the foot profiles obtained. The three-dimensional coordinates 1517 of the modified foot shape can then be used for shoe last-making or fitting the foot to footwear.

Described are uppers for a shoe, particularly a sports shoe. The upper includes a plurality of first portions for receiving at least one toe of the foot, wherein the first portions can be moved substantially independently of each other and wherein the first portions comprise knitwear.

The invention relates to a six-wheel/leg half ball shell detecting robot, pertaining to the celestial body detecting facility field, which comprises a body and a moving mechanism connected which the body. The body comprises an upper chassis and a lower chassis, and a vision mechanism positioned at the upper end and a half ball shell; wherein the upper and lower chassis consists of two layers of round tray type structures which are parallelly arranged; the interlayer of the component is provided with an energy module; the circumferential edge between the upper chassis and the lower chassis is evenly provided with six wheel/leg structures. The middle part of the upper chassis is provided with an interlayer supporting component which fixes the vision mechanism which can be lifted. The robot can adapt to special environment through changing the different moving manners of the robot. The invention has the advantages of the foot type walking mechanism of a wheel type steering mechanism; the six groups of wheels/legs can realize a plurality of moving manners so as to realize no-radius turning; the two legs of the detecting robot can realize the function of an operation arm; flexible and reliable operation also can be progressed in special environment through arranging various additional devices.

A foot-type three-dimensional reconstruction and measurement method based on Kinect and binocular vision comprises the following steps of: the step S1, shooting a human body foot type from different angles, and obtaining a plurality of foot-type images and a plurality of foot-type depth images; the step S2, performing conversion from the depth images to three-dimensional coordinates; the step S3,performing feature matching of binocular images obtained from different directions, and obtaining three-dimensional coordinates of correct matching feature points through a binocular camera system; the step S4, solving an optimum rotation translation matrix by employing the correct matching feature points of the binocular images of different views through adoption of an ICP algorithm; the step S5,employing parameters obtained in the step S4 to perform point-to-point splicing of three-dimensional point cloud obtained by a Kinect sensor; and the step S6, performing surface reconstruction and rendering for the d three-dimensional point cloud splice in the step S5, obtaining a three-dimensional model of a foot, and performing measurement and extraction of feature parameters of the reconstructed foot model. The method provided by the invention is low in hardware cost, simple to operate, and accurate and rapid.

The invention relates to a foot wheel type robot leg structure. The foot wheel type robot leg structure comprises a thigh with the top connected with a first power mechanism, and the lower side of the top is hinged to an external member to form a hip joint; a wheel, a second power mechanism driving the wheel to rotate and a first elastic suspension unit hinged to a metatarsus rod are further arranged on the upper portion of the tail end of the thigh; the upper portion of the tail end of the thigh is hinged to the upper half of the calf to form a knee joint; the upper end of the calf is connected with a third power mechanism while the lower end is hinged to the metatarsus rod to form an ankle joint; the first elastic suspension unit comprises a sleeve and a sliding shaft respectively hinged to the thigh and the metatarsus rod, the upper end of the sliding shaft extends into the sleeve to slide in a reciprocating manner, an elastic part sleeves the sliding shaft, and the lower end of the elastic part is fixed on a boss on the lower half of the sliding shaft while the upper end of the same is fixed on the sleeve. The invention further discloses a foot wheel type robot. By the arrangement, foot type and wheel type walking modes can be realized.

Disclosed herein is a shoelace tightening device for making it easier for the wearer to tie shoelaces of shoelace-type shoes, including sports shoes. The shoelace tightening structure comprises a tightening lace, a pair of locking devices, and a shoelace. The tightening lace is successively threaded upward at both ends thereof through first and second row loops arranged in parallel along eyelet lines defined at left and right vamps of a shoe. The locking devices are fixed at opposite side positions above the eyelet lines. Through the locking devices are inserted both the ends of the tightening lace, respectively. The shoelace is tied on the tightening lace as both ends thereof alternately pass through portions of the tightening lace between the respective first row loops, and portions of the tightening lace between the respective second row loops so as to crisscross each other. The shoelace tightening structure of the present invention enables the wearer can easily tighten the shoe to conform closely with the shape of his/her foot by simply pulling the tightening lace, as well as can easily take off the shoe by pushing release buttons of the locking devices to loosen the tightening lace.

The invention relates the feet characteristic parameter shoehorn model automatic generation method, comprising the following steps: using the soot system to get the feet image, and using computer to synthesis three-dimensional feet model; utilizing the position relation date of feet characteristic parameter to confirm the position of three-dimensional feet model, and auto extracting the feet characteristic parameter; choosing the base shoehorn model from the base shoehorn model date; confirming the shoehorn characteristic parameter according to feet characteristic parameter, and then forming the base shoehorn model which fits the special feet according to the shoehorn characteristic parameter. On the base of the shoehorn model, the model can be modified according to the user requirement. The invention has the characters of high automatization and fast speed.

The invention relates to a method for directly generating digitalized shoe trees by using foot shapes, solving the difficult problem of customizing shoe trees by measuring feet. The method comprises the following steps: (1) selecting shoe tree samples to form a shoe tree sample set; (2) designing gauge points, determining gauge points on each shoe tree sample and then acquiring the positions of the gauge points by using a scanner to obtain gauge point distribution models of the shoe tree samples; (3) aligning the gauge point distribution models of the samples; (4) generating statistic deformation models of the shoe trees; (5) calibrating the parameter of each camera and then acquiring a plurality of images of target foot shapes; (6) calculating the center of gravity of the foot shapes; (7) estimating the sizes of the foot shapes; (8) estimating the direction of the foot shapes; (9) changing individual vectors in the statistic deformation models of the shoe trees according to the plurality of images of the foot shapes until the projection of the models in each image is most identical with the true images of the foot shapes; and (10) outputting digitalized three-dimensional shoe tree models. The invention has the advantages of full automation, high speed and efficiency, simple use, low cost and the like.

The invention discloses a self-adaption sand ground biomimetic mechanical foot, and belongs to a foot type robot mainly applied to walking on sand ground. The self-adaption sand ground biomimetic mechanical foot consists of a support frame, a linear motor, a connecting element, a first foot toe, a second foot toe, an elastic fabric, a buffer mechanism and the like, wherein the connecting element consists of a first connecting element, a second connecting element, a pin shaft and a screw stud; the buffer mechanism consists of a support frame, a foot sole, a spring and a connecting post, and is used for simulating an ostrich tarsometatarsus joint to achieve the buffer and shock absorption effects. The self-adaption sand ground biomimetic mechanical foot can achieve the beneficial effects that when the robot walks on the sand ground, the two toes are separated when the foot touches the ground; the elastic fabric spreads, so that the ground contact area is increased; the stability of the robot is improved; when the foot is lifted up, the two toes are closed and are overlapped for a certain area; the elastic fabric contracts; the stress area in the moving process is reduced. Meanwhile, the bottom of the first foot toe and the bottom of the second foot toe are provided with groove structures matched with the elastic fabric; the sand fixing and current limiting functions can be realized; the gait stability and the traction performance of the foot type robot can be improved.

The invention discloses a spherical robot having a bionic walking function. The spherical robot comprises a spherical shell module, a rolling driving module, a foot module, a supporting module and a foot balance module. The spherical robot disclosed by the invention has two basic movement modes of spherical rolling movement and foot type walking movement, so that the spherical robot has high movement efficiency of spherical rolling and good terrain adaptability of foot type walking, and can also enable the two movement modes to supplement each other, and the obstacle surmounting performance of the spherical rolling and the movement efficiency of the foot type walking are improved.

The invention provides a large space optical remote sensor four-dimensional regulating device, and belongs to the field of pose regulating devices used for ground installation and calibration of large precise optical equipment. The device comprises a bearing frame, a sliding block rocker type turning mechanism, two multi-foot type air floation supporting mechanisms, a spherical secondary supporting mechanism, a torsional pendulum regulating mechanism, a torsional pendulum keeping mechanism and a heavy load transitional motion assembly. When the device is used, the operation risk of an optical remote sensor in an installation process is low, and a pitching motion range is large when the pose is regulated; the multiple air feet are connected in parallel for use, the creeping phenomenon is effectively eliminated, and torsional pendulum regulating accuracy is improved. A fixed transitional motion supporting point is used in cooperation with an air floatation supporting point to constitute a four-dimensional small-route driving system having the high-resolution fine-tuning function, the device can meet the high-resolution pose regulation requirement for the optical remote sensor of optical detection, the shafting structure is greatly simplified, and installing and regulating difficulty is lowered. The device is small in appearance size, low in rotating center of gravity, short in production phase, capable of being used for the fields of installing, fixing, position pose regulating and the like of large space optical remote sensors.

The invention relates to a wheel type robot with a walking system, and the walking system is formed by combing foot type walking devices with a driving device and is connected with a fixing frame (7); each foot type walking device is composed of a follower gear (1), a leg type supporter and a hanging mechanism (15) provided with wheels (16). One connection point of the leg type supporter is hinged with an eccentric point of the follower gear (1), and the other connection point of the leg type supporter is hinged with the connection point of the hanging mechanism; the number of the foot type walking devices is at least two, and the hanging devices (15) of at least two foot type walking devices are provided with electric motors (19) for driving wheels (16) to rotate; the driving device is provided with a main electric motor and a main drive shaft (6) which is provided with a main drive gear (4) engaged with the follower gear (1). The wheel type robot with the walking system has the characteristics of high motion velocity, simple control and flexible turning, and has the function of foot walking, so that the robot has more adaptive capacity to the ground.

The invention belongs to the field of hydraulic foot type robots and relates to an active-softening foot mechanism of a hydraulic robot in order to solve the problem that an upper platform is not stable due to large contact force and shock between a foot end and the ground. According to the active-softening foot mechanism of the hydraulic robot, a foot sleeve in the foot mechanism is a hollow sleeve with the bottom end open; the top of the foot sleeve is provided with a boss, and the boss is provided with a plug pin hole used for being connected with a leg joint of the robot; the sleeve wall of the foot sleeve is provided with an opening which corresponds to a hydraulic cylinder; the hydraulic cylinder is arranged in the foot sleeve, and a cylinder barrel of the hydraulic cylinder is fixedly connected with the foot sleeve; a displacement sensor is located in the hydraulic cylinder; a servo valve is fixedly connected with the hydraulic cylinder through the opening of the foot sleeve; a cylinder rod of the hydraulic cylinder is connected with a force sensor, a sliding block, a spring, a foot end rod and a foot end hemisphere in sequence; and a pretightening screw is used for fixing the foot end rod and adjusting the pretightening force of the spring. The damping and rigidity of the active-softening foot mechanism can be also be adjusted under variable loads.

The invention belongs to a bionic piezoelectric foot type driver and belongs to the field of micro-mechanical and electronic engineering. Two driver driving feet are symmetrically arranged at two ends of a driver body, and each driving foot of the driver consists of a metal substrate, two first piezoelectric ceramic wafers, two second piezoelectric ceramic wafers and a cylindrical friction block. The metal substrate consists of a cross beam and a vertical beam, wherein one end of the cross beam of the metal substrate is fixedly connected onto the driver body through a screw, the two first piezoelectric ceramic wafers are symmetrically bonded on the upper and lower faces of the cross beam of the metal substrate, the two second piezoelectric ceramic wafers are symmetrically bonded on the left and right faces of the vertical beam of the metal substrate, and one end of the vertical beam of the metal substrate is fixedly connected with the cylindrical friction block. The bionic piezoelectric foot type driver has the advantages that the driving feet of the driver can imitate leg actions of walking animals, the driver is novel in structure, large in stroke and simple in structure, and a control system is simple.