73 results about "Gravitational force" patented technology

The invention discloses a critical parameter prediction method for a vertical cantilever fluid conveying pipe comprising a water injection pump and a Y-shaped nozzle, and relates to the field of fluid conveying pipe critical parameter calculation. The prediction method is based on an Euler-Bernoulli beam model and a momentum theorem, bending force, centrifugal force, Coriolis force, inertia force, gravity and additional force generated by an elbow are comprehensively considered, and an oscillatory differential equation of the fluid conveying pipe is established. The method comprises the following steps: performing dimensionless processing on an oscillatory differential equation by introducing dimensionless parameters, deducing a characteristic equation, a characteristic function and a characteristic value under a cantilever boundary condition, converting a partial differential equation into an ordinary differential equation set, and performing matrix solution; and finally, accurate prediction values of the critical flow velocity and the critical frequency can be obtained. The method can effectively reflect the influence rule of the nozzle and the concentrated mass on the vibration characteristics of the fluid conveying pipe, and realizes the accurate prediction of the critical parameters of the vertical cantilever containing the concentrated mass belt Y-shaped nozzle fluid conveying pipe.

The invention provides a boundary force control method and device based on gravitational equilibrium, equipment and a medium, and relates to the technical field of medical instruments. The method comprises the steps that current position information of a joint in a mechanical arm of a master console is obtained, and whether the joint enters a preset limiting buffer area or not is judged based on the information; and if so, dynamically generating a boundary force for preventing the joint from moving towards the mechanical hard limit based on the current position information and the gravitational equilibrium force of the joint. The boundary force is dynamically generated based on the current position information by setting the limiting buffer area room and taking the gravity balance force as the basis, it is ensured that generation of the boundary force is naturally matched with the joint load, and the reliability problem caused by parameter mismatching is reduced; meanwhile, as the boundary force directly derives from internal force adjustment, when the joint retreats from the limiting buffer area, the impedance force can be smoothly converged along with the position change, the residual interference force of traditional control is effectively eliminated, and therefore the reliability of preventing the joint from colliding with the hard limiting area is remarkably improved.

The invention is suitable for the technical field of automatic driving, and provides a dynamic Riemannian manifold artificial potential field obstacle avoidance method based on PPO reinforcement learning, and the method comprises the steps: dividing obstacles into three classes: pedestrians, vehicles and static obstacles through a target detection algorithm, and determining the risk distribution characteristics of each class; secondly, a 11-dimensional high-dimensional space-time state space is constructed, and risk pre-judgment is achieved; a PPO reinforcement learning algorithm is introduced, a high-dimensional state is used as input, four-dimensional potential field deformation parameters for three types of obstacles are output, and a differentiated continuous potential field form is autonomously learned; constructing a covariance matrix based on Riemannian geometry, generating a non-abrupt-change anisotropic repulsion field, and superposing a virtual escape force to crack a local minimum value; and synthesizing the gravitational force, the total repulsive force and the escape force to obtain a total potential field force, and outputting a steering angle and acceleration instruction conforming to vehicle dynamics constraints. According to the strategy, a complete obstacle avoidance framework is constructed, and the technical limitation of a traditional scheme is effectively relieved.

This utility model discloses a stage lighting device for stage use, relating to the field of lighting technology. It includes a base, a first support rod, a lamp body, a first support seat, and a protective cover located directly above the lamp body. An elastic support component connects the upper end of the first support seat to the base, and a second support rod is fixed between the protective cover and the first support seat. Through the coordinated arrangement of the first support seat, the protective cover, and the elastic support component, under normal use, the compression spring is compressed under the weight of the base, the first support rod, and the lamp body, and the protective cover is located directly above the lamp body, without affecting the lighting effect. When the device accidentally tips over, the gravitational force of the base, the first support rod, and the lamp body is insufficient to keep the compression spring compressed. The spring returns to its original position under its own elastic force, placing the lamp body inside the protective cover, thus preventing the lamp body from colliding with external objects and better protecting it.

This application belongs to the field of geophysical exploration technology, specifically disclosing a three-dimensional gravity and magnetic field joint inversion method based on deep learning pre-optimization and model fine-tuning. Through this application, after determining the pre-optimized joint inversion network parameters, the pre-optimized three-dimensional gravity and magnetic field joint inversion result is determined based on the two-dimensional gravity observation data and the two-dimensional magnetic observation data to be predicted. The pre-optimized joint inversion network parameters are then adjusted, and the optimal three-dimensional gravity and magnetic field joint inversion result is determined based on the adjusted optimal joint inversion network parameters. By combining network pre-optimization and network parameter fine-tuning, the method retains the generalization ability of the pre-optimized joint inversion network parameters while mitigating the impact of deviations between the observation data to be predicted and the pre-trained features of the dataset. Finally, the optimal three-dimensional gravity and magnetic field joint inversion result is determined based on the adjusted optimal joint inversion network parameters, thereby effectively improving the accuracy and efficiency of the three-dimensional gravity and magnetic field joint inversion.

According to the method, a surface gravity wave and inner interface wave velocity potential field is analyzed into a product form of a vertical characteristic item and a horizontal diffraction field, and dimensionality reduction solution of a three-dimensional wave problem is realized; a vertical characteristic function orthogonal system meeting free liquid level, seabed boundary and interface coupling conditions is constructed, horizontal diffraction potential is decomposed into an incident field, a local column and an adjacent column scattering effect, and a Bessel function addition theorem is applied to construct a closed linear equation set of a multi-column interference field; establishing an extended dispersion equation containing density spring layer parameters, and revealing a modulation rule of layered strength on complex wave propagation characteristics; and finally, through tensor product coupling of a vertical mode and a horizontal diffraction field, constructing a full-three-dimensional diffraction velocity potential analytical solution, synthesizing a cross-layer pressure field integral by adopting a domain decomposition technology, and establishing a multi-column array generalized wave excitation force forecasting model. According to the method, efficient analytical calculation of the wave load of the multi-column system in the layered fluid is innovatively achieved.

The invention discloses a method for determining the gravity center of an object according to universal gravitation between the objects and calculating a universal gravitation constant according to the gravity center. In general physics, the mass of the object can be considered to be concentrated at one point which is called the gravity center of the object, and the gravity center of the regular object with uniform mass is in the geometric center of the object; when the universal gravitation technology is applied, the description has deviation, the patent points out the deviation, and the invention provides a method for determining the gravity center of the object through the universal gravitation between the objects: determining the gravity center of the object: when the object is attracted by the universal gravitation of other objects, the mass of the other objects can be considered to be concentrated at one point, and the gravity center of the object is determined; the universal gravitation resultant force on the mass of each part forming the object when the mass of the other object is concentrated at one point is equal to the universal gravitation of the other object on the object when the mass of the object is concentrated at the gravity center; on the basis that the gravity center of an object is determined, the invention discloses a method for calculating a universal gravitation constant through experiments such as a Cabendish torsion balance and the like.

The invention discloses an energy conversion method and device based on a gravity field gas vertical pressure gradient, and relates to the technical field of gravity field gas thermodynamic cycle and energy conversion. Comprising the steps that a closed circulation channel composed of a gas conveying power unit, a gas conveying expansion unit, an acting output unit and a gas backflow unit is filled with working gas; the working gas at the low position is driven to rise in the vertical direction, adiabatic expansion and acceleration are carried out under the pressure decreasing condition, and gas internal energy and pressure energy are converted into kinetic energy; the high-speed gas is guided into the acting output unit to drive the generator set to generate electricity; and the acting gas naturally settles and is compressed in the backflow channel by virtue of gravity, exchanges heat with the environment in the settling process to recover the initial state, and then enters the power conveying unit again. According to the invention, a closed circulating acting path utilizing the vertical pressure gradient of the gravity field is constructed, and the comprehensive utilization efficiency of low-grade heat energy and gas pressure energy is improved.

The invention provides an agent hidden maneuvering method, system and device and a readable storage medium, and the method comprises the steps: determining a tangent plane of an obstacle in a target region, the tangent plane being perpendicular to a connecting line of a geometric center of the obstacle and a detection point; determining a first projection of the obstacle on the tangent plane by taking the detection point as a projection center, and determining a blind area corresponding to the obstacle based on a boundary of the first projection and a straight line connecting the detection point and the boundary; a reference path is determined in the target area based on a path cost function, the path cost function comprises the cost of the path passing through the blind area, the obstacle and the exposure area, and the exposure area is the area except the blind area and the obstacle in the target area; and by taking the reference path as a gravitational force source and the obstacle as a repulsive force source, constructing a simulation force field in the target area to generate a hidden maneuvering path of the intelligent agent. Compared with the prior art, the problems of insufficient concealment consideration, weak environmental adaptability and the like in the prior art are solved.

The application provides a construction method and device of a feedforward torque model of a coupling span driven joint, and the method comprises the following steps: constructing an initial dynamics equation of each joint according to a steel wire rope torque between coupling span driven joints of a target object, an effective torque of each joint of the target object, and a motor torque corresponding to each joint; establishing a friction force model of each joint according to an actual speed of each joint and an actual friction force of each joint, and constructing a gravity model of each joint according to a low-speed reciprocating motion state quantity of each joint; constructing a target feedforward torque model of each joint according to the initial dynamics equation of each joint, the friction force model of each joint, the gravity model of each joint, and an optimal trajectory, wherein the target feedforward torque model comprises an observation matrix and a minimum parameter inertia set; and controlling the motion of each joint in the target object based on the target feedforward torque model of each joint. The accuracy of tendon coupling span driven joint parameter identification is improved.

This application relates to a satellite orbit prediction method. The method includes: constructing an expression for the gravitational force acting on the satellite based on its mass and distance from Earth; constructing a differential equation for the satellite's acceleration based on Newton's second law and the expression for the gravitational force; solving the differential equation based on the conservative force field characteristics of mechanics, calculating the gravitational potential energy function and its derivative with respect to time; transforming the derivative expression based on the mechanical conservation law that the sum of the derivatives of kinetic energy and gravitational potential energy with respect to time is zero, to obtain the derivative expression for acceleration; converting the time relationship in the derivative expression of acceleration to a radial position relationship based on the principle of conservation of angular momentum; integrating the radial position relationship to obtain the satellite's orbit equation. This method enables satellite orbit prediction.

A heat source device (1) includes: a cylinder (71) which stores a flammable refrigerant and has, in a lower portion thereof, a discharge port (71a) for discharging the flammable refrigerant; a casing (21) having a bottom plate (23) on which a compressor (12) and the cylinder are set; and a restriction part (80) for restricting a direction in which the compressor is displaced when the heat source device falls. A first straight line (L1) is defined, in a top view of the heat source device in an installed state, as a straight line passing through the center of gravity (C1) of the compressor and the center of gravity (C2) of the cylinder. The restriction part, under conditions in which the first straight line coincides with the gravitational direction, restricts the displacement of the compressor toward the cylinder so that the displacement occurs in a direction away from the first straight line.

The present application is suitable for geotechnical engineering technical field, the present application provides a kind of slope body elastic stress calculation method under supporting action, comprising the following steps: the slope angle is β for the slope under the action of initial ground stress, slope top overload and supporting force is established mathematical model;The mathematical model is decomposed into: semi-infinite plane model α and gravity-free slope model β;The gravity-free slope model β is decomposed into: infinite plane inside semi-infinite hole model β1 under the action of virtual surface force V b Of hole edge, and, surface virtual surface force V v Under the action of semi-infinite plane model β2 without hole;The stress of semi-infinite plane model α, the stress of semi-infinite plane model β2, the stress of semi-infinite hole model β1 are calculated, and the stress analytical solution of model β is iteratively calculated.The present application can consider the influence of initial ground stress, overload, supporting pressure and anchoring force and other load actions simultaneously, to be suitable for the stress calculation of various angle slopes.

The application discloses a multi-directional control refill receiving pen, which comprises an inner rod assembly, an outer rod, a refill and a return spring; the inner rod assembly is slidably sleeved on the inner side of the outer rod, and the return spring is sleeved between the front part of the refill and the inner side of the inner rod assembly to provide a refill receiving reset force; the inner rod assembly comprises an inner rod main body and a top rod from bottom to top; the opposite ends of the inner rod main body and the top rod are extended and staggered to be inserted and slidably connected, and an impact track is arranged in the middle of the extended section of the top rod; a trigger controlled element, a trigger main control element and a refill receiving control mechanism are arranged on the inner side of the top rod; the refill receiving control mechanism is a switch for switching the refill receiving state in cooperation with the elastic force of the return spring; the trigger controlled element can be axially moved under the extrusion pressure of the trigger main control element; the trigger main control element can guide the direction of the gravity action according to the use state of the pen to move the trigger controlled element; and thus, the refill can be received in multiple control modes.

The invention discloses a truss manipulator zero-force dragging teaching method, which comprises the following steps of S1, building a truss manipulator kinetic model: obtaining parameters including gravity torque, static friction force and viscous friction coefficient by building a single-axis kinematics model of a truss manipulator; s2, designing an action process, and identifying each parameter of the kinetic model; and S3, compensating torque output required during mechanical movement according to the obtained identification parameters, and realizing zero-force dragging. The invention provides a zero-force dragging teaching method for a truss manipulator, which can enable an operator to enable the manipulator to move along an expected running track in a dragging manner, and after the dragging is finished, a system records the motion track during the dragging motion of the manipulator and reproduces the motion track during automatic running. Therefore, an operator only needs to understand the action technological process of the manipulator and does not need to have programming skills, application of the manipulator can be achieved, and the operation process is simplified.

The invention discloses a water hammer oscillation blockage removal method based on disturbance equation modeling, and relates to the technical field of oil and gas field exploitation and shaft physical blockage removal. Constructing boundary conditions of the negative pulse return-to-zero type switching valve; constructing a disturbance continuity equation and a disturbance momentum equation; the gravity influence is eliminated, and a water hammer wave disturbance equation set is built in combination with the pipeline friction coefficient; according to the interval and the time step length when the target shaft is dispersed, on the basis of the boundary condition of the negative pulse return-to-zero type switching valve, finite difference discrete processing is conducted on the water hammer wave disturbance equation set, and water hammer wave transient control equation sets corresponding to all depth nodes are obtained and solved in parallel; and pressure distribution and speed distribution of the water hammer waves in the propagation process in the target shaft are obtained, and then parameters of water hammer oscillation unblocking operation of the target shaft are designed or adjusted. According to the method, the water hammer wave disturbance equations suitable for different well types are constructed, the gravity effect requirement is eliminated, well depth and channel friction factors are uniformly incorporated into a modeling framework, and high-precision description of the transient propagation process of the water hammer waves is achieved.

Provided are an emblem lifting mechanism and a vehicle. The emblem lifting mechanism includes an emblem body (10), a driving assembly (20) and a clutch (30). The driving assembly is disposed in a vehicle body of the vehicle (500). The clutch selectively connects the driving assembly and the emblem body. When the clutch connects the driving assembly and the emblem body, the driving assembly is able to, through the clutch, drive the emblem body to move relative to the vehicle body of the vehicle and support the emblem body, and when the clutch disconnects the driving assembly and the emblem body, the emblem body is able to descend under gravitational force of itself. Thus, the emblem body can be effectively protected, and the emblem body is prevented from being damaged or stolen.

The invention provides a submersible obstacle avoidance method and system, electronic equipment and a storage medium, and belongs to the technical field of intelligent control, and the method comprises the steps: determining the gravitation between a submersible and a target point, and determining the repulsive force between the submersible and an obstacle; according to the relative motion relation between the submersible and the obstacle, the gravitational force and the repulsive force, a fused obstacle avoidance force is obtained; according to the dynamic performance index of the submersible, the steering instruction corresponding to the fused obstacle avoidance force is constrained, and the steering instruction of the submersible is obtained; according to a relative position relation between the obstacle and the target point, determining a safe positioning condition of the submersible; and when the distance between the obstacle and the target point does not meet the safe positioning condition, triggering positioning early warning, and controlling the submersible to adjust the course according to the steering instruction. According to the method, the artificial potential field gravitational repulsive force and speed obstacle prediction are combined, and the dynamic performance of the submersible and target area safety judgment are combined, so that the submersible is controlled to avoid obstacles in time, and the navigation safety of the submersible is improved.

The application discloses a kind of light frequency signal interplanetary gravity potential difference measurement methods, comprising: respectively establishing light clock light frequency comparison system on two planets needing to measure gravity potential difference, to construct planet-planet three-frequency combination light frequency comparison link;According to the planet-planet three-frequency combination light frequency comparison link constructed, bidirectional light frequency signal transmission, reception and reflection between two planets are carried out, respectively record the emission frequency f1 of planet one to planet two to planet one link, reflection frequency and receiving frequency, the emission frequency f2 and receiving frequency of link;According to the one-way frequency transmission model between stars, in combination with the frequency recorded, extract the gravitational redshift frequency shift between two planets;According to the relationship between gravitational redshift frequency shift and gravity potential difference, the gravity potential difference between two planets is calculated.

The invention discloses a robot joint torque generation method and device based on a kinetic model and a terminal, and relates to the technical field of robot control. The method comprises the steps of determining gravity torque based on a joint position observation matrix and a gravity parameter set of the robot; determining the kinetic friction torque based on the joint speed observation matrix and the kinetic friction force parameter set; the linear relation among the joint speed observation matrix, the kinetic friction force parameter set and the kinetic friction force torque is determined based on a gravity-coupled nonlinear kinetic friction force model; determining a friction torque based on the dynamic friction torque and the static friction compensation torque; and establishing a target kinetic model based on the dynamic inertia moment, the gravity moment and the friction moment for calculating the target joint moment. According to the method, automatic compensation of the static friction force is achieved, the gravity and the dynamic friction force are associated by introducing the gravity-coupled nonlinear dynamic friction force model, and the dynamic friction force parameter identification precision and the control performance under the load change working condition are improved.

The invention relates to a lifting system. The lift system is used to raise and lower a work surface. The hoisting system includes: a working surface including a first side, the working surface configured to apply gravity to the hoisting system; a leg assembly, the leg assembly being removably coupleable to the first side, the leg assembly being configured to translate the working surface between a first position and a second position; and a balancing mechanism couplable to the first side and the leg assembly, the balancing mechanism operable to provide a lifting force to at least partially counteract the gravity when the leg assembly translates the working surface.

The application relates to a kind of asteroid surface escape velocity calculation method considering rotation and terrain influence, comprising: obtaining the three-dimensional shape model of target asteroid and carrying out discrete, reading the vertex set and triangular facet set of polyhedron, carrying out gravity field modeling, establishing standard polyhedral gravity model;Define the logarithmic kernel function of each edge of each triangular facet, to determine the gravitational potential of target asteroid on any field point;Establish star-fixed coordinate system in standard polyhedral gravity model, determine the rotation speed of any point on the surface of target asteroid, thereby define the effective potential upper bound and the inertial system speed of the release instant of the particle on the surface of target asteroid;Based on the minimum escape condition that the kinetic energy of the particle on the surface of target asteroid is equal to the corresponding effective potential upper bound, determine the minimum normal escape velocity of the particle. Compared with the prior art, the application can quickly obtain accurate minimum escape velocity and corresponding escape direction at any surface point.

The invention provides a magnetic field self-adaptive buried cable inspection robot local path planning method and system, and relates to the field of robot path planning. By constructing a target constraint function, when a robot is far away from a target position, gravitation and the distance between the robot and the target position form a negative correlation; the situation that the robot jumps due to the fact that the robot is affected by overlarge gravitational force is avoided, and the situation that the robot collides with an obstacle due to the fact that repulsive force is ignored due to the overlarge gravitational force is avoided; an obstacle constraint formula is constructed, the distance between a target position and a current position is introduced into the repulsive force calculation process, the repulsive force is properly restrained at the position, close to the target position, of the robot, and therefore the robot cannot excessively deviate from a routing inspection path, and the robot can continue to move to the target position after obstacle avoidance; moreover, the robot can get rid of the local minimum state by introducing the virtual temporary target position, so that the robot can smoothly reach the target position.

Systems and methods are provided for determining the tilt-state of a moveable surface using a batteryless mechanism. A tilt-sensing device may be coupled to a moveable surface, such that the tilt-sensing device changes orientation in a manner corresponding the orientation of the moveable surface. The tilt-sensing device may include an antenna and a moveable component. The moveable component may change locations as the tilt-sensing device changes orientation due to gravitational forces. When the tilt-sensing device is in a substantially horizontal orientation, the moveable component may cause a distribution of material on the antenna. The distribution of material may detune the antenna by applying a load. Signals transmitted by the antenna may be shifted with respect to an expected frequency range. An external computing device may determine the tilt-state of the tilt-sensing device based on the presence or absence of a shift within received signals from the tilt-sensing device.

A collection container for separating and collection particles suspended in a sample fluid added to the collection container includes at least one barrier-forming fluid which is immiscible relative to the sample fluid and which has a specific gravity which is different from the specific gravity of the sample fluid. The barrier-forming fluid is situated in the collection container to be in contact with the sample fluid and to form with the sample fluid a fluidic imaging barrier at the interface between the sample fluid and the barrier-forming fluid. The particles suspended in the sample fluid will separate therefrom when centrifugal or gravitational forces are applied to the container and will collect at the fluidic imaging barrier for imaging by an optical imaging system.

The present invention relates to a telescopic energy system. The invention particularly relates to a self-contained, cyclically operating telescopic energy system based on external-internal axis movement, which converts the potential energy of gravitational force into mechanical energy via extendable arms, and then into electrical energy via an alternator.

The application discloses a kind of multi-span elastic supporting flow pipe stability parameter prediction method, it is related to flow pipeline vibration characteristic analysis technical field.By splitting the support position of multi-span pipeline into multiple independent pipe sections, vibration control equations describing each span pipeline are established respectively, the vibration control equations only consider the coupling effect of bending force, centrifugal force, gravity, coriolis force and inertia force of the pipeline, and do not contain any intermediate support constraint term;The intermediate support constraint is completely written into the inter-span coupling boundary condition, which avoids the defects of ambiguous meaning and difficult to converge in numerical calculation of traditional Dirac function method;By introducing dimensionless parameters to dimensionless the vibration differential equation, combined with the above elastic boundary and inter-span coupling constraint, the characteristic equation, characteristic function and eigenvalue under the complex boundary condition are derived, and the partial differential equation is converted into a system of ordinary differential equations after matrixization solution, and finally the accurate prediction value of natural frequency can be obtained.

A power machine (100) includes a power source (222), a first tractive element, a second tractive element and a tractive drive system (326) coupled to the power source (222). The tractive drive system (326) includes at least one drive motor configured to drive the first and the second tractive elements, a tractive drive control (327) and at least one sensor configured to sense six degrees of movement of the power machine (100). The tractive drive control (327) is configured to use sensor data from the at least one sensor to determine that the power machine (100) is located on a slope and automatically counteracts gravitational forces by applying a torque that causes the first tractive element to rotate at a different speed from the second tractive element.

The embodiment of the invention provides a spacecraft pursuit game solving method, device and equipment under a weak gravity system, and the method comprises the steps: obtaining a kinetic equation of a spacecraft under a gravity-free system, and constructing a Hamiltonian function based on a costate variable corresponding to a reference game type and the kinetic equation; on the basis of Hamiltonian functions corresponding to the tracking spacecraft and the escape spacecraft under the zero-gravity system, optimal control strategies corresponding to the tracking spacecraft and the escape spacecraft are determined through the minimum value principle, and an analytical calculation formula of a co-state variable at the initial moment is obtained; obtaining a kinetic equation and a target game type of the spacecraft under the weak gravity system, matching a corresponding co-state variable analysis calculation formula based on the target game type, and determining an initial value of a co-state variable; based on the weak gravitational kinetic equation and the initial value of the co-state variable, the equilibrium solution of the pursuit game corresponding to the target game type is solved through the minimum value principle, and the solving difficulty of the equilibrium solution of the game is reduced.