3005 results about "Gravity center" patented technology

The invention relates to the technical field of warehouse logistics equipment, and discloses an omni-directional intelligent mobile forklift control system. The system comprises a dynamic path planning module, an omnidirectional motion control module, a load stability monitoring module, an environment adaptive adjustment module and an intelligent obstacle avoidance decision module. The dynamic path planning module collects storage environment multi-dimensional spatial data and constructs a dynamic environment topological map; the omni-directional motion control module analyzes driving wheel parameters based on the map and generates an omni-directional motion composite motion instruction set; the load stability monitoring module collects a fork pressure distribution matrix and a cargo gravity center offset according to an instruction set, and calculates a stability compensation parameter; the environment adaptive adjustment module fuses illumination and slope data to generate a motion control constraint condition; and the intelligent obstacle avoidance decision module predicts a dynamic obstacle trajectory, outputs an obstacle avoidance path re-planning instruction and updates a map. The system can meet the requirements of modern intelligent warehousing.

The invention discloses a quadruped inspection robot space positioning method and system based on gravity center sensing, and aims to construct a gravity center potential energy field through foot end contact force and body attitude information, form a gravity center disturbance mode in combination with fluctuation spectrum analysis, and reveal a disturbance propagation mechanism. A reverse compensation technology is adopted to generate an anti-disturbance sequence, a foot end force distribution topology is reconstructed, and active disturbance suppression is achieved; a multi-frequency detection wave beam and coherent superposition technology is introduced, an environment hologram is generated, geometric topology is reconstructed, and a high-precision environment sensing system is established; high and low impedance regions are identified through energy density analysis, and an energy optimal path is constructed in combination with double strategies of potential field bypassing and streamline tracking; establishing an oscillation analysis space for path projection simulation, identifying resonance risk points and determining stabilization parameters; finally, a coordinate reference is generated by adopting a quantum entanglement type multi-anchor-point synchronization mechanism, accurate positioning is realized by fusing environmental geometric information, and a technical closed loop from gravity center dynamics analysis to environmental perception navigation is realized.

The invention discloses a tunnel monitoring method and system based on a vibrating wire sensor, and relates to the technical field of tunnel engineering construction safety monitoring, and the method comprises the steps: collecting the vibration frequency data and spatial position coordinates of the vibrating wire sensor in a monitoring region; the method comprises the following steps: calculating a time difference and an energy attenuation ratio between adjacent sensors by extracting spectrum energy density distribution, and constructing a stress wave propagation field; dividing grids in the propagation field to calculate node stress values, generating a stress field distribution cloud picture and extracting a stress concentration area; calculating a gravity center position coordinate change rate and a stress time sequence curve of the stress concentration area, and determining fracture extension parameters; and calculating a surrounding rock bearing capacity attenuation curve based on the parameters, and outputting an early warning signal when the slope exceeds a threshold value. According to the invention, real-time monitoring and early warning of the tunnel surrounding rock instability risk are realized.

The invention discloses an intelligent sorting and scheduling method and system for a multimodal transport scene, and relates to the technical field of warehousing, and the method comprises the steps: collecting the transportation mode identifiers of a plurality of transportation carriers, the physical attribute information of corresponding goods, and the operation state information of a three-dimensional sorting system in real time; analyzing the multimodal transport rigid rule information to generate a dynamic boundary condition of multimodal transport; importing the transportation mode identifier, the physical attribute information, the operation state information and the dynamic boundary condition into a deep reinforcement learning model; outputting a goods shelf distribution strategy for dynamically distributing storage levels according to the goods gravity center parameters and an equipment task sequence for controlling the AGV carrying robot to move; and a sorting execution instruction is automatically generated so as to correspondingly drive the three-dimensional sorting system to carry out goods sorting. According to the method, a'secure storage-time coupling-space cooperation 'technical closed loop is formed, and the comprehensive logistics cost of a multimodal transport full link is remarkably reduced.

The invention discloses a wind power generation system. The system comprises a ground device; the floating device comprises an adjusting air floating piece and a first annular air floating piece, the adjusting air floating piece is movably connected with the ground device, the first annular air floating piece is connected with the adjusting air floating piece, and a through duct is defined by the inner wall of the first annular air floating piece; the wind power generation device is arranged in the duct; and the position of the gravity center of the adjusting air floating piece in the extending direction of the duct is adjustable. According to the wind power generation system, the influence of airflow disturbance, temperature change and buoyancy lift gas leakage on the floating device can be reduced, the phenomenon that the pitching posture change amplitude is large is reduced, particularly, the included angle between the wind receiving face of the blade of the wind power generation device and the airflow direction is closer to the optimal value, the effective wind energy area flowing through the blade is increased, and the wind power generation efficiency is improved. And the fluctuation of the wind energy yield along with the posture is reduced, so that the wind energy utilization efficiency and the power generation output power are improved.

The invention relates to the technical field of vehicle body posture leveling control, and provides a vehicle body posture leveling control method and system for an electric mountain transport vehicle, and the method comprises the steps: obtaining ground contact state data and a transverse shaft rotation angle in real time, and carrying out the contact terrain analysis according to the ground contact state data to obtain terrain parameter information; carrying out vehicle load distribution analysis according to the ground contact state data and the terrain inclination parameters to obtain pressure gravity center shift data; adjusting the horizontal axis rotation angle according to the pressure center-of-gravity shift data to obtain a target horizontal axis rotation angle; according to the target horizontal axis rotation angle and the terrain pressure distribution data, carrying out wheel bearing demand analysis to obtain a wheel pressure adjustment strategy; and driving the suspension system to level the posture of the vehicle body according to the wheel pressure adjusting strategy. The terrain environment change can be sensed in real time based on the wheel ground contact state change and the vehicle gravity center shift monitoring mechanism, the rotation angle of the transverse shaft and the wheel ground contact pressure are accurately adjusted, and self-adaptive leveling of the vehicle body posture is achieved.

The invention discloses a movable frame device for a high-power turboprop engine test bed and the engine test bed. The movable frame device comprises a movable frame framework, a front mounting seat and a counterweight system. The movable frame framework is arranged below the static frame device and used for being connected with the static frame device through a plurality of spring pieces arranged on the periphery of the movable frame framework, and then the rack system used for measuring the thrust of the turboprop engine is formed. The front mounting seat is used for being connected with an engine mounting rack for mounting a turboprop engine in a fast mounting manner so as to mount and support the turboprop engine to be measured. And the counterweight system is used for balancing the total weight of the turboprop engine and the engine mounting frame, so that the gravity center of the rack system is positioned in the center defined by the plurality of spring pieces. According to the movable frame device, the air inlet flow field of the propeller is not influenced by the size of the frame of the movable frame device, so that the engine performance is not influenced, the test result is high in accuracy, the test is safe and reliable, and the installation position of the propeller does not interfere with the structure of the movable frame device.

The invention discloses a stabilizing support of an air sampler, and belongs to the technical field of environment monitoring equipment, the stabilizing support comprises a support body and a bearing platform used for bearing the sampler, the top of the support body is connected with the bearing platform through a universal spherical hinge assembly, and the universal spherical hinge assembly comprises a base, a universal ball head and a short supporting column; the universal ball head is connected with the bearing platform through a short supporting column, a gravity center adjusting bin is fixedly arranged below the bearing platform, a lantern ring type locking mechanism is arranged on the opening portion of the base, and three or more radial guide grooves are formed in the end face of the opening portion of the base in the circumferential direction of the base. Each radial guide groove is internally provided with a locking block capable of sliding along the groove, the locking lantern ring can be rotated to move in the axial direction of the base, and then the locking blocks are driven to synchronously move inwards along the radial guide grooves through the conical surface extrusion effect so as to tightly hold the universal ball head. The problems that in the prior art, leveling efficiency is low, locking is prone to loosening, and the anti-overturning capacity is poor are effectively and comprehensively solved.

The invention discloses a windproof high-stability communication iron tower, and relates to the technical field of communication iron towers, the windproof high-stability communication iron tower comprises an iron tower body, a lifting assembly and a supporting assembly, in gale weather, a limiting unit relieves limiting of a lifting limiting block, a lifting mounting column vertically moves downwards, and a second tower body is driven to move downwards; the height of the second tower body is reduced, wind force borne by a signal communication device on the second tower body is reduced, the signal communication device is prevented from being damaged by wind blowing, the gravity center of the iron tower body is lowered due to lowering of the position of the second tower body, and the stability of the iron tower body is improved; when a lifting mounting column moves downwards, a lifting annular plate moves upwards, and when the lifting annular plate moves to the highest position, a locking unit can limit and fix the position of a movable connecting rod, so that the movable connecting rod is fixedly connected with a rotary supporting sleeve, the position of a supporting annular plate is fixed, and a plurality of supporting units support a first tower body; the anti-wind capacity of the first tower body is improved, and the anti-wind stability of the iron tower body is improved.

The invention discloses a three-coordinate measuring machine, which comprises a first guide rail; the second guide rail is parallel to the first guide rail; the two ends of the cross beam are movably connected with the two guide rails through a first connecting assembly and a second connecting assembly, and at least part of the cross beam is located in the space between the first guide rail and the second guide rail; the driving unit comprises a first driving mechanism and a second driving mechanism which are assembled to the first connecting assembly and the second connecting assembly correspondingly and used for driving the cross beam to move synchronously along the first guide rail and the second guide rail. The sliding frame is movably connected to the cross beam; the Z-axis assembly is assembled on the sliding frame; the gravity centers of the cross beam, the sliding frame and the Z-axis assembly are coplanar with the top faces of the two guide rails. The invention provides a three-coordinate measuring machine, which ensures the operation stability of a cross beam.

The invention relates to the technical field of deformation prediction, in particular to a rock high slope excavation anchoring deformation prediction method based on artificial intelligence, and the method comprises the following steps: obtaining multi-source image data, analyzing rock volume and gravity center transfer, extracting a corresponding relation between abnormal stress and displacement, constructing a structure offset path, and screening continuous abnormal features. And extracting a key deformation rate interval to obtain an anchoring deformation trend prediction result. According to the method, the position of an unbalanced section is judged by constructing a gravity center transfer track and a mass difference space sequence and combining a coupling relation between a stress abnormal point and a displacement response direction, a collaborative evolution section of a structure offset path and a stress boundary is extracted, and a continuous abnormal zone is screened according to a crack change and joint fluctuation trend. A key change interval is extracted in combination with the time feature of the shear deformation rate, dynamic judgment of a structural deformation path and an extension direction is completed, and the spatial continuity recognition capability and the time response resolution are enhanced.

The utility model discloses an automobile suspension front cross beam mass block which comprises a suspension shaft body, a limiting ring is arranged on the side wall of the middle of the suspension shaft body, and a mass block assembly is fixedly installed on the outer side wall of the suspension shaft body. The mass block assembly comprises a fixed clamping mechanism, and a mass assembling assembly is arranged below the fixed clamping mechanism. Through the arrangement of the limiting ring and the fixed clamping mechanism, when the mass block assembly is assembled on the suspension shaft body, the fixed clamping mechanism and the limiting ring are matched for limiting to clamp and fix the suspension shaft body, the stability and compactness of installation are guaranteed, and assembly is convenient and firm; through the arranged mass assembling assembly, the balancing weight can be disassembled and assembled according to requirements to adjust the weight, the balancing weight is clamped in the middle, a stable installation environment is provided for the balancing weight, the gravity center of the mass is kept in the middle, and it is guaranteed that the gravity center of a vehicle body is stable.

The invention provides a loading safety monitoring method and system for a rear-loading vehicle and the vehicle. The method comprises the following steps that the arc height variable quantity of a plate spring of the vehicle in the current loading state is collected; based on the arc height variable quantity, a vehicle total weight estimated value is obtained through calculation; based on the axle load estimation values of the front axle and the rear axle and the axle distance of the vehicle, estimating the current gravity center height of the vehicle, and dynamically compensating the gravity center height according to the dynamic state parameters; and calculating a stability risk coefficient of the vehicle according to the total weight estimated value of the vehicle and the compensated gravity center height so as to carry out early warning. Displacement sensors are arranged on a front plate spring and a rear plate spring of a vehicle to collect arc height variation in real time, an axle load and a vehicle total weight estimated value are calculated based on a pre-calibrated plate spring rigidity coefficient, the gravity center height of the vehicle is estimated to evaluate the stability of the vehicle, and meanwhile the gravity center height is dynamically compensated based on dynamic parameters in the driving process. The evaluation precision under complex working conditions is improved, and the transportation safety is guaranteed.

The invention discloses a fault identification processing method and device based on an internet of things digital weighing system, and the method comprises the steps: a fault detection step: tracking and recording the weighing data and state of each sensor of the internet of things digital weighing system, and judging whether the sensors have faults or not; and an output replacement step: if a sensor fails, generating predicted weighing data according to the historical weighing data of the sensor and the weighing barycentric coordinates of the weighing platform, taking the predicted weighing data as the output of the failed sensor, and outputting the weighing value of the whole scale in combination with the weighing data of other normal sensors. According to the invention, rapid identification and early warning can be realized, and the influence of abnormal data of the sensor can be effectively eliminated or reduced by learning and utilizing historical weighing data and a weighing gravity center change rule of the weighing platform, so that the reliability of the internet-of-things digital weighing system can be effectively improved; and production losses such as shutdown and production halt caused by the abnormal problem of the sensor of the weighing system of the field user are reduced.

The high-altitude picking tool for forestry comprises a telescopic rod, a picking device and a fruit basket, the bottom of the picking device is fixedly connected with the top of the telescopic rod, the left side of the fruit basket is fixedly connected with the top of the right side of the telescopic rod, and a collecting box is arranged at the bottom of the right side of the telescopic rod. By arranging the collecting box and the telescopic pipe, after fruits on trees are picked through the picking device and fall into the fruit basket, the fruits can flow into the first bent pipe, then are conveyed through the telescopic pipe and finally fall into the collecting box from the second bent pipe, finally, the fruits cannot be accumulated in the fruit basket, and the problem that the fruits in the air cannot be accumulated in the collecting box is solved. The problems that after fruits are picked by the picking device and fall into the fruit basket, the gravity center point of the telescopic rod is mainly concentrated on the fruit basket, so that when some fruits are accumulated in the fruit basket, a user cannot stably hold the telescopic rod, time and labor are wasted if the fruits are picked and taken, and the working efficiency is reduced are solved, and the effect of auxiliary picking and collecting is achieved.

The utility model relates to the technical field of hairdressing, in particular to a steam hair straightening comb which comprises a comb tooth part, a holding part and a liquid supply part arranged between the comb tooth part and the holding part, the liquid supply part is provided with a liquid storage device, a steam generating device is arranged in the comb tooth part, and the liquid storage device is communicated with the steam generating device. The liquid storage device is arranged away from the comb tooth part and the holding part, so that the structure of the comb tooth part can be simplified, the problem that the comb tooth part is heavy and is difficult to stably operate due to the gravity center problem during use by a user is avoided, and the holding part can be designed to be smaller and more exquisite and is convenient for the user to hold and use. Therefore, a user holds the holding part to comb hair, and the liquid supply part does not interfere with the comb tooth part. Meanwhile, the liquid storage device is communicated with the steam generation device, steam generated after the liquid in the liquid storage device flows through the steam generation device to be evaporated is discharged to the outside, the liquid supply distance of the liquid storage device is shortened, and the steam generation efficiency of the steam generation device is improved.

The invention discloses an axle staged cooling system, an axle staged cooling assembly and an engineering vehicle. The axle staged cooling system comprises an engine first-stage cooling system, an engine second-stage cooling system, an axle first-stage cooling system and an axle second-stage cooling system. Each stage of cooling system controls cooling water and oil path trend through a thermolator in each loop, controls axle cooling oil and engine cooling water to exchange heat, and meets different cooling requirements of an axle. The temperature sensor in each loop outputs water and oil temperature signals to a motor of the cooling fan, so that the rotating speed of the fan is increased to different degrees along with the temperature rise of each cooling system, and different cooling powers are matched. According to the grading system, the engine and the axles can work at the proper temperature at the same time, the two heat exchangers cool cooling oil of the front axle, cooling oil of the middle axle and cooling oil of the rear axle respectively, the cooling capacity of the front axle is improved, the braking effectiveness of the front axle is guaranteed, and rollover caused by serious backward movement of the gravity center of a vehicle during emergency braking is prevented.

The invention relates to the technical field of hoisting vehicles, and discloses a method for realizing active center-of-gravity shift compensation, which comprises the following steps of: acquiring related data reflecting the working condition of a vehicle by using a plurality of sensors arranged at different positions of the hoisting vehicle; constructing a system model comprising a suspension arm, a counterweight and a vehicle chassis on the basis of the collected data, and considering the relative motion relation of all parts, the elastic deformation of the suspension arm and the terrain condition of the vehicle in the model; and the real-time gravity center position of the suspension arm in the operation process is calculated through the system model in combination with a Lagrange equation. Through cooperative operation of multiple links, the effects of high-precision sensing of multi-dimensional physical quantities of the lifting vehicle, sub-centimeter-level precision calculation of the gravity center position, keeping of control precision at a high level, fault diagnosis, quick response and the like are achieved, the safety and stability of operation of the lifting vehicle are guaranteed in an all-around mode, and the operation quality and efficiency are improved. The problem that the gravity center of a traditional lifting vehicle cannot be accurately maintained to be stable under complex working conditions is solved.

The invention discloses an inspection equipment motion control method and system for a dynamic disturbance environment, and relates to the technical field of anticorrosion detection, main cable swing and inspection equipment attitude data are collected to establish a dynamic corresponding relation, and according to the relation, the gravity center is regulated in a segmented manner, and the attachment direction is adjusted in real time to form inertia compensation; dynamic rhythm control is implemented in combination with an inertia compensation result to establish a time dislocation relationship; the sensing detection rhythm is synchronously regulated and controlled, and acquisition windows are unified; and dynamically rearranging a sampling sequence according to a detection time sequence, and fusing an attitude balance state and a time dislocation result to form a closed detection path. According to the invention, by dynamically sensing the swinging of the main cable and carrying out gravity center regulation and inertia compensation, the attitude stability and the advancing reliability of the inspection equipment under strong gust are improved; meanwhile, the detection rhythm and path planning are unified, a continuous closed detection path is formed, and the space-time consistency and long-term stability of anti-corrosion detection data are guaranteed.

The invention discloses a novel photoelectric coding measuring method for a multistage coarse high-precision translation rotating platform. The invention relates to the fields of engineering measurement technology, precision machining and the like, and solves the problem that the measurement precision of an existing photoelectric translation rotary encoder needs to be improved. The camera is fixed on the rotating or translating device, and an encoding device of the encoder is fixed on the immovable rack; an encoding device of the encoder consists of an encoding array and a fine measurement light spot which are uniformly distributed; in the rotation or translation process of the motion device, collecting an encoding array image of an encoder and a precise measurement light spot image through a camera; identifying a coarse precision absolute position measurement value of the rotation angle according to the coding array image; according to the number of displacement pixels in a precise measurement light spot image, a coarse-precision absolute position measurement value is subdivided to the measurement precision which is one of the total number of column pixels of a camera, a high-precision measurement value of a rotation angle or a translation amount is calculated according to a gravity center algorithm, and the photoelectric coding measurement precision can be remarkably improved.

The embodiment of the invention provides an intelligent bone drilling self-adaptive control method for a mechanical arm, which comprises the following steps: acquiring displacement deviation of the tail end of a drill bit of an orthopedic surgical robot, obtaining an error change rate through differential calculation, and combining a bone layer type as an input variable of a fuzzy controller and a feeding speed as an output variable; input variables are fuzzified through a membership function, and a fuzzy language variable set is obtained; according to the set and a preset rule base, constructing a multi-rule group structure comprising three types of scenes of free space, cancellous bone and cortical bone, and setting corresponding fuzzy rule subsets for different bone layers; designing a ''minimum-maximum'' rule activation and combination strategy for reasoning by adopting a Mamdani type fuzzy reasoning method according to fuzzification input and a multi-rule group structure, and generating a fuzzification output variable set; and defuzzification is performed through a gravity center method to obtain a continuous speed instruction, and dynamic regulation and control of the drill bit feeding speed are achieved. When approaching a penetration point, the device automatically decelerates and safely stops, so that the safety and accuracy of an operation are effectively guaranteed, and over-drilling injury is prevented.

The invention provides a four-side adjustable light source assembling auxiliary assembly which comprises an assembling auxiliary mechanical arm mechanism, the assembling auxiliary mechanical arm mechanism comprises a base grabbing mechanism, a base fixing mechanism and a screw locking mechanism, the base grabbing mechanism comprises an electric rotating table, a first electric cylinder, a grabbing arm and a grabbing part, the electric rotating table is fixedly installed on an assembling table, and the first electric cylinder is fixedly installed on the assembling table; the first electric cylinder is vertically and fixedly mounted on a rotating platform of the electric rotating table, the top end of the action end of the first electric cylinder is fixedly connected with the gravity center position of the grabbing arm, four mounting arms are uniformly arranged in the circumferential direction of the grabbing arm, and the grabbing part is fixedly mounted on the lower sides of the mounting arms; the base fixing mechanism is located below the mounting arm, the grabbing frame grabs the light source mounting base and then places the light source mounting base on the base fixing mechanism, and the screw locking mechanisms are symmetrically arranged on the two sides of the base fixing mechanism. When the automatic assembling machine is used, the labor amount of workers can be reduced, the assembling efficiency is improved, the assembling precision and quality are improved, and the phenomena of neglected assembling and wrong assembling are reduced.

The invention relates to the technical field of automatic warehouse logistics, in particular to a stacking machine platform automatic leveling and winding drum rope winding prevention device which comprises a horizontal moving platform, a vertical frame installed on the surface of the horizontal moving platform, a lifting frame installed on the vertical frame in a sliding mode, an objective table arranged on the lifting frame, a winding drum and a steel wire rope. One end of the steel wire rope is connected with the lifting frame, and the other end is wound on a winding drum driven by a motor. According to the gravity sensing mechanism, the inclination angle of the cargo platform is converted into mechanical displacement through a pendulum bob and a sliding block structure; the gravity center adjusting mechanism transmits pressure through a hydraulic medium to drive a balancing weight to move so as to adjust the gravity center, and the cargo table recovers to be horizontal. And the cable guide mechanism is linked along with the balancing weight through the movable guide wheel group to dynamically compensate the path length difference of the steel wire ropes on the two sides, so that the cooperative control of leveling and winding prevention is synchronously realized, and the stability, safety and reliability of equipment operation are remarkably improved.

The invention discloses a battery tank structure of an unmanned aerial vehicle (UAV) and relates to the technologies of battery tank structures of UAVs. The battery tank structure can solve the problem of large space occupation of a battery tank of an existing UAV. A main battery tank body is of a rectangular structure, is placed in the middle of a UAV body, the side wall of the tank body is provided with a plurality of positioning holes, and a battery locking mechanism is fixed by the positioning holes and fixedly connected to a battery after the battery is inserted into the battery tank; byfixing the battery locking mechanism to the positioning holes in different positions, the position of the battery in the whole UAV body is adjusted, and correspondingly the position of the gravity center of the UAV body is adjusted. The structure is mainly used for UAVs.

The invention discloses a typical mission profile-based water surface aircraft water surface load spectrum compilation method. The method comprises the following steps of: (1) determining a typical mission profile and a take-off and landing sea area of a water surface aircraft; (2) determining a wave parameter distribution condition of the take-off and landing sea area, and further determining a wave parameter distribution diagram; (3) calculating to obtain a gravity center overload time domain curve of the water surface aircraft under different wave parameters of each mission profile; carrying out filtering and statistical analysis on the gravity center overload time domain curve of the water surface aircraft to obtain a gravity center overload exceeding number of each task profile in each state; (4) weighting according to the proportion time of each working condition of the typical mission profile to obtain a gravity center overload override curve of each stage of the water surface aircraft; and (5) compiling a water surface load spectrum table. Technical reference can be provided for evaluation of the take-off and landing fatigue life of the water surface aircraft.

The invention relates to the technical field of agricultural machinery, in particular to a rotary gravity center regulating crawler platform for hills and mountains, which sequentially comprises a crawler chassis assembly, a gravity center regulating assembly and a functional module mounting platform from bottom to top, the gravity center adjusting layer is installed on the chassis rack and located in the space between the crawler belts on the two sides, the gravity center adjusting layer is composed of a supporting base, a slewing bearing module, a linear lead screw module, a battery balancing weight and a machine shell, and the balancing weight is preferably a power battery pack; and the functional module mounting platform is fixed at the upper end of the gravity center adjusting assembly. By adjusting the angular and radial distribution of the counterweights, the center-of-gravity position of the whole machine under the working conditions of cross slopes, longitudinal slopes and obstacle crossing is changed, the stability and driving safety of the crawler belt platform in complex terrains of hills and mountains are improved, and the crawler belt platform can be provided with different functional modules according to operation objects. The method is suitable for various hilly and mountainous region agriculture and engineering application scenes.

The invention provides a quadruped robot body attitude control system and method, and the method comprises the steps: sensing a first contact force when each foot is in contact with the ground based on a force feedback device, and collecting a first real-time roll angle and a first real-time pitch angle of a body based on an inertia measurement sensor; determining a first roll angle deviation based on the target roll angle and the first real-time roll angle, and determining a first pitch angle deviation based on the target pitch angle and the first real-time pitch angle; determining a first supporting foot based on the first contact force of each foot, and determining a first height adjustment amount of the first supporting foot in the vertical direction based on the first roll angle deviation and the first pitch angle deviation in combination with position coordinates of the first supporting foot relative to the gravity center of the fuselage; joint movement of the first supporting foot is driven based on the first height adjustment amount of the first supporting foot, so that the first supporting foot is subjected to position adjustment in the vertical direction according to the first height adjustment amount. The adaptive capacity and the motion reliability of the quadruped robot in a complex environment are improved.

The invention relates to a balance control algorithm for gravity center trajectory planning and real-time tracking of a humanoid robot, in particular to the technical field of robot control, and realizes dynamic balance control through a closed-loop process of state sensing, online gravity center trajectory re-planning, hierarchical control law calculation and joint torque output and execution. A layered dynamic modeling and control framework is constructed, a variable-height inverted pendulum model is combined with model prediction control, and a gravity center and zero moment point track feasible in dynamics is generated online; virtual restoring force is generated through a gravity center impedance controller, a task priority inverse dynamics solver is used, multi-task execution is coordinated on the premise that balance tasks are guaranteed to be absolutely preferential through a null-space projection technology, theoretical torque is converted into current instructions to drive joints to move, and through efficient collaboration and real-time updating of dynamic models of all levels, the balance tasks are optimized. According to the invention, deep collaboration of various technical features is realized, and the problems of poor adaptability, slow response and poor balance capability of a traditional method in a dynamic environment are effectively solved.

The invention discloses a balanced mechanical vibration deicing device, which comprises a wire crimping device, a protective shell connected with the wire crimping device, and a vibration piece arranged in the protective shell, the wire crimpers are used for being connected with suspended linear objects, and at least one group of wire crimpers can be arranged on one suspended linear object. The motor drives the vibration piece to move, when the vibration piece moves, the protection shell is driven to move up and down along the axis of the gravity center of the protection shell, and when the protection shell moves up and down along the axis of the gravity center of the protection shell, the wire crimping device drives the suspended linear object connected with the protection shell to move up and down synchronously. And the wire crimping devices at different positions of the suspended linear object synchronously move up and down, so that the whole suspended linear object vibrates in a wave type circumference, and an ice coating layer on the surface of the suspended linear object is broken and falls off along with the wave type circumference vibration of the suspended linear object.

The invention provides a profiling welding path planning method based on image processing and geometric forming simulation, electronic equipment and a storage medium, and relates to the technical field of welding. The profiling welding path planning method can more accurately simulate complex welding bead shapes, boundary calculation and posture changes in the actual welding process, and comprises the steps that a welding bead forming prediction model is constructed; establishing a groove section image; the groove section image is read based on the image processing technology, and weld bead layering is conducted on the groove; calculating the number of pixels occupied by a weld bead section formed by the molten drops in the groove; calculating the pixels of the current layer of welding bead based on an image processing technology, and completing welding bead partitioning of the current layer of welding bead according to the calculated number of the pixels occupied by the welding bead section formed by the molten drops in the groove; calculating the gravity center of the current welding bead, and taking the gravity center as a molten drop target drop point of the current welding bead; and optimizing the starting point of the droplet transition, and taking the direction of the gravity center point of the current welding bead pointing to the starting point of the droplet transition as a planning posture.