333 results about "Gravity compensation" patented technology

The invention belongs to the technical field of humanoid robot control, and particularly relates to a humanoid robot two-arm self-adaptive force control operation method and system, and the method comprises the steps: building a coordinate conversion algorithm between a world coordinate system and a left arm base coordinate system, a right arm base coordinate system, a left arm tail end coordinate system, a right arm tail end coordinate system and an operation target coordinate system; six-dimensional force data and torque data collected by six-dimensional force sensors at the tail ends of the left mechanical arm and the right mechanical arm are obtained, and gravity compensation and conversion are conducted; defining a grasping matrix to decompose the six-dimensional force data and the torque data into internal force and external force; dividing the cooperative task into a free motion stage, a constraint establishment stage and a constraint motion stage, and generating a corresponding control instruction in each stage; and the generated control instruction is input into a double-arm robot system, and coordinated motion control of the double-arm robot in different stages is achieved. According to the invention, coordination work can be completed and anti-interference capability is possessed.

The invention discloses a robot servo parameter self-adaption method and system based on gravity compensation. The method comprises the steps that before the mechanical arm is installed, instruction debugging is conducted on each joint under different loads, the rotating speed of the joints and the rotating speed of a motor are obtained, control parameters are adjusted and calibrated, and finally the calibration result is stored as joint feature information; modeling a mechanical structure, and calculating dynamic parameters of the mass, the mass center and the motor deflection angle of an arm lever; in the operation process, the load is monitored, and a gravity compensation value is calculated in combination with attitude information; uniformly distributing the compensation value to a control period through a feedforward data channel, and applying the compensation value to a motor and a load as a compensation amount of a torque ring instruction; and the servo system dynamically adjusts the control parameter according to the gravity compensation value and the setting parameter. By implementing the method provided by the embodiment of the invention, the defects in parameter setting and dynamic adaptability of the existing technical scheme can be overcome, and the robustness and performance of the servo system in a variable environment can be improved.

A space robot ground microgravity crawling test system is characterized in that the lower end of an outer frame is fixed on the ground, the upper end of the outer frame is provided with an X / Z-axis gravity compensation module and a Y-axis gravity compensation module, the upper surface of a centroid following module is fixedly connected with a suspension rope in the X / Z-axis gravity compensation module through a tension sensor, and the lower surface of the centroid following module is fixedly connected with a space crawling robot through a universal joint and a spherical hinge; the space crawling robot conducts a space microgravity crawling test on the target simulator, the target simulator is placed on the ground through universal wheels, and when the robot crawl, the target simulator moves in an X / Y mode and rotates around the Z axis under the counter-acting force, so that three-degree-of-freedom space microgravity simulation conditions are provided. Meanwhile, the X / Z-axis gravity compensation module and the Y-axis gravity compensation module can realize micro-gravity compensation autonomous following of the space crawling robot in the X / Y / Z directions, and the mass center following module can realize that the mass center of the robot is always on a suspension point extension line when the posture and the configuration of the robot are changed.

A mechanical arm, a master operating platform, and a surgical robot. The mechanical arm comprises a base link; a parallelogram mechanism rotatably connected to the base link, an axis of rotation of the parallelogram mechanism about the base link coinciding with a first rotational axis between a first linkage and a second linkage in the parallelogram mechanism; and a gravity compensation mechanism, comprising a rotating mechanism and an elastic mechanism, the rotating mechanism being coupled to at least one of the first linkage and the second linkage, as well as the base link, and the elastic mechanism being coupled to the base link and the rotating mechanism, so as to generate a compensation torque to balance gravity moment of the parallelogram mechanism in at least one degree of freedom corresponding to the parallelogram mechanism.

The invention provides a remote motion center device and a robot system for minimally invasive surgery. A remote center of motion device for minimally invasive surgery, comprising: a support arm; the telecentric movement mechanism is hinged to the supporting arm; the tail end executing mechanism comprises a mounting seat, a mounting assembly and an operating instrument, the operating instrument is mounted on the mounting seat through the mounting assembly, and the mounting seat is connected with the telecentric movement mechanism; the rotary motion assembly is connected with the end, away from the tail end executing mechanism, of the supporting arm; the pitching motion assembly comprises a pitching motor arranged on the supporting arm, a pitching lead screw arranged on the supporting arm, a driving sliding block arranged on the pitching lead screw in a sleeving mode, a first guide rod and a second guide rod, and the first guide rod and the second guide rod are arranged on the two sides of the pitching lead screw correspondingly and penetrate through the driving sliding block. The front gravity compensation spring and the rear gravity compensation spring are arranged on the two sides of the driving sliding block respectively. And the feeding movement assembly is arranged on the mounting seat.

The invention provides a tower crane system with an offset repairing function and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; the multiple sets of compensation arms are rotationally connected with the tower body, and gravity compensation pieces capable of moving along the compensation arms are hung on the multiple sets of compensation arms. The control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly and controlling the second rotating assembly to drive the multiple sets of compensation arms to rotate according to the future offset direction of the tower body so as to adjust the positions of the compensation arms. And the position of the gravity compensation piece on the compensation arm is adjusted according to the future offset of the tower body, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

The present application relates to a surgical robot, a control method and a computer-readable storage medium. The surgical robot comprises a master console, a slave operating apparatus and a control device, wherein the master console comprises an input device, the slave operating apparatus is configured to install a surgical instrument, and the input device is configured for manipulating the surgical instrument to move; and the input device comprises a plurality of joints and a handle, the handle being connected to the proximal joint among the plurality of joints. The control device is configured for: acquiring the position and speed of each joint of the input device; according to the position of each joint, determining the gravity compensation amount and the elastic force compensation amount of each joint, and according to the speed of each joint, determining the frictional force compensation amount of each joint; and applying the gravity compensation amount, the elastic force compensation amount and the frictional force compensation amount to an actuator corresponding to each joint. By means of the technical solution of the present application, gravity compensation, elastic force compensation and frictional force compensation are all performed on each joint, and the compensation effect is more comprehensive and accurate, thereby effectively improving the operation experience regarding the input device.

The invention discloses a high-precision well deviation and azimuth measurement method based on a multi-axis sensor, and the method comprises the steps: 1, building a local navigation coordinate system of an underground environment in consideration of the influence of the earth curvature and the earth rotation, and obtaining a reconstruction signal; 2, based on the sensor mass of the four-axis sensor, considering the Coriolis force influence caused by earth rotation, and calculating a Coriolis force compensation vector; 3, calculating the projection of the geomagnetic field in the local navigation coordinate system to obtain a geomagnetic field projection vector; and 4, according to the gravity compensation value, the Coriolis force compensation vector and the geomagnetic field projection vector, in combination with the reconstruction signal, calculating a corrected hole drift angle and a corrected azimuth angle. According to the invention, the precision of well deviation and azimuth measurement is obviously improved.

The invention provides a model and data driving fused mechanical arm gravity compensation algorithm, and aims to solve the problem of poor mechanical arm gravity compensation precision caused by model uncertainty. According to the algorithm, firstly, a statics equation is established, secondly, multiple data are trained through a Bayesian neural network (BNN), a predicted torque and a standard are generated, then, through a Bayesian fusion method, a model calculation result and a neural network fitting result are subjected to Bayesian fusion according to a standard deviation, and a fusion estimation torque is generated. In order to solve the problem that the generalization ability of a data driving model is insufficient in an unseen scene, the algorithm uses a physical model as a constraint condition to limit the range of fusion torque, high deviation caused by insufficient model generalization is reduced, and then stability is ensured. Compared with a traditional modeling method, the fusion strategy is combined with the self-adaptability of physical constraint and data driving, the influence of modeling errors on the control precision is effectively reduced, and the precision and robustness of gravity compensation are remarkably improved.

Disclosed in the present invention are a gravity compensation algorithm for a tail end tool of a robotic arm, and a system, a device and a storage medium, which are applied to the field of system software. The method comprises: acquiring the gravity of a tail end tool of a robot; acquiring zero-point values of a force sensor according to the gravity; determining whether a sampling time reaches a preset time T; if the sampling time reaches the time T, calculating zero-point values within the time T, and taking the average value of the zero-point values as a zero-point value at the start of the force sensor; and if the sampling time does not reach the time T, re-acquiring zero-point values of the force sensor; subtracting the gravity and the zero-point value at the start of the force sensor from a reading of the force sensor, so as to obtain a real external force value; and a robotic arm moving to execute a corresponding task. In the method, the average value of zero-point values within a time period after the start of a force sensor is used as a zero-point value at the current start, and a zero-point value is calculated once after each start and is used as the zero-point value at the current start. Therefore, compared to the prior art in which only one fixed zero-point value is taken, the method is more accurate.

The invention provides a tower crane system and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; one end of each compensation arm is rotationally connected with the tower body through a second rotating assembly, a gravity compensation part is suspended at the end, away from the tower body, of each compensation arm, and the compensation arms are of telescopic structures; the control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly, controlling the compensation arm to stretch out and draw back according to the future offset and the future offset and controlling the compensation arm to rotate, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

The invention relates to the technical field of magneto-rheological, in particular to a magneto-rheological machining regulation and control device based on instantaneous current perception and a machining method.The device comprises a polishing platform, a polishing assembly, a detection circuit and a computer; the corresponding relation between different operation parameters of the polishing assembly and the ideal instantaneous current is collected, when the to-be-polished element is machined, the second instantaneous current is judged through the corresponding relation, whether the operation parameters of the polishing assembly are adjusted or not is determined according to the judgment result, and therefore real-time adjustment of the operation parameters of the polishing assembly is achieved. In the process, the step of calibrating parameters such as gravity compensation is not needed, the precision of measured data is only limited by the current measurement precision of the second instantaneous current between the magneto-rheological polishing module and the to-be-polished element, the measurement result is more accurate, a force sensor does not need to be added, and the equipment cost is reduced.

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention relates to the technical field of industrial robots, in particular to a dynamic simulation damping parameter solving method based on a gravity compensation mechanism, which comprises the following steps of: acquiring a joint basic parameter set of a to-be-tested industrial robot, and determining a test boundary condition according to the joint basic parameter set, and constructing a test task sequence based on the test boundary conditions. According to the method, the fusion weight of the static stiffness and the dynamic stiffness is intelligently adjusted according to the characteristics of the movement speed, the acceleration or the force control frequency band in a specific application task, and the limitation of a single parameter under complex and changeable working conditions is avoided. According to the parameter fusion mechanism aiming at the specific task characteristics, the generated joint comprehensive rigidity parameters can truly reflect the physical response of the robot in different operation stages, and the prediction error between the physical simulation environment and the actual physical operation is reduced; and the strict requirements of high-precision scenes such as semiconductor packaging and the like on micron-level positioning precision and force control stability are met.

The embodiment of the invention relates to the technical field of robots, and discloses a robot zero-force dragging teaching method and system. The teaching method comprises the steps that in response to dragging external force applied by an operator, the joint position and the joint speed are obtained in real time; determining a gravity compensation torque based on the joint position, determining a friction compensation torque based on the joint speed, and obtaining a command torque according to the gravity compensation torque and the friction compensation torque; and controlling the robot to execute dragging teaching through the command torque. According to the scheme of the embodiment of the invention, the operation difficulty and the physical burden are greatly reduced, and zero-force dragging teaching is realized.

The invention provides a control method and device of a plane bone cutting device and the plane bone cutting device.The method comprises the steps that under the non-dragging condition, sensor gravity compensation parameters are obtained, and in the dragging process, according to the gravity compensation parameters and sensor data, the exercise amount of the plane bone cutting device under a sensor coordinate system is calculated; determining the amount of motion under the swing saw plane coordinate system; the motion amount in the swing saw plane normal direction of the motion amount under the swing saw plane coordinate system is set to be zero, a new motion amount under the swing saw plane coordinate system is obtained, and the new motion amount under the swing saw plane coordinate system is converted into the base coordinate system to obtain the motion amount of the plane bone cutting device under the base coordinate system; and controlling the plane bone cutting device to move based on the movement amount of the plane bone cutting device under the base coordinate system. According to the embodiment of the invention, the swing saw can be limited in a plane to be freely dragged, the vertical deviation is small, and the accuracy and safety of bone cutting operation are improved.

The invention belongs to the technical field of shooting training assistance, and discloses a kinetic energy weapon trajectory attitude analysis and shooting time acquisition method and system. The method comprises the following steps: installing and calibrating a weapon detection terminal comprising an acceleration sensor and a gyroscope sensor on a kinetic energy weapon gun body; in the shooting process, acceleration and angular velocity data of the weapon are collected at high frequency through the terminal and wirelessly transmitted to the analysis processing equipment; the analysis processing equipment is used for performing gravity compensation and attitude calculation on the received data to obtain a real-time attitude angle and processing angle abrupt change; analyzing the data statistical characteristic change of the acceleration and / or angular velocity data, and comparing the data statistical characteristic change with a preset threshold value to accurately judge the shooting moment; and finally outputting track attitude information for evaluation. The weapon attitude can be accurately analyzed, the shooting time is accurately collected, an objective and quantitative evaluation basis is provided for shooting training, and the training effect is improved.

The invention discloses a robot compliance force control interaction method, system and device for a collaborative sewing scene and a storage medium. The method comprises the steps of setting a preset period of a contact force track, a speed track and a pose track; before the task is started, collecting data of a plurality of groups of force sensors, completing dynamic gravity compensation, and calculating real contact force in real time; in the task process, the real contact force is continuously obtained, the speed deviation and the pose deviation are obtained, the real contact force, the speed deviation and the pose deviation are input into a compliant controller based on an admittance model, and the target pose of the mechanical arm in the next step is dynamically adjusted; the compliant cooperation is repeatedly executed until the whole cooperation sewing task is completed; after the task is finished, a parameter optimization algorithm based on smooth iterative learning is constructed, the real contact force trajectory, the speed trajectory and the pose trajectory are used as input, the smooth iterative learning algorithm autonomously optimizes parameters of a compliant controller, and the optimal force-position trajectory tracking performance is achieved. According to the invention, a safe and stable robot cooperation sewing task is realized.

The invention relates to a surgical robot tail end structure and a surgical robot. The structure comprises a main body assembly and an identification piece, and the main body assembly is used for being connected to the tail end of a robot body and used for being connected to a tail end tool; the identification piece is arranged on the main body assembly, a trigger switch is arranged on the identification piece, the trigger switch is used for triggering the identification piece, and the identification piece is used for reading a data label in the end tool to obtain data label information and transmitting the data label information to the controller to determine the type of the end tool. Through the arrangement of the trigger switch, after the end tool is installed on the main body assembly, the identification piece can be triggered, so that the identification piece can accurately obtain data label information in the end tool, the controller determines the type, and accurate gravity compensation can be obtained; movement disorder of the surgical robot tail end structure driven by the mechanical arm due to misplaced installation or not-in-place installation of the tail end tool is avoided, and the movement accuracy of the surgical robot tail end structure is improved.

The invention relates to the technical field of medical instruments, and discloses an endoscope connector, a surgical robot and a control method of the surgical robot. The endoscope connector comprises a transmission box and a detection device, the transmission box is used for being connected with an endoscope holding arm of the surgical robot, the transmission box comprises a bottom plate, and an endoscope insertion hole is formed in the bottom plate; the detection device is arranged on the bottom plate, the detection device is used for detecting whether an endoscope is installed in the endoscope insertion hole or not, and the detection device is in signal connection with a controller of the surgical robot. The detection device is arranged on the bottom plate of the transmission box, whether the endoscope is installed in the transmission box or not can be detected, information about whether the endoscope exists or not is fed back to the surgical robot, setting of gravity compensation parameters in a control algorithm of the surgical robot is facilitated, and then the smoothness and precision during manual dragging are improved.

The invention belongs to the technical field of cap screwing processes, and discloses a multi-element cooperative automatic cap screwing process which comprises the following steps: S1, a bottle cap pretreatment and supply system; s2, a bottle body accurate positioning and fixing system; S3, a two-stage collaborative cap screwing execution system; s4, a multi-element sensing and feedback control system; and S5, process switching and system maintenance. The problem that a sealing interface is pressed unevenly due to deflection of a cover body or instability of a container is fundamentally solved, specifically, non-contact posture correction replaces traditional mechanical forced correction, microstructure damage caused by thread dislocation is avoided, the countertorque of the screw cover is counteracted in real time through a multi-degree-of-freedom constraint mechanism, and the reliability of the screw cover is improved. Risks of dumping of a height-diameter-ratio container and liquid sputtering are thoroughly eliminated, based on the dynamic coupling effect of profiling clamping and gravity compensation, the axis of a bottle opening is continuously kept in an ideal centering state in high-speed operation, and zero-interference continuous control over a mechanical transmission path of a sealing interface is achieved.

The invention discloses a robot autonomous carving operation method and system for a complex curved surface. The method comprises the steps that S1, a character pattern segmentation method is designed, and a letter segmentation information base is constructed; constructing a sub-skill primitive library; generating a plane reference trajectory by adopting a discrete dynamic motion primitive model; s2, a 3D camera is adopted to obtain point cloud of an interested complex curved surface, eye calibration outside the hand is conducted on the camera, the transformation relation from a camera coordinate system to a mechanical arm base coordinate system is obtained, and a curved surface reference track and a surface normal vector are obtained; s3, parameter identification and gravity compensation are conducted on the mechanical arm tail end carving tool based on the six-dimensional force sensor; and S4, a self-adaptive admittance controller based on the radial basis function neural network is adopted to generate an expected engraving track, so that the interaction force of the environment and the mechanical arm tracks the expected interaction force, and the engraving operation of the mechanical arm is realized. The robot can conduct carving operation on a complex curved surface, the carving precision is high, the carving effect is good, and practicability is high.

The invention discloses a two-arm robot flexible assembly method, device and equipment and a medium, and relates to the technical field of robot assembly.The method comprises the steps that gravity compensation is conducted on a contact force signal of a two-arm robot, and the compensated contact force signal is obtained; dynamically adjusting an impedance control model by using a fuzzy controller based on the compensated contact force signal to obtain a parameter-adjusted impedance control model; and according to the parameter-adjusted impedance control model and the compensated contact force signal, motion planning is conducted on the double-arm robot, and a flexible assembly result of the double-arm robot is obtained. The self motion state can be adjusted in real time according to changes of the external environment, it is ensured that the contact force in the assembling process is always kept within a proper range, and therefore the assembling precision is remarkably improved; the self-adaptive impedance control strategy can effectively avoid the situation that elements are damaged due to excessive force, and the production cost is reduced.

The invention discloses a wind turbine generator full-blade load monitoring method based on tower wall vision measurement, and the method comprises the steps: S1, arranging an observation platform, and installing a camera; s2, arranging a blade mark group; s3, synchronizing image acquisition and time; s4, camera calibration and distortion correction; s5, feature detection and tracking; s6, performing three-dimensional reconstruction; s7, centrifugal force and gravity compensation calculation; s8, blade net displacement calculation; and S9, carrying out aerodynamic force load inversion and result output. According to the invention, monitoring of the load in the edge direction of the whole blade of the wind turbine generator can be effectively realized, and reliable technical support is provided for safe operation, optimal design and economical efficiency improvement of the blade of the large-scale wind turbine generator.

The invention relates to the technical field of carts, in particular to a four-wheel quick-release large-base cart which comprises a transmission assembly, a gravity center compensation assembly and a direction reset mechanism. The transmission assembly is arranged in the supporting column. The gravity center compensation assembly is installed in the base in a sliding mode and connected with the transmission assembly. The direction resetting mechanism is connected with the universal wheel; when the bearing platform is rotated, a balancing weight in the gravity center compensation assembly is driven by the transmission assembly to slide reversely along the compensation sliding rail, so that gravity center shift caused by rotation of the bearing platform is counteracted; when the bearing platform is adjusted, the direction resetting mechanism enables the four universal wheels to slowly and automatically recover to the posture that the axes are parallel to the short sides of the base with the four universal wheels arranged in a rectangular shape; the problem that an existing four-wheel medical trolley overturns due to center-of-gravity shift when the angle of a bearing platform is adjusted is solved.

The invention discloses an automatic assembling method of a radio frequency connector, which comprises the following steps that: A, a female joint is static, and a male joint is translated to the upper part of the female joint and is in contact with the female joint; b, acquiring data of a force sensor to obtain contact force information between the male joint and the female joint, and performing filtering and tool gravity compensation on the data; c, inputting the processed force data into the KAN network to obtain a predicted position error between the male joint and the female joint; d, according to the position error, a first rotation center and a second rotation center of the two sections of rotation are calculated through a virtual rotation center algorithm, so that pose changes of the male connector after two times of rotation are obtained, and the speeds of two times of rotation movement of the male connector are obtained; e, inputting the processed force data into an admittance controller at the same time to obtain a compliant speed; f, the compliant speed and the two-time rotating speed are input into a speed controller, the final corresponding movement of the male connector and the speed and displacement of all joints needed by the robot are solved, and pose adjustment is completed; and G, pressing the male joint to complete assembly.

The invention belongs to the technical field of multi-rotor unmanned aerial vehicle control, and particularly relates to a multi-rotor unmanned aerial vehicle self-adaptive feedforward control method based on a mesoscopic wind field model. Comprising the following steps: firstly, based on a relaxation time model of a lattice Boltzmann method, establishing a mapping relation between a Knudsen number and turbulence intensity and thermal noise intensity of a macroscopic wind field, and realizing parameterized representation of a mesoscopic wind field; then, constructing a mesoscopic wind field model by synthesizing a real-time wind field containing average wind, turbulent flow, gust and thermal noise components; then, calculating the wind resistance according to the predicted wind speed, designing a self-adaptive gain mechanism fusing a real-time tracking error, an error wind direction included angle and a historical error trend, and generating a dynamic feedforward control quantity; and finally, combining the feedforward control quantity with a feedback control quantity based on gravity compensation to form a comprehensive wind resistance control law. Starting from the mesoscale, the disturbance suppression capability and trajectory tracking precision of the unmanned aerial vehicle in complex environments such as strong wind and turbulent flow are enhanced.

The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.

The invention relates to the technical field of detection equipment, in particular to infrared thermal imaging wind power blade detection equipment capable of being carried on an unmanned aerial vehicle, which comprises a connecting box, the top end of the connecting box is detachably connected with the unmanned aerial vehicle, the center position of the bottom end of the connecting box is rotatably connected with a rotating head, and the surface of the rotating head is rotatably connected with a lengthening rod. An auxiliary shell is rotatably connected to the bottom end of the lengthening rod, an infrared thermal imaging detector is fixedly connected to the bottom end of the auxiliary shell, a gravity center compensation assembly is installed in the connecting box, the gravity center compensation assembly is used for adjusting the gravity center position of the unmanned aerial vehicle, and the gravity center compensation assembly comprises a rotating disc and a balancing weight; and the rotating disc is coaxially and rotatably connected to the inner side of the connecting box. According to the invention, the problem of low detection efficiency caused by manually climbing a fan tower or a blade in the prior art is solved.

The present invention discloses a chainless electrical bicycle, which is designed to eliminate any type of mechanical means to transfer torque and power from pedals to a traction wheel. The present invention employs a generator to transfer a pedal torque and power with the help of power electronics, control electronics, a battery and control methods to a motor that is used for traction, which is attached to the traction wheel. The generator power is supplemented with the battery power, wherein the battery is rechargeable. The main purpose of the present invention is to emulate a mechanical chain bicycle operation, eliminate shortcomings of a mechanical chain bicycle, and introduce convenience features, such as, but not limited to, continuously variable electronic gear, a gravity compensation, a static and dynamic torque assistance, a ride charge feature, and an electric brake system.