1547 results about "Ground contact" patented technology

The invention belongs to the related technical field of mobile robots, and discloses a rolling-walking composite motion control method and device for a double-wheel-foot robot, and the method comprises the steps: (1) simplifying the rolling motion of wheels of the double-wheel-foot robot into the sliding motion of a sliding block; (2) constructing a system kinetic equation of the double-wheel-foot robot based on the simplified kinetic model; constructing a constraint equation based on the contact state of the two legs and the ground; discretizing the system kinetic equation, the cost function and the constraint equation, and converting model prediction control problems corresponding to the system kinetic equation, the cost function and the constraint equation into nonlinear problems for numerical solution so as to complete leg motion planning; (3) calculating the rotation speed of the wheel based on the leg motion planning result; and (4) based on the rotation speed of the wheels and the leg motion planning result, a whole-body control algorithm is adopted to calculate and obtain moment instructions of leg joints and the wheels. According to the invention, the state space dimension is reduced, and the wheel-ground contact constraint is simplified.

A shoe sole includes a midsole and an outsole. The midsole has a first protruding portion at a location on a medial foot side and a rear end side of the shoe sole, and the outsole has a first cover portion covering the first protruding portion. The first cover portion includes a first bottom wall portion prescribing a ground contact surface, and a first side wall portion erected from a peripheral edge of the first bottom wall portion on the medial foot side. A first ridgeline that is a boundary between the first bottom wall portion and the first side wall portion is located so as to separate from a first outline of the first cover portion prescribed by the first side wall portion from a front side specific location toward a rear side specific location, in a case when seen along a normal direction of the ground contact surface.

The invention discloses a small crawler wheel wing combined type deformable land-air amphibious reconnaissance robot and a control method thereof. The robot adopts a crawler wheel wing integrated miniaturization design and comprises a control cabin, a left crawler wheel wing system and a right crawler wheel wing system, the crawler wheel wing systems are connected with the control cabin through steering engines, and a flight mode and a ground mode can be stably switched under the driving of the steering engines. In the flight mode, a flight motor of the crawler wheel wing system drives propellers to rotate at a high speed, lift force is provided, and air flight and attitude stability are achieved. In the ground mode, the crawler wheel wing system is adjusted to the ground contact position, the propellers stop working, the ground motor drives the crawler and the driving wheels through the gear set to provide advancing power, the driven wheels assist in supporting, and the stability and obstacle crossing ability in the complex terrain are enhanced. A multi-mode control method based on model predictive control is adopted for the robot, and the multi-mode control method is achieved by establishing control models of a flight mode and a ground mode, constructing a unified state-space equation and a predictive equation, designing a cost function, dynamically switching the control models and coordinating constraint conditions and control targets. And the trajectory tracking precision and the system stability of the robot in the flight mode and the ground mode are ensured.

The utility model provides a ring main unit. The ring main unit comprises a gas tank, a fixed frame fixed on the inner side wall of the gas tank, a circuit breaker switch and a three-position switch, wherein the circuit breaker switch and the three-position switch are positioned in the gas tank. The solid-sealed polar pole of the circuit breaker switch comprises a polar pole body, a movable end shielding seat and a static end shielding seat, the movable end shielding seat and the static end shielding seat are located at the two ends of the polar pole body, the movable end shielding seat and the static end shielding seat can wrap the two ends of the polar pole body respectively, and therefore the electrical connection position of the polar pole body is electrically isolated from the external environment; the pole body, the moving end shielding seat and the static end shielding seat are cast into a whole through insulating resin, so that the consistency of the pole is improved; the grounding shielding seat adopts an integrally formed metal piece, and can uniformly wrap a plurality of grounding contacts in a shielding space, so that the electric field distribution of the grounding contacts is optimized. According to the ring main unit, dry air can be used as insulating gas, miniaturization of the ring main unit is achieved, and the corresponding insulating performance is met.

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.

According to the biped robot foot structure capable of adapting to the complex road surface, the whole foot structure is designed through modular decomposition, when a user walks on the wet and slippery flat ground, the foot obtains information of foot sole sensors on the front foot sole and the rear foot sole in real time, and the virtual constraint structure is actively controlled through an electric cylinder; stress of a front longitudinal arch sole joint is reduced, meanwhile, the ground pressure transmission direction of a foot structure is improved, the ground pressure is kept in a friction cone as much as possible, and therefore the robot is prevented from slipping; when the robot walks on an uneven road surface, the electric cylinder actively controls the ground contact angle of the front foot sole, and the spring guide rod of the rear foot sole is assisted, so that active and passive self-adaptive adjustment of the foot of the robot to the ground is realized. The electric cylinder is used as a virtual constraint structure for active control, and the spring telescopic rod structure of the rear sole imitating ligament is combined, so that active and passive self-adaption of the feet of the robot to different complex road surfaces is realized, and the adaptability of the biped robot to the complex road surfaces is improved.

The invention discloses a wheel deviation resistance energy consumption monitoring method and device based on a new energy automobile, belongs to the technical field of tires of new energy automobiles, and aims to solve the problems that online monitoring is difficult to realize in the running process of an existing wheel deviation resistance monitoring method of the new energy automobile, and the energy consumption is low. And extra energy consumption caused by wheel deviation resistance is also easy to influence the prediction of the remaining mileage. The method comprises the steps that tire three-dimensional modeling sensing based on linear driving is conducted on the wheel running state of the new energy automobile, and abnormal wheel deviation tires of the new energy automobile are determined; according to geometric characteristics and mechanical characteristics between the tread and the ground, performing characteristic parameter calculation processing on the tread ground contact plane graph under an extrusion area to obtain an abnormal wheel deviation parameter of the abnormal wheel deviation tire; global contact coupling rigidity calculation is carried out on the abnormal wheel deviation parameters, and the tire stress of the abnormal wheel deviation tire is determined; and inputting the tire stress into the tire rolling resistance model to obtain the tire rolling resistance of the tire with abnormal wheel deviation.

The invention provides a ball game analysis method and device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision, deep neural networks and motion analysis. The specific implementation scheme is as follows: in response to entering a serving link, fitting to obtain a movement track of a ball based on a collected ball game video; based on the motion trail and the ball game video, determining a ball hitting coordinate and a ball hitting posture of the motion object and a ground touching coordinate of a ball; and obtaining a motion analysis result based on the ball hitting coordinate, the ball hitting posture and the ground touching coordinate so as to display the motion analysis result in real time through display equipment.

The invention discloses a foot-ground contact force estimation and terrain classification method of an ostrich-imitating robot. The method comprises the steps that a foot-ground contact force mapping matrix of the ostrich-imitating robot is constructed, force-position hybrid control is carried out, foot-ground contact force is obtained according to the matrix and input torque of a plate spring to a passive joint, and terrain classification information is obtained after the ground contact state is judged; establishing a terrain classification fusion model based on a weighted voting mechanism, and training the model according to terrain classification information; and performing terrain classification according to the terrain classification information and the trained model. The foot-ground contact force is estimated through the joint corner information of the robot, no extra sensor needs to be installed, real-time and accurate foot-ground contact force estimation and contact state obtaining are achieved, the problem that the performance of an ostrich-imitating robot system is reduced or fails due to the fact that a force sensor is prone to being damaged is effectively solved, system configuration is simplified, and the system reliability is improved. Foot-ground contact force estimation and accurate terrain classification of the ostrich-imitating robot can be completed without depending on an external sensor.

A moving device includes: two leg portions each including an end-portion wheel and an intermediate wheel; a placement portion supported by the two leg portions; and a control unit configured to control the two leg portions. The moving device is configured such that, under a state of four-wheel ground contact in which the end-portion wheel and the intermediate wheel are in contact with the ground, when the end-portion wheel is moved from the boarding area to the step of the escalator and / or when the end-portion wheel is moved from the step to the landing area of the escalator, a wheel speed of the end-portion wheel is controlled by the control unit.

An apparatus for measuring performance and contact characteristics between a vehicle test wheel (10) and a ground (20), comprising: a motorized test cart (100) configured to move at a specified speed along a guideway (30) attached to the ground (20); a support (200) for the test wheel (10); and a mechanism (300) mounted between the test cart and the support (200) and configured to hold the support so that the test wheel (10) can roll on the ground (20) with the movement of the test cart along the guideway (30); and allow a movement of the support (200) relative to the ground (20) so that the test wheel (10) can be raised relative to the ground (20) or lowered until it contacts the ground; a thrust actuator (310) configured to apply a thrust force (320) between the test cart (100) and the support (200) and cause the support (200) to move toward the ground (20) through the mechanism (300) and to keep the test wheel (10) in contact with the ground (20) so that the wheel exerts a contact force (220) against the ground (20). The mechanism (300) is mounted between the test cart (100) and the support (200) so that the support (200) is cantilevered from the test cart (100) and the test wheel (10) is external laterally from the test cart (100); said test cart (100) comprises transport wheels (110, 120) mounted to make direct contact with the ground without contacting the guideway (30) and on which the test cart (100) rests; the test cart comprises a plurality of sliding constraints (130,140) between the test cart (100) and the guideway (30) configured to counterbalance the test cart (100) relative to the guideway (30) during the application of the thrust force (320) by the thrust actuator (310) and to isolate the application of the contact force (11) from ground contact reactions of the transport wheels (110, 120).

The utility model relates to the technical field of tires, and discloses a four-season tire pattern which comprises a tire tread, the whole tire tread is cut through by a herringbone groove, and a reinforcing rib defined by four cylinders is arranged at the center of the herringbone groove. Through unequal numbers of through type inclined grooves and non-through type inclined grooves formed in the central pattern blocks and linear and wavy 3D guide grooves reasonably distributed in the central pattern blocks, the rigidity of patterns can be well balanced, the ground contact area of the tread is increased, and therefore the abrasion performance of the tire is improved, and the service life of the tire is prolonged. According to the tire, the dry ground gripping force and wet ground breaking water film of the tire are ensured, meanwhile, the gripping performance of the tire in ice and snow fields is guaranteed, and the tire patterns are arranged in a multi-layer variable-pitch arrangement mode when the tire patterns are arranged at all the pitches in the circumferential direction of the tread, so that the low-noise characteristic of the tire is achieved; and the center position of the herringbone groove is connected with the pattern block through the reinforcing rib formed by encircling four special cylinders, so that drainage and snow removal are facilitated, and the rigidity of the tread pattern block is ensured.

The invention belongs to the technical field of robot motion control, and particularly relates to a quadruped robot control method based on error symbol robust integral feedback, which combines an RISE control mechanism with a constraint-based optimization method, and realizes high-precision trajectory tracking and strong-robustness control under the condition that a system model has relatively large uncertainty. According to the method, RISE controllers are designed in a position subsystem and a posture subsystem respectively, quadratic programming (QP) optimization distribution of ground contact force is fused, control input is dynamically adjusted while the physical feasibility of foot end force is ensured, and closed-loop stable control over the whole-body movement of the quadruped robot is achieved. The control strategy has an asymptotic error convergence characteristic, and can be widely applied to quadruped robot motion tasks with severe load change and frequent interference.

The utility model provides a spinning top toy set and a spinning top toy. The spinning top toy set and the spinning top toy can enable the spinning top toy to perform novel actions. The spinning top toy set comprises a stadium provided with an acceleration guide rail at a step part formed on the stadium; and a gyro toy in which a rotating body is provided concentrically with a rotating shaft having a ground contact portion formed at a lower end thereof, the gyro toy being accelerated by moving back and forth when the rotating body is engaged with the acceleration guide rail, the gyro toy being provided with a raising portion directly above the rotating body, the rising part is provided with an axially symmetric sliding contact surface, the lower end of the sliding contact surface has the same shape as the upper end of the rotating body, the diameter of the sliding contact surface is expanded along with the upward direction in the axial direction, and the rising part is configured in a way that the sliding contact surface is in sliding contact with the upper corner of the step part and can rise to the upper side of the step part through the back-and-forth movement of the top toy; in the raised state, the grounding part is not grounded with the floor on the lower side of the step part, and the rotating body can be clamped with the acceleration guide rail.

A coaxial connector device includes: a signal contact member; a signal contact member; a ground contact member to which a ground potential is applied; and a conductive member including a rear ground connection portion that is connected to the ground contact member, and a front ground connection portion that is connected to a ground contact portion of a mating connector device. When viewed in a direction of fitting to the mating connector device, the front ground connection portion overlaps at least a part of a signal line including a center conductor of a coaxial cable and the signal contact member, and at least a part of a signal line including a center conductor of a coaxial cable and the signal contact member.

The utility model relates to a double-break circuit breaker switch, which comprises a mechanism frame, a circuit breaker assembly and an isolating switch assembly, and the circuit breaker assembly comprises a solid-sealed polar pole, three fixing seats, a main shaft and three groups of transmission cam assemblies. The isolation switch assembly comprises three first static contacts, an insulation isolation shaft which is rotatably arranged on the mechanism frame, three insulation cams which are respectively arranged on the insulation isolation shaft, three isolation knives which are respectively arranged on the three insulation cams, three second static contacts which are arranged on a fixed beam of the mechanism frame, and a grounding contact assembly which is arranged on the mechanism frame. The two ends of the static contact are respectively provided with a first contact part and a second contact part which are matched with the isolation knife, and a limiting check ring which is matched with the isolation knife is arranged at the position, corresponding to the position between the first contact part and the second contact part, of the static contact. The vacuum circuit breaker has the advantages of simple structure, stable and reliable performance, good insulating property, high opening and closing speed and small volume.

The utility model provides a three-position switch and a ring main unit, the three-position switch comprises a first fixed seat and a plurality of grounding contacts, each grounding contact corresponds to one phase in a power supply network, and the plurality of grounding contacts are arranged on the first fixed seat; the grounding shielding base is arranged on the first fixing base, the grounding shielding base is configured to be an integrally-formed metal piece, a plurality of open holes are formed in the grounding shielding base, and the grounding contacts are exposed out of the corresponding open holes; each second fixing seat is correspondingly provided with an isolation static contact. And a plurality of moving contacts are arranged on the third fixed seat at intervals, and the moving contacts can rotate relative to the third fixed seat so as to be electrically connected with the grounding contact or the isolation static contact selectively. By optimizing the electric field of the three-position switch, the three-position switch can have a better insulation level, and the overall size of the three-position switch is reduced. Furthermore, the three-position switch can be applied to a small-size ring main unit with space limitation and higher insulation requirements.

The invention relates to the technical field of chassis, and discloses a crawler-type rotary drilling rig chassis which comprises a rotary drilling rig chassis right beam and a rotary drilling rig chassis left beam, and driving wheel mounting positions are arranged at one end of the rotary drilling rig chassis right beam and one end of the rotary drilling rig chassis left beam. Guide wheel mounting positions are arranged at the other ends of the rotary digging drill chassis right beam and the rotary digging drill chassis left beam; hydraulic motor mounting shaft holes for mounting hydraulic motors are formed in the surfaces of the driving wheel mounting positions; and the rotary drilling rig chassis center bracket is arranged between the rotary drilling rig chassis right beam and the rotary drilling rig chassis left beam. In the actual use process, under the non-working condition, the left telescopic beam and the right telescopic beam are contracted to the shortest state, the size of the chassis is reduced, vehicle migration and transportation are facilitated, the transportation cost is reduced, the transportation time is shortened, meanwhile, under the working condition, the left telescopic beam and the right telescopic beam stretch out, the vehicle ground contact area is increased, and the operation stability and the equipment stability are improved.

The invention discloses a multi-view three-dimensional reconstruction driven cattle body size online measurement method, and relates to the technical field of animal husbandry three-dimensional measurement, and the method comprises the steps: extracting a ground reference plane, a segment elevation function, a guardrail reference line, a segment guardrail spacing, a periodic pitch and a hoof ground contact event, and generating a calibration opportunity score in combination with a pixel-level quality weight map; in the sliding window factor graph, jointly solving an external parameter rotation matrix, an external parameter translation vector and a global scale by taking the prior as a constraint, and outputting an uncertainty matrix; implementing hierarchical self-recovery according to the comprehensive health degree and the score, and replacing safe writing with double buffer atoms; carrying out weighted splicing under a unified measurement coordinate and carrying out profile robust measurement, forwards transmitting uncertainty to a body size layer and supporting individual multi-time column-passing convergence; the method is suitable for channel visibility interruption and structure variable scenes, and under the condition of uninterrupted release, measurement consistency is kept and auditable results are output.

The present disclosure is a two-wheeled vehicle tire for running on rough terrain having a tread portion. The tread portion includes a first tread edge, a second tread edge, a tread development width, a tire equator, a crown region, and side regions. The tread portion includes a plurality of crown blocks and a plurality of outer blocks. Each of the outer blocks has a ground contacting surface at least provided with a narrow groove or configured as a stepped surface including a base surface and a protruding surface locally protruding outward in a block height direction with respect to the base surface. Each of the crown blocks has a ground contacting surface provided with the narrow groove and configured as a non-step surface without the protruding surface.

A microelectronic socket structure and a method of forming the same. The socket structure comprises: a socket structure housing defining a cavity therein; and an interconnection structure including: a contact element disposed at least in part within the cavity, and configured to be electrically coupled to a corresponding microelectronic package, the contact element corresponding to one of a signal contact element or a ground contact element; and a conductive structure disposed at least in part within the cavity, electrically coupled to the contact element, and having an outer contour that is non-conformal with respect to an outer contour of the contact element.

An adapter apparatus for connecting a sensor device and a base device includes an RJ-45 connector pluggable into the base device. Among the RJ-45 contacts are a power supply contact and data contact for the base device as well as a ground contact. The adapter apparatus further includes an RJ-12 port capable of accepting an RJ-12 connector of the sensor device; among the RJ-12 contacts are a power supply contact and data contact for the sensor device as well as a ground contact. The adapter apparatus further includes a housing enclosing power supply, data, and ground wires for internally connecting the respective RJ-45 and RJ-12 power supply, data, and ground contacts.

A coaxial connector device includes: a signal contact member; a signal contact member; a ground contact member to which a ground potential is applied; and a conductive member including a rear ground connection portion that is connected to the ground contact member, and a front ground connection portion that is connected to a ground contact portion of a mating connector device. When viewed in a direction of fitting to the mating connector device, the front ground connection portion overlaps at least a part of a signal line including a center conductor of a coaxial cable and the signal contact member, and at least a part of a signal line including a center conductor of a coaxial cable and the signal contact member.

The vehicle door handle structure includes a door handle disposed above a belt molding on a side door of a vehicle and pulled by a user when the user opens the side door from an outside of the vehicle, and a pocket space disposed behind the door handle to receive fingers of the user, and the door handle is inclined toward the front of the vehicle with respect to the ground contact surface of the vehicle such that an entrance of the pocket space faces diagonally rearward and diagonally upward of the vehicle.

To provide a pneumatic tire with a wide and small diameter capable of improving riding comfort performance.SOLUTION: Provided is a pneumatic tire 1 comprising a tread part 2 that includes a tread rubber 2G forming a ground contact surface 2s and a belt layer 7 disposed inwardly in a tire radial direction of the tread rubber 2G. The outer diameter of the pneumatic tire 1 is 350 to 600 mm, and the rim width RW of a rim is 78% to 99% of a tire cross-sectional width SW. The ground contact surface 2s is divided into a plurality of land parts 9 including a shoulder land part 9B, by circumferential grooves 8 provided in the tread part 2. The shoulder land part 9B has an inner end edge 9e located inside in a tire axial direction from an outer end part 7e of the belt layer 7. A distance LA between the inner end edge 9e and the outer end part 7e is 10% to 30% of the maximum belt width WA of the belt layer 7. The hardness Hs of the tread rubber 2G satisfies mathematical formula (1) based on the distance LA and the tire cross-sectional width SW.SELECTED DRAWING: Figure 1

2.1. In the field of sports equipment, many devices are equipped with electric motors to, for example, maintain higher speeds for longer periods. Drive systems have already been developed for inline skates that are based on a new inline skate design, meaning that conventional inline skates cannot be used with them, or that the technical design prevents free movement when the motor is not in use and creates a braking effect. 2.2 To continue using standard inline skates and to avoid creating a braking effect when skating without the motor, the drive unit was mounted in a frame (1) that can be attached to the skates. To ensure free skating without braking effect from the electric motor (3) when the drive unit is not in use, the drive unit has its own drive wheel (2) which only makes contact with the ground when the motor is in use. 2.3 The inline skate drive is suitable for use with standard inline skates with four wheels, as shown in the drawing. While the inline skate can be ridden as intended without using the drive, it can be engaged as needed and used for acceleration or to maintain speed.

The invention provides a shear thickening damper applied to an automobile suspension and a control method of the shear thickening damper, and relates to the technical field of suspension dampers, the shear thickening damper comprises a suspension mechanism, the suspension mechanism comprises a rigid suspension, and a steering adjuster is arranged on the rigid suspension. Through collaborative design of the suspension mechanism, the damping mechanism and the protection mechanism, the comprehensive performance of the automobile suspension system is remarkably improved, the steering adjustor and the reinforcing arc frame dynamically adapt to different steering working conditions and road surface loads, the supporting stability is ensured, the power transmission efficiency is optimized through efficient meshing transmission of the crown gear rod and the gear rotating disc, and the service life of the automobile suspension system is prolonged. The tire grounding stability is enhanced through the adjustable gap design of the connecting ball rod, the damping coefficient and the pre-tightening force of the damping mechanism are adjusted in a self-adaptive mode through multi-stage buffering in combination with real-time sensor feedback, road surface impact is effectively absorbed, vibration transmission is reduced, and the protection mechanism is made of intelligent materials and a collapsible framework structure; and during collision, energy is absorbed according to a preset mode in a deformation grading manner, so that the passive safety is greatly improved.

The invention belongs to the field of tire dynamic characteristic application, and particularly relates to an intelligent tire key state estimation method based on multi-sensor fusion. According to the method, a PVDF sensor and an MEMS three-axis acceleration sensor are arranged on the inner wall of a tire, and an intelligent tire mechanical property test is carried out; according to encoder data and sensor signal characteristics, extracting a sensor signal of the intelligent tire grounding print area, and processing the sensor signal; establishing three different neural network models by taking different sensor signal characteristics as input; training neural network models by using sensor test data, and respectively solving optimal fusion weights of estimated values of the two neural network models according to training set data by using a particle swarm algorithm; and preliminarily estimating the key state of the intelligent tire by using a neural network model, and fusing two preliminary estimated values with the minimum difference value by using the optimal weight to obtain a final estimated value of the key state of the intelligent tire. The method plays an important role in improving the key state estimation precision of the intelligent tire.

A footwear includes: a foot bed portion that supports a sole of a foot of a wearer and has a ground contact surface; and a foot cover portion that covers an instep of the foot of the wearer. At least a part of the foot bed portion and at least a part of the foot cover portion are formed of a single additively manufactured product produced by a stereolithography-type three-dimensional additively manufacturing method, and a protruding portion is provided on an outer surface defined by the additively manufactured product of the foot cover portion.

Each receptacle contact includes a soldering part to be soldered to a connector mounting surface of a board, a fixed part to be fixed to a receptacle housing, and a spring part supported like a cantilever beam by the fixed part and elastically deformable in this recited order. The spring part includes a first contact part configured to come into contact with a plug connector. The plurality of receptacle contacts include a signal contact and a ground contact adjacent to each other. A spring part of the signal contacts and a spring part of the ground contact are elastically deformable independently of each other. The spring part of the ground contact further includes a second contact part that comes into contact with the ground plate when the connectors mate.