1043 results about "Ground contact" patented technology

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 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 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 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.

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.

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.

The invention relates to the technical field of mechanical position servo control, and solves the problem of seeding depth fluctuation caused by position response lag and linear compensation failure of a traditional profiling mechanism. The method comprises the following steps: acquiring curvature characteristics of a front terrain through a terrain detection sensor, and predicting vertical displacement offset of a ground contact point by combining structural parameters and speed of an execution mechanism; generating a drive actuator feed-forward position instruction based on the offset and a preset depth target value; a cutting edge load disturbance value is collected in real time, and output thrust (hard soil area nonlinear thrust increasing / soft soil area stepped thrust decreasing) is corrected in a graded mode according to the discrete disturbance gradient; and the position of the actuator is dynamically adjusted by combining ditching depth feedback. Through double closed-loop control of terrain-position feedforward and resistance-position feedback, independent pre-judgment and accurate position tracking of the mobile platform on the surface micro-terrain are realized, so that position output is consistent with a position target value.

The invention discloses dust fall equipment for a building construction site, and relates to the technical field of dust fall, and the dust fall equipment comprises a dust fall device. According to the dust falling equipment for the building construction site, the dust falling device is designed and makes contact with the ground through the stabilizing mechanism, so that the contact area between the dust falling equipment and the ground is increased, the friction force of components to the ground is improved, dust in the building construction site is absorbed through wind power generated by the pneumatic mechanism, the dust falling effect is achieved, human health is protected, and the disease risk is reduced; dust is guided through the guide plate, the flowing speed in the dust equipment is increased, dust residues in the equipment are reduced, liquid is sprayed into a site through the spraying device, so that the dust falling effect is achieved, the airflow flowing direction is changed through the pneumatic mechanism, the pneumatic mechanism is matched with the spraying device, and the dust falling effect is improved. In the process that the spraying device sprays the site liquid for dust falling, the liquid spraying range is enlarged through wind power, so that the site dust falling efficiency is improved, and the equipment spraying range is enlarged.

The invention discloses a horizontal steering wheel with a walking mechanism and a steering mechanism, and belongs to the technical field of steering wheels. Comprising a support assembly, a spring shock absorber is rotationally installed on the support assembly, a fixing frame is rotationally installed at one end of the spring shock absorber, and a wheel assembly is installed on the fixing frame; an upper connecting rod frame is rotationally installed on the support assembly and rotationally connected with the fixing frame, and a lower connecting rod frame is rotationally installed on the support assembly and rotationally connected with the fixing frame. The support assembly is provided with a driving assembly used for controlling the wheel assembly to steer. The upper connecting rod frame and the lower connecting rod frame form a parallelogram guide structure, and the upper connecting rod frame and the lower connecting rod frame swing synchronously in the damping process or under the heavy-load eccentric load working condition, so that tires are kept perpendicular to the ground all the time, the situation that the ground contact area is reduced due to inclination is avoided, it is guaranteed that contact pressure between the tires and the ground is evenly distributed, local abrasion is reduced, and the service life of the tires is prolonged. And meanwhile, the stability in the carrying process is improved.

An electrical connector includes: a substrate having plural holes; plural contacts mounted in the corresponding holes, the plural contacts including a first row of contacts arranged as a pair of signal contacts flanked by two ground contacts, a second row of contacts having four ground contacts on one side of the first row of contacts, and a third row of contacts having four ground contacts on another side, each contact including a body and an upper arm; and a coupling element interconnecting the two ground contacts of the first row to selected ground contacts of the second and third rows, wherein the upper arm of each of the plurality of contacts has a contacting convex facing upward, and the four ground contacts of the second row are connected side by side and the four ground contacts of the third row are connected side by side.

The invention is suitable for the technical field of autonomous movement, and provides a motion state estimation method and device of a humanoid robot, the robot and a product. The motion state estimation method of the humanoid robot comprises the following steps: acquiring ground contact states of foot ends of two legs of the humanoid robot; motion information of the foot ends of the supporting legs in the world system is obtained; and based on the joint information of the humanoid robot and the motion information of the foot ends of the supporting legs in the world system, determining the motion information of a base of the humanoid robot in the world system. According to the embodiment of the invention, the motion state estimation can be realized based on the joint information, the degree of dependence on the sensor information in the motion state estimation process is reduced, and the cost of the humanoid robot is reduced.

A motion control method for a robot includes obtaining environment information of a current environment of the robot and a current motion parameter of a joint of the robot; determining an environment type of the current environment; determining a current posture of the robot based on the current motion parameter of the joint; determining position information of the robot in the current environment; switching a current motion mode of the robot to a target motion mode corresponding to the environment type in response to the current posture and the position information satisfying a motion mode switching condition; and configuring a target motion parameter for the joint of the robot based on the target motion mode corresponding to the environment type, the target motion parameter being configured for switching a part of the robot in contact with a ground to a ground contact part in the target motion mode.

This document describes systems and techniques directed at grounding of a removable battery subassembly of an electronic device. In aspects, a battery is attached to a battery chassis, forming a battery subassembly. The battery chassis mechanically and removably interlocks with a mechanical frame of an electronic device. The mechanical frame includes one or more ground contacts, each disposed proximate to an antenna integrated with the mechanical frame. The ground contacts provide grounding paths for the antennas to the battery chassis, which acts as a system ground. One or more additional ground contacts are disposed between the mechanical frame and a display of the electronic device. A combination of the ground contacts and the additional ground contacts provide another grounding path for the display to the battery chassis via the mechanical frame. These grounding techniques effectively mitigate the impact of lossy resonance on antenna performance.

The invention discloses a vehicle turning torque advanced control method and system based on curve track prediction, and relates to the technical field of vehicle power and chassis, and the method comprises the steps: obtaining the vehicle driving speed in real time, calculating the curvature of a road section in front of the vehicle driving direction according to navigation map data and visual sensing data, and calculating the curvature of the road section in front of the vehicle driving direction; determining a curve road section and calculating the curve road section as a curvature radius; according to a vehicle kinetic equation, theoretical demand lateral force is calculated, according to a tire-ground contact mechanical model and a friction ellipse theoretical constraint equation, the maximum longitudinal driving force meeting the theoretical demand lateral force is reversely solved, then a safety margin coefficient is introduced, and target tire driving force is generated; when it is detected that the vehicle travels to the preview control position away from the entrance of the front curve road section, a torque adjusting instruction is generated according to the target tire driving force, and the power source is controlled to output torque till the vehicle travels into the curve road section. According to the invention, insufficient or excessive steering during turning can be effectively inhibited, and the vehicle stability and the driving safety are improved.

A combined switch device disclosed by the present application comprises a rack, vacuum arc extinguish chambers, isolation contacts, grounding contacts and a contact knife assembly, the rack is formed by splicing a plurality of insulating partition plates, a plurality of isolation cavities are formed in the rack, the vacuum arc extinguish chambers are vertically installed in the corresponding isolation cavities, and the bottom ends of the vacuum arc extinguish chambers are provided with static contacts; the isolation contact is installed at the bottom end of the rack through an insulated isolation cross beam, an isolation area corresponding to the isolation cavity is arranged on the isolation cross beam, the isolation contact is located in the corresponding isolation area, the grounding contact is installed at the bottom end of the rack and corresponds to the isolation cavity, and the contact knife assembly is rotatably installed at the bottom end of the rack through an isolation shaft. The beneficial effects of the invention are that the vacuum arc-extinguishing chambers between phases are physically isolated through the isolation cavities, and the isolation contacts between phases are physically isolated through the isolation regions at the same time, so that the dual isolation design greatly blocks the inter-phase conductive paths in space, i.e., the inter-phase insulation electric field is greatly improved, and the reliability of the vacuum arc-extinguishing chamber is improved. And the insulating property of the combined switch equipment is improved.

The invention provides a control method and device for flexible gait motion planning of a humanoid robot, and the method comprises the steps: in a gait motion period of a target humanoid robot, aiming at each leg part of the target humanoid robot, carrying out the gait motion planning of the target humanoid robot; acquiring preset initial state data and expected state data corresponding to a support phase period of the leg part in the gait motion period; based on the initial state data and the expected state data, respectively determining an amplitude coefficient corresponding to the leg part in the gait motion period and sole landing position data corresponding to the leg part in the support phase period; and based on the amplitude coefficient, determining a foot sole ground contact force value corresponding to each moment of the leg part in the gait motion period, and based on the foot sole landing position data and the foot sole ground contact force value, controlling the target humanoid robot to perform smooth gait motion in the gait motion period. Through the method, the coordination, the stability and the efficiency of the flexible motion planning of the humanoid robot are improved.

The utility model discloses a rubber crawler-type timber grab which comprises a machine body, the machine body is provided with a cab, a fence type container and a power system, floating wheels are arranged at the bottom of the machine body, and the floating wheels are wrapped with rubber crawlers. And the power system is connected with the unloading oil cylinder. The device is small in grounding specific pressure, does not need a supporting leg during operation, is provided with an operation room and a remote wireless remote control device, and is high in practicability and economical efficiency; the working efficiency is effectively improved, the environment is protected, and the grounding specific pressure is reduced.

To provide a garden two-wheeler that can reduce a storage space.SOLUTION: A garden two-wheeler 10 comprises a bucket 12 for carrying cargo, a frame 13 having a ground contact portion 55, a first connecting portion 42, and a second connecting portion 44 at the rear of the bucket 12, a pair of wheels 14 spaced apart in the width direction on the frame 13 and capable of supporting the bucket 12 together with the ground contact portion 55, and a handle 15 supported by the first connecting portion 42 and the second connecting portion 44 and capable of being positioned at a use position P1 extending in a direction away from the bucket 12, and at a folded position tilted along the bucket 12.SELECTED DRAWING: Figure 2

The utility model discloses an accurate drip irrigation tea planting irrigation device which comprises an irrigation assembly, and the irrigation assembly comprises an arranged irrigation main pipe, a first threaded pipe communicated with the irrigation main pipe, a drip irrigation branch pipe corresponding to the first threaded pipe and a drip irrigation head communicated with the drip irrigation branch pipe. The centralized maintenance assembly comprises a long pipeline arranged on the side face of the drip irrigation branch pipe, a connecting pipe enabling the long pipeline to be communicated with the drip irrigation head, a second threaded pipe communicated with the long pipeline, a threaded plug connected with the second threaded pipe, a threaded ring sleeved with the drip irrigation branch pipe and an annular baffle fixed to the top end of the drip irrigation branch pipe. Through mutual cooperation of the irrigation assembly and the centralized maintenance assembly, high-pressure flushing is regularly and centrally carried out on the drip irrigation heads during use, dirt deposition and blockage in the drip irrigation heads caused by long-term drip irrigation are avoided, and the drip irrigation branch pipes, the long pipeline and the connecting pipe form a concave structure which is in contact with the ground, so that the service life of the drip irrigation heads is prolonged. Therefore, the drip irrigation head is prevented from toppling, and drip irrigation stability is ensured.

The utility model discloses an outdoor charging pile relates to charging pile protection technical field, including the charging pile that is formed of charging pile main part, charging wire, charging head, charging head passes through charging wire and charging pile main part electric connection, the outside of charging wire is provided with protection subassembly, and the protection subassembly is used for providing support between charging wire and ground, avoids the ground friction of charging wire, the protection subassembly includes spiral support part, clamping unit, the spiral support part is sleeved in charging wire outside and is connected fixed with charging wire through clamping unit, and the separation of charging wire and ground is realized through the contact of spiral support part and ground. The utility model discloses setting up protection subassembly, through installing spiral support part in charging wire outside, when having the contact tendency of charging wire and ground, spiral support part and ground contact, make charging wire not contact ground, effectively avoid the damaged condition that the ground friction of charging wire leads to, further improve charging pile use safety.

The application provides a terrain recognition method, device and equipment for a legged robot and a medium. The method comprises the following steps: acquiring pose data collected by a body sensor of a target legged robot, and calculating state parameters of the target legged robot; inputting the pose data and the state parameters into a foot-ground contact force model to determine three-dimensional foot-ground contact force; generating a contact mask sequence representing a foot-end ground contact state of the target legged robot based on the three-dimensional foot-ground contact force, and segmenting the pose data to obtain a segmented pose data set; inputting the pose data set into a pre-trained terrain classification model to determine a confidence vector of the current ground under multiple terrain attributes, and determining a terrain category of the current ground according to multiple confidence vectors. Through the method and device, the autonomous adaptation capability and environmental perception reliability of the legged robot in complex terrain are significantly improved.

The utility model discloses a crawler chassis for weeding robot belongs to the technical field of robot, this crawler chassis includes mobile crawler, connecting beam, installation roof, lifting assembly and mobile sub -assembly, through setting up in lifting assembly's electric telescopic handle elongation and can make connecting cross board move down, and can lift two sides mobile crawler and leave the ground, and can adjust the interval between two sides mobile crawler more conveniently, through setting up in mobile sub -assembly's mobile wheel can make when adjusting the interval between two sides mobile crawler and ground contact, can follow mobile crawler and move while keeping the supporting force, reduce the friction with ground, through setting up in the drive motor rotation of adjusting component's rotation drive two -way screw rod, and can make two sides connection vertical board drive connecting beam and mobile crawler move simultaneously and move towards each other or opposite, realize the adjustment of mobile crawler interval.

The festival decorative snowflake tree comprises a supporting base, a supporting rod and a snowflake frame, a positioning pipe is fixed to the middle of the upper end of the supporting base, the supporting rod is arranged at the upper end of the positioning pipe, the snowflake frame is arranged outside the supporting rod, and a decorative lamp strip is installed on the surface of the snowflake frame. Moving rollers are arranged at the bottom of the supporting base, positioning seats are fixed to the upper ends of the moving rollers, and the four sets of moving rollers are symmetrically arranged. According to the festival decoration snowflake tree with the lamp, by arranging the movable rolling wheel structures capable of being stored, the moving convenience of the snowflake tree after assembly can be improved, the situation that the snowflake tree is damaged due to inconvenient carrying is avoided, meanwhile, the movable rolling wheels can be stored after the snowflake tree is moved to a designated place, and the supporting base makes contact with the ground for supporting; and the subsequent placement stability is improved.

This utility model relates to a daughter card structure, a plug-in connector, and a connector. The daughter card structure includes an insulating frame, a differential signal conductor, and a ground conductor. The signal conductor includes a signal contact, a signal crimping member, and a signal transmission section. The ground conductor includes a ground contact, a ground crimping member, and a ground transmission section. A torsion section is provided between the ground contact and the ground transmission section. The size of the torsion section is adapted to the thickness of the insulating frame. After being twisted by the torsion section, the ground transmission section connects to the first and second contact arms of the ground contact. Through the torsion of the torsion section, the first and second contact arms can respectively contact different sleeves of the mating connector, improving the electromagnetic shielding effect and signal transmission quality. The plug-in connector equipped with the above-mentioned daughter card structure has strong anti-interference ability and high signal quality. The signal of the connector composed of the above-mentioned plug-in connector has low crosstalk during transmission and has high stability and reliability.

[Problem] To provide a suspension control device that can improve the feeling of agility and the feeling of ground contact when turning while riding a saddle-type vehicle. [Solution] A suspension control device 1 controls variable damping force shock absorbers Df, Dr that can adjust the damping force and are interposed between a vehicle body B of a saddle-type vehicle M and a front wheel (vehicle wheel) Wf, and the vehicle body B and a rear wheel (front wheel) Wr, respectively. The suspension control device 1 comprises: a bank angle detection unit 2 that detects a bank angle θ, which is the angle of inclination of the vehicle body B in the left-right direction; a bank angular velocity detection unit 3 that detects a bank angular velocity ω of the vehicle body B; and a control unit 5 that controls the damping force of the variable damping force shock absorbers Df, Dr on the basis of the bank angle θ and the bank angular velocity ω.

To provide a pneumatic tire that can improve wet handling stability while maintaining excellent dry handling stability.SOLUTION: In a pneumatic tire of which an installation direction to a vehicle is designated, at least one row of a plurality of land parts 20 formed on a tread part 1 is a convex rib in which a contour line of a tread in a tire meridian cross section projects to a tire radial direction outer side, and when a position of a ground contact end E on the contour line of the tread part 1 is represented by a point PA, a position at 5% of a nominal tire width W from the ground contact end E to a tire width direction inner side is represented by a point PB, and a position at 10% of the tire nominal tire width W from the ground contact end E to the tire width direction inner side is represented by a point PC, a curvature radius SRin of a circular arc passing three points of the point PA, the point PB, and the point PC inside a vehicle, and a curvature radius SRout of a circular arc passing three points of the point PA, the point PB, and the point PC outside the vehicle satisfy the relationship of 1.1≤SRout / SRin≤2.0.SELECTED DRAWING: Figure 1

The utility model relates to the field of leather products and shoemaking technology, especially a kind of high-performance microfiber leather base sports shoes leather, including base, waterproof function layer and wear-resistant coating, the top of base is provided with ventilative function layer, several ventilative micropores are evenly distributed on the upper end of ventilative function layer, waterproof function layer is covered on ventilative function layer, contact angle is not less than 120 °, wear-resistant coating is set to the side of sports shoes leather and ground contact, with anti-skid texture.The utility model relates to a kind of high-performance microfiber leather base sports shoes leather, by ventilative, waterproof, wear-resistant and anti-skid key performance is integrated in one body.Ventilative micropore is rectangular array distribution and aperture precision design, can efficiently discharge shoe in moisture, keep dry, inhibit bacteria breeding;Multi-layer waterproof layer is collocated with stable outer frame, waterproof is strict, and is not afraid of damp environment.Wear-resistant coating and anti-skid texture cooperate, wear-resistant at the same time grip ground force is strong, adapt to various sports scenes.

The utility model discloses a multidirectional wind-resistant stable electric power engineering wire rack, and relates to the technical field of wire racks, the multidirectional wind-resistant stable electric power engineering wire rack comprises a base and a wind-resistant assembly, the outer surface of the base is provided with an adjusting groove, the wind-resistant assembly used for angle adjustment is arranged on the side edge of the base, and the wind-resistant assembly comprises a stabilizing plate, a reinforcing hole, a fixing frame and a wind-resistant plate. Reinforcing holes are formed in the surface of the stabilizing plate, a fixing frame is installed at the upper end of the stabilizing plate, a wind-resistant plate is installed on the inner side of the fixing frame, and a rotating table is installed in the top of the base. According to the multidirectional wind-resistant stable electric wire rack for the electric power engineering, the ground contact area is increased on the side edge of the base through the stabilizing plates, so that the stability is improved, the stabilizing plates slide in the adjusting grooves to adjust the positions of the stabilizing plates on the outer side of the base, and the positions of the wind-resistant plates are adjusted along with the stabilizing plates according to the wind direction; the wind-resistant plate can be adjusted in multiple directions according to requirements, so that the whole wire rack can induce wind, namely the wind-resistant effect is improved, and the wire rack is more stable in use.

A pneumatic tire capable of securing drainability of the main groove while improving rigidity of blocks and improving steering stability wherein an intermediate land area formed on an inner side of a shoulder main groove includes a plurality of intermediate blocks provided to be aligned in a tire circumferential direction, first intermediate lateral grooves provided between the intermediate blocks, and a plurality of first protrusions protruding from side walls of the intermediate blocks facing the shoulder main groove to the inside of the shoulder main groove. The first protrusion includes a first protrusion inclined surface connected to a ground contact surface of the intermediate block, a protruding height of which from a groove bottom of the shoulder main groove becomes smaller as going to a tip end, and at least part of a tip end of the first protrusion overlaps with a shoulder opening in a tire axial direction.

The utility model discloses a terminal group, comprising a plurality of grounding terminals which are arranged at intervals along a first direction, each grounding terminal comprises a grounding contact segment and a grounding fixed segment which are arranged in sequence, and the grounding fixed segment is provided with at least one grounding area; the insulator comprises a first surface and a second surface, and the insulator is provided with a hollow area exposing the grounding area; the conductive shielding plate is arranged on the first surface and is provided with a first boss area embedded into the hollow area; the grounding strip is arranged on the second surface and is provided with a second boss area embedded into the hollow area; the second boss area comprises at least one second gap boss area, and the second gap boss area extends to the end, close to the grounding contact section, of the grounding strip. According to the invention, the contact stability between the conductive shielding plate and each grounding terminal and between the grounding strip and each grounding terminal is effectively ensured, the unified grounding effect of the terminal group is ensured, the transmission speed and the space utilization rate are improved, the production is facilitated, and the signal strength is improved.