22 results about "Ground force" patented technology

The invention discloses a control method, and the method comprises the steps: collecting the data of a centroid state and an MPC optimal ground acting force in a plurality of motion states of a robot, designing a full-connection residual network, taking the centroid state information as the input, taking the ground acting force as the output, and designing a loss function based on priority. Upper and lower bounds of a friction cone and a sole reaction force are constrained, and the network is trained offline to fit MPC optimization quantity, so that an efficient mode of online reasoning is realized; the joint angle and the angular velocity are fused with the action at the previous moment, the centroid linear velocity and the angular velocity and the foot-ground acting force fitted through a residual network, a bionic reference trajectory is generated through a human motion public data set, different weights are given to a reward function group according to a dominant function value obtained through calculation, and the control performance is improved; symmetrical loss constraint is added to lower limb movement, and the algorithm convergence speed is increased. And finally, training to obtain a whole-body control strategy based on model priori knowledge and a human motion reference trajectory.

The invention discloses an optimization method for an optimal short-distance takeoff strategy of a vertical / short-distance takeoff and landing aircraft, and the method comprises the steps: firstly building a vertical / short-distance takeoff and landing aircraft longitudinal dynamic model and a ground stress model which consider the dynamic state of an actuator, and augmenting the dynamic state of the actuator to an aircraft motion equation; secondly, the minimum ground clearance speed is solved through a constrained balancing algorithm, the speed serves as a take-off criterion, and a fixed-value take-off strategy is obtained through theoretical derivation and serves as a dynamic optimization initial value; the optimal short-distance takeoff problem is converted into an unconstrained nonlinear programming problem with fixed final state time, and a dynamic optimization takeoff strategy is solved in combination with a numerical optimization method; and finally, carrying out sensitivity analysis on the thrust-weight ratio, the thrust distribution ratio and the gravity center position to obtain an influence rule of each factor on the takeoff distance. The method has the advantages of being high in strategy optimization efficiency, short in takeoff distance and high in engineering guidance, the rapid starting capability of the vertical / short-distance takeoff and landing aircraft is remarkably improved, and technical support is provided for control of the short-distance takeoff and landing stage of the vertical / short-distance takeoff and landing aircraft.

The invention discloses a multi-angle reef-touching ship stranding pool experimental device and a multi-angle reef-touching ship stranding pool experimental method, and belongs to the technical field of ship design and manufacturing, the multi-angle reef-touching ship stranding pool experimental device comprises a pool reef system, a stranding tracking and measuring system and a ship model movement traction system, the pool reef system comprises a pool, a ship model arranged in the pool and a reef module, the reef module comprises a supporting base, a mounting base connected with the supporting base, a replacement base detachably arranged on the mounting base and reefs arranged on the replacement base, and the ship model movement traction system is used for pulling the ship model. The stranding tracking and measuring system is used for recording the movement and stranding force change of the ship model in the traction process; the experiment device and method can be completed in an indoor experiment pool, ship model stranding experiments in different reef states can be completed by adjusting the ship model free stranding initial speed, relative height and angle, stranding position plates can be replaced, the structure is simple, and operation is easy.

The invention discloses a vibroseis excitation signal extraction method and device considering a near-surface coupling problem, electronic equipment and a medium. The method comprises the following steps: establishing a vibroseis coupling mass spring damping system which comprises a heavy hammer system, a floor system and a ground capturing system; the mass and acceleration of a heavy hammer and a bottom plate of the vibroseis vehicle are obtained respectively, and then coupling ground parameters are obtained; establishing a relational expression between the coupling ground speed and the coupling ground parameters according to the coupling mass spring damping system of the vibroseis; and calculating the coupling ground speed according to the sum of the weighted ground forces and the relational expression. According to the method, the coupling model of the bottom plate and the ground is incorporated into the mass spring damping system, and the newly constructed mass spring damping system is utilized to filter the reference scanning signal or the weighted sum ground force of the vibroseis, so that the vibroseis reference signal which is more in line with the actual input underground signal is obtained.

A boom-type tunneling machine body stability control system and method, when the cutting arm rises, the controller converts the cab operation signal or remote control signal into an instruction and outputs it to the rear proportional valve and the electromagnetic valve, the rear proportional valve controls the support cylinder to extend to the first ground force contact, the electromagnetic valve controls the rear support cylinder to continuously abut the ground to stabilize the machine body; when the cutting arm is lowered, the controller converts the cab operation signal or remote control signal into an instruction and outputs it to the front proportional valve, the front proportional valve controls the shovel plate to lower to abut the ground to stabilize the machine body. The control system realizes the rear support cylinder, the shovel plate and the ground force contact, achieves the effect of stabilizing the machine body during the cutting operation of the cantilever tunneling machine, improves the production efficiency, and reduces the failure rate of the tunneling machine.

The present application relates to the technical field of three-dimensional graphics data processing, and particularly relates to a three-dimensional ground stress modeling method, system and storage medium. The method comprises the following steps: constructing a three-dimensional space grid model of a geological structure, and marking the spatial parameters of stratum, fault and fissure distribution; inputting the spatial parameters into a preset probabilistic mechanics model to generate a multi-scale fissure field; embedding the multi-scale fissure field into an initial tensor field of a preset three-dimensional stress field to generate continuous stress distribution data containing a crack propagation path through fracture evolution simulation; constructing a numerical updating strategy of fluid-solid coupling based on the continuous stress distribution data to solve the fluid pressure field and the solid stress field in a coupled manner and update the three-dimensional stress field. Through the fusion of multi-scale fissure analysis, fracture evolution tracking and fluid-solid coupling solution, the present application realizes the dynamic reconstruction and three-dimensional visualization of the stress field of the geological structure, and significantly improves the accuracy and expression ability of the ground stress distribution under complex geological conditions.

1. The name of the design product: unmanned glider (end delivery tandem wing unmanned glider). 2. The use of the design product: used for logistics supply, can supply ground forces and emergency disaster relief supplies in various terrain environments. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The utility model provides a building foundation detection device, relates to the technical field of building foundation detection auxiliary devices, and aims to solve the problems that most building foundation detection devices are generally larger in size and heavier in weight, need to be operated by a plurality of technicians and have larger influence on detection efficiency. Comprising a bearing support, a bearing bottom column, a bearing support frame and a bearing support block, the movable base, the bearing support frame, the assembling top seat and the bearing sliding column are arranged; supporting side columns are installed on the side face of the movable base. The bearing support frame is mounted at the top of the movable base; the assembling top seat is mounted at the top of the bearing support frame; the bearing sliding column is arranged on the side face of the bearing supporting frame, and a guide sliding groove is formed in the side face of the bearing sliding column. The threaded supporting shaft is matched with the driving motor to drive the threaded supporting block to move, so that the threaded supporting block can lift the impact supporting seat to be arranged at a proper height, the impact supporting seat impacts the impact-bearing supporting seat to generate impact force on the detection bottom column, and the impact-bearing supporting seat supports the detection bottom column to perform force application detection on a foundation.

The utility model discloses a ground trowelling machine for building engineering, including installation box and drive mechanism, the side end fixed mounting of installation box has the handle, the lower extreme of installation box is provided with the protective cover, drive mechanism includes drive motor, transmission case, trowelling board, just drive motor fixed mounting is in the upper end of installation box, and transmission case fixed mounting is in the side end of installation box, the lower extreme fixed mounting of installation box has the connecting barrel, the lower extreme swing joint of connecting barrel has the rotation circle, be provided with the adjusting mechanism of adjusting trowelling board trowelling ground force degree size in the rotation circle, the utility model discloses through control adjusting handle, and adjusting handle makes electric telescopic rod begin to work elongation through adjusting line, and electric telescopic rod pushes the gear and begins to move, and adjusting gear begins to rotate, makes adjusting rod drive adjusting peg begin to rotate, makes adjusting peg extrusion push adjusting board, makes connecting rod drive sliding groove begin to rotate, makes the use of trowelling machine more convenient.

This invention relates to the field of stacker-reclaimer technology, specifically a method for detecting the grounding force of a bucket wheel stacker-reclaimer. The method involves tilting the cantilever beam to its highest point, releasing excess back pressure from the hydraulic cylinder, and measuring the pressure value of the rod-side chamber through a pressure measuring point on the hydraulic cylinder, recording the data. Then, tilting the cantilever beam to its lowest point, releasing excess back pressure from the hydraulic cylinder, and measuring the pressure value of the rodless chamber through a pressure measuring point on the hydraulic cylinder, recording the data. The measured pressure values ​​are compared with the rated pressure values ​​of the hydraulic cylinders. If the pressure values ​​of both chambers are within the rated pressure range of the hydraulic cylinders, and both chambers have a 30% margin, the grounding force of the entire machine is considered to be balanced and the test ends. If the pressure value of one chamber is within the rated pressure range of the hydraulic cylinders, but the margin is less than 30%, the grounding force of the entire machine is deemed unbalanced. The counterweight is adjusted, and the test is repeated. The detection method is relatively simple, and adjusting the counterweight prevents the entire machine from becoming unbalanced.

A method for dynamically operating a header float system of an agricultural vehicle having a header movably mounted to a frame by an actuator and a flotation adjustment system that relies on ground-contact force measurement. The method includes: determining an initial zero value load sensor output signal representative of an initial position of the header raised out of contact with the ground surface, calibrating the sensor with the initial zero value, operating the header to process a crop material, detecting a subsequent position of the header out of contact with the ground surface, determining a subsequent zero value representative of the subsequent position of the header, and re-calibrating the sensor with the subsequent zero value. Also, an agricultural vehicle having a header operated as described above.

The application discloses a near-surface elastic parameter inversion method based on a controllable source force signal, and relates to the field of geophysical prospecting. The method comprises the following steps: based on the coupling effect between a weight and a vibration plate and the ground, a mathematical model of a controllable source excitation device reflecting the characteristics of the controllable source excitation device is established; according to the mathematical model of the controllable source excitation device, a force transmission formula of a weight-vibration plate system is derived, and the weighted and ground force of the controllable source excitation system is obtained by using the force transmission formula of the weight-vibration plate system; based on the coupling effect between the vibration plate and the ground, the force transmission formula of a ground coupling system is derived according to the weighted and ground force; according to the force transmission formula of the weight-vibration plate system and the force transmission formula of the ground coupling system, a transfer function between the controllable source weight-vibration plate-ground system is derived; and the near-surface elastic parameter is inverted by using the transfer function between the controllable source weight-vibration plate-ground system. The method is especially suitable for a complex exploration area with a dramatic near-surface change.

Agricultural implement (1) comprising at least one chassis (20) by means of which the implement (1) can be moved and / or supported in different operating positions and in a rollable manner on a surface such as a road and an agricultural area, in particular a field, wherein the chassis (20) is assigned at least one brake circuit (40) that can be pressurized with fluidic pressure, in particular a fluid, by means of which at least one of several wheel and / or roller elements (21-24) assigned to the chassis (20) can be braked, and wherein the chassis (20) is assigned one or more spring and / or adjusting devices (30) by means of which a load (A), in particular a ground force, that can be transmitted to the ground via the chassis (20), in particular via at least one wheel and / or roller element (21-24), can be adjusted and / or adapted.In order to specify an agricultural implement (1) which can be manufactured cost-effectively and with minimal material usage and is suitable for high maximum loads, it is provided that the one or more spring and / or actuating devices (30) can be coupled to the at least one brake circuit (40) in a fluid-conducting manner.

This utility model belongs to the technical field of AGV drive wheel assembly installation, specifically an improved AGV drive wheel assembly installation structure, including a mounting base, a horizontal adapter, and a vertical adapter. Through the coordinated structure of the mounting base, horizontal adapter, and vertical adapter, this utility model can achieve both the installation of an integrated drive wheel structure and the installation of a separate drive motor and reducer through simple adjustments. This allows the AGV chassis to be suitable for installing two different types of drive wheel assemblies, facilitating installation and adapting to various working conditions or testing different motors, demonstrating good applicability. The horizontal adapter in this utility model can also be connected and fixed to the mounting base using screws D with their axes parallel to the horizontal plane. This ensures that the shearing direction of screw D is parallel to the direction of the ground force, better enabling it to withstand ground forces, extending the service life of the AGV chassis, and improving the installation reliability of the drive wheel assembly.

The invention relates to a method enabling ground forces to mark a target point on a photo taken with a mobile device, calculate the coordinates and distance from the current location, and instantly share this data with aircraft to guide them to the designated point.

The application discloses a wheel-ground force estimation method based on an elastic half-space contact model and tire internal monitoring, which comprises the following steps: step one, stress analysis of an elastic half-space body; step two, introduction of an empirical formula of tire-pavement displacement, and establishment of a wheel-ground contact deformation stress theoretical model; and step three, establishment of a functional relationship between vertical load F and deformation variable ε x of the tire, and estimation of the tire wheel-ground force. The method can effectively estimate the tire wheel-ground force by analyzing the internal stress and strain relationship of the elastic half-space body when the elastic deformation of the elastic half-space body occurs, and establishing the functional relationship between the vertical load F and the deformation variable ε x of the tire, and has the characteristics of high precision and strong real-time performance.

The present disclosure relates to the technical field of foot-type robot control, and provides a robot touch ground force estimation method and system based on a high-order finite time observer, which comprises: establishing a foot-type robot leg dynamics model; selecting joint position, velocity and joint acceleration driving term as state variables, and establishing a foot-type robot leg state space model; according to the established state space model, using step-by-step iteration of the estimated value of the state variable, combining the power form of the nonlinear sign function and the set gain parameter matrix, and establishing a high-order finite time observer through a recursive mode to obtain the estimation of the foot-type robot foot end touch ground force. The high-order finite time observer is established in combination with the nonlinear sign function and the designed parameter matrix, so that the touch ground force estimation error can converge within a certain boundary in a limited time, and the problems of low touch ground force estimation accuracy and slow change touch ground force estimation of the traditional extended state observer are effectively solved.

The application discloses a kind of super high efficiency superposition acquisition force signal real-time quality control method, device, equipment and system, the method includes: real-time acquisition by controllable seismic source box record force signal data;Filtering corrosion inspection, neighborhood mean check are carried out to the ground force signal data included in force signal data, and correlation check is carried out to the ground force signal data and reference signal data included in force signal data;Based on the result of filtering corrosion inspection, neighborhood mean check and / or correlation check, carry out abnormality judgment to force signal data, to realize the quality control of force signal.The method finds the problem existing in force signal data in time and then carries out quality control to force signal data, not only improves operation efficiency, simultaneously reduces the shutdown risk due to data quality problem in field operation, helps field geophysical prospecting personnel to carry out quality control in real time, guarantees construction efficiency and quality in data acquisition process.

An energy storage module is arranged in a thigh module and used for providing power, the thigh module recognizes a motion intention through a control circuit and a sensor which are arranged in the thigh module, and a knee joint module provides corresponding motion torque based on the recognized motion intention. The shank module and the ankle module are driven; the thigh module and the shank module wear and bind the lower limbs to share the supporting force of the lower limbs, and meanwhile, the ankle module is fixed to a shoe and makes contact with the ground to complete a structure-to-ground force transmission link, and equipment walking assistance is achieved. According to the scheme, the corresponding motion torque can be provided according to the user intention; besides, all the modules are quickly locked and unlocked through quick-release locking units, a pressing locking mechanism on a pressing unlocking shank module pulls out the ankle module and puts the ankle module into an unoccupied space between the thigh module and the shank module, the whole machine is folded and stored, the exoskeleton is stored to be in the size of a common backpack, and a user can conveniently carry the exoskeleton when going out.

The invention relates to a novel power assisting method and device of an electric power assisting bicycle, the electric power assisting bicycle and computer readable storage equipment. According to the design, the function of the electric power assisting bicycle is achieved mainly through an electronic gyroscope and an accelerometer. The electric power-assisted bicycle comprises a gyroscope, an accelerometer, a controller with a specific equation and a motor. The controller is connected with the accelerometer and the motor, and according to the method, 1) according to the total mass and riding data obtained by the bicycle through the gyroscope, the accelerometer and other sensors and the controller at the initial moment, the initial acting force of the ground on the tires is obtained, the initial moment serves as the current moment, and the initial acting force serves as the current acting force; (2) according to the product of the current acting force and the power-assisted ratio set by the current power-assisted gear, the target motor force needed by the iteration moment is obtained, and a motor of the bicycle is controlled to operate at the current corresponding to the target motor force at the iteration moment; and 3) obtaining an iteration acting force according to the total mass, the target motor force corresponding to the iteration moment and the obtained riding data of the bicycle at the iteration moment, taking the iteration moment as the current moment, taking the iteration acting force as the current acting force, and returning to execute the step 2).

The embodiment of the application provides a base device and a clothes processing equipment, which comprises a base, first feet and a leveling mechanism, each of the first feet and the leveling mechanism jointly bears the base, the leveling mechanism comprises two second feet and a crossbeam connected with the two second feet, and in the leveling process, the crossbeam can be inclined relative to the horizontal plane to adjust the supporting height of each second foot. When the clothes processing equipment is placed on uneven ground, the base transmits the force to the leveling mechanism, the first second foot touching the ground forces the leveling mechanism to slide relative to the base as a whole, the crossbeam gradually inclines, the crossbeam forces the second foot not yet touching the ground to gradually move downwards until the second foot touches the ground, at this time, both of the second feet touch the ground, and the stress of both of the second feet is basically consistent, so that the clothes processing equipment is in the leveling state and automatically adapts to the uneven ground.

The application discloses a cable truck for cable laying and transportation, and belongs to the technical field of high-speed railway cable laying. The cable truck for cable laying and transportation can realize the position alternation and replacement of the moving wheels and the track wheels through the movement of the wheel group switching assembly, thereby facilitating the cable transportation operation in multiple terrains and expanding the use scene range. In addition, the screw transmission assembly can realize the overturning movement of the driving rotating structure, so that the elastic limiting structure drives the cable reel to be upwardly overturned and kept upright, thereby completing the over-bar operation or obstacle avoidance operation. When the wheel group switching assembly drives the track wheel to keep in the horizontal state, the limiting frame is upwardly loosened from the blocking of the I-shaped plate under the ground force, so that the cable reel laying can be smoothly completed, the release speed of the cable is greatly improved, the protection intensity of the cable is enhanced, the construction cost is saved, the quality is improved, the efficiency is increased, and the cable truck is worthy of being put into use.