1353 results about "Motion controller" patented technology

A steerable, tendon-driven endoscope is described herein. The endoscope has an elongated body with a manually or selectively steerable distal portion and an automatically controlled, segmented proximal portion. The steerable distal portion and the segment of the controllable portion are actuated by at least two tendons. As the endoscope is advanced, the user maneuvers the distal portion, and a motion controller actuates tendons in the segmented proximal portion so that the proximal portion assumes the selected curve of the selectively steerable distal portion. By this method the selected curves are propagated along the endoscope body so that the endoscope largely conforms to the pathway selected. When the endoscope is withdrawn proximally, the selected curves can propagate distally along the endoscope body. This allows the endoscope to negotiate tortuous curves along a desired path through or around and between organs within the body.

A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.

A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

An imaging system for performing tomosynthesis on a region of an object comprises an x-ray source, motion controller, an x-ray detector and a processing unit. The x-ray source is positioned at a predetermined distance from the object and continuously moves along a path relative to the object at a plurality of predetermined locations. The x-ray source transmits x-ray radiation through the region of the object. The motion controller is coupled to the x-ray source and continuously moves the x-ray source along the path relative to the object. The x-ray source minimizes vibration in the imaging system due to continuous movement. The x-ray detector is positioned at a predetermined distance from the x-ray source and detects the x-ray radiation transmitted through the region of the object, thus acquiring x-ray image data representative of the region of the object. The processing unit is coupled to the x-ray detector for processing the x-ray image data into at least one tomosynthesis image of the region of the object.

The invention discloses a cucumber picking robot system in a greenhouse environment. The robot system comprises a binocular stereo vision system, a mechanical arm device and a robot mobile platform; the binocular stereo vision system is used for acquiring cucumber images, processing the images in real time and acquiring the position information of the acquired targets; the mechanical arm device is used for capturing and separating the acquired targets according to the position information of the acquired targets; and the robot mobile platform is used for independently moving in the greenhouse environment; wherein, the binocular stereo vision system comprises two black and white cameras, a dual-channel vision real-time processor, a lighting device and an optical filtering device; the mechanical arm device comprises an actuator, a motion control card and a joint actuator; and the robot mobile platform comprises a running mechanism, a motor actuator, a tripod head camera, a processor and a motion controller. The invention also discloses a cucumber picking method in the greenhouse environment. The method of combining machine vision and agricultural machinery is adopted to construct the cucumber picking robot system which is suitable for the greenhouse environment, thus realizing automatic robot navigation and automatic cucumber reaping, and reducing the human labor intensity.

A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

A coordinate measuring machine includes: a probe for measuring an object; a movement mechanism for moving the probe; and a motion controller for controlling the movement mechanism. The motion controller includes: a current value detecting unit that detects a current value for moving the probe by the movement mechanism; and a load judging unit that judges a status of a load applied on the movement mechanism based on the current value detected by the current value detecting unit and a threshold that is set in accordance with a target speed for moving the probe by the movement mechanism. The target speed is in proportion to the threshold.

In an inserting apparatus and method such as the continuous motion type, a motion controller electrically communicates with an encoder, a first motor driving an insert conveyor assembly, a second motor driving an envelope conveyor assembly, and an actuator operatively interfaced with a peripheral device. The motion controller controls insert conveyor assembly speed, envelope conveyor assembly speed, and the rotational position at which the actuator should be activated, based on the encoder signal. Once during every master cycle, the motion controller calculates the actuator activation position, and causes the first actuator to be activated at the calculated first actuator activation position.

An imaging system for performing tomosynthesis on a region of an object comprises an x-ray source, motion controller, an x-ray detector and a processing unit. The x-ray source is positioned at a predetermined distance from the object and continuously moves along a linear path relative to the object. The x-ray source transmits x-ray radiation through the region of the object at a plurality of predetermined locations. The motion controller is coupled to the x-ray source and continuously moves the x-ray source along the path relative to the object. The x-ray source minimizes vibration in the imaging system due to continuous movement. The x-ray detector is positioned at a predetermined distance from the x-ray source and detects the x-ray radiation transmitted through the region of the object, thus acquiring x-ray image data representative of the region of the object. The processing unit is coupled to the x-ray detector for processing the x-ray image data into at least one tomosynthesis image of the region of the object.

A mobile terminal including a touchscreen configured to receive a touch input; a wireless communication unit configured to perform wireless communication with an unmanned aerial vehicle having a camera to capture an external environment during flight; a sensing unit configured to sense a posture and movement of the mobile terminal; and a controller configured to control the wireless communication unit to transmit a flight control command to the unmanned aerial vehicle based on the touch input and the movement of the mobile terminal in a first mode in which the posture of the mobile terminal is disposed in a length direction with respect to gravity, and control the wireless communication unit to transmit a capture control command of the camera to the unmanned aerial vehicle based on the touch input along with the flight control command in a second mode in which the posture of the mobile terminal is disposed in a width direction with respect to gravity.

The invention relates to a device for realizing laser welding and seam tracking and a control method thereof. The device of the invention comprises an image collecting and processing unit for collecting and processing the image data of laser welding and seam characteristics and outputting the seam position information, a motion control unit for receiving the seam position information and transmitting a motion control command to a motion shaft actuating mechanism, and an upper parameter setting and control unit for setting the parameters and being respectively connected with the image collecting and processing unit and the motion control unit in a communication mode. The method of the invention comprises the following steps: setting the parameters by utilizing the upper parameter setting and control unit; collecting and processing seam images to obtain the seam image data; caching and calibrating the seam image data, and determining the offset of a welding gun; carrying out filtering, fitting and track planning on tracking tracks by utilizing a motion controller in the motion control unit; and transmitting the result to a motion shaft driver. The invention can be suitable for various seam types and techniques and has the advantages of good generality, strong flexibility, high independence, high precision, accurate positioning, strong adaptability, and the like.

A rotating transducer assembly and method for use in volumetric ultrasound imaging and catheter-guided procedures are provided. The rotating transducer assembly comprises a transducer array mounted on a drive shaft and the transducer array is rotatable with the drive shaft, a motion controller coupled to the transducer array and the drive shaft for rotating the transducer, and at least one interconnect assembly coupled to the transducer for transmitting signals between the transducer and an imaging device, wherein the interconnection assembly is configured to reduce its respective torque load on the transducer and motion controller due to a rotating motion of the transducer.

A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

The invention discloses an aggregate digital image assessment system which comprises a motion control module, a computer module, an image acquisition module and a power supply module, an image preprocessing module, an aggregate identity module, an aggregate analysis and evaluation module and a data storage module. The assessment method includes that: a computer sends an instruction to a motion controller for controlling the linear sliding of a laser scanner; a CCD camera takes a picture of aggregate on a scanning board and transforms the image to a digital image; the digital image is transformed to a grey-scale map, And an edge detecting operator is utilized for carrying out image enhancement and restoration to the transformed grey-scale map so as to transform the grey-scale map to a binary image; the aggregate in the binary image is projected and the image of the aggregate in the binary image is detected and separated; IPP image processing and analysis software is used for calculating the three-dimensional coordinate of the surface of the aggregate; quantitative assessment category is carried out to the characteristics of the aggregate to obtain the gradation, the shape, the corner angle and the texture of the aggregate; the computer stores experimental data as well as analysis and assessment results. The aggregate digital image assessment system of the invention can be used for analysis and assessment of the aggregate.

The invention relates to a camera automatic regulating crack image acquisition system for a fatigue crack propagation test, which comprises a crack image imaging and acquiring system, a camera position regulating system and a computer processing and analysis control system, wherein the crack image imaging and acquiring system comprises a CCD (Charge Coupled Device) camera, a lens, a light source illuminating device, a camera mounting bracket and an image acquiring card; the CCD camera, the lens and the light source illuminating device are arranged on the camera mounting bracket to form a crack image imaging unit; the image acquiring card is connected with a computer; a camera position regulating device comprises a stepping motor, a camera motion positioning cloud deck, a motion controller and a stepping motor driver; and the computer processing and analysis control system comprise the computer and a camera automatic regulating image acquisition module in an ARM motion controller. The invention also provides a camera automatic regulating crack image acquisition method for the fatigue crack propagation test. According to the camera automatic regulating image acquisition device and method for fatigue crack propagation test provided by the invention, the full-automatic operation is adopted; the control accuracy is high; and the real-time performance is excellent; and the labor intensity is reduced.

A video game controller includes separate left hand and right hand controller shells. The left hand controller has a conventional joystick movement controller, while the right hand controller has a trackball movement controller. One or both of the left hand and right hand controllers include a sensitivity module which augments or diminishes the movement signal sent by the controller in response to player input.

The invention discloses a device for fast detection of chlorophyll content in leaf blades, a modeling method and a detection method. The device comprises a CCD camera, a hyperspectral scanner, an object stage, an electric control translation stage, a motion controller, a computer and a light source supply system with a feedback controller, wherein the CCD camera is connected with the hyperspectral scanner and used for collecting a spectral image of a crop loaded on the object stage scanned by the hyperspectral scanner; the computer is connected with the CCD camera and used for processing the spectral image and obtaining a prediction model for detecting the chlorophyll content; the motion controller is connected with the electric control translation stage, and the object stage is positioned on the electric control translation stage; the motion controller is used for adjusting the position, the translation speed and the translation distance of the electric control translation stage; and the light source supply system is used for providing a light source for the crop loaded on the object stage. The technical scheme of the invention can achieve the purposes of fast and pollution-free detection and has the advantages of high detection accuracy, low cost, simple structure of the detection device and good economic benefits.

A patient bed for use with at least one imaging device in which a plurality of scans to be correlated are performed, as well as in a continuous motion scanner used to compile whole-body scans. The patient bed includes a horizontal rail base and a movable patient surface. Electronic controllers are provided for controlling the horizontal and vertical positioning of the patient surface. The horizontal rail base is secured to the support proximate the scanner. A linear motor is used to generate horizontal motion of the patient bed. The linear motor is controlled using a motion controller in communication with a computer associated with the imaging device. A pedestal is provided for mounting a vertical carriage assembly. A vertical track is carried by the pedestal for controlling vertical travel of the patient bed. A motor is provided for controlling vertical motion. A pallet support member is cantilevered from the vertical carriage assembly for carrying a pallet.

The invention discloses an embedded guidance device of autonomous vehicle in automated transportation and an intelligent composite guidance method thereof, belonging to the field of autonomous vehicle guidance. An image processor, a master controller, a motion controller and an interface controller of the device of the invention are all connected to a CAN bus via an isolation transceiver, the device further comprises a picture pick-up system, an encoder, a memory, a driving system, a human-machine interface and the like. The composite guidance method thereof comprises network path traveling guidance based on radio frequency identification and single path tracking guidance based on visual identification, the former accomplishes path choice and junction turning of vehicle at intersections with multiple marked lines, the latter accomplishes precise movement of vehicle along guidance marked lines and precise location thereof at stop signs. The invention enriches acquiring ways of guidance information, improves processing speed of guidance information and enhances intelligent service ability of autonomous vehicle.

The invention relates to a fish streaming based non-signal intersection vehicle-vehicle cooperation control system and belongs to the field of vehicle control. A sensing positioning module of the system comprises an environment sensing portion and a navigation positioning portion and specifically comprises a DGPS positioning device, an inertial navigation system, a radar device and a sensor. A motion control module comprises a motion controller, a driver, an actuator, a transmission part and a controlled part. A wireless communication module consists of a transmitting-receiving device. A human-computer interaction interface comprises a processor, a display unit, an input unit, a communication interface and a data storage unit. A power management and control module comprises a storage battery and a level conversion unit. A route planning module adopts global route planning and is provided with an electronic map. A decision control module comprises a central processing unit, an information processing unit and a storage unit. Compared with the prior art, the fish streaming based non-signal intersection vehicle-vehicle cooperation control system has the advantages of being used for an unmanned vehicle, being provided with a wireless communication module and being high in active safety and road utilization rate.

The invention provides a motion control system and method for electrically-driven a hexapod robot, relates to the field of motion control of hexapod robots, and aims to overcome the defects that a robot is usually low in independent flexibility, low in integral adaptability, low in motion control response speed, strong in dependence on the work environment and the like, and to solve the problem that complexity of the control system is increased because of various degrees of freedom. The control system comprises a foot-type module and a wheel-type module, and the control system is carried out according to the following steps particularly: 1, building a hexapod robot modeling module; 2, building a coordinate system calculating module; 3, controlling a servo motor through a motion controller for accurate position movement, and determining variation of the mass center of a robot platform through a posture motion module by applying a robot coordinate transforming matrix; 4, realizing moving forwards, retreat, left turn, right turn and the like of a wheel-type system. The control system and the control method are applied to the field of motion control of the hexapod robot.

The invention discloses a five-coordination numerical control machine tool motion controller with an interpolation function, and relates to a numerical control machine tool motion controller. The purpose of the invention is to solve the problems that the functions of the controller can not be easy to be expanded and modified, which is caused by the poor openness and flexibility of the existing numerical control machine tool motion controller, and the requirements of a configurable motion controller can not be met, and NC program size is seriously limited, which is caused by the multiplication of information amount in the controller by adopting a type value point direct interpolation method. The motion controller comprises a man-machine interface module, a task coordination module, a task generation module, an axis group module, an axis module, a reverse motion transformation module, a control rule module and a discrete logic control module. When the NURBS interpolation method of the invention is adopted to carry out NC machining, the NC program is reduced substantially; meanwhile, the machining error is more greatly reduced than the linear interpolation error. By adopting a modularized systematic structure, the requirements of the configurable motion controller can be met, the openness of the numerical control system can be enhanced, and the function expansion and modification of the controller can be carried out on the specific modules.

The invention discloses a linux-based Ethercat maser / slave station control system and method. The system comprises an Ethercat maser station system and an Ethercat slave station system, the Ethercat maser station system finishes computing tasks such as task control and motion control and builds an abstract logic circuit by the aid of a hardware abstract layer, the hardware abstract layer is connected with an Ethercat maser station module, data are encoded into an Ethercat message by the Ethercat master station module according to an Ethercat communication protocol, and the Ethercat message is transmitted to the slave station system by an Ethernet port. A position / speed instruction value is transmitted to a digital interface / analog interface by the aid of real-time high-speed communication between the Ethercat maser / slave stations, the digital interface / analog interface receives a pulse instruction value fed back, the pulse instruction value is transmitted to the master station by the Ethercat slave station system, and the Ethercat master station module obtains the feedback position / speed instruction value and feeds back the position / speed instruction value to a motion controller, so that full-closed loop / semi-closed loop control is finished. The system has the advantage that a motion control system is flexible in networking and wiring, high in communication speed and reliability and low in cost.

This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot. The single wheel robot includes mechanical body and control system; the body contains a single wheel in the substructure which can rotate around for balance; the control system comprises state sensors, motion controller, servo-driven controllers, and a power system. Among them, the motion controller receive signals from the state sensors, in accordance with control procedures for processing of the received signal, thereby issuing control instructions. The servo drive controller receives the control instructions and controls the motors of the robot to adjust posture to be balanced.

The invention discloses a rehabilitation robot control system which comprises human-machine interface equipment 1, an upper computer PC 2, a multi-axis motion controller 4, a motor control unit 5, a sensing unit 6 and a CAN (controller area network) bus 7. The rehabilitation robot control system ensures that postures of a robot and a patient are balanced in a rehabilitation training process; the reliability, the maintainability and the instantaneity of the system are improved. The invention further discloses a rehabilitation robot control method.

The present invention provides a medical diagnostic device with an automatic moving mechanism. The device comprises an input interface for receiving instructions from an operator or from a remote device. A motion controller is coupled to the input interface for controlling movements of the diagnostic device based on the instructions received through the input interface. A moving assembly is coupled to the motion controller for moving the diagnostic device under control of the motion controller. In an embodiment, a method of guiding a portable imaging system through various locations in a hospital is disclosed. Also the invention discloses a self-guided portable imaging system.

The invention discloses a full-view monitoring robot system, which comprises a monitoring robot, a wireless interaction unit and a remote monitoring terminal, wherein the monitoring robot comprises a robot housing, an image acquisition unit, a sensing unit, a processor and a moving unit; the image acquisition unit comprises a plurality of cameras which surround the robot housing at intervals for acquiring all-around images on the four sides of the monitoring robot; the sensing unit comprises a sensor network on the robot housing; the processor comprises an image detection unit and a motion controller, wherein the image detection unit extracts characteristics of a directional gradient column diagram from the images acquired by the image acquisition unit, classifies linearly supported vector machine, detects human body images according to the classification result and generates a control command when the human body images are detected; and the motion controller receives the control command and controls the travel unit to travel according to the control command. The system can perform 360 degree full-view monitoring and improve monitoring efficiency. Besides, the invention also provides a monitoring robot for use in the full-view monitoring robot system.

The invention discloses a surface charge measuring system with an external motion control mechanism and a measuring method. The surface charge measuring system and the measuring method aim to solve the problem that under a high-voltage SF6 environment, the surface charge of a component such as an insulator in a complex shape is difficult to measure. The surface charge measuring system mainly comprises a main shell, a side shell, an upper parallel-plate electrode, a lower parallel-plate electrode, an electrostatic measuring probe and a high-speed high-voltage electrostatic potential meter. According to a surface charge measuring device provided in the surface charge measuring system and the measurement method, the operation that one of the electrostatic measuring probe and the insulator rotates and the other one of the electrostatic measuring probe and the insulator moves horizontally can be achieved simultaneously by using equipment such as a multifunctional motion controller and a stepping motor, and it is ensured that the electrostatic measuring probe can scan and measure all parts of the surface of the insulator to be measured step by step.