52 results about "Motor processes" patented technology

The invention relates to the field of robot control, in particular to a method, device and system for self-adaption balance control of a humanoid robot in a complex terrain. The method comprises the following steps of establishing a connecting rod model of a robot; calculating a corresponding foothold; adjusting the joint angle value of the robot; monitoring the mass center curve of the robot, receiving gyroscope sensor data, and judging whether the robot is in a balanced state; receiving a joint angle feedback value and the gyroscope sensor data when the robot is in an unbalanced state, and optimizing and adjusting the foot movement curve of the robot; enabling the robot to be self-adaptively subjected to balance control in the movement process; optimizing the joint angle value and relevant parameters of the robot. The robot can be applied to movement balance control of biped and quadruped robots and the like, the application range is wide, the self-adaptive capacity of the robot to an application environment can be greatly enhanced, and the hardware loss can be effectively reduced in the actual application process.

The invention relates to a bionic control method of a mechanical arm. Control equipment is produced for simulating various joint positions of an arm. Various joints of the control equipment correspond to various sections of arm frames of the mechanical arm. The method comprises the following steps of: simulating motion processes of various sections of arm frames of the mechanical arm by the control equipment, and generating angle change values of various joints according to the motion processes; and calculating motion angle values of various sections of arm frames of the mechanical arm according to the angle change values of various joints, and controlling various sections of arm frames of the mechanical arm to rotate correspondingly. The method provided by the invention further comprises the following steps of: simulating motions of various sections of arm frames of the mechanical arm by the control equipment, and generating current angle values of various joints; and controlling various sections of arm frames of the mechanical arm to rotate in corresponding angles according to the current angle values of various joints. According to the invention, the mechanical arm is operated by an operator through bionic motions so that various sections of arm frames of the mechanical arm act simultaneously; the mechanical arm is coherent to act; the motion process is steady; the motion change of the remote end of the mechanical arm is small; and the accuracy for the mechanical arm to reach an appointed position is effectively increased.

Disclosed are an inertial-sensor-based wearable hemiplegia rehabilitation apparatus and a strap-down attitude algorithm. The inertial-sensor-based wearable hemiplegia rehabilitation apparatus mainly comprises an upper computer and an inertia measurement system. Inertia measurement units distributed on different body parts of a patient acquire attitude angle information of the patient moving, through inertial sensors; the attitude angle information is transmitted to the upper computer through a wireless transmission module; the upper computer tracks the rehabilitation training process of the patient in real time according to the attitude angle information of different positions. The invention further provides a strap-down attitude algorithm based on plane constraint. According to the method, a restraint plane is established according to previous-moment motion attitudes of a forearm and a postbrachium during moving, the restraint plane is used to restrain acceleration information, systematic self-restrained measurement is achieved accordingly, and angle measurement is better in stability and accuracy. The inertial-sensor-based wearable hemiplegia rehabilitation apparatus and the strap-down attitude algorithm have the advantages that accurate rehabilitation motion attitudes and accurate amount of motion can be provided according to conditions of the patient with hemiplegia, degree and times of completing each set of moves are recorded for the patient, and a function of simple evaluation on hemiplegia and treatment effect for the patient with hemiplegia is provided.

The invention relates to a motion state monitoring system based on wearable devices. The motion state monitoring system is used for monitoring exercise parameters of athletes in the training process and comprises the wearable devices and a terminal in communication with the wearable devices. The wearable devices are each provided with an identifier which can be identified uniquely by the terminal. According to the motion state monitoring system based on the wearable devices, collection modules in the wearable devices can collect relevant motion parameters in the motion process of the athletes in real time, record data of the motion parameters of the athletes in a first storage module and transmit the relevant motion parameters to the terminal in real time through a wireless network at the same time so that the terminal can perform operation and analysis on the data to obtain multiple indexes of the athletes in the motion process. Meanwhile, the terminal can configure information of the athletes according to the wearable devices with the unique identifiers, and therefore training conditions of each athlete can be clearly checked in the training process.

The invention relates to a vehicle control unit for a pure electric vehicle. A vehicle control board with an ARM9S3C2440 master module and multi-site CAN (Controller Area Network) bus communication are adopted, and a power management system and a motor controller are combined to form a vehicle CAN control communication network. The vehicle body status monitoring, driver intention analysis, energy status monitoring, fault alarm monitoring, and vehicle running guarantee functions and the like are realized. The control unit is integrated with the status information of various parts such as an acceleration pedal, a brake pedal, a vehicle-mounted energy source and a driving motor to decide the currently taken control strategy; the warning forecast of the fault in the movement process of the vehicle is carried out; and when the vehicle decelerates and brakes, the whole power and an energy storage system work in an energy feedback status by control instructions. Meanwhile, the multi-site CAN bus technology is used, so that the stability of the whole control unit is substantially improved, and the cost is effectively saved.

The invention discloses an adjustable multifunctional circulation test groove platform, belongs to the technical field of ground in civil engineering, and particularly relates to an adjustable multifunctional circulation test groove platform which imitates a debris flow motor process erosion effect along a way. The adjustable multifunctional circulation test groove platform is detachable, capable of being combined, convenient to operate and strong in repeatability, and comprises an erosion band support, a transition support, a sliding-down rail support, a sliding-down rail test groove and an erosion band test groove. The upper end of the sliding-down rail groove is installed on the sliding-down rail support, the lower end of the sliding-down rail groove is installed on the transition support, the upper end of the erosion band test groove is installed on the transition support, the lower end of the erosion band test groove is installed on the erosion band support, an erosion material sliding-down control partition plate is arranged in the sliding-down rail test groove, an initial material sliding-down area is arranged at the back of the erosion material sliding-down control partition plate, a corroded material placing groove is formed in the erosion band test groove, and the erosion band support, the transition support and the sliding-down rail support are respectively installed on a base support plate.

A wearable human body motion state data monitoring system comprises a receiver and a plurality of human body motion state data monitoring devices; every human body motion state data monitoring device is worn by a subject at the waist and comprises a three-axis acceleration sensor and a processor; the three-axis acceleration sensor is used for monitoring the human body motion state data of the subject and sending the data to the processor; the processor is used for obtaining voltage data of a power supply battery of the processor and calibrating received X-axis acceleration, Y-axis acceleration and Z-axis acceleration data according to the power supply voltage data, and the calibrated data is sent to the receiver. According to the wearable human body motion state data monitoring system, voltage compensation and dip computation are performed on the collected human body motion state data in the motion state of the subject, the acceleration of a local coordinate system of every human body motion state data monitoring device is converted to a physical coordinate system, effective calibration is performed on the collected acceleration data, and data changes of a human body in all directions during a motion process can be reflected more truly.

The invention discloses a bionic rehabilitation system worn in the whole movement process of a human body. The bionic rehabilitation system mainly comprises a human body movement target joint moment resolving system, a patient muscle force self-supply joint moment resolving system and an external assistant excitation compensation moment calculation system. A mode that limbs of a patient are drivenby an external assistant mechanism of conventional rehabilitation equipment to achieve rehabilitation movement is changed. By adopting a lightened wearable use mode, in the situation that conventional muscle force functions of a patient are sufficiently protected, on the basis of bionics and a healthy body kinematic mechanics model, and by using multi-signal sensation fusion and resolving methodswith inertia signals, sole six-dimensional force signals, surface electromyogram signals, functional electrophotoluminescence signals and the like, space muscle force systems and self-supplied jointmoments of the patient the whole movement process of sitting, standing and walking are analyzed, compensation moments of different joints are calculated in real time, corresponding muscle is stimulated to exert force through the functional electrophotoluminescence signals, and rehabilitation movement assistance and training in the whole movement process of a human body can be achieved.

The invention relates to a running posture judging and correcting method based on an acceleration sensor. The method comprises the following steps of (1) acquiring acceleration vector data of a human body in three axial directions including an X axis, a Y axis and a Z axis in a movement process; (2) analyzing vector data of the three coordinate axes and generating movement rule data of a sporter; (3) comparing the movement rule data to normal movement rule data; and (4) reminding the sporter of correcting the movement postures according to two data difference ranges. The acceleration vector data in the three axial directions are acquired, a force in the vertical direction of feet of the sporter can be acquired, a transverse force and a longitudinal force in a horizontal direction when toes of the sporter turn in or turn out can also be obtained, therefore, the data are full, on that basis, movement rules of the sporter are judged accurately, corresponding real-time reminding information is effective, and movement postures of the sporter can be corrected effectively.

The invention provides an analysis method and device for motion data, a wearable device and a storage medium. The method comprises obtaining the related motion data of a user in the motion process, and judging, according to the related motion data, whether the motion action of the user in the motion process is standard or not. According to the method and device for analyzing motion data, the wearable device and the storage medium, the related motion data of the user in the motion process is obtained to judge whether the motion action of the user in the motion process is standard or not according to the related motion data, so professional movement guidance can be provided for the user according to the judgment result, and the user can be helped to correct the movement. Moreover, the user can be instructed to carry out effective and correct sports training in time, and the probability of injury in the sports training of the user is reduced. Moreover, the user does not need to hire an additional cost of an artificial coach, and the convenience is better.

The invention provides a method and system for coordinating the breathing and motion state in the motion process. The method for coordinating the breathing and motion state includes the steps that a headset and a mobile phone keep connection; a motion state detection unit on the mobile phone is started; the motion state of a sporter is detected through the motion state detection unit; the breathing state of the sporter in the motion process is detected through a headset microphone; and a suggestion for adjusting the motion state and the breathing state in the motion process is given according to the motion state and the breathing state of the sporter. According to the method and system for coordinating the breathing and motion state in the motion process, the breathing state of the user is detected through the microphone on the headset, the motion state detection unit on the mobile phone is then used in a cooperation mode to detect motion state data of the user, the adjusting suggestion for the breathing frequency and the motion state of the user in the motion process are given, the training effect is more obvious, and the mobile phone using experience of the user is improved.

The invention relates to a three-dimensional virtual human body movement generation method based on key frames and spatiotemporal restrictions, belonging to the technical field of computer three-dimensional animations. The method comprises the steps of using a multi-rigid-body model with a skeleton structure as a geometrical model for three-dimensional virtual human body movement control, wherein vectors formed by all determined angle parameters indicating freedom in the geometrical model are taken as parameters for virtual human body static posture formal description; making human body static postures at two key frame moment, i.e. a minimum movement span and a maximum movement span; conducting equal or non-equal time sampling to the time sequence of movement, determining the angle offset of each time sampling point and obtaining the angle parameters of time sampling points in a movement process to be generated; and then generating virtual human body static postures at the moment, determining position parameters and generating the full movement process of a virtual human body in a three-dimensional space. By adopting the method, special video capture equipment is not required, the simplicity in making three-dimensional human body animations is improved and the method has the characteristics of convenience, high efficiency and high flexibility.

The invention provides a rapid and continuous collision detection method based on K_DOPs (k-discrete orientation polytopes), which includes the steps: (1) presetting an initial time point and a terminal time point, detecting whether two objects are collided or not at the initial time point and the terminal time point by means of static K_DOPs collision detection technology, exiting if the objects are collided and going to a second step if not; (2) detecting dynamic intersection of bounding boxes according to motion paths of the two objects; (3) exiting if the K_DOPs bounding boxes of two subintervals are not intersected and going to a fourth step if the K_DOPs bounding boxes are intersected; (4) detecting collision of basic elements of the colliding bounding boxes; and (5) reporting collision and exiting if the basic elements are collided, and reporting no collision and exiting if not. By the aid of the rapid and continuous collision detection method, collision of two rigid bodies during continuous movement can be detected in real time, omission and piercing in discrete detection can be avoided, detection results can be more reliable, and precision and performance are high.

The invention provides a synchronous smooth sliding-mode control method and system of a multi-degree-of-freedom redundant parallel mechanism, wherein the method comprises the following steps: using motor drivers and motors as controlled objects and using the redundant parallel mechanism as a load to establish a mathematical model of each parallel mechanism branch with disturbance terms; planning tracks of terminal actuators of the redundant parallel mechanism to obtain expected movement postures thereof, and determining an expected movement track of each branch driving motor in a process of realizing expected movement of the terminal actuators of the redundant parallel mechanism; computing the deviation between an expected movement state and an actual movement state of each branch motor; constructing a synchronous error of each branch; constructing a switch surface function based on the synchronous error; designing a synchronous smooth sliding-mode control rule based on the established mathematical model; calculating the driving control amount of each branch motor of the redundant parallel mechanism; sending the driving control amount of each branch motor of the redundant parallel mechanism to each motor actuator to drive the terminal actuators of the redundant parallel mechanism to realize the expected movement.

The invention provides a discrimination and evaluation method for motion sprinting, body turning and jumping and a discrimination and evaluation system for motion sprinting, body turning and jumping. The goals of automatically collecting and recording sportsman motion posture information in real time in the ball type exercise or matching process of sportsmen and performing automatic analysis, discrimination and evaluation through software are realized. The device comprises a pressure sensor, a heart rate sensor, a motion collection terminal, a monitoring analysis terminal and a wireless mobile base station. The discrimination and evaluation method has the advantages that the system uses a sensor technology, a wireless transmission technology, a data analysis technology and the like; information such as the acceleration, the angular velocity, the motion direction, the motion distance and the heart rate in the motion process of the sportsmen can be monitored in real time; the whole process data real-time collection, monitoring analysis, discrimination and evaluation can be performed in the motion process of motion sprinting, body turning and jumping, so that it is convenient for a coach to manage, analyze and evaluate the sportsmen, accordingly the targeted training plan can be made; and the speed training effect is improved.

The invention provides an industrial robot load kinetic parameter identification method based on specific joint motion. The method comprises the steps that an industrial robot load kinetic parameter model is set up; a gravity identification track and an inertia identification track are designed according to the industrial robot load kinetic parameter model; load identification motion data gravity identification motion and inertia identification motion are collected and processed according to the gravity identification track and the inertia identification track, and load kinetic parameters can be obtained through motion process joint motion parameters and driving torque parameters. Load weight, the mass center position and rotational inertia parameters can be independently obtained without depending on the kinetic parameters of a robot body through the specially designed joint motion, and the method can be applied to high-performance control of the robot based on the model.

The invention discloses a central mode generator-based quadruped robot gait planning method. The method comprises the following steps: B1, reference oscillation signals are adjusted correspondingly inview of a different joint, the attitude angle, the angular velocity and the position of the trunk during the movement process of the quadruped robot are measured, and feedback signals are generated accordingly; according to the oscillation signals and the feedback signals after adjustment, control signals of each joint are outputted; the control signals of a side-swing joint contain the oscillation signals; control signals for a hip joint pair in swing and standing phases are different, control signals for a knee joint in the standing phase are adjusted, and thus, the angle of the knee jointis thus adjusted; and B2, the control signals control the quadruped robot to perform diagonal gaits, that is, a left foreleg and a right rear leg move together, and a right foreleg and a left rear legmove together. Different joints are adjusted differently, the pitch angle and the roll angle when the quadruped robot moves are reduced, and the stability of the quadruped robot during the motion process is improved.

The invention discloses a prop movement treatment method and device in a VR scene. The prop movement treatment method and device in the VR scene are used for solving the problem that prop throwing is not matched with user actual action and achieving an accurate simulation of user throwing action. The prop movement treatment method in the VR scene comprises the steps that movement speed generated by each frame time of a motion controller from initial frame time to N frame time in the movement process is obtained, and N is a non-zero natural number; weighted average calculation is conducted on the movement speed generated by each frame time of the motion controller in the movement process, and weighted mean velocity of the motion controller from the initial frame time to the N th frame time is obtained; whether or not the motion controller is thrown in N th frame time is determined; when the motion controller is thrown in the N th frame time, according to the weighted mean velocity, the movement speed obtained by the prop is calculated by using the prop to simulate the situation where the motion controller is thrown in the VR scene, and according to the movement speed obtained by the prop, the prop is controlled to carry out simulation operation of the throwing movement.

The invention discloses a human body action comparison system based on a human body posture obtaining system, and the system comprises a human body posture obtaining system used for obtaining the human body posture information of a user; a human body model conversion system used for converting the human body posture information into a human body model and establishing a motion process animation;an analysis and calculation system used for carrying out joint and muscle stress analysis and calculation on the human body posture information, calculating a mechanical model in the user movement process animation and the standard movement process animation, annotating the key data to the related positions of the mechanical model, and obtaining an annotated user human body model and an annotatedstandard human body model; and the comparison system is used for obtaining difference information of real-time actions and standard actions of the user, the system can meet 3D and 2D teaching effectsat the same time, and cost for students to obtain professional coach teaching can be greatly reduced.

The invention discloses a developing and producing method of an intelligent power-assisting robot system based on heavy load carrying. The developing and producing method comprises the following stepsthat firstly, the human motion feature law is studied, a human carrying model and a motion feature database are established by performing quantitative analysis on instantaneous motion states and stress conditions of all human parts during human carrying; secondly, a flexible pressure sensor array is developed and produced, specifically, the flexible pressure sensor array provided with a micro-nano structure and a plurality of sensing units is adopted and integrated to a power-assisting robot, so that human arm / lower extremity pressure related parameters are precisely detected in real time; thirdly, multi-sensor human motion intention judging is performed, specifically, a multi-sensor information acquisition system is adopted for capturing arm / lower extremity pressure signals in the motionprocess, and the human motion intention is judged; and fourthly or finally, power-assisting robot force servo self-adaptive control is performed, specifically, bionic trajectory charts of all human joints during motion are broken down according to the human motion law, and a robot electric cylinder tracking trajectory is made according to the trajectory charts so as to achieve bionic actions.

The invention relates to a remote real-time control method, based on a demonstrative articulated arm, for an industrial robot. According to the remote real-time control method, the demonstrative articulated arm is operated according to a visual feedback system; each joint of the demonstrative articulated arm is equipped with an angle sensor; each angle sensor is connected with an angle data acquiring module through SSI communication; each angle data acquiring module is in communication connection with a motion controller of the industrial robot through a K-BUS; the industrial robot connected with the demonstrative articulated arm has OPC protocol communication with a computer system through the motion controller; the computer system is used for calculating the force moment required by eachshaft motor of the industrial robot; the robot can follows the motion of the demonstrative articulated arm by virtue of a driver force torque closed-loop control system given by the motion controller; in a motion process of the industrial robot, the motion route of the industrial robot is recorded according to a preset position acquisition frequency and a motion interpolation mode, and a motion code is generated for realizing demonstration representation. The remote real-time control method has the advantages of making an operator keep away from a severe operation environment of the scene andimproving the efficiency.

Electrical hair removal device and method for determining the time behavior of a cyclic motor process during use of the electrical hair removal device with a motor-driven hair cutting unit by measuring the motor current. Parallel to measuring the motor current, the induced voltage of the motor is measured and a timing property of the induced voltage is evaluated, wherein the duration of a time pattern in the induced voltage is analyzed as timing property of the induced voltage. A cutting activity of the electrical hair removal device during use is determined based on the evaluated timing property of the induced voltage, and a force applied onto skin during use of the electrical hair removal device is determined based on the measured motor current and, optionally, on the determined cutting activity.

The invention discloses a jump gait planning method of a multi-legged robot. The method comprises the following steps: observing and decomposing human standing long jump motion, and defining a gravity center position and a position change condition of a foot end relative to a mass center; and establishing a mathematical model of a foot end position change, performing kinematics modeling of the multi-legged robot, solving each joint corner based on kinematics, performing filtering and smoothing processing on each joint corner, and controlling the motion of the robot. The invention discloses the jumping gait planning method of the multi-legged robot from the perspective of motion planning in order to solve a problem that the multi-legged robot with a rigid structure cannot realize jumping motion by virtue of an elastic device, and the method is different from the prior art in which only the elastic structure design and the elastic device optimization of the robot are concerned. According to the mode of observing, decomposing and simulating a human motion process, a new reference direction is provided for the multi-legged robot to enhance complex motion skills through self-learning.

Provided are en energy recovery type wireless software robot and a motion method thereof. The robot comprises a base plane, flexible foot areas disposed at the bottom of the base plane and a power supply module, energy conversion devices and a control module which are disposed at the top of the base plane, and the energy conversion devices are located at the two sides of the upper portions of theflexible foot areas; a main movement structure is a single row or multiple rows of the flexible foot areas at certain angles with the base plane, the energy conversion devices generate vibrations of acertain frequency and transmit the vibrations to the flexible foot areas through the regulation of the control module, so that the flexible foot areas collide back and forth with contact surfaces, and the robot has a forward motion behavior under the actions of an elastic force and a ground friction; a motion mechanism of the robot has a simple shape and is convenient to manufacture, energy recovery can be achieved during the movement, and very small energy input needed can achieve a fast motion behavior; due to the fact that the movement structure of the robot uses a flexible material, the robot has good environmental adaptability and human-computer interaction security.

The invention discloses an analysis method of myocardial shapes, motions and deformations in a two-dimensional echocardiogram sequence, including the following steps: first, an analysis two-dimensional echocardiogram sequence to be analyzed is preprocessed by a preprocessing unit, so that the coordinates of each point of a myocardial wall in a cardiac cycle are obtained, and the direction of the myocardial wall at each time point of the myocardial wall in the cardiac cycle is displayed on a visualization unit; then, a myocardial motion pattern calculation unit calculates myocardial shapes, displacements, velocities and longitudinal strains according to the coordinates of each point of the myocardial wall in the cardiac cycle, so that the cardiac mechanics is intuitively understood, particularly the myocardial shapes, motions and deformations. The analysis method of the myocardial shapes, motions and deformations in the two-dimensional echocardiogram sequence analyzes images at each time point in the cardiac cycle, thereby displaying the myocardial shapes, motions and deformations in a cardiac motor process, satisfying requirements of clinical practice for a real time processing, being capable of effectively avoiding accidental risks of some static images in clinic and convenient for clinicians to make right judgments.

The invention discloses a gait analysis method. According to the invention, a six-axis acceleration sensor at least collects acceleration data in an X direction, a Y direction and a Z direction of space; and the method comprises the following steps: 1) positioning a time point of complete landing; 2) performing gait detection on a signal; 3) performing single-step signal division; 4) calculating the size of the angle; 5) judging a landing mode; 6) judging pronation and extorsion, and 7) judging a walking mode. According to the method, the gait of a user can be detected and analyzed in real time by conducting real-time collection and algorithm processing on various parameters based on the feet in the walking or moving process of the user, the analysis process is convenient and rapid, the accuracy is high, and the method and the device are in favor of finding and correcting the gait as soon as possible for athletes.

The invention discloses a robot traveling mechanism multi-rigid-body movement simulation design method. The method includes following steps: step 1, studying and analyzing strategy and step under ADAMS / VIEW; step 2, calculating movement time of a mechanism behind a guiding-in robot traveling mechanism virtual prototype model; step 3, completing analysis on movement simulation of a traveling mechanism in the presence of ditches and daises to acquire data of center of mass of the mechanism and moment received by a swing arm and a driving wheel in the whole process of movement; step 4, performing experiment study analysis on the data to acquire mutual influence relation between the moment of the swing arm and the driving wheel and movement state and inter-mechanism parts in the process of movement, and drawing a conclusion that the designed traveling mechanism can complete expected design functions. By the method, a data result of whole simulation provides important reference for subsequent optimization design.

The invention discloses a decomposition method and device for standing and shaking signals of the human body. According to the decomposition method and device, based on the actual condition that an under-foot pressure distribution center trajectory comprises two kinds of motion mechanisms including passive movement and active adjustment, through corresponding mathematical methods such as interpolation and heron's formulas, the trajectory is decomposed, signals representing two kinds of motion mechanisms are obtained, passive movement and active adjustment in the balance control process of thehuman body can be effectively separated, a reliable tool is provided for comprehensive research and evaluation of the balance ability of the human body, and the motion process of gesture control whenthe human body stands is more clearly displayed. The sense organ adjustment ability such as vision and vestibule balance ability is mostly related to the active adjustment ability of the human body, and the function of the ability is mostly reflected on the active adjustment signal of the human body; the aging degree and whole muscle stability of the human body are mostly related to the whole balance ability of the human body and mostly reflected on the passive movement signal of the human body.

The invention discloses a process interlocking system of a motor. The process interlocking system comprises motor protection measurement and control devices arranged corresponding to all circuit breakers in a relay chamber, and further comprises field information acquisition control devices arranged corresponding to all the motors, wherein each motor protection measurement and control device and each field information acquisition control device realize information interaction by adopting an IEC61850 (International Electrotechnical Commission) standard GOOSE network. The invention further discloses a motor process interlocking method based on the motor process interlocking system, each motor protection measurement and control device and each field information acquisition control device realize the information interaction by adopting the IEC61850 standard GOOSE network, and thus a logic control and process interlocking function of the motors is completed. According to the system and the method, the information interaction among the plurality of motors can be realized, a method of realizing the interlocking through connection of an original DCS (Distributed Control System) or PLC (Programmable Logic Controller) with field equipment through a plurality of cables is replaced, the use cost is lowered, the field wiring is simplified, and the signal reliability is enhanced.

The invention provides a motor which comprises a rotor, a stator, a power supply, a signal line and an adjusting unit, wherein the stator comprises a three-phase winding connected in a star-shaped manner; the power supply is connected to the rotor and the stator, and is used for supplying power to the rotor and the stator; one end of the signal line is connected to the neutral point of the three-phase winding; the signal line is used for detecting the back electromotive force of the three-phase winding; the adjusting unit is connected to the other end of the signal line, and is used for determining the relative position of the rotor relative to the stator according to the back electromotive force and the voltage of the power supply to adjust the phase position of the current flowing into the stator according to the relative position. Through the technical scheme, the back electromotive force of the three-phase winding of the stator is detected more accurately through the signal line, so that the relative position of the rotor relative to the stator is determined more accurately according to the back electromotive force instead of a Hall sensor in the correlation technique, the motor process is simplified, and besides, the phase position of the sine-wave current flowing into the stator can be adjusted.