1891 results about "Movement control" patented technology

An extendable controller including a handle part; an elongate bridge retractably extendable with respect to the handle part; and a link member disposed therebetween. An end portion of the elongate bridge is in sliding engagement with the link member so as to be retractably extendable relative to the link member. The link member is movable relative to the handle part between a retracted position and an extended position. The extendable controller further including a movement control arrangement operatively connected between the link member and the handle part to restrain the link member from moving between the retracted position and the extended position when the link member is in the retracted position and in the extended position respectively, wherein the movement control arrangement includes an input interface operable to release the link member from being restrained such that the link member is movable between the retracted position and the extended position.

The invention relates to the technical field of robot control and somatosensory interaction, and particularly discloses a knee joint exoskeleton robot control system based on somatosensory interaction. The system comprises a somatosensory signal acquisition and fusion module, a personalized dynamic model construction module, an adaptive intention decision module, a variable impedance compliance control module and a rehabilitation process evaluation and parameter self-tuning module. Through cooperative work of the modules, precise recognition of the motion intention of a wearer, online construction of an individualized biomechanical model and flexible and adaptive motion control are achieved, control parameters can be automatically adjusted according to the rehabilitation process, and therefore the flexibility and individuation level of man-machine interaction and the effectiveness of rehabilitation training are improved.

A gas leakage detection apparatus may include a movement control unit that controls a movement of a moving object on which a gas sensor is mounted. The gas leakage detection apparatus may include an acquisition unit that acquires a measurement result of target gas that is obtained by a measurement by the gas sensor while the moving object is moving over a target area, and a response time from a start of a measurement of the gas sensor until an output of the measurement result. The gas leakage detection apparatus may include a detection unit that detects a leakage of the target gas in the target area based on the measurement result and the response time. The detection unit may detect the leakage of the target gas in the target area based on the measurement result and location information of the moving object, to identify a gas leakage spot.

The invention discloses a unit type curved surface curtain wall installation device and method, and relates to the technical field of curtain wall construction, and the unit type curved surface curtain wall installation device comprises a plurality of detection units which are respectively installed on each control point on a unit structure body and are used for detecting actual measurement coordinates of the corresponding control points; the fine adjustment mechanism is connected to the lower end of the hoisting belt of the crane and is used for finely adjusting the position of the unit structure body; the control module is electrically connected to the detection unit and the fine adjustment mechanism; wherein the control module is configured to obtain actual measurement coordinates of each control point fed back by the detection unit; comparing the actually measured coordinates of each control point with pre-stored theoretical coordinates in a BIM model to obtain a deviation value of each control point; performing overall pose analysis based on the deviation value to obtain a pose deviation of the unit structure body in the space; generating a movement control quantity corresponding to each control point based on the pose deviation; and sending a movement control instruction to the fine adjustment mechanism according to the movement control quantity. The installation method has the effect of improving the installation efficiency.

The invention discloses an intelligent inspection and fault prediction system based on computing power service, and belongs to the technical field of power grid inspection. The instruction analysis module analyzes the power grid dispatching instruction and determines target equipment and an expected state path; the topology network construction module constructs an equipment operation intention topology network and marks key nodes; the task screening module generates a sensing set containing equipment state recognition and robot movement control tasks according to the environment data, and screens out tasks outputting key node state parameters as a core task set; the computing power distribution module calculates the minimum computing power of the core task according to the weight of the key node and the environmental interference coefficient, and triggers non-core task degradation when the minimum computing power is insufficient; the fault prediction module inputs equipment state parameters output by the core task into a prediction network to generate an abnormal coefficient and a maintenance sequence; the real-time performance of key tasks is guaranteed by dynamically allocating computing power resources, and the operation and maintenance efficiency and reliability of the power grid are improved.

The invention belongs to the technical field of laser cutting, and discloses a laser plate cutting machine with a waste separating device, the laser plate cutting machine comprises a supporting seat and a laser cutting mechanism, clamping assemblies are fixedly arranged on the two sides of the supporting seat, and a guide plate fixed to the top of the supporting seat is arranged on one side of each clamping assembly. By matching with reversing control of the air supply assembly, movement control of the locking assembly can be achieved, so that position locking is conducted on the cone rod after lifting, the cone rod which reciprocates up and down is matched with the inclined vibration assembly, on one hand, guide separation of waste in the cutting process is actively achieved through the inclined vibration assembly, and on the other hand, the cutting efficiency is improved; and on the other hand, after cutting is completed, the vibrating assembly is impacted in a reciprocating mode in cooperation with vertical movement of the conical rod, attached residual waste is separated in a reinforced mode, the separated waste is pushed and collected in a concentrated mode in cooperation with the transversely-moving installation base, the cutting powder separation and collection efficiency is greatly improved, and the use effect is good.

The invention discloses an intelligent robot navigation system with a body based on a multi-modal large model, and the system comprises an RGB-D camera module which captures a color image and a depth image of an environment in real time, and carries out the preprocessing of the color image and the depth image, and outputs the preprocessed image; the laser radar SLAM module provides a basis for subsequent coordinate calculation and navigation path planning; the multi-modal VLM module is used for calculating the three-dimensional coordinates of the target location in the map; and the navigation control module controls the robot to move. The beneficial effects of the invention lie in that the system realizes efficient environmental perception and natural language understanding through multi-modal fusion, and can accurately identify a target location, calculate a three-dimensional coordinate and plan a safe path, thereby improving the autonomous navigation precision and reliability of the robot, and being suitable for intelligent movement control in a complex scene.

The invention discloses a sliding table motion control method and device for a laparoscopic surgical robot, and relates to the technical field of surgical robos.The method comprises the steps that a lesion three-dimensional model is established based on a lesion CT image, a target area and boundary coordinates of the target area are obtained, and a coordinate transformation matrix is calculated for space registration to obtain a unified coordinate system; selecting a moving mode according to the user control instruction; recording operation data of users, classifying the users to obtain corresponding force speed curves, force displacement sequences and habitual force, and establishing a comprehensive control model and an error compensation model; when entering a fine adjustment mode, inputting a real-time distance, a user type and a force displacement sequence into a comprehensive control model, determining a regulation and control scheme, and reversely correcting output displacement according to a real-time positioning error, so that the auxiliary surgical instrument reaches a target position; high-precision motion control over the sliding table (2) of the laparoscopic surgery robot is achieved, the surgery time is remarkably shortened, the target position of an auxiliary instrument is accurately and rapidly positioned, and the surgery efficiency is improved.

A truck bed mounted carrier system includes a frame assembly installable in a truck bed with lateral supports and outer main supports, inner supports that slide within the outer main supports, a center outer support, and a second inner support that slides within the center outer support. A carrier frame coupled to the frame assembly extends from and retracts into the truck bed, supported by radius supports that provide structural integrity when extended. The system features a pulley assist mechanism with gas springs that creates a counterbalance force, a mechanical drive assembly with sprocket and roller chain for movement control, and deployable transport stands for ground support during loading operations. Adjustable bed rail struts with locking mechanisms secure the system to the truck bed without permanent modification. Low-friction materials and strategically positioned slides ensure smooth operation throughout the extension and retraction cycles.

The invention relates to the technical field of AMR robots, and provides an AMR robot-oriented anti-slip movement control method and an AMR robot, and the method comprises the steps: determining a target wheel with a slip trend based on the real-time driving torque, collected by a driving motor of the AMR robot, of each wheel; based on the four-quadrant self-adaptive impedance, the current driving torque of the target wheel and the wheel torque difference value between the adjacent wheels are combined, and self-adaptive impedance adjusting parameters of the target wheel are determined; corresponding impedance control is applied to a driving motor of the target wheel based on the self-adaptive impedance adjustment parameter of the target wheel, and the adjusted output torque of the target wheel is obtained; and the moving posture and the moving speed of the AMR robot are adjusted based on the adjusted output torque till the AMR robot does not have the slipping trend. The operation stability of the AMR robot in the operation process is improved.

The invention discloses an examination bed displacement precision measurement and control method and an examination bed, and relates to the field of medical equipment.The examination bed displacement precision measurement and control method comprises the steps that whether the examination bed slips or not is recognized based on the comparison result of a first difference value and a first threshold value of displacement measurement parameters of a servo motor encoder and a transmission device encoder in the current movement; when the slippage phenomenon exists, compensation movement control is conducted on the examining table at least based on the slippage distance estimated value and the first difference value, and under the conditions that slippage does not exist and the second difference value of displacement measurement parameters collected by a transmission device encoder and a displacement sensor is not smaller than a second threshold value, the displacement measurement parameters are calculated based on the slippage distance estimated value and all the displacement measurement parameters. And carrying out abnormity identification on the transmission device encoder and the displacement sensor, and outputting an abnormity identification result. On the basis of cross comparison of the displacement measurement parameters collected by the displacement measurement devices, slip detection and anomaly detection of the displacement measurement devices are achieved on the basis of the comparison result, and accurate detection of the displacement precision of the examination bed is achieved.

High-speed and high-accuracy focus adjustment is achieved. A microscope system (1) includes: an irradiation unit (18) that emits line illumination parallel to a first direction; a stage (26) that supports a specimen and is movable in a second direction perpendicular to the first direction; a phase difference acquisition unit (60I) that acquires phase difference information regarding an image of light emitted from the specimen by being irradiated with the line illumination; an objective lens (22) that focuses the line illumination on the specimen; a derivation unit (60E) that derives relative position information between the objective lens and the specimen based on the phase difference information; and a movement control unit (60F) that causes at least one of the objective lens and the stage to move in a third direction vertical to each of the first direction and the second direction based on the relative position information.

The invention belongs to the field of trusses, and particularly discloses a truss logistics control method and device for a large five-axis gantry production line, a terminal and a medium. Executing a macro program to realize an automatic loading process and an automatic unloading process; in the automatic loading process and the automatic unloading process, a movement control subprogram is executed to control the truss trolley to move to a source position or a target position, the real-time position of the truss trolley is detected through a laser range finder in the moving process, and the running speed of the truss trolley is controlled according to the real-time position of the truss trolley; in the automatic loading process and the automatic unloading process, releasing and locking of the X-axis safety positioning pin, releasing and locking of the Z-axis safety positioning pin and opening and closing of the truss mechanical arm are achieved by executing M instruction codes. The positioning accuracy of the truss trolley is improved, the logistics operation efficiency is improved, and safety accidents caused by misoperation of the mechanical arm are avoided.

The present specification discloses a massage device including an arm massage part capable of moving independently. A massage device according to the present specification comprises: a body massage part including a back frame rotatably connected to a base frame to make a changeable angle with respect to the ground; an arm massage part connected to opposite sides of the body massage part; and a control part for controlling the body massage part and the arm massage part, wherein: the arm massage part includes a support part including the upper surface inclined to the rear and lower side thereof, and an arm massage providing part positioned above the support part and moving along the upper surface of the support part; and the control part can control the arm massage providing part and the back frame to move away from each other in a roll-back stretching mode.

The invention discloses a hanging basket motion control method and system based on operation state recognition, particularly relates to the technical field of bridge construction automation, and is used for solving the problem of poor synchronous control of hanging basket movement. According to the method, working conditions are accurately recognized through multi-source sensing data fusion and a finite-state machine, servo system parameter self-adaptive setting is achieved based on working condition parameter mapping, and an anti-interference movement track is generated by adopting a model prediction control algorithm fusing pose feedback and wind load feedforward; walking synchronization and platform stability are achieved through cross coupling control and posture closed-loop fine adjustment, emergency response is provided through the independent safety guarding thread, control and protection double closed loops are formed, and therefore the motion precision, the anti-interference capacity and the intrinsic safety level of the hanging basket under the variable-load and strong-disturbance working conditions are effectively improved, and the safety of the hanging basket is improved. And the energy consumption and the mechanical vibration frequency in the moving process of the hanging basket are reduced.

The invention discloses a full-automatic ultrasonic and magnetic powder synchronous nondestructive testing system and method for a bearing ring, and belongs to the technical field of bearing nondestructive testing. The testing system comprises a main testing system, a demagnetizer, a truss mechanical arm and an electric control cabinet; the main detection system comprises a detection module, a motion module, a hanging rod module, a jacket module, a magnet yoke, a lifting module, a magnetic liquid nozzle and a liquid collecting tank; the detection module comprises a vision assembly and an ultrasonic assembly which can be movably controlled; the bearing ring is hung on a rotating hanging rod shaft in the hanging rod module and limited. The system can carry out nondestructive testing on all the surfaces and the interior of the rotating bearing ring, the demagnetizer is used for carrying out pre-testing magnetism and post-testing magnetism, the truss mechanical arm is used for transferring the bearing ring, and full-automatic detection is achieved through a control method. According to the invention, the technical problem that all surface and internal defects of the large bearing ring are difficult to automatically and simultaneously detect in a nondestructive manner at one time in the prior art is solved, and the bearing ring with a large size range can be detected.

The invention relates to the technical field of stage mechanical device motion track planning and safety anti-collision, and particularly discloses a stage mechanical device motion track planning and safety anti-collision control method. Comprising the steps of dynamic environment map generation, elastic time window distribution, dynamic priority generation, collision avoidance strategy generation, motion control instruction output and optimal control parameter multiplexing. Multi-source sensor data are acquired and fused to generate a dynamic environment map containing object positions and motion trends, then a predetermined path is decomposed into a line segment sequence and an elastic time window is distributed, then a dynamic priority is generated, and then a line segment sequence space-time crossing risk is detected and a collision avoidance strategy is generated. A motion control instruction is output according to the strategy, and finally optimization control parameters are extracted and reused; according to the method, an elastic time window and a dynamic priority are introduced, and a virtual buffer domain and a self-learning mechanism are combined, so that the parallel working efficiency of multiple devices, the stage scene conversion fluency and the operation safety are improved.

The present invention provides a caring machine and an overhanging machine. A main unit module which included in the caring machine comprises a shifting module, a supporting frame module, and a coupling module. The shifting module, situated below the supporting frame module, allows for movement controlled by the opening and closing of wheel casters. The supporting frame module accommodates diverse caring modules, offering a range of care functions. The coupling module, positioned on the shifting module and the supporting frame module, comprises a plurality of coupling devices and a plurality of coupling interfaces. The caring machine integrating the main unit module is capable of addressing daily life activities and basic rehabilitation training for disabilities and elders. The overhanging machine, which using the caring machine, comprises support columns, overhanging arms, a receiving frame and a sling machine. This invention provides versatility and allows users to achieve plural functionalities within one machine.

A control device includes a control unit that executes automatic parking control for parking the moving body at the parking position based on recognition data of an external environment of a moving body and the parking position and registers the parking position as a designated parking position. The control unit executes first registration of registering the designated parking position based on first recognition data and executes second registration of registering the designated parking position based on second recognition data. The control unit continues the second registration without executing automatic movement control when execution of the automatic movement control is instructed during execution of the second registration in new registration of the designated parking position. The control unit suspends the second registration and executes the automatic movement control when execution of the automatic movement control is instructed during execution of the second registration in update of the designated parking position.

A system, method and apparatus to automatically perform endotracheal intubation in a patient comprising, inserting a blade inside the upper airway of the patient to retract an anatomical structure; inserting a bending portion and a tube arranged on the bending portion inside the airway of the patient; collecting airway data using at least one imaging sensor arranged on the bending portion; communicating collected airway data to a processing circuitry; predicting an intended path for insertion of the tube and generating control signals using the processing circuitry, wherein the intended path is predicted based on at least one anatomical structure recognized by the processing circuitry using the collected airway data; and communicating the control signals generated by the processing circuitry to at least one actuation unit to actuate the three-dimensional movement of the tube.

The forward and backward movement control circuit comprises a pump motor and a VCU controller which are connected to a power source in series, and the output end of the VCU controller is in signal connection with the pump motor; the proximity switch is installed on an AGV supporting leg and used for detecting the forward and backward moving position of the pallet fork, the level input end of the VCU controller is connected with the proximity switch, and the level output end of the VCU controller is connected with a forward moving electromagnetic valve and a backward moving electromagnetic valve; the forward-moving electromagnetic valve and the backward-moving electromagnetic valve are connected with oil ways of the forward-moving oil cylinder and the backward-moving oil cylinder respectively and used for controlling forward-moving and backward-moving actions of the pallet fork. Opening and closing of the forward moving electromagnetic valve or the backward moving electromagnetic valve and the working state of the pump motor are controlled through the proximity switch signal and the load switch signal, and control over normal moving, speed reduction and stopping of the pallet fork is achieved.

According to the vehicle transverse movement control method, the electronic device, the storage medium, the program product and the vehicle, according to the transverse movement requirement, the front wheel close to one side of the target transverse movement direction and the opposite angle wheel of the front wheel are controlled to deflect towards the target transverse movement direction and output the forward driving force; and a rear wheel close to one side of the transverse moving direction and opposite-angle wheels of the rear wheel are controlled to reversely deflect towards the target transverse moving direction and output reverse driving force, so that longitudinal advancing force of the vehicle is at least partially counteracted, transverse moving resultant force is formed, and track deviation caused by longitudinal force residues is improved or eliminated. Meanwhile, deflection of the wheels forms a front-outer-eight and rear-inner-eight form, torsional pendulum interference of the whole vehicle can be reduced, the stability of vehicle transverse movement is improved, and the control difficulty of vehicle transverse movement is reduced.

The invention relates to the technical field of 3D printing, in particular to a 3D printer nozzle motion control method, which can obtain an original printing track, and adopts a five-point Bezier curve to carry out smooth transition processing on corners between adjacent track sections; generating a speed plan of the nozzle in the smooth trajectory, wherein the speed plan comprises an acceleration stage, a uniform acceleration stage, a constant speed stage, a uniform deceleration stage and an acceleration and deceleration stage; calculating a speed plan of an E axis in direct proportion to the speed plan of the nozzle; and according to the speed plan of the spray head and the speed plan of the E axis, the 3D printer is controlled to execute 3D printing along the smooth track, and synchronous movement of the spray head and the extruder is achieved. It can be understood that according to the technical scheme shown by the invention, the corner is smoothed, the direction of the spray head cannot change suddenly, five-section speed planning is adopted, the acceleration of the spray head changes smoothly, meanwhile, the E axis and the speed of the spray head are coordinated, and the precision and efficiency of 3D printing are improved.

A control method includes obtaining, in real time during operation of a movable platform, data of a plurality of sensors located at one or more arm assemblies of the movable platform, performing real-time calibration using the data to obtain a calibration result that characterizes a relative pose between the plurality of sensors, and performing movement control on the movable platform according to the calibration result.

The utility model relates to the technical field of environmental protection, in particular to a dustbin top door opening and closing mechanism. Comprising a support arranged on one side of a garbage transfer box. A mounting frame longitudinally arranged along the garbage transfer box is fixedly mounted on the bracket, a mounting seat is arranged on the mounting frame, and a longitudinal movement control mechanism is arranged between the mounting seat and the mounting frame; a vertical roll-over stand is arranged above the mounting seat, and a vertical rotation control mechanism is arranged between the roll-over stand and the mounting seat; a connecting bayonet is formed in the turnover frame; the vertical rotation control mechanism can drive the overturning frame to rotate to the position over the garbage transfer box, and a connecting clamping block which protrudes upwards and is arranged on a top door of the garbage transfer box is clamped into the connecting bayonet. And the longitudinal movement control mechanism can drive the turnover frame to move longitudinally, so that the top door of the garbage transfer box moves longitudinally to complete opening and closing operation. The utility model has the characteristics of higher automation degree and better economical efficiency.

This specification relates to the field of smart household technologies, and in particular, to a movement control method for a cleaning robot, a cleaning robot, and a storage medium. The method includes: in a movement process of the cleaning robot, collecting three-dimensional information of a step-type obstacle in a front area by using a sensor system, where the three-dimensional information includes at least height information and depth information of the step-type obstacle; and at least when the height information and the depth information meet an obstacle crossing condition, performing an obstacle crossing action to cross the step-type obstacle, to clean the step-type obstacle. In embodiments of this specification, the depth information of the step-type obstacle is considered during obstacle crossing, so that refined and intelligent obstacle crossing can be performed on the step-type obstacle, thereby avoiding obstacle crossing abnormality.

The invention relates to a humanoid robot whole body motion control method and system based on guide learning and remapping data. According to the method, guide learning is adopted as a motion control algorithm framework of the humanoid robot; the method comprises the following steps: firstly, acquiring human body weight mapping data, and performing coordinate transformation on the human body weight mapping data to serve as a feedforward action in guide learning; constructing a neural network, inputting an observation vector of the robot into the neural network, carrying out reinforcement learning on the neural network, outputting rotation angle data, needing to be finely adjusted, of each joint of the robot, carrying out exponential smoothing processing on the rotation angle data, and outputting a smoothed signal as a feedback signal; and the feedforward action and the feedback signal are combined through PD control to generate a final rotation angle required by each joint of the robot, and then the rotation angle is converted into an output torque of a motor and output, so that whole-body motion control of the humanoid robot is completed. Compared with the prior art, the method has the advantages that the action accuracy and the real-time fine adjustment requirement are both considered, and the control robustness is high.

The present invention relates to a method for synchronizing movement control and location recognition for a micro-robot by using a bed-integrated electromagnetic field apparatus, and more specifically to a method for synchronizing movement control and location recognition for a micro-robot by using an electromagnetic field apparatus which enables precise movement control for a micro-robot and simultaneously enables location recognition for the micro-robot, and enables miniaturization of the apparatus, thereby having excellent compatibility with other medical equipment.

The utility model relates to the technical field of roller presses, and discloses a roller press roller gap control device which comprises a first roller and a second roller which are oppositely arranged, and a roller gap is formed between the first roller and the second roller. The execution module is in driving connection with the first roller, and the first control module is connected with the execution module to control the execution module to drive the first roller to move to a first set position so as to preliminarily adjust a roller gap; and the second control module is connected with the execution module to control the execution module to drive the first roller to move to a second set position so as to adjust the roller gap for the second time. According to the utility model, the first control module and the second control module are adopted to realize secondary movement control on the first roller respectively, so that direct measurement on the roller gap is realized without being influenced by a bearing gap, deformation and the oil temperature of an oil cylinder, the thickness of a pole piece and the set position deviation of the roller gap are effectively reduced, and the measurement precision is improved. And the pole piece thickness and the roll gap position linearity are improved.

The invention relates to the technical field of medical rehabilitation equipment, in particular to a surgical postoperative rehabilitation nursing auxiliary device and method based on the Internet of Things, and the device comprises a bearing part, a driving part, a base, a monitoring part and a remote interaction part, the driving part comprises a first driving assembly for providing relative resistance for a using object and a second driving assembly for driving the thigh and the shank to move relatively. The method comprises the steps that in a single training period, the passive muscle activation degree and the active muscle activation degree are determined to determine the rehabilitation degree of the muscle function of a using object; according to the limb movement track and the muscle strength balance condition of the feature movement part, the movement control ability of the using object is determined, and a rehabilitation training scheme of the using object is adjusted according to the rehabilitation degree or the movement control ability. According to the invention, comprehensive monitoring and remote transmission of the rehabilitation process of the use object are realized, and the rehabilitation process can be accurately controlled by medical personnel.