2948 results about "Movement control" patented technology

The invention discloses a robot reinforcement learning control method and system based on a gating circulation unit, and relates to the technical field of artificial intelligence. Based on a reinforcement learning state machine, a trained student network is deployed to a real quadruped robot in a zero mapping manner, and movement control of the quadruped robot is realized; the training process of the student network is as follows: building a simulation training terrain environment of the robot, and setting different levels of terrain difficulty for each terrain; based on the distillation learning thought, establishing a teacher network and a student network based on a gating circulation unit, constructing a total loss function, and based on the constructed total loss function, fitting a motor joint angle output by the teacher network through an omnibearing simulation training terrain environment, a large-scale parallel training method and the student network; according to the robot reinforcement learning control method and system, robust motion of the robot in an unstructured terrain is realized, and the robot reinforcement learning control method and system have good anti-interference capability and self-recovery capability for a dynamic environment in which traditional control cannot be competent.

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 provides a self-adsorption type air pipe flange bolt screwing main body device and a control method. The device comprises a capturing module, a driving module, a recognition module, an adsorption module and a centralized control platform. Under comprehensive control of a centralized control platform, the device is adsorbed and fixed to the surface of the air pipe through the adsorption module, the capturing module drives a hydraulic rod through a driving motor, movement control over upper and lower clamping plates is achieved, the clamping plates clamp an air pipe flange, and the overall stability of the device is further improved. The recognition module collects relative position information of the device and a flange bolt hole in real time through a camera, the distance between the bolt hole and the device is accurately detected through an ultrasonic transmitting device, and then the movement distance of the device is dynamically adjusted in cooperation with the driving module. Through assembly type combined installation of multiple functional modules, automatic walking, precise positioning and stable screwing of the device on the surface of an air pipe are achieved, a mechanical arm is not needed, the device can be flexibly suitable for vertical air pipe flanges of different heights, the occupied space is small, and the scene applicability is good.

The invention relates to an aircraft-trailer system coordination control method fused with reinforcement learning, and the method comprises the steps: constructing an aircraft-trailer system mathematical model, and determining the coupling relation between control variables and state variables, the control variables including trailer movement control variables and system steering control variables; aiming at trailer movement control variables, designing a model-based self-adaptive controller; aiming at the steering control variable of the system, designing an attitude compensation controller based on reinforcement learning; the self-adaptive controller and the attitude compensation controller are fused, corresponding control signals are output to the aircraft and the trailer, and motion control over the aircraft and the trailer is completed. Compared with the prior art, the self-adaptive control law based on the virtual variable is designed through the decoupling kinematics model; and aiming at system parameters and external uncertainty, designing a compensation method based on reinforcement learning. A series of simulation is carried out under different conditions, and results show that the method can ensure coordinated movement of the aircraft and the trailer under different conditions.

The invention provides a virtual digital population type synchronization method, system and device, a medium and a program product, and the method comprises the following steps: analyzing an input voice signal, and obtaining a voice feature; taking the voice features as input of a lip movement prediction model, and predicting corresponding lip movement parameters; driving a face model of the virtual digital human to perform real-time rendering according to the lip movement parameters, and realizing fine movement control of lips; and obtaining user feedback data, and continuously optimizing and adjusting the lip movement prediction model based on the user feedback data. Through advanced technologies such as deep learning, voice analysis and lip movement prediction, accurate synchronization of the virtual digital population type and the voice content is realized, and the expression ability of the virtual character and the user interaction experience are improved.

The invention discloses a motion control method and system for five-axis series-parallel processing equipment, and relates to the technical field of processing equipment control, and the method comprises the steps: obtaining the real-time state data of the five-axis series-parallel processing equipment, and carrying out the data preprocessing; constructing a kinematics model based on deep learning, and calculating the motion trail of each joint of the processing equipment; planning an energy consumption optimal path by using a multi-objective optimization algorithm; generating a joint driving signal according to a path planning result by utilizing a self-adaptive fuzzy control algorithm; and detecting external disturbance in real time and adjusting control parameters based on the disturbance observer to realize motion control. According to the method, the path planning precision of the five-axis series-parallel processing equipment is improved, the energy consumption is obviously optimized, the anti-interference capability is enhanced, the control response speed is improved, the method has the technical advantages of high precision, high efficiency and high robustness, and the method is suitable for a precise motion control scene in a complex dynamic environment.

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 provides a related method of linear motor equipment, the method is applied to industrial conveying, and the method comprises the following steps: creating a plurality of position points, the plurality of position points are distributed along a stator line body, the plurality of position points are used for controlling a moving path of a mover module, and the mover module is used for conveying the mover module based on conveying process information of the mover module; first pointing information and second pointing information are configured for at least part of the position points, the first pointing information is used for indicating that the position points initially point to the first object, and the second pointing information is used for indicating that the position points are switched from pointing to the first object to pointing to the second object when conveying abnormal conditions occur in the conveying scene. When the conveying abnormal condition does not occur, the position point of the first pointing information points to the first object by default, the pointing object of the position point is quickly determined, the moving control efficiency of the mover module is improved, the pointing object is switched according to the conveying abnormal condition, so that the moving path of the mover module has variability, and the conveying efficiency is improved. The moving flexibility of the mover module is improved, and the transportation efficiency is improved.

The embodiment of the invention discloses an image acquisition system and method of measurement equipment, and the system comprises a first defocus determination module which is used for determining a first defocus amount of a target object; the second defocusing determination module is used for determining a second defocusing amount of the target object; the first movement control module is used for controlling the measuring objective lens and the target object to move relatively in the first direction according to the first defocusing amount so as to focus the target object for the first time, and controlling the measuring objective lens and the target object to move relatively in the first direction according to the second defocusing amount so as to focus the target object for the second time; the image acquisition module is used for carrying out image acquisition on the target object after the first focusing to generate a first image so as to determine whether the target object is located at a preset position or not; the image acquisition module is used for performing image acquisition on the target object after the second focusing after determining that the target object is located at the preset position to generate a second image; the image acquisition duration of the target object can be reduced, the alignment error measurement efficiency of the target object is improved, and the applicability is high.

The invention provides a shore power charging method and system, and the method comprises the following steps: enabling a charging vehicle to respond to a first movement control signal, and to move to the position of a shore power supply; after the shore-side interface is connected with the shore power supply, the charging vehicle responds to the second movement control signal, moves to the area where the charging interface of the ship to be charged is located, and controls the first take-up and pay-off unit to release the shore-side cable; after the charging vehicle reaches the area where the charging interface of the to-be-charged ship is located, the charging vehicle responds to the automatic connection signal, moves the ship side interface to the position where the charging interface of the to-be-charged ship is located, controls the second take-up and pay-off unit to release the ship side cable, and connects the ship side interface with the charging interface of the to-be-charged ship; and after charging is finished, the charging vehicle responds to the automatic separation signal, disconnects the ship side interface from the charging interface of the ship to be charged, drives the mechanical arm to return to the original position, and controls the second take-up and pay-off unit to take up the ship side cable. According to the invention, ship shore power charging can be conveniently realized.

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 a building engineering construction site intelligent green spraying dust falling device which comprises an electric trolley, the top of the electric trolley is connected with a base, a supporting plate is installed at the top of the base, a first gear motor used for driving the supporting plate to rotate is fixedly installed on the outer wall of the base, and an air duct is installed at the top of the supporting plate in an angle-adjustable mode. A plurality of atomizing nozzles are hinged to the inner wall of the air outlet end of the air duct through hinge seats, the atomizing nozzles communicate with the annular water supply pipe, a driving mechanism is installed on the outer wall of the air outlet end of the air duct, the atomizing nozzles are in transmission connection with the driving mechanism, and the driving mechanism drives the atomizing nozzles to converge or diverge relative to the axis of the air duct; intelligent control system equipment is arranged on the electric trolley, and the intelligent control system equipment is configured to complete movement control over the electric trolley, orientation control over the air duct and orientation control over all the atomization nozzles on the basis of dust raising monitoring equipment arranged on a construction site and monitoring information collected by a flame detector.

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 relates to the technical field of robots, and discloses a humanoid robot lower limb system, comprising: a crotch portion comprising a rope-driven motor; the thighs are installed at the two ends of the crotch respectively and can rotate along a pitch axis and a roll axis; the shanks are installed at the lower ends of the two thighs respectively, a knee joint motor is installed on the upper portion of each thigh, and the shanks are driven to rotate relative to the thighs through the knee joint motors and the synchronous belts; the ankles are mounted at the lower ends of the two shanks respectively; the rope drive motor drives the shank opposite to the ankle to rotate through the steel wire rope. The synchronous belt has the characteristics of high transmission precision and strong anti-interference capability in a non-severe environment, the rope drive has the characteristic of high sensitivity, and all motors are intensively arranged at the uppermost end of the leg structure, so that the center of gravity is concentrated on the upper part, the inertia of leg movement is reduced, and the movement control is facilitated. Meanwhile, the principle that the left leg and the right leg are designed into blocks is adopted, so that the left leg and the right leg can rotate independently, and walking in multiple terrains is facilitated.

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.

The invention discloses a wheel-foot coordination control method and system for a wheel-foot robot, and particularly relates to the technical field of wheel-foot robots. The wheel-foot robot is divided into a plurality of monitoring areas, temperature distribution and motion load data of all the areas are obtained in real time through temperature sensors and acceleration sensors installed in a wheel type motion control system and a foot type motion control system, the data are preprocessed and analyzed, and load abnormal areas are determined; for a monitoring area with abnormal load, a fuzzy logic algorithm is applied, load distribution is adjusted in real time and energy utilization efficiency is optimized according to the abnormal degree and the movement speed of the wheel foot load, on the basis, prediction is carried out for the adjusted load state, a movement control strategy is adjusted in advance according to a prediction result, and the stability and safety of the system are ensured. Through intelligent monitoring and dynamic adjustment, the problems of uneven energy consumption and local overheating under wheel-foot separation control are solved, the service life of the system is prolonged, and the operation efficiency is improved.

Disclosed is a steering-support system for facilitating manual steering of a marine vessel comprising motors and independent manual throttle and shift control units, rudders and manual rudder-steering means mechanically and / or hydraulically connected to the rudders for direct rudder-angle control. The steering-support system comprises electronic rudder-angle reset means connected to at least one automated rudder drive unit, which, when activated, disables use of the manual rudder-steering means and automatically controls the rudder drive unit to steer the rudders from any current off-center position to a mid position at which the rudders are parallel to a longitudinal axis of the vessel and to block the rudders at this mid position, thereby enabling steering of the marine vessel solely by the manual throttle and shift control units in absence of rudder influence on steering.

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 utility model relates to the technical field of robot ground rail operation, in particular to a ground rail for robot steering, which comprises a ground rail, a graduator, a turntable, a bearing module, a locking module and a brake module, the turntable is fixedly mounted on the graduator, the graduator is fixed at the joint of the ground rails through a mounting bottom plate below the graduator, and the graduator drives the turntable to rotate, so that the turntable rail is connected with the ground rails; the load-bearing module carries out load-bearing work; the locking module is mounted on the turntable to release and lock the turntable; the multi-face movement operation of the robot is achieved, the multi-face movement control device is suitable for machining and equipping of large parts, the labor productivity is improved, the number of workers is reduced, the production cost is reduced, industrial production automation is accelerated, a factory can control the production rhythm more accurately, and the multi-face movement control device is safe, efficient and high in practicability. And rapid production can be realized.

The invention discloses an olfactory navigation rat robot based on a brain-computer interface technology and a navigation method. The olfactory navigation rat robot comprises a biological rat body, a signal acquisition stimulation backpack and a host, an invasive cortex array electrode is implanted in a rat olfactory bulb area, a field potential signal is accurately recorded, and motion control and respiration signal recording are achieved through the implanted electrode; the signal acquisition stimulation knapsack acquires electrophysiological signals of the rat in the movement process, and an online odor classification model is constructed by combining acquired respiratory signals or a neural network respiratory signal fitting model; based on a multi-normal form olfactory bulb signal database of rat individuals, a transfer learning technology is adopted to adapt to odor decoding tasks under different experimental conditions. The natural olfactory capability of the rat is utilized to construct an autologous neural signal closed-loop system, so that the accurate control of efficient site traversal and specific smell search on the rat robot is realized, and the accuracy and adaptability of olfactory navigation tasks are remarkably improved.

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.

The invention relates to a rapid measurement system and method for the axis of a heat insulation pipeline, and the method comprises the steps: obtaining the feature information of the pipeline through the cooperation of multiple sensors and a movement mechanism, calculating the center of the metal inner wall of the heat insulation pipeline through a provided center searching algorithm, and calculating the center of the metal inner wall of the heat insulation pipeline according to the large-size features and mechanism movement control. Feature information of the heat insulation pipeline is rapidly captured, and the pipeline axis is calculated. The system comprises a laser distance measuring sensor, an eddy current sensing system, a circumferential rotating device, a radial feeding device, an axial feeding device, a high-speed data acquisition system, upper computer software and the like.

A morphing airfoil includes a dynamic flexible skin system that is capable of carrying high level aerodynamic (or fluid) pressure loads over a structural surface. The structural surface can morph and bend in response to control inputs to change a lift force without separate movable control surfaces. A plurality of standoff mounts are attached to an inner surface of anisotropic skin. The standoff mounts include through apertures for receiving a flexible stringer. The anisotropic skin is attached to underlying structure through the flexible stringers. The flexible stringers interface with actuated position control ribs and passive compliant support ribs. A control system causes the underlying support structure to move to a desired location which in turn causes the skin to bend and / or flex without exceeding a stress threshold and thus vary the lift and drag distributions along a span of the airfoil without separate control surfaces.

The present invention discloses an intelligent mushroom production cabin, which belongs to the technical field of mushroom cabins. The present invention comprises a storage body, a heat preservation door is installed at the tail of the storage body, and a bottom frame is fixedly connected to the bottom of the storage body, a hot and cold pipe is installed inside the storage body, and the hot and cold pipe is connected to a fan, and a humidification pipe is installed inside the storage body; and further comprises: a temperature sensor and a humidity sensor are installed inside the storage body, and the temperature sensor and the humidity sensor are electrically connected to the fan and the ultrasonic atomizer respectively, a connection groove is opened at the lower end of the interior of the storage body, and a movable control component is installed in the connection groove, and the movable control component is used to control the movement of the culture rack. The intelligent mushroom production cabin can facilitate the uniform humidification of the mushrooms in the upper and lower layers when in use, so as to avoid the upper mushrooms from blocking the lower mushrooms, and at the same time, the spraying range of the nozzle can be increased to avoid the occurrence of spraying missed areas.

A row planter having a pair of gauge wheels mounted on gauge wheel arms includes a controller for adjusting the position of the gauge wheels, and thereby adjusting the planting depth of seeds. The controller is pivotally mounted on the row unit, with a handle on the upper end and a rocker arm on the lower end engaging the gauge wheel arms. The controller can be pivoted about a transverse horizontal axis by movement of the handle so as to adjust the rocker arms, and thereby the gauge wheels arms for adjusting the seed planting depth. The controller further includes a pivotal block to which the rocker arm is mounted. The pivotal block can be adjusted via bolts on opposite forward and rearward sides of the block, so as to fine-tune the rocker arm position, and thereby further adjust the planting depth of the row unit.

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.