2648 results about "Relative motion" patented technology

The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle flight path positioning method and system based on multi-source information fusion. The method comprises the following steps: acquiring an original observation data stream of an unmanned aerial vehicle in real time through a sensor array, and preprocessing to output a multi-source data sample set; calculating relative motion increment between adjacent key frames through an IMU pre-integration model, and extracting local pose estimation through a visual geometric calculation method; evaluating the confidence of each sensor in real time to dynamically generate an adaptive weight coefficient; and constructing a tight coupling fusion filter taking position, speed and attitude errors as core state quantities, and outputting a global optimal trajectory of the unmanned aerial vehicle. According to the invention, the weight is dynamically distributed through the real-time confidence of the sensor, the multi-source data association is fully mined, and the flight path positioning precision and environmental adaptability of the unmanned aerial vehicle are improved.

The screen display glass film tearing equipment comprises a screen display glass loading unit, a film tearing unit and an adhesive supply unit, the screen display glass loading unit comprises a carrying table and a moving mechanism, the carrying table is used for positioning screen display glass downwards from a to-be-torn film, the film tearing unit is located below the to-be-torn film and comprises a film tearing head and a power device, and the film tearing head comprises a film tearing seat, a clamping jaw and a roller; the power device comprises a first power piece and a second power piece. On one hand, on the basis of movement cooperation of the clamping jaw and the rolling wheel, aligned gradual stripping of the rolling position and the stripping position of the to-be-torn film is kept, and on the other hand, the overturning angle is increased based on follow-up overturning of the extending section, so that the success rate of forming the stripping angle by inward overturning of the to-be-torn film is greatly increased; the probability that the glue is separated from the to-be-torn film or the corner of the to-be-torn film is torn is effectively reduced; on the other hand, diagonal film tearing is formed based on the relative movement of the screen display glass and the clamping jaw, the risk that the protective film is torn or falls off is reduced, and the whole film is torn off more efficiently in a more labor-saving mode.

The invention relates to a protective film uncovering process based on corner lifting and rolling cooperation type screen display glass. The protective film uncovering process comprises the following steps: S1, corner lifting; s2, tearing off; and S3, collecting the film. On one hand, through cooperation of the film tearing clamping jaw and the rolling wheel, step-by-step peeling with the rolling position and the peeling position aligned is kept, meanwhile, the angle between the connecting section and the screen display glass is gradually increased on the basis that the connecting section is turned inwards under the condition that the adhesion section is not stressed, the success rate of forming an inwards-turned peeling angle is greatly increased, and the production efficiency is improved. The probability that the film-tearing adhesive tape is separated from the protective film or the corner of the protective film is torn is reduced; on the other hand, the complete tearing rate of the protective film is increased based on the relative movement of the glass and the film tearing clamping jaw, the tearing risk of the protective film is reduced, more labor-saving and faster diagonal tearing is achieved, meanwhile, based on pulling formed by the film collecting clamping jaw and the film tearing clamping jaw and airflow blowing cooperation formed by the film collecting clamping jaw and the film tearing clamping jaw, the completeness of film collecting is improved, and the production efficiency is improved. And the problem that the film tearing adhesive tape is adhered to the film tearing clamping jaw is solved, so that the continuity of peeling off the protective film is improved.

The double-sided film tearing equipment for the screen display glass comprises a lower film tearing system and an upper film tearing system. On one hand, on the basis of multi-motion cooperation of the clamping jaw and the roller, the corner of the to-be-torn film is gradually torn off by keeping the rolling position and the stripping position aligned under blowing of airflow, the probability that the adhesive tape is separated from the to-be-torn film or the corner of the to-be-torn film is torn off is greatly reduced, and the success rate that the to-be-torn film forms the tearing angle is effectively increased; meanwhile, diagonal film tearing is formed based on relative movement of the glass and the clamping jaws, the risk that the protective film is torn or falls off is reduced, and more labor-saving and efficient film tearing is achieved; on the other hand, a torn film is clamped based on a film stripping chuck and cooperates with airflow blowing to separate an adhesive self-clamping jaw so as to improve the film stripping success rate, and in combination with butt joint of upper and lower film stripping system self-carrying tables which are reversely arranged, the direction of the film to be torn is switched in a turnover-free manner, so that the glass pollution or collision risk is remarkably reduced, the product yield is improved, and the production cost is reduced. Moreover, stable and continuous implementation of double-sided film tearing of multiple pieces of glass is ensured, and the film tearing efficiency is greatly improved.

The invention provides a potential field-based ship navigation early warning method and device, a medium and a product. The method comprises the steps of obtaining a ship state, a static obstacle set, a navigation rule set and environment disturbance and uncertainty information; carrying out dimensionless scale unification and risk mapping normalization on the information; obtaining a static environment potential field of the ship at the current track point based on the difference between the shortest distance from the track point to the static obstacle set and the safety redundancy; constructing a dynamic interaction potential field based on the target ship state and the relative motion urgency; triggering a navigation rule based on an encounter state identification result, generating a rule constraint and constructing a rule constraint potential field; expansion correction is carried out on the security redundancy based on the uncertainty information to construct an uncertainty correction potential field; fusing to obtain a total potential field; and obtaining a risk index and an early warning level according to the total potential field. According to the technical scheme, risk early warning is achieved based on the computable multi-dimensional safety potential field, and compliance, stability and robustness are improved under the conditions of complex water areas and multi-ship encounter.

A hinge device of a portable terminal having a foldable structure, according to the present invention, comprises: a housing positioned between one-end portions of a first body and a second body; a first hinge blade and a second hinge blade fixed to the first body and the second body and rotationally supported on the housing to perform rotation movement as much as a predetermined angle between an ‘unfolded position’ at which the first body and the second body are placed on the same horizontal line and a ‘folded position’ at which the first body and the second body are facing and in contact with each other; and a slide member for interlocking the first hinge blade and the second hinge blade to perform a relative motion, wherein a first inclined guide protrusion and a second inclined guide protrusion are formed on bottom surfaces of the first hinge blade and the second hinge blade, a first inclined guide groove and a second inclined guide groove are formed on a top surface of the slide member in correspondence thereto, and the slide member is installed in the housing to reciprocate a predetermined distance in a direction of hinge axis line.

The invention discloses a power electronic networking equipment stability analysis method, system, equipment and medium, and the method comprises the following steps: building a full-system state space model, carrying out the cross validation of the full-system state space model through employing a modal analysis method, an impedance analysis method and a complex torque analysis method, and obtaining the stability of the full-system state space model; obtaining a multi-mode coupling stability analysis result; according to the multi-mode coupling stability analysis result, constructing a power grid s domain node admittance matrix; establishing a virtual power angle dynamic equation of the network-forming converter, and optimizing control parameters according to an evaluation result; an inertia center reference system is adopted, a dynamic interaction model of the synchronous machine and the network-forming converter is established, and dynamic coupling characteristics between devices are analyzed through a relative motion equation. According to the method, the comprehensiveness, the precision and the engineering applicability of dynamic stability analysis of the novel power system are improved through fusion of a multi-dimensional collaborative evaluation framework and an innovative technical system.

The invention relates to the technical field of stackers, in particular to a rigid anti-swing device of a stacker for an automatic stereoscopic warehouse, which comprises the stacker, a first-stage moving platform and a second-stage moving platform arranged on one side of the stacker, an objective table arranged above the second-stage moving platform, a scissor-fork type connecting rod mechanism, a buffer mechanism and a protection mechanism, the scissors fork type connecting rod mechanism is connected between the first-stage moving platform and the second-stage moving platform of the stacking machine. The shear fork type connecting rod mechanism is additionally arranged between the first-stage moving platform and the second-stage moving platform, the relative motion between the two platforms is forced to be single and determined linear motion, the connecting rigidity in the transverse direction and the vertical direction is greatly enhanced, and therefore basic shaking caused by sudden acceleration change and structural elastic deformation is restrained.

The invention relates to the technical field of double-roller cast rolling, and provides a roller gap control method. According to the method, in the casting and rolling process, controlled floating of a roll gap is achieved under the condition of constant opening degree by controlling the overall movement of a driving device and a roll system and the relative movement between the driving device and the roll system, and therefore the material updating process in a molten pool is stabilized. Different from a traditional technical scheme, the method can keep the two roller bodies and the side sealing device static relative to the ground in the roller gap floating period, the thickness fluctuation of the green body is effectively avoided, the abrasion rate of the side sealing plate is reduced, and therefore the stability of the cast-rolling process and the quality of the green body are improved.

The invention discloses an intelligent helmet control system based on an IMU (Inertial Measurement Unit), particularly relates to the field of riding monitoring, and is used for solving the technical problems that an existing intelligent helmet is high in collision misjudgment rate under strong road surface vibration and complex riding actions and is difficult to stably trigger a reliable rescue process. A helmet inertial measurement unit and a reference inertial measurement unit are respectively arranged on a helmet and a vehicle structural member, coordinate calibration and time synchronization are carried out, and a road vibration compensation model is constructed by using a frequency domain analysis result of the reference inertial measurement unit in a sliding time window. Road vibration and vehicle body vibration are separated from signals of the helmet inertial measurement unit, residual acceleration and angular velocity characteristics representing relative movement of the head are obtained, an accident confirmation signal is generated based on multi-threshold joint judgment, and a communication unit and a vehicle control interface are linked for execution.

The invention discloses a reinforcement learning-based cluster spacecraft multi-target intelligent cooperative tracking method. The method comprises the steps of establishing a relative motion relationship between a tracking spacecraft and a target spacecraft through a nonlinear orbit kinetic equation; designing a double-layer game framework, constructing a non-zero sum game in the cluster to drive cooperation, and introducing a zero and maximum and minimum game between the cluster and a target to describe a confrontation relationship; based on communication topology and relative state information, defining a local error term and a performance index function of the tracking spacecraft and the target spacecraft, and defining an optimization target of each agent under cooperation and confrontation; and iteratively updating the value function and the control law. According to the invention, collaborative tracking can be realized without defining a system model. The method can be widely applied to the field of cluster control.

The invention relates to the technical field of communication, and discloses a wireless signal coverage enhancement system and method based on reinforcement learning, and the method comprises the following steps: fusing multi-source perception data of a laser radar, a camera and the like, extracting a terminal motion state and environment obstacle information in real time, calculating a relative motion parameter and collision time, and carrying out the real-time detection of the collision time; the method comprises the following steps: estimating a threat level according to the obstacle size and distance, outputting a quantitative threat index and a potential high-risk target, identifying an effective reflecting surface from point cloud data, constructing a time-varying diffraction topological graph according to the dynamic obstacle position, and predicting signal loss of each path by using a graph neural network. According to the method, the optimal diffraction path is predicted by sensing the motion trail of the high-speed dynamic obstacle in real time in combination with environmental electromagnetic characteristics, the beam forming and power strategy is dynamically optimized, the influence of multipath interference and penetration loss on the signal quality is suppressed, and the interruption recovery time can be shortened and the positioning precision and the communication reliability can be improved in a shielding scene.

The invention discloses a dynamic rendering method and system for virtual reality, a storage medium and electronic equipment, and relates to the technical field of virtual reality, augmented reality and computer graphics. Therefore, the frequency and time sequence change of the sight focus of the user hitting the surface of the virtual object in the virtual scene are analyzed, so that the relative motion trend and observation intention of the user and the object are pre-judged, predictive and adaptive scheduling of rendering resources is realized, and optical feedback conforming to the physical law, namely, dynamic material, is triggered at the sight focus, so that the real-time performance of the user is improved. Therefore, the interaction fineness in the process of interaction between the user and the VR system is improved.

The invention relates to the technical field of robot control, in particular to a self-adaptive joint control method and system for a humanoid robot. Comprising the following steps: acquiring relative motion information, motion state information and internal mechanical state information to form comprehensive sensing data; performing contact prediction based on the comprehensive perception data, completing contact risk judgment and determining a potential contact area; and in response to the contact prediction result, a softening control instruction is sent to a joint driver in the potential contact area through a rapid instruction channel independent of a conventional trajectory position control process, so that the joint is adjusted to a low-rigidity state from a high-rigidity state within a preset response time. The problems of safety risks and equipment damage possibly caused by accidental contact between the humanoid robot and the outside when the humanoid robot executes a high-precision assembly task in a high-rigidity control state are solved, and the technical problem that an existing safety protection mechanism lags in response is solved.

Provided herein is an additive manufacturing system having a build chamber, a plurality of tools and a plurality of tool bays where each tool bay is arranged to store one tool. A gantry is arranged to select one tool and removes the selected tool from a tool bay. A tool mount is slidably arranged on the gantry and to detachably couple the selected tool to the gantry. Two guide rails extend in a first direction and are arranged to receive the selected tool. The guide rails are movable along a second direction perpendicular to the first direction, so as to enable alignment of the guide rails with one of the tool bays at a time. Channel seals expand or contract based on a relative movement between the tools and the sliders.

A gas distributor for improving ionization efficiency of a radio frequency ion thruster, comprising a gas supply pipeline, a cavity, a flow guide ball, radial rotational flow holes, axial diffusion holes and a flow guide ball limiter, the gas supply pipeline and the cavity are integrally formed, the radial rotational flow holes and the axial diffusion holes are dispersedly arranged in the cavity, the flow guide ball is filled into the cavity through the gas supply pipeline, the flow guide ball limiter is arranged in the cavity to prevent relative movement of the flow guide ball in the cavity, and the gas distributor composed of the gas supply pipeline, the cavity, the flow guide ball, the radial rotational flow holes, the axial diffusion holes and the flow guide ball limiter is arranged at the bottom of a discharge chamber of the thruster.

The invention relates to the technical field of welding, and particularly discloses an automatic fan impeller welding device which comprises a supporting frame, the supporting frame serves as a carrier to bear a welding part, a rotatable rotary table is rotationally connected to the outer surface of the middle of the supporting frame, an impeller disc and a rotating piece are placed at the upper end of the rotary table, and the rotating piece comprises a rotating cover plate. The rotating cover plate is located above the impeller disc, the blades are welded to the surface of the impeller disc, the upper rotating plate and the lower rotating plate are simultaneously driven by the calibration clamping motor to be matched with the lower clamping rod and the upper clamping rod, the blades are clamped and fixed in four directions, and the blades are limited and clamped. The upper rotating plate and the lower rotating plate move relative to each other through a planetary gear, four-direction fixing is achieved through a calibration clamping motor, the lower end of the calibration clamping motor is fixedly connected with a bearing plate, the lower end of the bearing plate is provided with a calibration plate driven by a calibration spring, the calibration plate further limits the blades, and therefore the calibration effect of the blades is improved. And six-direction clamping is realized by matching with the structure.

The invention provides a recovery device for building waste plastic building materials, and relates to the field of waste recovery devices.The recovery device comprises a feeding mechanism, a crushing mechanism, a separating mechanism and a melting granulation mechanism, and further comprises a crushing system and an electric control system; according to the crushing system, a primary crushing unit is driven by a first variable frequency motor; the secondary crushing unit is arranged at the discharging end of the primary crushing unit and is driven by a second variable frequency motor; the screening unit is arranged below the secondary crushing unit; wherein the electric control system is electrically connected with the first variable-frequency motor and the second variable-frequency motor and used for independently controlling the rotating speeds of the first variable-frequency motor and the second variable-frequency motor so as to drive the primary crushing unit and the secondary crushing unit to do differential relative motion, and the screening unit is used for returning substandard materials to the primary crushing unit to be crushed again. Multi-stage differential crushing and intelligent closed-loop control are adopted, airflow separation and magnetic separation impurity removal are combined, efficient and energy-saving production is achieved through segmented melting and plasticizing, and the treatment efficiency and the purity of a finished product are improved through an automatic system.

The utility model discloses a drawer multidirectional adjusting device which comprises a base, a cover plate arranged on the base, an X-axis adjusting mechanism used for driving the base and the cover plate to do relative motion in the X-axis direction, and a Y-axis adjusting mechanism used for driving the base and the cover plate to do relative motion in the Y-axis direction. The base is installed on the drawer, and the cover plate is installed on a movable rail in the sliding rails. The multidirectional drawer adjusting device is higher in adjusting stability and adjusting precision, more convenient to adjust and better in use experience.

The invention belongs to the technical field of clock synchronization, and particularly relates to a high-precision clock synchronization method in an aviation cluster high-speed relative motion scene, which comprises the following steps of: S1, acquiring round-trip time RTT data based on signal transmission among nodes in an aviation cluster, and acquiring a relative radial speed v by combining an inertial navigation module; calculating by using a motion correction formula to obtain a preliminary clock skew epsilon after motion correction; in order to solve the problems of asymmetric high-speed motion path time delay, URT interference, random and nonlinear error coexistence and the like, through a four-stage cooperative scheme of RTT motion correction, URT modeling compensation, Kalman filtering smoothing and BP neural network residual optimization, the clock synchronization precision is improved to 0.1-0.3 ns, the method has strong anti-interference robustness and engineering realizability, and the method is suitable for large-scale popularization and application. The method can be widely applied to aerospace, unmanned aerial vehicle formation, satellite communication and other fields requiring high-precision clock synchronization, and effectively solves the problems of insufficient precision and poor adaptability of a traditional method in a high-speed scene.

The application provides a downhole hydraulic back-off tool, characterized in that the back-off tool comprises a hydraulic anchor, a hydraulic back-off device and a telescopic compensation mechanism, and the power part is composed of a driving cylinder, a driving pin, an anti-rotation cylinder, a rotating cylinder, a third spring, a central shaft, an inner ratchet mechanism, a driving shaft and an outer ratchet mechanism; the one-way left-rotation part of the hydraulic back-off device comprises the inner ratchet mechanism and a second spring, and the anti-rebound right-rotation part comprises the outer ratchet mechanism and a first spring. The application makes all the torques of the workover operation be transmitted to the fishing tool through the relative movement of the inner ratchet mechanism and the outer ratchet mechanism from the hydraulic back-off device, and the working string does not need to transmit the torque to the downhole through the surface wellhead rotary table or the top drive, the hydraulic anchor is anchored and unanchored through the pressure in the string, and the anchor provides a fulcrum function for the timely cooperation of the power torque output of the hydraulic back-off device; the telescopic compensation mechanism is used for compensating the axial displacement of the back-off tool.

A chemical mechanical polishing apparatus includes a platen to support a polishing pad, a carrier head to a surface of a substrate against the polishing pad, a motor to generate relative motion between the platen and the carrier head so as to polish an overlying layer on the substrate, an in-situ acoustic monitoring system, and a controller. The controller is configured to detect exposure of an underlying layer due to the polishing of the substrate based on measurements from the in-situ acoustic monitoring system. The in-situ acoustic monitoring system may detect exposure of an underlying layer based on comparison of the signal to prior measurements of acoustic signals generated by stress energy of test substrates.

A system for delivering an anti-migration anchor to an implantable device includes a locator system having a head portion adapted to mate with the neck portion of the device, a locator capsule coupled to the head portion, and a plurality of arms coupled to the head portion and the locator capsule, the arms having a collapsed and an extended configuration. The system includes a catheter having a distal portion coupled to and extending from the head portion. The system includes a handle coupled to a portion of the catheter, the handle having a mechanism to effect relative motion between an inner and an outer member of the catheter to cause the arms to transition from the collapsed to the extended configuration. The system includes a plurality of elongate elements having a distal end coupled to the arm and configured to facilitate the delivery of an anti-migration anchor to the arm.

According to the method, a universe control equation set comprising a control equation, a free surface, upper and lower layer fluid interface continuity, structure-fluid interface continuity and fluid interface and seabed constraint conditions is constructed, and a vertical-horizontal decoupling modal analysis technology is combined, so that a multi-body radiation coupling model of the bottom-supported cylindrical array with relative motion between columns is provided; an intrinsic mode expansion technology is adopted to synchronously represent a joint radiation mechanism of a surface gravity wave and an internal wave, potential function space transformation and mode matching under a multi-column coordinate system are realized through a Graf addition theorem, and a radiation matrix coupling model considering a bottom-supported boundary constraint is constructed. According to the method, the wave-column coupling effect of the density layered interface can be accurately analyzed, a multi-column interference energy transfer path is quantified, and the modal truncation error is remarkably reduced.

The invention relates to the technical field of power transmission line self-energy-taking, and discloses a power transmission line self-energy-taking device and a state detection system, and the device comprises a housing structure, a motion structure, an electromagnetic power generation structure, and a friction power generation structure. Wherein the moving structure is composed of a permanent magnet, a spring and a fixing groove, the vertical shell and the fixing groove are connected through the spring, and a spring mass vibration system is constructed; the electromagnetic power generation structure generates power through relative movement of a permanent magnet and a coil. The friction power generation structure generates power through sliding separation of sliding electrodes on the side faces of the fixing grooves and electrodes in the side shells. The invention further discloses a state detection system, vibration energy is collected through the device and stored in an energy storage battery through an energy management circuit to supply power to a sensor detection circuit, and data are sent to an upper computer through a wireless transmission module. The power transmission line state real-time detection without external energy supply can be realized, and the problem of power supply of monitoring equipment in remote areas is solved.

The invention relates to a rocker arm assembly with roller deactivation. More specifically, a variable valve lift rocker arm assembly may include an outer rocker arm body having a valve end and a cam end and configured to rotate about a first shaft. The inner rocker arm body may be configured to rotate about a first shaft or a second shaft and selectively and operably locked to the outer rocker arm body via a latch assembly. The latch assembly may have a first latch pin actuated by a latch pin spring, a second latch pin, and a third latch pin driven hydraulically, mechanically or pneumatically. The latch assembly may have a locked mode in which relative movement between the inner rocker arm body and the outer rocker arm body is locked, and an unlocked mode in which relative movement between the inner rocker arm body and the outer rocker arm body is permitted.

The invention discloses a sensing target motion compensation method, system and device based on high-precision positioning information and a medium, and mainly relates to the technical field of target motion compensation. The method is used for solving the problems that an existing motion compensation method mainly depends on chassis information of a vehicle, a wheel speed meter depended by the existing motion compensation method is prone to being affected by external factors, and accumulated drifting generated by purely depending on integral calculation of pose changes cannot meet the long-period and high-precision sensing requirements of an intelligent driving system. Comprising the steps of calculating a relative motion transformation matrix from a data acquisition moment to a data processing moment, and further calculating coordinates of a sensing target at the data processing moment; inputting the covariance matrix and the moment state at the data acquisition moment into a Kalman filter to obtain a predicted moment state and a predicted covariance matrix at the data processing moment; and calculating the moment state of the sensing target after data processing moment compensation by using the coordinates of the sensing target at the data processing moment, the predicted moment state at the data processing moment and the predicted covariance matrix.

A linear motor includes an armature and a field magnet that are disposed to face each other and configured to be subjected to relative movement. The armature includes a plurality of windings that are arranged along a direction of the relative movement. Each of the windings is wound around a first iron core. The field magnet includes a plurality of permanent magnets that are disposed to face both sides of the armature in a direction perpendicular to the direction of the relative movement, and are arranged along the direction of the relative movement. A ratio of a dimension of the first iron core to an arrangement pitch of the windings in the direction of the relative movement is in a range from 0.1 to 0.35.

The invention discloses a plane sliding type rock slope seismic stability analysis model considering rough structural surface strength degradation. Aiming at the important defect that an existing structural surface strength vibration degradation model exaggerates the influence degree of a vibration wear effect influence coefficient and a relative movement speed effect influence coefficient on structural surface strength vibration degradation, the model is improved on the basis of a Barton criterion; therefore, a novel plane sliding type rock slope seismic stability analysis model considering the shear strength degradation of the rough structural surface is provided; parameter sensitivity analysis is adopted to research the influence rule of the seismic wave peak acceleration, the structural plane basic friction angle and roughness coefficient and the structural plane shear strength degradation factor influence parameters m and P0 on the slope seismic stability, and beneficial reference can be provided for slope seismic stability analysis.

The invention provides a humanoid robot motion test platform, which comprises a base, a belt-type motion mechanism, a height adjusting device and a control system, and is characterized in that the height adjusting device comprises a linear driving mechanism of which the bottom is hinged to the base; the first sliding mechanism is connected with the output end of the linear driving mechanism; the second sliding mechanism is in sliding fit with the first sliding mechanism and is connected with the test platform; and the brake mechanism is used for limiting relative movement of the two. During slope changing, the two sliding mechanisms slide relatively to automatically compensate the space horizontal displacement difference, and lateral stress interference is eliminated; the high-frequency large-load stepping impact of the robot can be effectively resisted, the step loss of the system is prevented, and the unification of smooth slope change and high-rigidity and high-precision testing is realized.