974 results about "Rigid body" patented technology

The invention discloses a method for measuring an attitude angle of a free throwing object in a wind tunnel test through a binocular system, and belongs to the field of aerodynamics tests based on a photogrammetry technology. Comprising the steps that a binocular system is arranged in a wind tunnel, and internal and external parameters of the binocular system are calibrated through a cross scale; reconstructing the surface mark points of the calibration plate by photogrammetry outside the wind tunnel and establishing a local coordinate system; placing a calibration plate in the wind tunnel, wherein each vector of a local coordinate system is parallel or vertical to an incoming vector, and calibrating a wind tunnel coordinate system by adopting a resection method; carrying out photogrammetry and initial pose installation on mark points on the surface of a thrown object; acquiring each state image of the thrown object and reconstructing the three-dimensional coordinates of the surface mark points; taking the attitude angle of the thrown object as 0 degree as a reference state, and comparing the rigid body transformation relationship between the blowing state point cloud and the reference state point cloud to obtain attitude angle data. Alignment of a wind tunnel coordinate system and a binocular system coordinate system can be achieved, limitation of the appearance of the thrown object is avoided, and attitude angle data of the thrown object are calculated in a non-contact and high-precision mode.

The invention discloses an analysis and design method and system for a floating type wind power foundation structure, and the method comprises the steps: selecting a part of section according to a preliminary design scheme of a floating type wind power foundation, and dividing the section into a plurality of floating body subareas; performing multi-body frequency domain hydrodynamic analysis on the floating body partition to obtain a multi-body hydrodynamic coefficient; calculating a rigidity coefficient at a part of the cross section; a wind turbine generator, a tower drum, a mooring system and the floating type wind power foundation are built into a multi-body coupling model, floating type wind power system time domain coupling analysis is conducted, internal force and stress of part of sections are calculated, the strength of the part of sections is checked, and the design scheme of the floating type wind power foundation is determined. According to the method, on the basis of floating body partition of the floating type foundation, the floating type foundation serves as a multi-body system composed of the multiple rigid bodies, the internal force at the connecting cross section of the multiple rigid bodies is obtained during time domain coupling analysis, analysis and design of the floating type wind power foundation structure are improved, and the design precision and the safety coefficient of the floating type wind power foundation structure are improved.

The invention relates to the technical field of automobile safety, in particular to a human body finite element model soft tissue motion deformation non-simulation rapid calculation method. Comprising the steps of initializing a calculation structure, recognizing a skeleton-soft tissue common node NBS, and extracting a soft tissue inner surface node NSS, a near-end end face node NSP and a far-end end face node NSD. And extracting skeleton motion information, calculating node coordinate sets BS0 and BS1 based on the initial configuration B0 and the target configuration B1, and determining end face boundaries SP0 and SP1 and SD0 and SD1 by utilizing rigid body transformation. Calculating an initial displacement field D0, acting on the NSS to obtain an initial deformation inner surface SS1, and processing a penetration site to obtain SS2; and fixing the BS1, and optimizing the coordinates of the SS2 node to obtain SS3. And integrating the initial mark point sets SS0, SP0 and SD0 and the post-motion mark point sets SS3, SP1 and SD1, and calculating a final displacement field D1 through spatial interpolation. The technical scheme can quickly and accurately simulate the large deformation of the soft tissue involved in human motion.

The invention provides an intelligent scoring method and system for joint movement. The method comprises the following steps: acquiring six-degree-of-freedom inertial motion data and surface electromyogram signals, and establishing a motion sequence topological structure containing a space-time reference based on a dynamic sampling strategy; secondly, decomposing inertial data into rigid body and physiological tremor components, and generating a three-dimensional biomechanical model containing joint rotation center drift, multi-plane coupling errors and trajectory curvature; secondly, constructing a time-varying mapping relation between the surface electromyogram signals and the exercise load, segmenting the signals based on phase mutation points, analyzing phase synchronism of an active muscle group and an antagonistic muscle group, and extracting a muscle cooperation mode; and finally, generating a motion feature tensor in a four-dimensional space-time coordinate system through technologies such as space-time coupling and a dynamic transfer function, analyzing an evolution mode of the motion feature tensor in real time to construct a scoring function cluster, and generating a composite scoring value. According to the technical scheme provided by the invention, the accuracy and reliability of joint movement quality evaluation are remarkably improved.

An aiming guide system configured for connection to a bone plate including an aiming arm and a connection assembly. The aiming arm has a rigid body extending from a proximal end to a distal end with a plurality of aiming holes defined through the rigid body between the proximal end and the distal end thereof. The distal end defines an attachment slot through the body. The connection assembly is configured to engage an attachment screw hole of the bone plate and the attachment slot such that the aiming arm is fixed in position relative to the bone plate with each of the aiming holes aligned with a respective hole along the bone plate.

The invention belongs to the technical field of hypersonic flight vehicle control, and relates to a rigid-elastic coupling-oriented active and passive integrated control method for a hypersonic flight vehicle. The invention aims to realize stable tracking control of the elastic hypersonic flight vehicle. The method comprises the following steps: constructing a longitudinal dynamic model of the elastic hypersonic aircraft; self-adaptive identification of the elastic vibration frequency is realized through a cascaded self-adaptive filter; an elastic modal filtering estimation method is designed, and high-precision and low-cost elastic modal state quantity is provided for subsequent active feedback controller design; and then rigid-elastic coupling model decomposition is carried out, the control performance is ensured by using active disturbance rejection passive control for a rigid body subsystem, an RBF neural network is introduced for an elastic subsystem, an elastic mode is actively inhibited by using sliding mode control, and stable tracking of a reference instruction is realized. The method is an active and passive integrated control method for the hypersonic flight vehicle oriented to rigid-elastic coupling, and the application prospect is wide.

A method and a device for identifying geometric errors of a numerical control (NC) machine tool based on a modified nine-line method. Motion errors between a plurality of rigid bodies of the NC machine tool is superimposed to construct a comprehensive error model based on multibody system kinematics theory and a topological structure of the NC machine tool. Optimization is performed based on the comprehensive error model and a preset fitness function to predict six optimal measurement positions. Six linear measurement trajectories are established respectively at the six optimal measurement positions. The six linear measurement trajectories are each parallel to one of an X-axis, a Y-axis, and a Z-axis. error terms for each of the six linear measurement trajectories are measured to establish a first equation set having six first equations. Geometric error simulation and identification for the NC machine tool are performed based on the first equation set.

The invention relates to a dynamic modeling method for an attitude control system under a dynamic fault. The method comprises the following steps: determining a modeling hypothesis of a nonlinear dynamic model; establishing a coordinate system used for modeling; rocket configuration parameters and engine related parameters are obtained; building displacement and acceleration descriptions of the three types of structures on the rocket; establishing a rigid body translation equation, a rigid body rotation equation, a rocket body elastic vibration equation, a propellant shaking equation and a sensitive element measurement equation; summarizing the five established equations to form a nonlinear dynamic equation set; and performing small-disturbance linearization expansion on the nonlinear dynamic equation set on the basis of the nominal reconstructed trajectory to obtain a linearized small-deviation equation set suitable for controller design and stability analysis. According to the method, the influence of the thrust drop fault is comprehensively considered, and the model can be used for carrying out relatively accurate dynamic response analysis and reconstruction scheme design under the fault.

The invention relates to the technical field of mechanical intellectualization, in particular to an intelligent grab bucket control method and system based on multi-sensor fusion. The method comprises the following steps: acquiring point cloud data of a plurality of sensors; performing coarse splicing on the point cloud data to obtain a coarse splicing rigid body transformation matrix; performing fine registration fusion on the point cloud data according to the coarse splicing rigid body transformation matrix to obtain fine registration fusion data; and constructing a three-dimensional model of the material by using the fine registration fusion data, and intelligently controlling the grab bucket to work through the three-dimensional model. According to the invention, by fusing the point cloud data of the plurality of sensors, simplifying the data and reconstructing the material model, the grab bucket is intelligently controlled to work according to the material model, so that the labor cost is reduced, the problem of intelligently controlling the work of the grab bucket is solved, and the material carrying efficiency and safety are improved.

The invention discloses a pose decoupling kinematics calibration method, device and equipment and a storage medium. The method comprises the following steps: constructing a pose decoupling motion model based on an equivalent rotation vector and a rigid body motion transformation rule; a pose error is introduced, pose space decomposition is carried out through the pose decoupling motion model, and a pose error expression and a position equivalent expression are obtained; analyzing the coupling influence of the attitude change on the position according to the attitude error expression and the position equivalent expression to obtain a pose coupling increment; constructing a target decoupling calibration model according to the pose coupling increment and the initial decoupling calibration model; and adopting a least square method to carry out geometric error solution of different degrees of freedom on the target decoupling calibration model according to the preset axis pose error to obtain a calibration error. The technical problem that the calibration and compensation effects are poor due to the fact that the influence of the posture in a multi-degree-of-freedom motion system on the position is not considered in the prior art and the error difference between different degrees of freedom is difficult to eliminate can be solved.

The present invention discloses a cryogenic liquid insulated tank truck, comprising a traction pin assembly arranged on an outer container tank body of a double-layer tank body, a wave-proof device arranged in an inner container of the double-layer tank body, and a liquid phase damper for pressure measurement arranged on the double-layer tank body; the traction pin assembly comprises a traction chamber arranged in a traction base, and a composite elastic deformation body installed in the traction chamber, the composite elastic deformation body comprises a rigid body slidably arranged in the traction chamber in a horizontal direction, and an elastic body arranged on the rigid body, an elastic deformation connection is formed between the elastic body in the composite elastic deformation body and the traction chamber in a horizontal direction, and a traction pin is vertically arranged on the rigid body in the composite elastic deformation body; a wave-absorbing module is arranged on the wave-proof device; and a heat transfer balance automatic compensator is arranged on the liquid phase damper for pressure measurement. The present invention improves the safety of cryogenic liquid insulated tank trucks.

An aiming guide system configured for connection to a bone plate including an aiming arm and a connection assembly. The aiming arm has a rigid body extending from a proximal end to a distal end with a plurality of aiming holes defined through the rigid body between the proximal end and the distal end thereof. The distal end defines an attachment slot through the body. The connection assembly is configured to engage an attachment screw hole of the bone plate and the attachment slot such that the aiming arm is fixed in position relative to the bone plate with each of the aiming holes aligned with a respective hole along the bone plate.

The utility model provides an underwater explosion efficient shaped charge cutting device based on combined charge, which comprises an underwater annular shaped charge structure and a positioning device, the positioning device is connected with a semi-annular shaped charge structure through a connecting device, and the outer side of the semi-annular shaped charge structure is connected with a detonator; the two positioning devices are arranged on the outer side of the cutting position of the target tubular structure, and the two positioning devices are fixed to each other; the two semi-annular shaped charge structures are arranged on the outer side of the cutting position of the target tubular structure, the two semi-annular shaped charge structures are fixed to each other, and each semi-annular shaped charge structure comprises a plurality of equally-divided cutting units. The cutting end face formed by the underwater explosion cutting device has high fairness, the refinement level of underwater explosion cutting is improved, the underwater explosion cutting device is suitable for cutting tubular structures in any direction and with any structural parameters on the seabed, deep water cutting operation can be achieved, and the underwater explosion cutting device can also be used for cutting structures with rigid body displacement after underwater explosion of flexible bodies such as steel cables, optical cables and electric cables.

The invention discloses a railway bridge earthquake response calculation method based on a friction pendulum support, which comprises the following two steps of: firstly, proposing an earthquake reduction and isolation support response simplification analysis method which comprises displacement response simplification calculation of a main beam, each support and a pier / platform; carrying out optimal calculation on the equivalent damping ratio of the equivalent linearization system; an equivalent linearization analysis method is simplified; and the equivalent linearization analysis method is explicit. Then providing a pier internal force response simplified analysis method which comprises the following steps: simplifying the pier internal force response into calculating an earthquake effect according to a rigid body; and calculating the combined shear force and bending moment of the pier bottom according to the sum of absolute values. According to the method, the operation workload is reduced, the calculation efficiency is improved, and a structure engineer can conveniently carry out a large amount of design optimization work.

The invention belongs to the technical field of wafer processing, and particularly discloses an ultrasonic displacement vision cooperation wafer detection and edge grinding system. According to the invention, the control module coordinates the grinding mechanism, the wafer carrying table and the assembly integrated with displacement and visual detection, so that cooperative detection and edge grinding are realized. Specifically, the displacement detection module obtains the distance between the wafer and the grinding mechanism in real time, and an accurate physical reference is provided for compensation control; and the visual detection module captures continuous images during rotation of the wafer, so that the control module can extract micro texture features to identify the deviation state of the wafer. The combination of the two realizes the comprehensive real-time perception of the grinding working condition, and overcomes the limitation of insufficient perception. And finally, the control module fuses the displacement and offset information to generate an edge grinding instruction, and dynamically controls the grinding mechanism and the wafer carrying table to carry out linked rigid body transformation, so that real-time sensing information is directly converted into compensation action, and the problem of uneven grinding caused by insufficient dynamic compensation capability is effectively solved.

The invention relates to the field of assembly automation and flexible manufacturing, and discloses an assembly method for a prefabricated firewall of a transformer substation, and the method comprises the following steps: setting a plurality of space positioning reference points at the edge of a wallboard; acquiring three-dimensional coordinate data to form a first point set and a second point set; calculating an initial rigid body transformation parameter between the wallboards according to the first point set and the second point set; establishing an energy functional for describing a total error; carrying out minimization solution on the energy functional by adopting a variational method to obtain an optimal disturbance vector field; according to the optimal disturbance vector field, a plurality of fine adjustment actuators of the wallboard are controlled, posture fine adjustment is conducted, and physical assembly connection of the wallboard and the target wallboard is completed. According to the invention, accurate attitude estimation and error correction in the wallboard assembly process are realized; the robustness and geometric fitting capability of the assembly process are improved; the assembly precision and efficiency are remarkably improved, and the problem that traditional redundancy control distribution is unstable is solved.

Some implementations relate to providing adaptive, distributed simulation of fluids with rigid body coupling. According to one aspect, a method simulates, with a coarse resolution on one or more server devices, a global flow field for a fluid within a virtual environment. The method determines regions within the grid to obtain additional detail for, based on the presence of one or more rigid objects within the virtual environment. For each region, the computer-implemented method: assigns client device(s) to the region; sends fluid simulation data pertaining to the region to the client devices; and receives refined fluid simulation data for the region from the client devices. The method replaces the fluid simulation data in the global fluid simulation pertaining to the regions with the refined fluid simulation data for the regions. The method then updates the global flow field for the fluid in real time based on the simulation data.

The invention relates to the technical field of computer vision and industrial automation, and particularly discloses a MARK point high-precision PCB positioning and mechanical mapping method based on multi-coordinate system fusion, which is composed of PCB positioning and mechanical mapping in a template stage and PCB positioning and mechanical mapping in a production stage. Wherein the PCB positioning and mechanical mapping in the template stage comprises the steps of coordinate system establishment and image coordinate distortion correction; the PCB positioning and mechanical mapping in the production stage comprises Mark point real-time detection and offset calculation, real-time attitude solution and dynamic matrix calculation, and mechanical coordinate calculation of any PCB point. According to the method, a three-coordinate system collaborative modeling mechanism of an image coordinate system, a PCB coordinate system and a mechanical coordinate system is introduced, so that board attitude change and equipment fixing errors are separated, and the system robustness and the mapping precision are greatly improved; rigid body affine transformation is constructed by adopting double Mark points, the rotation angle, the proportion and the translation amount are solved in real time through two-point geometric constraint, and self-adaptive compensation of the posture change of the PCB is achieved.

A rack for a truck bed includes a structural framework formed by a set of linear rails and a set of couplings. Each linear rail has a first end connected to one of the couplings and a second end connected to another of the couplings, wherein the rails and the couplings are connected to form a driver side frame, a front frame, a passenger side frame, a rear frame and a top frame. Each rail has a uniform cross-sectional profile including an outer profile that forms an outwardly directed T-slot and a central tube having an interior profile that is a complex shape. Each coupling includes a rigid body and a plurality of linear connectors extending from the rigid body, wherein each linear connector has an exterior profile that is a complement to the interior profile of the rail to which the connector is connected.

The invention discloses a hard and brittle material curved surface grinding preparation method, a product, a medium and equipment, and relates to the technical field of ultra-precision machining.The method comprises the steps that a geometric model of a hard and brittle material curved surface to be machined and an error value in the grinding preparation process are obtained; determining a three-dimensional coordinate of a cutter location contact in the grinding cutter path based on the geometric model; determining a rigid body transformation matrix by adopting a spinor theory according to structural parameters of a grinding preparation machine tool; obtaining an ideal grinding motion model of the machine tool based on the three-dimensional coordinates and the rigid body transformation matrix; compensating the ideal grinding motion model according to the error value of the grinding preparation process to obtain a compensated grinding motion model; and finishing the preparation of the hard and brittle curved surface by adopting the compensated grinding motion model. According to the hard and brittle material curved surface grinding preparation method, the product, the medium and the equipment, the machining efficiency and the machining quality of the hard and brittle material curved surface can be effectively improved.

The invention discloses a simulation method for calculating rigid-flexible-electric-thermal coupling dynamic response of a space structure, which comprises the following steps of: simplifying the space structure into a central rigid body-cantilever slab model, describing and dispersing the model through a constructed absolute node method mixing unit, deducing a dynamic equation of the model and a temperature field and electrostatic field control equation, and calculating the dynamic response of the rigid-flexible-electric-thermal coupling dynamic response of the space structure. The method comprises the following steps of: obtaining a rigid-flexible-electric-thermal coupling equation set of the system by taking a dynamic response result of the structure into consideration, considering a bidirectional coupling effect between a displacement field and a physical field, solving the equation set by utilizing a solver based on a generalized alpha method, obtaining the dynamic response result of the structure, performing visualization processing, and displaying the change condition of physical quantities such as temperature, potential and displacement along with time. According to the method, the influence of physical field factors is comprehensively considered, the spatial structure dynamic behavior under multi-physical field coupling can be accurately simulated, and a certain basis is provided for the simulation design of the spatial structure.

The invention discloses a cantilever heading machine excavation refined simulation method considering vibration. The method comprises the steps that design data and geological condition data of a tunnel are obtained; according to the design data and the geological condition data of the tunnel, a refined numerical model of tunnel excavation is established; vibration displacements of the cantilever heading machine in the X (drilling direction) direction, the Y (horizontal direction) direction and the Z (vertical direction) direction during construction under various different working conditions are obtained; noise reduction is carried out by using wavelet transform, a vibration trend term is extracted, and rigid body displacement and vibration waves are decomposed; and the construction working condition is obtained, the excavation process of the numerical model is adjusted according to the milling and excavation path of the construction working condition, the vibration waves are loaded, and the deformation result of tunnel excavation is obtained. According to the method, the influence of the vibration on the excavation process is also considered besides the influence of the construction process of block excavation of the cantilever tunneling machine, and the vibration is subjected to noise reduction by utilizing wavelet transform, so that the precision of cantilever tunneling excavation simulation is improved, and a basis is provided for design and construction of related tunnels.

The present disclosure provides a camera calibration method based on vehicle localization, mainly considering that a vehicle is not of an ideal rigid structure, and shaking of a vehicle body during operation, uneven road surfaces, or different loads will cause variations in extrinsic parameters of a camera system, resulting in perceptual information errors. Therefore, through perceptual information from a fused image, an inertial measurement unit, a speedometer, and the like, combined with the road and marking information provided by a high-definition map, the relative motion between the vehicle body and a vehicle chassis is simultaneously described with a mass-spring-damper model, so as to complete the determination of six-degree-of-freedom positions of the vehicle body and the vehicle chassis, and finally the extrinsic parameters of cameras are immediately calibrated with the vehicle chassis as reference coordinates.

An attraction system may include a projection mapped tangible show element with a first rigid body including a first shell coupled to a first tracker, a second rigid body including a second shell coupled to a second tracker, and a connection coupling the first rigid body and the second rigid body to one another. The connection may enable movement of the first rigid body relative to the second rigid body. The attraction system may also include an image sensor to generate sensor data indicative of a first position of the first rigid body and a second position of the second rigid body and a projector to project first image data on the first rigid body and second image data on the second rigid body.

The invention discloses a vibration table test sample real-time deformation monitoring system based on machine vision. The vibration table test sample real-time deformation monitoring system comprises an active modulation light source module, a multi-camera high-speed acquisition subsystem, a real-time deformation analysis unit, a full-field strain field reconstruction module, a motion compensation fusion module and a vibration synchronous control interface. An active modulation light source is synchronous with vibration, and motion blur is effectively eliminated in cooperation with a narrow pulse width design; the multi-camera orthogonal layout is combined with the vibration isolation base, so that stable acquisition of images is guaranteed; and the high-contrast coding datum point and dynamic tracking module accurately obtains the 6-DOF displacement. The rigid body and the elastic deformation can be accurately separated through a digital image correlation method and motion compensation fusion. High-frequency updating of a full-resolution strain field is achieved through multi-scale feature fusion, and monitoring intuition and safety are improved through an online visualization and early warning module. The system can realize high-precision, real-time and full-field deformation monitoring, meets complex vibration test requirements, and provides reliable data support for material and structure performance evaluation.

The invention discloses a V-shaped slope stability calculation method and system, and relates to the technical field of open-pit mining. On the basis of a three-dimensional numerical simulation technology, the damage mode of the sliding body is judged, a spatial form equation of a potential sliding body is determined firstly, then the sliding body is divided into micro-strip columns in a regional mode, the stress state of the micro-strip columns is solved through a constitutive relation and a static balance condition, and the force of each row of micro-strip columns is superposed in the direction of a main sliding surface; and obtaining two-dimensional equivalent shear strength parameters with a three-dimensional effect on each row of main sliding surface micro-strip columns by using an equivalent thought, and then deducing a three-dimensional V-shaped slope stability coefficient by using a rigid body limit equilibrium method. According to the method, the problems of high calculation cost, difficulty in parameter determination and complex calculation process in a traditional slope three-dimensional stability calculation method are avoided, the problem of three-dimensional stability of the slope in the special form is solved, a more reliable theoretical technology is provided for design, mining, prevention and treatment of the slope, and the method is worthy of popularization and application. The method has important practical significance for guaranteeing safe and efficient production of mining.