237 results about "Shape object" patented technology

The invention relates to the technical field of robots. According to the touch sensing fingertip device, protection of a touch sensor in fine operation of a mechanical arm is achieved, and objects of sheet structures can be grabbed more accurately. Specifically, through the bionic fingernail part installed on the back side of the fingertip body, the protection part of the bionic fingernail part extends forwards and exceeds the highest point of the touch sensor, and a cantilever protection structure similar to a human fingernail is formed; the protection parts form a physical barrier (for example, the protection parts are preferentially contacted during grabbing) in a non-contact state by utilizing a reasonable coverage range of the bionic nail part, and meanwhile, when the protection parts are matched with fingers on the opposite side, the two corresponding protection parts can be matched to grab an object of a sheet-shaped structure; according to the design, the durability of the sensor in a complex environment is improved, and the accuracy of grabbing the sheet-shaped objects is improved.

The invention discloses a method and device for controlling grabbing of dynamic strips based on visual servo guidance and a test platform. According to the method for grabbing the dynamic strip-shaped object based on visual servo guidance control, the mechanical arm is guided and controlled to grab the dynamic strip-shaped object by adopting an image-based visual servo method, and real-time tracking of the dynamic pose of the strip-shaped object and immediate response of the action of the mechanical arm are realized through continuous sensing, processing and tight coupling of execution links; therefore, a more accurate, stable and efficient grabbing effect can be achieved in a highly dynamic and uncertain working environment; a test platform capable of simulating dynamic swing of a real strip-shaped object is also built, and a prediction control method and a visual servo control method are combined, so that effective verification and optimization of the high-precision and real-time grabbing process of the dynamic strip-shaped object are realized; the platform can be used for systematically researching the grabbing capability under various disturbance conditions in a laboratory environment, and a solid technical foundation is laid for automatic and intelligent operation in practical application.

The invention discloses a winding device, a winding system and a winding method based on at least two shafts, belongs to the technology of winding a long-strip object, and aims to solve the problem that in the prior art, the long-strip object is wound around one shaft, the wound shape is limited to be cylindrical, and the requirements of some application scenes cannot be met. An annular belt is wound around at least two shafts, and the annular belt is driven by a driving mechanism to move around the at least two shafts; the long-strip-shaped object is fixed to the annular belt, and when the annular belt is driven by the driving mechanism to move around the at least two shafts, the long-strip-shaped object is wound around the periphery of the annular belt. The positions of the shafts can be arranged according to the product shape and space layout requirements, the shape of the annular belt is determined according to the positions of the shafts, the internal space of the product can be fully utilized when a long-strip object is wound around the periphery of the annular belt, and the product is compact in structure and small in size.

A control method of a robot includes: causing a first robot arm provided in the robot and a second robot arm provided in the robot to move a first end effector of the first robot arm and a second end effector of the second robot arm such that the first end effector and the second end effector are arranged on both sides of a placed plate-shaped object; causing the first robot arm to move the first end effector toward a first end portion of the plate-shaped object, and causing the first end effector to grip the first end portion; and causing the first robot arm to move the first end effector toward a destination position, and causing the first end effector to place the plate-shaped object at the destination position.

The embodiment of the invention relates to the technical field of clamping mechanisms, and provides a substrate processing device, a cleaning device and a cleaning method.The substrate processing device comprises a main body, a clamping mechanism and a clamping mechanism, the clamping jaws are movably arranged on the main body, the number of the clamping jaws is larger than or equal to six, and the clamping jaws are divided into a first jaw group and a second jaw group; and the driving assembly comprises a shaft body and a rotating pushing piece, the shaft body is used for driving the main body to rotate, the rotating pushing piece can drive the protrusions on the periphery to rotate relative to the main body to push the first claw sets and the second claw sets to be alternately opened in the radial direction of the base plate, and cleaning blind areas are avoided. According to the technical scheme, the first claw set and the second claw set are switched between the clamping state and the loosening state, the cleaning blind area can be exposed for cleaning when the clamping claws are in the loosening state, and the technical problem that in the related technology, when a disc-shaped object is clamped and cleaned, the contact area between the clamping claws and a clamping point is the cleaning blind area, and cleaning cannot be conducted is solved.

The invention provides a multi-camera-based material shape detection method and device and electronic equipment, and the method comprises the steps: carrying out the image collection of a target material at the same time through a plurality of cameras at different shooting angles in response to an induction triggering operation of the target material, and obtaining an original image of the target material correspondingly collected by each camera; performing target detection on each original image through a preset target detection model to obtain a detection frame of the target material corresponding to each camera; performing image segmentation on an area, corresponding to the corresponding detection frame, on each original image to obtain a shape object, corresponding to each camera, of the target material; respectively comparing each shape object with a preset standard shape object to determine a second classification confidence coefficient of each shape object; and determining a shape detection result of the target material based on the first classification confidence of each detection frame and the second classification confidence of each shape object. According to the invention, the material classification efficiency and precision can be improved.

To provide a contour detection method and a contour detection system capable of detecting particles with less error.SOLUTION: The contour detection method is a contour detection method executed by a contour detection system that detects contours of particles that are stacked circular-shaped objects, and includes a measurement step (S1) of performing two dimensional measurement or three dimensional measurement of the particles, an obtaining step (S2) of obtaining a measurement result of shapes of the particles, and a determination step (S3 to S10) of identifying the particles based on shape feature values that are indices of the circular-shaped objects and pixel intensities that are indices of region identification of the particles in the measurement result, and detecting the contours of the particles.SELECTED DRAWING: Figure 3

1. The name of the design product: fishing rod case (RH71). 2. The use of the design product: to store fishing rods or other rod-shaped objects. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view. 5. Other circumstances that need to be explained: (1) The design product can change its state, shrink or stretch according to the length of the stored object, and the telescopic joints can be locked; (2) Change state figures 1 and 2 are in the unlocked state; (3) Change state figures 3-6 are in the stretched state and the telescopic joints are in the locked state.

The utility model provides a logistics turnover box convenient to move and take materials, and relates to the field of logistics turnover boxes, the logistics turnover box comprises a turnover box body, reinforcing ribs are fixedly connected to the periphery and the bottom of the turnover box body, a through groove is formed in the bottom of the turnover box body, and trapezoidal grooves are formed in the front face and the back face of the turnover box body; according to the three-dimensional warehouse robot, through the arrangement of the through groove, the effect that the robot can conveniently eject objects out from the bottom is achieved, the trapezoid-shaped groove provides more working space for the mechanical arm so that the special-shaped objects can be conveniently clamped and taken, and through the arrangement of the grabbing opening, a grabbing system of the three-dimensional warehouse robot usually adopts the mechanical arm or a suction cup or other modes; a plurality of grabbing openings are formed in the surface of the turnover box body, the grabbing efficiency and accuracy of a robot can be guaranteed, so that the purpose of facilitating grabbing and moving is achieved, a containing groove and a taking handle are arranged, the containing groove is used for containing the taking handle, and the taking handle plays a role in facilitating a worker to take and move the turnover box body.

1. The name of the design product: daily miscellaneous recycling machine (scan code bottle solar energy version V1.0). 2. The use of the design product: the design product is used for recycling various bottle-shaped objects in daily miscellaneous code scanning recycling machines. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 4.

To provide a work support system capable of three dimensionally visually recognizing each part of a fluid machine and an analysis result of flow analysis.SOLUTION: The work support system 1 includes an analysis-data acquiring unit that receives, as analysis conditions, shape-data D2 indicating a shape of a fluid machine and boundary-data D3 indicating boundary conditions for performing a fluid-flow analysis of the fluid machine, performs the fluid-flow analysis based on the analysis conditions, and acquires analysis-data D4 including an analysis result of the fluid-flow analysis, a field-of-view-data acquiring unit that acquires field-of-view-data D1 indicating a field of view of an operator in a virtual-reality space based on a position and a posture of the operator detected by a position-posture detecting unit, and a visualized-data generating unit that generates visualized-data D1 for causing a virtual-object display unit to display, as virtual objects, a shape object based on the shape-data D2 and an analysis object based on the analysis-data D4 in the field of view indicated by the field-of-view-data D5.SELECTED DRAWING: Figure 5A

The invention relates to the technical field of gravity center measurement, in particular to a gravity center horizontal measuring frame which comprises a main body plate, a clamping and measuring mechanism for clamping objects in any shape and measuring the gravity center is arranged at the upper end of the main body plate, and the clamping and measuring mechanism comprises four first containing grooves symmetrically formed in the upper end of the main body plate. Protection rings are fixedly connected to the positions, in the four first containing grooves, of the main body plate correspondingly, second containing grooves are formed in the positions, in the first containing grooves, of the upper end of the main body plate correspondingly, and an overturning mechanism for overturning an object and measuring the weight of the object is arranged in the main body plate; a balance mechanism for keeping the main body plate horizontal is arranged below the main body plate; a third pressure sensor at the telescopic end of a third electric telescopic rod can accurately measure the weight of the object, it is guaranteed that the real-time weight of the object can be accurately measured before measurement, and the precision of subsequent gravity center measurement is improved.

The invention discloses rolling equipment for an annular object. The rolling equipment comprises a roller, rolling wheel equipment, a base and a machine table, in the two round frames of the roller, the ring is fixed by a removable retention-related element, the retention-related element is removed after the periphery part of the ring is tightly coated by an embedding material, and the inner edge part of the ring can be exposed by a through hole in the center of the embedding material. The cylindrical rolling wheel of the rolling wheel equipment can penetrate into the through hole of the embedded object, and the inner edge part of the ring is rolled on the rolling platform of the base, so that the density of the ring is increased. Due to the fact that the periphery of the ring-shaped object is wrapped and protected by the embedding object in the rolling operation period, the ring-shaped object can be fixed, and the texture and pattern structures on the periphery of the ring-shaped object can be protected.

According to the method for identifying the type of the obstacle provided by the invention, the type of the obstacle is obtained only through wave-emitting distance measurement of two adjacent sensors and distance calculation of the obstacle, and the type of the obstacle can be directly obtained due to the fact that the dotted object and the linear object basically comprise the types of all the obstacles; and comparative analysis does not need to be carried out according to different classifications, so that the identification efficiency and accuracy are improved, and later use of the vehicle-mounted host is simpler and clearer.

To provide a measurement method for calculating an appropriate filling rate of an object to be measured.SOLUTION: A measurement method includes: acquiring a space three-dimensional model obtained by measuring a storage part through an opening with a rage finding sensor (S111); acquiring a stored three-dimensional model of the storage part in an unstored state (S112); acquiring a two-dimensional image of the opening and position and posture information corresponding to the two-dimensional image, and identifying a line segment that indicates a shape of the opening from the two-dimensional image (S113); associating a position of the stored three-dimensional model with a position of the space three-dimensional model based on the position and posture information and the identified line segment, and estimating an object three-dimensional model which is a three-dimensional model of a measurement object based on the stored three-dimensional model and the space three-dimensional model after the association (S115); and estimating, using the object three-dimensional model, a volume of an area in which an object of a specific shape can be further stored in a storage space in which the measurement object is stored.SELECTED DRAWING: Figure 17

A method for manufacturing an eye member to be mounted on a three-dimensional modeling object, the method including: acquiring 3D data of the eye member including an eyeball portion including a base portion and a cover portion located on one side of the base portion and located at a position covering the base portion, the base part comprises a pupil part and a peripheral part, the pupil part is arranged on one surface of the base part, and the peripheral part is positioned on the peripheral edge of the pupil part and is inclined from the pupil part to one side at a specified angle; generating, based on the 3D data, indication data for instructing the 3D printer to make a styling of the eye member; and modeling the eyelet member by causing the 3D printer to eject a modeling material based on the instruction data.

A repairing method for a shaped object includes: preparing a defective portion part to be attached to a defective portion in a repair target shaped object; creating a repair patch which is an attachment member to be attached to at least one part of the repair target shaped object; and attaching the repair patch to cover at least one part of a boundary portion of the repair target shaped object and the defective portion part; where at least one part of the repair target shaped object is colored. The repair patch including a colored layer and an adhesive layer is created using a shaping device capable of shaping a shaped object colored by a layered shaping method, and the colored layer is colored and formed in accordance with a color of a portion covered by the repair patch in a shaped object.

The present invention discloses a barrel-shaped object detection method, device, electronic device, and storage medium. The method involves inputting an image to be detected into a pre-trained barrel-shaped object detection model. Based on the barrel-shaped object detection model, feature extraction is performed on the image to be detected to obtain a first multi-channel feature map group. The first feature map group is then grouped according to the number of channels, and convolution processing is performed on the feature maps within different groups using convolution kernels of different scales to obtain a second feature map group. This allows the barrel-shaped object detection model to focus more on the detailed features in the image to be detected. Finally, barrel-shaped objects in the image to be detected are detected based on the second feature map group. This allows barrel-shaped objects in the image to be detected to be accurately detected even in complex scenes.

This measurement device 1 measures a parameter of a sheet-shaped object S, and is provided with: a pair of sensor heads 20 that scan the object S while horizontally moving while facing each other so as to be separated from each other; a support body (10) that supports the pair of sensor heads (20) so as to be horizontally movable; and an electric fitting unit (30) that controls the measurement of the parameter by the sensor head (20), the electric fitting unit (30) being capable of changing the configuration to either a first position (P1) on one side of the support body (10) or a second position (P2) on the other side in accordance with the installation location of the measurement device (1).

The invention belongs to the technical field of underwater sound channels and physical fields, and relates to a numerical mixing calculation method for a forward scattering sound field of an underwater regular-shape object. The method comprises the following steps: acquiring an initial projection contour of a three-dimensional geometric model of a regular shape object in a specified projection plane and an incident direction; discrete points of the initial projection contour are divided into upper boundary points and lower boundary points; performing interpolation completion on the upper boundary points and the lower boundary points, so that the upper boundary points and the lower boundary points are the same in number and share abscissas; discretizing the supplemented projection contour by using a trapezoidal plane element; calculating a forward scattering far field morphological function based on a discretization result; and calculating the forward scattering target intensity of the object. The method provided by the invention can cover the shape range of the scattering object suitable for the analysis method, does not need to calculate special functions such as Bessel and spherical harmonic and a complex series expression formed by combining the special functions, and obviously improves the calculation efficiency.

An object of the present invention is to provide a technique capable of appropriately controlling the vibration of a string-shaped object. The vibration control device includes a first rotation mechanism that adjusts a first rotation angle in a first direction of an insertion port, a second rotation mechanism that adjusts a second rotation angle in a second direction of the insertion port, first position information of a connected object, second position information of the insertion port, a load applied from a side portion of the string-shaped object to the insertion port, or a control unit that controls the first rotation mechanism and the second rotation mechanism based on third position information of a predetermined portion of the string-shaped object.

To provide a filament having an excellent flexibility, and also high tensile strength and flexural rigidity, and a method for manufacturing a modeled object capable of manufacturing the modeled object that excels in strength characteristics by using the filament.SOLUTION: A filament 11 is used as a modeling material of a 3D printer, and formed by impregnating a fiber bundle 25 containing a continuous reinforcing fiber 23 with a matrix resin 27. The fiber bundle 25 has a first fiber bundle group 31 and a second fiber bundle group 33. A twist angle of the first fiber bundle group 31 is smaller than a twist angle of the second fiber bundle group 33.SELECTED DRAWING: Figure 2B

The application relates to a rod-shaped object recognition method and device in an image, computer equipment, a storage medium and a computer program product. The method can be applied to the field of maps and comprises the following steps: based on initial recognition results of rod-shaped objects in multiple continuous images, determining at least two continuous images in which rod-shaped objects exist in the multiple continuous images; based on a fitting straight line of the initial recognition results of the rod-shaped objects in a reference image and the projection of a detection point closest to a reference surface in a previous image on the reference image, recognizing the same rod-shaped object in the reference image and the previous image, obtaining a matching result of the reference image and the previous image; projecting the detection point of the same rod-shaped object in the previous image to the reference image through epipolar line searching to obtain an epipolar line; and based on the matching points of the epipolar line and the fitting straight line, performing positioning processing on the rod-shaped object in the reference image to obtain the recognition result of the rod-shaped object in the reference image. The application can improve the accuracy of rod-shaped object recognition and positioning.

To provide a technique capable of stably fixing a three-dimensional molded object when cutting the three-dimensional molded object.SOLUTION: A method for manufacturing a three-dimensional molded object includes: a first step of molding a molded object by discharging a molding material from a discharge part and laminating layers in a laminating direction; a second step of fixing the molded object by bringing a plurality of first pins that protrude toward the molded object from a direction intersecting the laminating direction into contact with the molded object; and a third step of cutting the fixed molded object.SELECTED DRAWING: Figure 6

The present application provides a holding mechanism that uses a Bernoulli pad to attract and hold a plate-shaped object without damaging the plate-shaped object. The holding mechanism has a Bernoulli pad that holds a plate-shaped object by the action of negative pressure generated by blowing air against the plate-shaped object, and has a hand portion to which the Bernoulli pad is attached, a sensor attached to the hand portion that detects when the plate-shaped object is held by the Bernoulli pad, a lateral movement restriction portion attached to the hand portion that restricts lateral movement of the plate-shaped object, a tube that connects an air source that supplies air to the Bernoulli pad to the Bernoulli pad, an adjustment valve attached to the tube that adjusts the flow rate of air supplied to the Bernoulli pad, and a control portion that controls the operation of the adjustment valve. The control portion gradually increases the flow rate of air supplied from the adjustment valve to the Bernoulli pad, and fixes the flow rate of air when the plate-shaped object is held by the Bernoulli pad by the action of negative pressure detected by the sensor.

This invention provides a stick holder that allows a three-dimensionally sculpted character figure to be used as a hanging ornament to which a stick-shaped object can be attached. [Solution] The stick holder 1 comprises a figure 3 formed in three dimensions of a character, a hole 26 provided on the head 10 or neck of the character to which attachment parts for other articles can be attached, a gripping part 22 provided on the torso 12 of the character to grip the outer circumference of a stick-shaped article around its central axis, and a locking part 24 provided on the opposite side of the head of the torso of the character to prevent the article from falling from the gripping part by contacting one end of the article in the central axis direction that is gripped by the gripping part.

1. The name of the design product: rotating connector. 2. The use of the design product: magnetic rotating connector for realizing the separable and rotatable connection of two rod-shaped objects. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: combination of state diagram. 5. Other components that need to be explained: component 1 is a male connector, which can rotate; component 2 is a female connector, component 2 and component 1 can be magnetically connected together and rotate relative to each other.

The invention discloses a source loading and unloading operation target detection method and related equipment, and belongs to the field of machine vision. The method comprises the following steps: firstly, acquiring real-time video data of source loading and unloading operation of a logging team; inputting the real-time video data into a pre-constructed loading and unloading source operation target detection model, and finally outputting a detection result; the loading and unloading source operation target detection model adopts a Yolo-Pose key point target detection network model improved on the basis of yov5; different from a traditional target detection method, a Yolo-Pose key point target detection network model improved based on the yov5 not only can detect a target, but also can detect key point information of the target, such as the angle and line segment information of a radioactive source rod, can more accurately detect the position of the radioactive source rod in a picture and the relative position relation between the radioactive source rod and a human body, and improves the detection accuracy of the radioactive source rod. Therefore, the radioactive source rod is distinguished from other rod-shaped objects, compared with 2d frame information, the method is more accurate, multiple targets and target actions are recognized at the same time, and the requirement for detection accuracy can be met.

The utility model discloses a pair of shoes capable of conveniently changing the air inflation of vamp shaping objects, which comprises vamps, fixed soles, air bags arranged at the heel parts of the soles and shaping object components arranged at the instep parts of the vamps, and the air bags are communicated with the shaping object components through air pipes; a plurality of mutually communicated air passages are arranged on the instep part of the vamp, and the air pipes extend to the instep part of the vamp from the side direction of the sole and can be fixed in any air passage; the modeling object component comprises a decorative surface cover arranged on the instep part of the vamp and a modeling object body arranged on the decorative surface cover, a closed cavity is formed between the decorative surface cover and the air channel, and a fluid channel is formed between the modeling object body and the air channel through the air holes; according to the utility model, the plurality of air passages are arranged on the vamp, so that one end of the air pipe is fixed in different air passages and can be communicated with the modeling object body; besides, in the production process, under the condition that the basic structure of the shoe is not changed, modeling object components of different styles can be flexibly selected to be installed on the vamp.