27 results about "Soft object" patented technology

The invention discloses a three-dimensional elastic imaging method based on a visual tactile sensor, which belongs to the technical field of elastic imaging and comprises the following steps: system building and data processing, acquisition of contact deformation data acquired by the visual tactile sensor, forward simulation and inversion optimization. Calculating internal gradient information of a target object; deducing a derivative of a target function to Young modulus; calculating a partial derivative of resultant force to elastic distribution; calculating a gradient of the whole target function to Young modulus distribution; according to the method, the Young modulus distribution in the soft object can be accurately reconstructed under robot touch sampling, corresponding credibility indexes can be output, and the practicability is high.

A simulator includes a processing unit that meshes and models a soft object into a plurality of polyhedrons, in which particles are arranged at respective vertices, such that the soft object includes a plurality of particles and calculates, with conditions for minimizing potential energy density of the modeled polyhedrons as constraints, from a distance among the plurality of particles in the polyhedrons and mass of the plurality of particles, deformation of the soft object to which an external force is applied.

To provide a novel device for conveying an object to be sliced that can reliably convey a soft target object like a slice cut of fish, in particular, to the vicinity of a blade passage position line by adjusting the relative angle of the slice cut, and allows such an angle adjustment to be made without deforming the target object.SOLUTION: A device for conveying an object to be sliced is used when sequentially slicing with a blade 21, slice cuts A as target objects being conveyed on a conveyance passage 1, and cutting out, from the slice cuts A, a fillet (a) of a longitudinal size L along a blade length direction (X direction) of the blade 21. The device includes a slicing angle change part 4 for changing a slicing angle θ formed between the blade length direction (X direction) of the blade 21 and a direction (V) of the slice cut A as the target object. The slicing angle change part 4 is configured to allow change of a relative conveyance angle θ of a conveyance passage body 10 relative to a blade passing line CL through which the blade 21 passes while holding a predetermined interval Δ between the blade passing line CL and a terminating end 10a of the conveyance passage body 10 adjacent to the blade passing line CL.SELECTED DRAWING: Figure 2

The utility model relates to the technical field of mechanical arm, specifically disclose flexible mechanical hand grabbing mechanism, include: mechanical hand main part and the mounting plate of assembly in the one end of mechanical hand main part, the bottom of mounting plate presents linear array fixed mounting with a plurality of sucking disc, the one side fixed mounting of mounting plate has the shell, the below of mounting plate presents symmetrical and is provided with two upper clamping claws, the below of two upper clamping claws all is equipped with lower clamping claw, the upper clamping claw with lower clamping claw all presents arc shape, the utility model effectively prevents material from the clamping clearance drop, makes the mechanical hand can be compatible from small -size spare to large -scale work piece's grabbing demand, expands the application scene, enhances the buffer performance, even if fragile goods or soft object is grabbed also can not damage material, promotes the flexibility and practicality of grabbing mechanism.

The utility model relates to the technical field of crushing equipment, and discloses a tooth-shaped bag breaking mechanism which comprises an installation frame, a bag breaking box is fixedly installed on the inner wall of the installation frame, and a tooth-shaped wheel which is rotationally connected is arranged on the inner wall of the bag breaking box. The number of the tooth-shaped wheels is two, bevel teeth are fixedly installed on the outer sides of the tooth-shaped wheels, and the angle between one side of each bevel tooth and the outer side of the corresponding tooth-shaped wheel is 50 degrees. And a collecting box is arranged on the lower side of the bag breaking box, and the collecting box is arranged in the mounting frame. Traditional bevel teeth can be clamped into or cut into objects in the opposite rolling motion, the ideal state is that broken objects automatically fall off when the two teeth are separated, but when the broken objects meet soft objects, the broken objects can rotate along with a tooth-shaped wheel if the angle is improper, and the tooth sticking phenomenon occurs, and in the stress analysis in the design diagram, when the angle is 50 degrees, the optimal state is achieved.

The invention provides a layout determination method and device of a soft object, equipment, a medium and a program product. The method comprises the following steps: acquiring an initial spatial position of a target object corresponding to a moving operation in an indoor three-dimensional space; based on the initial space position, whether a to-be-adsorbed object corresponding to the target object exists in the indoor three-dimensional space or not is determined; if at least one to-be-adsorbed object corresponding to the target object exists in the indoor three-dimensional space, carrying out compatibility detection on the at least one to-be-adsorbed object to obtain at least one adsorbed object combination; determining a target adsorption object combination from the at least one adsorption object combination based on the number of the soft loading objects contained in the at least one adsorption object combination and the spatial distance between the target object and the soft loading objects; and on the basis of the target adsorption object combination, the target object is subjected to adsorption treatment, and the final position of the target object in the indoor three-dimensional space is obtained, so that the multiple to-be-adsorbed objects can be adsorbed and aligned at the same time, and the processing efficiency and accuracy of the soft installation object layout are improved.

The utility model discloses a distribution vehicle soft object capable of changing forms, which relates to the technical field of active safety test of motor vehicles and comprises a distribution vehicle characteristic body, a manual driving characteristic body or an unmanned driving characteristic body, and the manual driving characteristic body or the unmanned driving characteristic body is detachably mounted on the distribution vehicle characteristic body. By selectively installing the manual driving feature body or the unmanned driving feature body on the distribution vehicle feature body, the form of the distribution vehicle soft target object can be changed, so that the form of the distribution vehicle soft target object is a manual driving logistics distribution vehicle or an unmanned distribution vehicle, switching of the two vehicles can be achieved by replacing part of assemblies, and the switching efficiency is improved. The test cost of the intelligent driving vehicle can be effectively reduced.

The present invention discloses a planar soft parallel gripper and a multimodal grasping method thereof, wherein the planar soft parallel gripper comprises two parallel soft palms, a rigid connector, and connecting screws; the soft palms comprise a sealing plate, two tubular actuators, four stretch-limiting bars, a grasping layer, and an end stop block; the Joule heat generated by electric current is used to control the phase transformation of a low-melting-point alloy, thereby producing a change in stiffness; when the tubular actuator is charged with positive pressure, four working modes can be generated: elongation, left bending, right bending, and twisting; through the coordinated control of air pressure and electric heat and the combination of two parallel soft palms, only using bending deformation, one envelope grasping mode and three hooking modes can be achieved. The planar parallel soft gripper upgrades point / line contact to surface contact, significantly improving friction and support force, and can firmly grasp targets of large size, complex curved surfaces, and even multiple convex and concave features.

The utility model discloses a shear type cutting pump, which comprises a pump body, a base, a shear plate and an anti-blocking assembly, the base is in bolted connection with the bottom of the pump body, a stop block is arranged on the inner side of the base, the shear plate is inserted in the base, a driving motor is arranged in the shear plate, and the anti-blocking assembly is arranged on the base. A rotating shaft is arranged at the output end of the driving motor; the anti-blocking assembly comprises a mounting seat which is inserted in the rotating shaft in a penetrating manner and is fixedly connected with the rotating shaft through a screw, fixing rods which are arranged on the two sides of the mounting seat, springs which are arranged on the tops of the fixing rods, blocking rods which are arranged on the tops of the springs, and brush wires which are arranged on the inner sides of the blocking rods. According to the shearing type cutting pump, the shearing plate and the anti-blocking assembly are arranged, under the condition that using of the shearing type cutting pump is not affected, the anti-blocking effect is achieved, soft objects such as bag-shaped objects or large solid objects are prevented from blocking the shearing plate, conveying of the cutting pump is not affected, and meanwhile the anti-blocking assembly is convenient to disassemble and replace.

The present disclosure relates to a child support assembly including a frame assembly and a soft object assembly. The child support assembly is configured to have at least three modes in which the height of the frame assembly is adjustable and the depth of at least a portion of the soft object assembly is adjustable. Each adjustment feature of the child support assembly is manually adjustable. As a result of transitioning between various modes to cater to children of various ages, the child support assembly may be configured to support children from zero to at least 24 months (i.e., toddlers).

The invention belongs to the technical field of flexible grippers, particularly relates to a fin-structure-imitated flexible gripper, and provides the following scheme aiming at the problem that in the prior art, a flexible gripper cannot easily grab a soft or approximately circular object: the fin-structure-imitated flexible gripper comprises a main mounting head fixed at the end part of a mechanical arm; a relatively fixed side barrel is fixed to the end, away from the mechanical arm, of the main mounting head, and a movable side barrel is hinged to the side, away from the main mounting head, of the relatively fixed side barrel and close to the top end. Bionic clamping mechanisms which are symmetrical to each other are arranged at the bottom ends, opposite to the fixed side barrel body and the movable side barrel body, of the movable side barrel body. According to the clamping device, hard objects with protruding edges and corners can be clamped during clamping, and when soft objects are clamped, the side claws on the two sides are connected with a cloth bag in a matched mode, so that the objects can be well surrounded by more than half of the objects, the objects can be smoothly wrapped, and the integrity of the objects cannot be damaged.

The invention discloses a dexterous hand and a robot, and relates to the technical field of robots, the dexterous hand comprises a palm main body, and the palm main body is further provided with a palm surface located between a wrist end and a finger end; the thumb and the auxiliary fingers can be bent relative to the palm main body so as to move towards or away from each other; at least one of the fingertip part of the thumb and the fingertip part of the auxiliary finger is provided with a first image acquisition piece, the palm surface is provided with at least one second image acquisition piece, and the control module is suitable for jointly controlling the movement of the thumb and the auxiliary finger according to image information acquired by the first image acquisition piece and the second image acquisition piece. The dexterous hand is high in degree of freedom, high in movement stability, high in gripping force, capable of achieving more accurate movement so as to achieve accurate gripping of objects and capable of gripping finer and softer objects, high in integration level, small in overall size, light in weight, low in cost and beneficial to achieving light weight of a robot.

The utility model provides a rigid-flexible coupling picking gripper. The rigid-flexible coupling picking gripper comprises a driving rack, a central driving block, finger units, inner connecting rods, first flexible sensors and flexible coating layers. The central driving block is rotationally arranged on the driving rack; the finger unit comprises a near-end phalanx, a far-end phalanx and a transmission mechanism, the near-end phalanx is embedded with the first flexible sensor, the surface of the near-end phalanx is coated with the flexible coating layer, the flexible coating layer is a protective layer outside the near-end phalanx, the flexible coating layer is in direct contact with an object when the object is grabbed, and the counter-acting force is transmitted to the first flexible sensor; a sensing function is realized; one end of the near-end phalanx is connected with the inner connecting rod and the central driving block, and the other end of the near-end phalanx is connected with the far-end phalanx through a transmission mechanism. According to the manipulator, cross-size grabbing and hard and soft object grabbing can be achieved, and the grabbing range is greatly widened.

The embodiment of the invention provides a flexible object rendering method and device, equipment, a storage medium and a program product, and is at least applied to the field of cloud technology and the field of games. The method comprises the following steps: acquiring parameter information of a collision object in video frames of a virtual scene at two adjacent moments, an initial physical model of a flexible object in a video frame at a previous moment in the two moments, and a constraint data set of the physical model of the flexible object; dividing the video frame at the previous moment into a plurality of subframes; determining the parameter information of the collision object in each subframe based on the parameter information of the collision object in the video frame; for each sub-frame, based on the parameter information of the collision object in the sub-frame and the initial physical model, resolving each piece of motion constraint information in the constraint data set to obtain a motion calibration parameter of the flexible object in the sub-frame; and rendering the flexible object in the sub-frame based on the motion calibration parameter. According to the invention, the display effect of the flexible object can be improved.

The invention belongs to the technical field of intelligent control, and discloses a robot non-grabbing external smart operation method based on rigidity perception dual-stage reinforcement learning, and the method comprises the steps: obtaining an environment and object point cloud through a depth camera, and obtaining a serialized tactile point cloud in combination with tentative tactile contact to perceive the object rigidity; multi-source point cloud information is fused through a high-level agent, and a target pose and an interaction action type are decided; the bottom intelligent agent plans a specific contact point and a motion direction according to the motion type; and the robot updates the state after executing the action, and circulates until the target is achieved. According to the method, the object rigidity information is fused into the decision process, the self-adaptive operation from rigid objects to soft objects is supported, the strategy does not need to be pre-defined manually, and the method has good generalization ability and learning efficiency and is suitable for robot flexible operation in a complex real scene.

Disclosed in the present invention are an unbreakable tearable extraction opening structure and a package body. The unbreakable tearable extraction opening structure comprises a top piece and an additional layer, wherein a strip uncovering portion of the top piece and a separation portion of the additional layer are oppositely arranged, and after the strip uncovering portion and the separation portion are torn, a penetrating extraction opening is created. In the tearable extraction opening structure, the strength and the thickness of the extraction opening are increased by adding the additional layer, thereby reducing the breakage of the extraction opening during a tearing process, and reducing the problem that the extraction opening is broken during a process of repeatedly extracting products. The top piece and the additional layer can be made of paper substrates, thereby realizing the application of the paper substrates to the flexible packaging of soft objects, increasing the application of the paper substrate to packaging, and reducing the use of a plastic packaging material.

The present disclosure relates to systems, methods, and non-transitory computer-readable media that generates object shadows for digital images utilizing corresponding geometry-aware buffer channels. For instance, in one or more embodiments, the disclosed systems generate, utilizing a height prediction neural network, an object height map for a digital object portrayed in a digital image and a background height map for a background portrayed in the digital image. The disclosed systems also generate, from the digital image, a plurality of geometry-aware buffer channels using the object height map and the background height map. Further, the disclosed systems modify the digital image to include a soft object shadow for the digital object using the plurality of geometry-aware buffer channels.

Ping-based imaging systems may be used for tracking motion of hard or soft objects within an imaged medium. Motion detection and motion tracking may be performed by defining fingerprint points and tracking the position of each fingerprint point based on the echoes of multiple transmitted pings.

The invention discloses an interactive deformation solid simulation method based on particles, and belongs to the technical field of particle deformation solid simulation, and the method comprises the following steps: S1, representing a to-be-simulated object as Mesh, importing the Mesh, and converting the Mesh into a tetrahedral mesh through discretization processing; s2, performing simulation by taking each tetrahedral mesh as a processing unit, and constructing a neo-Hookean energy model; s3, using an XPBD method to solve still water constraint and deviation constraint in the neo-Hookean energy model, and determining particle positions; and S4, the particles are assembled into a tetrahedral mesh according to a calculation result, rendering is performed through a GPU, and the visual effect of the object is updated in real time. Based on the XPBD simulation technology, in combination with the neo-Hookean energy model, efficient and real soft object simulation and interaction are achieved by solving the still water constraint and the deviation constraint.

The invention provides a soft object simulation method and device and electronic equipment, and the method comprises the steps: obtaining a target model, and generating a plurality of points on the surface of the target model; determining size attributes respectively corresponding to the plurality of points; for each point in the plurality of points, generating a target object matched with the size attribute corresponding to the current point at the position of the current point; removing an object area, overlapped with the interior of the target model, on the target object to obtain the target object located on the surface of the target model; and performing soft object motion simulation on a target object on the surface of the target model to obtain a soft object moving along with the target model. In the mode, the object is generated on the scattering point on the surface of the target model, and the generated object is controlled to simulate the motion of the soft object, so that the soft object moving along with the target model is obtained, the soft object can be generated on the target model, the computing resource demand is reduced, and meanwhile, the computing efficiency is improved. And the generation efficiency and the generation cost of the soft object are improved.

The present invention belongs to the technical field of flexible grippers, in particular to a flexible gripper with a fish fin-like structure. Aiming at the problem that it is not easy for flexible grippers in the prior art to grasp soft or nearly circular objects, the following solutions are proposed. It includes a main mounting head fixed at the end of a robotic arm. One end of the main mounting head away from the robotic arm is fixed with a relatively fixed side barrel. One side of the relatively fixed side barrel away from the main mounting head near the top is hinged with a movable side barrel. And symmetrical bionic clamping mechanisms are arranged at the bottom ends of the relatively fixed side barrel and the movable side barrel. The present invention can not only clamp angular and protruding hard objects during clamping, but also when clamping soft objects, the side claws on both sides cooperate with a connecting cloth bag to well surround most of the object, so that the object can be smoothly scooped up without damaging the integrity of the object.

The invention provides an interactive simulation method and device with a software object, electronic equipment, a computer program product and a computer readable storage medium. The embodiment of the invention can be applied to interactive simulation scenes of robots, virtual reality, augmented reality and the like with software objects; the method comprises the following steps: determining N simulation organization structures from a three-dimensional simulation model of a soft object according to a hierarchical structure of the soft object; wherein N is greater than or equal to 2, and N is an integer; determining, for each simulated organization structure, structural constraints for simulating physical properties of the corresponding hierarchy; and based on the vertex of each simulation organization structure, the structural constraint of each simulation organization structure and the simulation parameters of the three-dimensional simulation model of the interaction object, determining an interaction simulation result of the interaction object and the software object. According to the method and the device, the vivid degree of interactive simulation of the interactive object and the software object can be improved.

The invention provides an underwater cleaning robot, and belongs to the technical field of underwater garbage cleaning equipment, a magnetic attraction track driving wheel drives a walking track, and a magnetic attraction track loading wheel provides supplementary support, so that the walking track can adapt to various complex terrains, and good supporting performance is guaranteed; due to the design of a damper rotating shaft, the orientation of a magnetic attraction track loading wheel can be automatically adjusted, normal supporting of a walking track can be guaranteed no matter walking in the forward direction or rotating in the reverse direction, a cut piece is clamped through a clamping arm, and in the cutting process, a motor transmission shaft and a transverse transmission shaft are operated to drive a cutting knife to conduct left-right cutting; when the cutting knife encounters a hard object, cutting force is generated for effective cutting; when a soft structure is encountered, the soft object does not generate cutting force along with the movement of the cutting knife, the damage to the soft structure is avoided, meanwhile, the ducted water-jet propeller power heads and the ducted water-jet propeller power heads are arranged on the two sides, the pressure of propelling water flow is increased through the closed propelling duct, and the propelling efficiency is higher.

The invention discloses a soft object clamping state evaluation method based on vision-curvature fusion, and belongs to the technical field of mechanical arm clamping state evaluation. In order to solve the problem that in an existing method, the accuracy rate of flexible object judgment is low, image data and curvature data of an evaluated object when the evaluated object is grabbed are collected, and the compression ratio of the evaluated object is defined to obtain a clamping state to serve as a label; performing corresponding data preprocessing on the collected image data and curvature data to obtain a data structure type required by the model; dividing the preprocessed image data and curvature data into a training set and a test set, and inputting the training set and the test set into a corresponding feature extraction module for training to obtain feature vectors of the image data and the curvature data; inputting the obtained feature vectors into a modal fusion module, and fusing two original uncorrelated modals to obtain attribute-correlated fusion features; and the obtained fusion features are connected to a classifier for classification, and evaluation of the clamping state of the soft object is realized.

This invention discloses a method and apparatus for displaying object deformation based on force feedback interaction. When CT data of the object to be interacted with is received, a polygonal bounding volume is constructed using the CT data. The polygonal bounding volume is then tetrahedralized to generate a tetrahedral mesh model. Based on the vertex relationships between tetrahedral units and the unit volume of each tetrahedral unit, the equivalent mass of the mesh particles in each tetrahedral unit is allocated to obtain a soft mesh model. External forces are applied to the soft mesh model in response to control commands. Based on the equivalent mass of the mesh particles and the force corresponding to the applied external force, the particle positions of each tetrahedral unit are iteratively updated to obtain the updated particle positions. The image is rendered based on the updated particle positions, outputting the deformation image corresponding to the object to be interacted with. By combining tetrahedral modeling and iterative updates of particle positions, the accuracy and consistency of force feedback control for interaction between external forces and soft objects are effectively improved.

The invention belongs to the technical field of flexible body simulation, and particularly relates to an online rendering method of a flexible body, which is applied to a GPU (Graphics Processing Unit) of a mobile terminal and comprises the following steps: acquiring a relation mapping table of a high-precision triangular mesh of a flexible body object and a corresponding low-precision tetrahedral mesh from the CPU of the mobile terminal; wherein the relation mapping table records a tetrahedron unit bound with each vertex Vt of the high-precision triangular mesh and a function relation between the vertex Vt and all vertexes Ve of the tetrahedron unit; calculating the offset of each vertex Ve of the low-precision tetrahedral mesh converged to a constraint position based on an energy density function, and updating the position of each vertex Ve of the low-precision tetrahedral mesh according to the offset; adjusting the position of the vertex Vt by using the updated vertex Ve according to the function relationship between the vertex Vt of the high-precision triangular grid and the vertex Ve of the corresponding tetrahedron unit so as to correct the spatial form of the high-precision triangular grid; and rendering is carried out based on the high-precision triangular mesh after soft object correction so as to generate a picture of the current frame of the soft body.