6 results about "Straight line trajectory" patented technology

The application provides a kayak athlete power output coordination control method, comprising: collecting the paddle water entry depth, the angle of attack deflection angle, the athlete power time and the hull acceleration, obtaining the complete record containing the paddle track arc and the hull acceleration change; according to the change of the straight line track and the arc track when the hull accelerates, the angle of attack deflection angle is extracted, the deviation degree of the angle of attack deflection angle and the effective propulsion angle range is evaluated, and the proportion of energy loss caused by the lateral component force under different deviation degrees is identified; according to the power output timing coordination score, the smoothness of the power transmission among the athlete, the paddle and the hull is analyzed, and the stability of the transmission efficiency in the acceleration stage is identified after removing the interference signal; according to the track optimization direction adjustment training system collection setting, the track optimization direction is returned to the collection density adjustment link, and the time interval setting of the next data collection is determined.

The invention involves a method for calculating a forward acoustic scattering Doppler frequency shift of an underwater moving target under an irregular trajectory, comprising: (1) converting earth longitude and latitude coordinates of a transmitting end, a target trajectory, and a receiving end into rectangular coordinates, and sequentially marking the coordinates as (xS, yS), (xT, yT), and (xR, yR) (2) recording a target trajectory coordinate sequence as (xT(ti), yT(ti)), wherein i=1, 2, . . . , N, and calculating an average navigation speed v within all time periods. (3) performing smoothing processing on the target trajectory to obtain a virtual straight trajectory, and respectively calculating horizontal distances from the target and the receiving end to an intersection of the virtual linear trajectory and a baseline, and an included angle between the virtual straight trajectory and the baseline; and (4) calculating the forward acoustic scattering Doppler frequency shift of the target at each time point by using the parameters calculated in steps (2) and (3).

The invention discloses a multi-connecting-rod manipulator trajectory planning method based on spatial three-dimensional coordinates, and relates to the field of automatic control. The method comprises a multi-connecting-rod model conversion module, a linear trajectory planning module and an equipment interlocking module. Bidirectional conversion of a joint angle and a three-dimensional coordinate is realized through multi-connecting-rod model conversion; based on coordinates of a starting point and an end point, adopting seven S-shaped curves to plan global cooperation time, generating a smooth trajectory in combination with PVT interpolation, and dynamically converting jerk to ensure accurate displacement; bidirectional interlocking of the mechanical arm and the station equipment is achieved by presetting a safety area and judging the position in real time. The method does not need to depend on a transverse external shaft, the reachable range of the mechanical arm is expanded, vibration can be effectively restrained, collision accidents are avoided, the method is suitable for precise load transfer in the multi-station clean environment such as EFEM, and the problems that a traditional polar coordinate control method is poor in flexibility and low in safety are solved.

The invention provides a track smoothing method and device and electronic equipment, and relates to the technical field of numerical control machining. The method comprises the steps of obtaining a straight line track and a spiral line track, determining a target plane, performing projection processing based on the target plane to obtain a projection straight line of the straight line track and a projection circle of the spiral line track, and obtaining a two-dimensional plane transition curve according to the projection straight line and the projection circle, determining a first transition point on the straight line track and a second transition point on the spiral line track according to the two-dimensional plane transition curve, obtaining a vertical change curve according to the first transition point and the second transition point, and determining a space transition curve based on the vertical change curve and the two-dimensional plane transition curve, the device can adapt to spiral line and straight line combinations of different specifications.

The invention provides a linear CT imaging system based on multiple linear tracks, and the system comprises a conveying device which is used for enabling a scanning object to move along m preset linear tracks, and m is a positive integer greater than or equal to 2; each scanning section comprises at least one radiation source and at least one detector, n is a positive integer larger than or equal to 2, the radiation source and the detector of at least one scanning section are arranged on the two sides of each section of linear track respectively, the radiation source is used for emitting a radiation beam, and the detector is used for emitting a radiation beam. The detector is used for detecting a ray beam which is emitted by the ray source and passes through a scanned object; in the n scanning sections, the scanning fan angle of at least one scanning section is not equal to the scanning fan angles of the other scanning sections.

This invention relates to a lightweight grinding trajectory planning algorithm and system based on contour-level point clouds, belonging to the field of industrial grinding and polishing planning technology. The method includes: acquiring a workpiece contour point cloud; detecting the deviation between the workpiece contour point cloud and a preset workpiece contour; generating contact reference points; performing local surface fitting on the contour point cloud to generate initial straight line trajectory segments; adjusting the curvature of the irregular surface by splicing multiple short trajectory segments; automatically matching corresponding trajectory parameters according to workpiece attributes to obtain an optimized contour grinding trajectory scheme; adjusting the contour grinding trajectory connection nodes through a secondary smoothing algorithm; adjusting the contour grinding trajectory height compensation value according to a preset pressure threshold; setting contact redundancy trajectories to optimize grinding positioning deviation; verifying trajectory fit and contact blind zones; and automatically triggering a warning signal and pausing contour grinding trajectory output when a severe lack of contour point cloud or excessive trajectory deviation is detected.