103results about How to "Precise motion trajectory" patented technology

The invention discloses teaching track planning method and system for a robot, and relates to the field of robot teaching in an industrial process. The teaching track planning method comprises the following steps: collecting a space key point of a teaching track in the process of teaching the robot; obtaining a teaching track curve by using a multi-knot spline interpolation function and the least square fitting method according to the space key point of the teaching track. By adopting the method, action smoothness reappearing in teaching is also achieved by adopting an arc length error control interpolation algorithm. The method and the system can be applicable to robot teaching under general conditions, and the accurate robot movement track can be obtained. The method and the system have the characteristics of accurate space track planning and smooth predictive error control and teaching action, and can be used for achieving the teaching track planning of the robot in the industrial process.

The invention discloses a motion track reconstruction method and device, a storage medium and an electronic device. The method includes the following steps: obtaining a data set, wherein positioning data obtained by positioning a target object during movement of the target object is stored in the data set; fitting a part of the positioning data in the data set to obtain multiple sections of firstcurves, wherein the first curve are obtained by fitting a plurality of positioning data with adjacent acquisition time and a proportion of noise data in the other part of the positioning data of the data set is higher than a proportion of noise data in the part of the positioning data of the data set; and determining a motion track of the target object based on the multiple sections of the first curves. The motion track reconstruction method and device, the storage medium and the electronic device solve the technical problem of low accuracy rate of reconstruction of the motion rack of a vehicle in the related art.

The embodiments of the present invention provide a high-precision map-based visual loopback detection method and device. According to the method and device, element information in a high-precision mapis matched with information extracted from a real-time image, and whether the element information in the high-precision map and the information extracted from the real-time image are information of the same location is judged; when it is detected that the element information in the high-precision map and the information extracted from the real-time image are the information of the same location,an error function is constructed through position coordinates in the high-precision map and positions in a real-time visual odometer; and a real-time pose is optimized by minimizing the error function, and therefore, the real-time pose in the visual odometer can be optimized, more accurate motion trajectories can be obtained, and the accuracy of the precise position calculation of the visual odometer can be improved. With the high-precision map-based visual loopback detection system adopted, more loopback detection constraints can be brought about; and since the information of the high-precision map is abundant, the accuracy of the high-precision map is higher than that of road sign points in a traditional visual odometer, and therefore, the accuracy of the real-time visual odometer can beimproved.

The invention discloses an active simple pendulum spherical robot. The active simple pendulum spherical robot comprises a spherical shell and a simple pendulum. The spherical shell is formed by matching a front hemispherical shell body with a rear hemispherical shell body in a screwed mode through screws. In an inner cavity of the spherical shell, the simple pendulum is installed through a front fixing strip and a rear fixing strip. According to the simple pendulum, a long-axis motor and a short-axis motor are coaxially installed in an inside casing, wherein the long-axis motor is directly connected with the front hemispherical shell body and drives the front hemispherical shell body to rotate around the central axis Y of the inner casing, the short-axis motor drives a driving pendulum to rotate around an X axis perpendicular to the central axis Y through a transmission mechanism, and therefore the spherical robot can walk stably in an all-dimensional mode. The active simple pendulum spherical robot is compact in structure, high in rigidity, and smooth and steady in movement.

The invention discloses a structure for sensing a motion track of a voice coil motor. The voice coil motor at least comprises a yoke plate, an upper cover, a coil, a drive magnet, a bracket and a base; the voice coil motor further comprises a circuit board fixedly arranged on the inner wall of the yoke plate; the circuit board comprises a PET circuit board and an injection molding board for fixingthe PET circuit board; a Hall IC chip and a capacitor connected in parallel with the Hall IC chip are arranged on the PET circuit board; a feedback magnet matched with the Hall IC chip is arranged one side, corresponding to the Hall IC chip, of the bracket; the coil is wound outside the bracket; and the drive magnet is arranged on the periphery of the coil and does not interfere with the feedbackmagnet. The drive magnet and the coil play a role in driving vertical motion of a lens arranged in the bracket to adjust the focal length, and the feedback magnet and the Hall IC chip play a role inadjusting the current input to the coil by negative feedback, so that the motion tracks of the bracket and the lens are more accurate. The structure is low in cost and stable in performance.

The invention discloses a large-area unfoldable solar energy turnover plate. A base of the solar energy turnover plate is welded to a satellite main body, a second side rod is connected with the base through a twelfth cylindrical pin, a first side rod is connected with the second side rod through a ninth cylindrical pin, a first rotating plate and a second rotating plate are mounted on the ninth cylindrical pin and can rotate around the ninth cylindrical pin, the second cylindrical pin is welded to the top of the first side rod, and a combined hinge is formed by combining a first rotating body of the combined hinge, a second rotating body of the combined hinge, a third rotating body of the combined hinge and a fourth rotating body of the combined hinge. The metamorphic mechanism form is adopted for the solar energy turnover plate, greater controllability is achieved, the solar energy turnover plate has the secondary unfolding function, the angle of the solar energy plate can be adjusted flexibly, and sunlight is better received.

The invention discloses a method and a device of characterizing a person movement trajectory, a mobile terminal and a storage medium. The method includes: determining a plurality of data types adoptedfor characterizing the predetermined-person movement trajectory, wherein the data types at least include any two of the following items: an identification-card number, a vehicle-license-plate number,a telephone number, face information and bank-card numbers corresponding to an identification card; acquiring data which are of all the data types and meet a predetermined time condition; extractingoccurrence times and position coordinates of all the acquired data; and connecting all the position coordinates according to an order of the occurrence times to obtain the movement trajectory of a predetermined person. When the method characterizes the person movement trajectory, the various data types are adopted, the movement trajectory of the person is constructed through the various data types, the characterized person movement trajectory is enabled to be more specific and accurate, and the problem that trajectories characterized by the prior art are imprecise is solved.

The invention discloses a four-wheel independent-drive mobile robot with an anti-shock function. The mobile robot comprises a controller, a chassis and at least four wheel assemblies mounted on the chassis. The chassis is used for bearing to-be-transported goods or mounting other apparatuses. Each wheel assembly comprises a wheel, a support, a drive motor, a hydraulic cylinder and a steering motor, wherein the drive motor and the wheel are mounted on the support, the drive motor drives the wheel to rotate, the support is mounted under the chassis through the hydraulic cylinder, and the steering motor is mounted on the chassis and can drive the support to rotate around the central axis of the hydraulic cylinder. The controller controls the drive motors, the steering motors and hydraulic pumps of the hydraulic cylinders. According to the mobile robot, each wheel is driven by the special motor to rotate and steer, so that moving of the mobile robot is more flexible, the controller controls the mobile robot more precisely, and the application occasion of the mobile robot is expanded.

The invention discloses an obstacle trajectory prediction method and device, a storage medium and electronic equipment. According to the embodiment of the invention, the historical motion tracks of obstacles are input into a first model to obtain global interaction features; the map data of the more than two scales and the historical motion tracks of a to-be-predicted obstacle are input into a second model; map aggregation features corresponding to the to-be-predicted obstacle are obtained; the global interaction feature, the map aggregation feature and the historical motion track of the to-be-predicted obstacle are input into a third model; the third model can express the movement speed of the to-be-predicted obstacle through the historical movement track of the to-be-predicted obstacle,the map features adaptive to the motion speed of the to-be-predicted obstacle are adaptively selected from the map aggregation features of the maps aggregated with various scales to assist in predicting the motion track of the to-be-predicted obstacle, so that the finally obtained predicted motion track of the to-be-predicted obstacle is more accurate.

The invention discloses a wheel-foot type robot leg system with a damping function. The wheel-foot type robot leg system comprises a hip joint mechanism, a thigh mechanism, a shank mechanism, a springdamping system and a wheel-foot mechanism; the hip joint mechanism is used for rotating relative to a robot main body structure; the thigh mechanism is used for rotating relative to the hip joint mechanism; the shank mechanism is used for rotating relative to the thigh mechanism; the spring damping system is used for damping; and the wheel-foot mechanism is used for driving the robot main body structure, the hip joint mechanism, the thigh mechanism, the shank mechanism and the spring damping system to do wheel-type movement along with the wheel-foot mechanism. According to the wheel-foot typerobot leg system, wheel type movement and foot type movement can be achieved, compared with a traditional wheel-foot combined type robot, the robot is simpler in structure, the wheel type movement and the foot type movement can be achieved only by adding the wheel-foot mechanism to the foot end of a foot type movement robot, a wheel type movement mechanism does not need to be independently designed at other positions of the robot, and the overall weight of the robot is effectively reduced.

An embodiment of the invention provides a track viewing method and device. The method comprises the following steps of obtaining multiple coordinate point data of a moving object, wherein each coordinate point datum comprises coordinate point position information and time information corresponding to the position information; generating a track of the moving object according to the position information of the multiple coordinate point data; obtaining an icon corresponding to the moving object; and representing the moving object with the icon, and according to the time information of the multiple coordinate point data, reproducing a motion process of the moving object on the track. The method is not used for simply displaying a track curve merely but reproducing, along the track curve, thereal motion process of the moving object; and in this way, even though a complicated path is met and abnormal points (namely repeated track points, such as a track interlaced point or a track overlapped point) are met in the track, a user can still clearly know a real running process, and thus, masters a precise movement track of the moving object.

The invention relates to a side somersault training device, which comprises a springboard and a side somersault training support frame, wherein the side somersault training support frame comprises a base framework, upright posts, ascending and descending rods, an upper transverse rod and a lower transverse rod; the upright posts are vertically arranged at the two sides; the ascending and descending rods are arranged in the upright posts; the upper transverse rod and the lower transverse rod are connected with two ends of the ascending and descending rods; two isosceles trapezoid frameworks with the intersected top ends are fixedly connected to the inner side of the upper transverse rods; one end extends to form a picking rod crank arm; the lower transverse rod is rotatably connected with a double-head crank connecting rod in a sleeving way; one end of the double-head crank connecting rod is in contact with a touch switch of the springboard; the other end of the double-head crank connecting rod is a clamp hook rotationally buckled with the lower transverse rod of an isosceles trapezoid framework; the lower transverse rod of the other isosceles trapezoid frame is provided with a spiral spring connected with a transverse post arranged in the middle of the upright posts. The side somersault training device has the advantages that the structure is simple; the moving tracks are precise; the action is specified; the use is safe and reliable; the action study time is reduced; the physical consumption of teachers is reduced; the action conditions of students are watched in a concentrated way; the training is guided; the teaching effect and quality are improved.

The invention provides a heel blood collector. The heel blood collector comprises an outer shell, a trigger key, a firing spring, a blood collecting execution component and a locking component, wherein the outer shell is composed of two half shell bodies, a knife outlet opening and a mounting notch are formed in the front and rear ends of the outer shell, respectively, and a guide limiting columnand a positioning column are arranged at the inner side of the first half shell body; the trigger key is arranged at the mounting notch and is connected with the shell in a manner of being capable ofmoving back and forth; the blood collecting execution component is composed of a knife rest and a blade, and a guide hole formed by front and back communication of a straight guide hole part and a round guide hole part is arranged in the middle of the knife rest; the blade is fixedly connected with the front end part of the knife rest; the firing spring is arranged between the trigger key and theknife rest; the locking component comprises a positioning arm and a torsional spring, the positioning arm and the torsional spring sleeve the positioning column coaxially, a hook head is arranged at the end part of the positioning arm, and a hook table is arranged at the other end of the rear part of the knife rest; one end of the torsional spring is connected with a hang column arranged on the positioning arm, and the other end of the torsional spring is connected with the outer shell. For the heel blood collector, the blood collecting painful feeling is reduced, and the stability of the blood collection amount is guaranteed.

The invention relates to electric light source equipment, in particular to a device for bending a tube pin of a helical energy-saving lamp tube. The invention aims to provide a tube-pin auto-bending machine for helical tubes, and the machine can bend the tube pin automatically and has the characteristics of good bending quality, high production efficiency and unified product standard. The technical scheme of the invention is as follows: the tube-pin bending machine for the helical tubes comprises an elongated frame, a conveyer belt which is positioned between a machine head and a machine tail end to end and driven by a clearance mechanism, and a plurality of positioning moulds which are uniformly arranged on the conveyer belt in a line and used for positioning processed tubes. Meanwhile, the tube-pin bending machine for the helical tubes also comprises a tube mounting / dismounting station, a drying oven, a heating rotor and a pin bending station which are sequentially arranged from the machine head to the machine tail, wherein the pin bending station is provided with a pin bending mechanism which is driven by a driving mechanism and used for bending the tube pin burned to be soft according to preset requirements; and the conveyer belt is a chain arranged in the center of the frame, and the chain respectively surrounds two chain wheels with horizontally-arranged axis from the machine head to the machine tail, and then form a circle end to end.

The invention provides a KNN indoor target positioning method based on an adjacent weighted adaptive k value, and the method comprises the following steps: 1, constructing a position fingerprint database which comprises a position set P and a signal intensity value R through the RSS data, collected by RFID equipment, of each indoor position; and 2, acquiring a corresponding signal intensity valueof a to-be-positioned target by using a RFID card reading antenna, matching the signal intensity value with the position fingerprint database by using a KNN improved algorithm to obtain a fingerprintwith the highest matching degree, and taking the fingerprint mapping position as the current position of the to-be-positioned target. According to the KNN improved algorithm, the optimal k value corresponding to the fingerprint information of the to-be-positioned target is obtained by calculating the correlation between the RSS data set measured on line and the fingerprint data set in the positionfingerprint database, and the matching error probability is reduced as much as possible by using an adjacent weighting method. Simulation results show that compared with KNN and WKNN, the matching precision of the improved algorithm is improved by at least 7.1 times.

The invention discloses a tracing-vector hierarchical storage mechanism for internet-of-things perception data. The storage of the internet-of-things perception big data is divided into two layers: a tracing storage layer and a vector storage layer. In the tracing storage layer, a simple and quick storage method is adopted for realizing efficient storage of original sampling data, and vector data is uploaded to the vector storage layer through vector fitting and updating policies. In the vector storage layer, through a vector sequence-based perception big data storage model and query and analysis methods, efficient processing of the perception big data is realized. A vector is defined as a state change mode of a monitored object; and a state of the internet-of-things monitored object lasts for a relatively long time according to a law generally, and the state, lasting for the relatively long time, of the monitored object can be described by using the vector, so that while the data precision is ensured, the data updating and storage costs of the vector storage layer are greatly reduced.

The invention relates to the field of single-foundation-pit short-distance pipeline excavation tunnel construction, in particular to a bilayer translation rack, a jacking walking device, a driving power device, a rotation device and a pipe-paving direction adjusting device and further comprises an optical guide device, a hoisting device, a hydraulic pump station and an electric appliance cabinet. Stability of the whole drilling rig is improved, structure of the whole drilling rig is improved, and jacking movement tracks are more accurate; the driving power device can be used for driving a drilling stem to rotate and can be used for efficient connection among sleeves, so that pipe paving efficiency is improved; the drilling rig is flexible in construction and high in construction accuracy; the drilling rig is suitable for various strata, diverse in function, convenient and safe to operate and control, low in equipment manufacturing cost, economical and practical.

The invention relates to a casting ladle with a molten iron flow control mechanism. The casting ladle consists of a ladle frame and a ladle, wherein the ladle is provided with a ladle spout. The ladle frame is provided with a vertical beam vertically and glidingly. A horizontal beam is arranged on the upper end part of the vertical beam. The horizontal beam is vertically provided with a check block on one end corresponding to the ladle spout. A motor driving the vertical beam to do vertical movement is arranged on the ladle frame at a position corresponding to the bottom of the vertical beam. The casting ladle adopts a central control system to send a signal to a servo motor using gears and racks to realize the vertical movement of the vertical beam according to digital revolution given by a controller, realizes precise multi-point positioning displacement control with a digital control signal, and can cast stably and precisely compared with the prior pouring mode of casting ladle. The casting ladle is suitable to be used for casting castings which are complex in shape and light in mass and volume and is suitable for adjusting iron flow during mass product casting.

The invention discloses an armored car protection shell. Side rods of the protection shell are connected with a base through fourth cylindrical pins. Second titanium alloy plates and third titanium alloy plates are welded to the side rods. Fifth cylindrical pins are welded into the rectangular space on the tops of the side rods. A rotary table fixing disc is welded to an armored car body. A rotary table is installed on the rotary table fixing disc and can rotate around the rotary table fixing disc. One ends of first hook joints are connected with side rods of the rotary table, and the other ends of the first hook joints are connected with hook rods. One ends of second hook joints are connected with the rotary table, and the other ends of the second hook joints are connected with the hook rods. According to the armored car protection shell, the battle mode of an armored car can be changed by opening or closing the protection shell so that the battling requirement on the battleground can be flexibly met.

The invention discloses a processing method of 3D printing sharp tracks. Motion track lines of each layer of 3D printing are arrays of multiple straight lines, the motion track lines are analyzed, andjudgment for a motion track sharp point is performed; the motion track lines are broken at the sharp point, and two multi-straight lines of the front and back motion track lines are obtained; the twomulti-straight lines are extended at the sharp point for a section respectively; the extended front and back motion track lines generate a new curve continously; the curve is converted into a multi-straight line to serve as a middle transition motion track line; and the 3D printing sharp track is replanned as follows: the front motion track line, the middle transition motion track line and the back motion track line, and a printing head on the middle transition motion track line does not perform discharging. By optimization of the printing motion path, deceleration, vibration and other conditions of a movement device in an actual movement process are reduced, the phenomenon of material accumulation at corners is avoided, and printing quality of 3D printing components is effectively improved.

The invention relates to the technical field of flexible mechanical arms, and discloses a control method for an adaptive dynamic programming flexible mechanical arm. The control method comprises the following steps: 1, a kinetic model of the flexible mechanical arm is built; 2, a controller based on a dynamic mode for the flexible mechanical arm is designed; 3, the angle movement of the flexible mechanical arm is controlled; 3.1, indefinite parameters of the flexible mechanical arm are subjected to analysis modeling; 3.2, angle displacement and rotation of the flexible mechanical arm are controlled; 3.3, the angle position vectors of joints of the flexible mechanical arm are controlled; and 3.4, intelligent angle space differences of the flexible mechanical arm are combined to control theposture of the flexible mechanical arm. By adopting the control method for the adaptive dynamic programming flexible mechanical arm, the control precision of the flexible mechanical arm is well improved; operation is simple and convenient; control time can be effectively shortened; and control efficiency is improved.

The invention discloses an energy-conversion-driven steerable three-wheel carbon-free trolley which comprises an energy conversion mechanism, a rear-wheel driving mechanism and a front-wheel steering mechanism. The rear-wheel driving mechanism is mounted at the rear end of a frame of the energy conversion mechanism through a driving fixing device of the rear-wheel driving mechanism, and the front end of the frame of the energy conversion mechanism is fixed to a steering fixing device of the front-wheel steering mechanism. By the above mode, the energy-conversion-driven steerable three-wheel carbon-free trolley is high in energy utilization rate, clear in moving track, low in processing and manufacturing cost, light in weight, stable and reliable in traveling and capable of adapting to avoid an energy-conversion-driven obstacle-crossing competition three-wheel carbon-free trolley with obstacles placed thereon at different intervals.

The invention provides a rotor-type variable pump which comprises a pump body, a pump cover, an inner rotor and an outer rotor. The pump body and the pump cover enclose to form a rotor cavity and a pipeline structure. The pipeline structure comprises an inlet area and an outlet area which are located on two sides of the rotor cavity and not communicated with each other; at least one operation area provided with a sealed outline and alternatively communicated with the inlet area and the outlet area is arranged between the inner rotor and the outer rotor; a drive device drives the inner rotor to rotate around a central axis of the inner rotor through a drive shaft; the rotor-type variable pump further comprises an adjusting ring, a fixed-tooth section and an applying device; an adjusting-tooth section is arranged on the adjusting ring which deflects under the limitation of the fixed-tooth section and under the action of external force. Rotation of the adjusting ring is completed through a gear cooperation mode, a gear cooperation part of the adjusting ring only accounts for a small proportion of the periphery of the adjusting ring, while other positions are in simple circular surface contact, so that airtightness at the position of the adjusting ring can be easily guaranteed.

Provided is a lifting appliance for lifting and carrying a container. The invention relates to the empty container lifting appliance having high-performance tapered end mechanisms. The lifting appliance includes a carriage, a fixing arm, a left telescopic arm, a left floating arm, a right telescopic arm, a right floating arm and telescopic oil cylinders; each floating arm includes an oil cylinder, a tapered end, an address recognizing piece, a box-landing signal switch and the like, wherein one side of the tapered end is provided with a security protection mechanism, the security protection mechanism includes a guide seat, and the guide seat is internally provided with an upright movable lifting pin, one side of the top of the lifting pin is provided with a protruding-outward positioning block, the top of the lifting pin is provided with a blind hole, the blind hole is internally insertedly provided with a guide rod, and the guide rod is sleevedly provided with a spring. With adopting of the lock catch type fixing tapered ends and the security protection devices, on one hand, the shear-bearing capacity of lock catches is utilized to replace the screw thread pair bending resistant capacity, on the other hand, precision positioning of vice springs is utilized and the guide structure is optimized, so that the strength of the tapered end mechanisms is increased, and the security of the tapered end mechanisms is greatly improved.

The invention provides an intelligent line edge bin storing and taking method and a line edge bin, and the intelligent line edge bin storing and taking method comprises the steps: forming a storage directory through a line edge bin and a pressure sensor arranged in the line edge bin, and carrying out the precise storing and taking according to the storage directory during storing and taking. The invention further provides a line edge binwhich comprises a bin body structure. The bin body structure is arranged in a polyhedral shape. A storage library is formed on each surface of the bin body structure; a plurality of evenly-arranged storage spaces are arranged on each storage bin, a belt wheel mechanism is arranged on each storage space, a pressure sensor is arranged at the bottom of each belt wheel mechanism, a 360-degree rotary sorting mechanical arm is arranged in the middle of the interior of the bin body structure, and a lifting mechanism is arranged along the bottom of each storagebin.

Apparatus for dental simulation comprising: a display; one or more processors; a hand piece comprising a light emitter and an inertial measurement unit (IMU), wherein the IMU is in communication with at least one of the one or more processors, and wherein the IMU is configured to generate IMU position and orientation data, wherein the IMU position and orientation data describes the position and orientation of the hand piece; at least two cameras in communication with at least one of the one or more processors, wherein each of the at least two cameras is configured to generate a series of images using light emitted by the light emitter; wherein the one or more processors are configured to: receive the series of images from each of the at least two cameras, generate, based on two dimensional coordinate data derived from the series of images, three dimensional coordinate data identifying the position of the LED; receive the IMU position and orientation data; and further wherein the one or more processors are configured to combine the IMU position and orientation data and the three dimensional coordinate data to generate simulation instructions, and to display, on the display, a three dimension virtual image of an object and animate movement of the object according to the simulation instructions.

The invention discloses a front wheel steering mechanism of a steerable three-wheel carbon-free trolley driven through energy conservation. The front wheel steering mechanism comprises a steering fixing device, a front wheel threaded rod, a threaded rod support, an angle regulator, a driven rod, a front wheel, a front wheel holder, a sliding sleeve support, a groove cam and a rope (C). The steerable front wheel threaded rod is installed inside the threaded rod support, the threaded rod support is fixed to the steering fixing device, the lower end of the front wheel threaded rod is provided with the front wheel holder, the front wheel is installed on the front wheel holder, the middle portion of the front wheel threaded rod is fixedly provided with the angle regulator, the angle regulator is connected to one end of the driven rod, the other end of the driven rod is connected to the groove cam, the groove cam is installed to a trolley frame, the groove cam is connected to a drive shaft right wire wheel of a back wheel drive mechanism through the rope (C), the driven rod is sleeved with the sliding sleeve support, and the sliding sleeve support is installed on the trolley frame. Through the method, the front wheel steering mechanism of the steerable three-wheel carbon-free trolley driven through energy conservation is high in energy utilization rate, precise in motion trail, low in machining and manufacturing cost and low in trolley body weight.