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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Форма поиска

Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 8. Отображено 8.
07-07-2023 дата публикации

Large ball automatic collection robot based on binocular vision

Номер: CN116392787A
Автор: WU XIRU, LIU HAOPENG, LIU JINXIA, LUO WENHUI, LIU BIAO
Принадлежит:

The invention relates to the field of robots, in particular to a binocular vision-based large ball automatic collection robot which comprises a shell, a movement mechanism, an identification mechanism, an obstacle avoidance mechanism, a grabbing mechanism, a storage mechanism, a control mechanism and a power supply mechanism, and the movement mechanism comprises four wheels; the recognition mechanism is composed of a camera; the grabbing mechanism is a mechanical arm; the control mechanism is a display screen; the power supply mechanism is a rechargeable lithium battery. The robot moves in a field through the movement mechanism, catches balls falling on the ground through the recognition mechanism, prevents the robot from touching obstacles through the obstacle avoidance mechanism, grabs the balls falling on the ground through the grabbing mechanism, fills the balls through the storage mechanism, and instructs the robot to select working modes through a display screen of the control mechanism ...

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Номер записи: 1
14-07-2023 дата публикации

DBN and ELM fused pneumatic clamp hysteresis modeling and clamping force estimation method

Номер: CN116423508A
Автор: DANG XUANJU, ZHU WANGCHUN, YUAN HANMEI, QIN CHUANGYE, LI XIAO, MO TAIPING, WU XIRU, ZHANG XIANGWEN, HUANG PINGAO, ZHANG BIN
Принадлежит:

The invention discloses a DBN and ELM fused pneumatic clamp hysteresis modeling and clamping force estimation method, which describes uncertainty corresponding to multiple output values represented by specific hysteresis characteristics caused by compressibility and creep of a pneumatic clamping system by means of random uncertainty characteristics of a DBN model structure. In order to enhance DBN alignment and return stroke strong nonlinear characteristic description and improve modeling estimation precision of the pneumatic clamping force, an ELM with strong nonlinear characteristic description capability is introduced, a regression layer in the DBN is replaced, the DBN and the ELM are in butt joint fusion, a pneumatic clamp hysteresis model with the DBN and the ELM fused is constructed, and effective estimation of the clamping force is achieved through output of the hysteresis model.

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Номер записи: 2
04-07-2023 дата публикации

Multifunctional rescue robot based on visual identification

Номер: CN116372882A
Автор: WU XIRU, LUO WENHUI, LIU JINXIA, LIU BIAO, LIU HAOPENG
Принадлежит:

A crushing device, a mechanical grabbing device and a material conveying device are fixedly connected with a vehicle body and located above the vehicle body, the material conveying device is fixedly connected with the mechanical grabbing device, the mechanical grabbing device is located above the vehicle body, and the material conveying device is located above the vehicle body. The two ends of the visual inertia slam system are fixedly connected with the material conveying device and the mechanical grabbing device correspondingly, the visual inertia slam system is located above the material conveying device and the mechanical grabbing device, trapped persons are recognized through the visual inertia slam system and reported to the trapped positions, the crushing device breaks and removes obstacles such as ruins, and the mechanical grabbing device is used for grabbing the trapped persons. The crushing device can horizontally move and rotate according to needs, the material conveying device ...

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Номер записи: 3
21-07-2023 дата публикации

Medicine spraying robot based on machine vision

Номер: CN116460817A
Автор: WU XIRU, SHEN KEYANG, LIU JINXIA
Принадлежит:

The invention discloses a pesticide spraying robot based on machine vision, a spray head adjusting mechanism is fixedly connected with a vehicle body and located above the vehicle body, one end of a pesticide spraying mechanism is fixedly connected with the spray head adjusting mechanism, and the other end of the pesticide spraying mechanism is fixedly connected with the vehicle body; the machine vision camera is fixedly connected with the vehicle body, environment information and paths are recognized through the machine vision camera, the position of the robot is positioned through the Beidou system, data are received through the wireless communication module, and the nozzle adjusting mechanism controls the moving assembly to move front, back, left, right, up and down. The mechanical arm is adjusted according to different pesticide spraying positions, the pesticide spraying mechanism is driven to spray pesticide to all the areas, and the technical problem that in the prior art, the pesticide ...

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Номер записи: 4
12-05-2023 дата публикации

Flexible joint hysteresis characteristic modeling and compensation control method of GRU

Номер: CN116100554A
Автор: DANG XUANJU, ZHU WANGCHUN, YUAN HANMEI, ZHANG YICHEN, LI XIAO, MO TAIPING, WU XIRU, ZHANG XIANGWEN, HUANG PINGAO, ZHANG BIN
Принадлежит:

The invention discloses a flexible joint hysteresis characteristic modeling and compensation control method for a GRU, and the method comprises the steps: employing a motor drive current-motor end torsion angle to indirectly describe the hysteresis characteristic of a flexible joint of a low-cost light industrial robot which is not provided with a load torque sensor; the method comprises the following steps: fusing specific characteristics of forward and reverse strokes in joint hysteresis characteristics into a GRU neural network hysteresis model, extracting characteristics of forward strokes and reverse strokes by using current increment based on Kalman filtering, describing multi-valued characteristics represented by the forward and reverse strokes in current-motor end torsion angle hysteresis characteristics, and taking historical values of the model as an input model to obtain a current-motor end torsion angle hysteresis characteristic model; and constructing a dynamic GRU neural network ...

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Номер записи: 5
18-08-2023 дата публикации

Bicycle cleaning robot based on binocular vision recognition

Номер: CN116605182A
Автор: WU XIRU, LIU BIAO, LIU JINXIA, LIU HAOPENG, LUO WENHUI
Принадлежит:

The bicycle cleaning robot is characterized in that a position adjusting mechanism is arranged in a bicycle body, a spraying device is connected with the tail end of the position adjusting mechanism, one end of a high-pressure pump is connected with the spraying device through a conveying hose, and the other end of the high-pressure pump is connected with the spraying device through a conveying hose; the binocular vision recognition cameras are connected with the vehicle body and located at the front end of the vehicle body, the two binocular vision recognition cameras are located on the left side and the right side of the vehicle body respectively, the ultrasonic sensor is located in the center of the front end of the vehicle body, and the left rotating mechanism carries a replaceable brush head assembly which is used for removing greasy dirt and feeding lubricating oil. The right rotating mechanism carries the rotating assembly, the left rotating mechanism drives the circular brush head ...

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Номер записи: 6
08-09-2017 дата публикации

A function of the likelihood of particle filtering power battery charge state estimation method and system

Номер: CN0105093121B
Автор: 党选举, 刘政, 姜辉, 伍锡如, 张向文, 汪超, 杨倩, 言理, 黄品高, 王土央
Принадлежит:

... 本发明为种似然度函数粒子滤波的动力电池电荷状态估计方法和系统，由电池Thevenin模型，得到状态和量测方程，参数初始化后，进行状态预测计算状态预测值的均值和协方差，再重新采样、重构采样分布函数。计算电池端电压预测值，计算粒子权值，权值归化和计算有效粒子数。有效粒子数N与有效粒子数阈值N比较，当N小于N，采用拉普拉斯分布作为似然度函数，并引入方差调节因子和工况适应因子，以自适应地修改似然度函数的方差，适应动力电池不同工况。最终得到更新的SOC估计值和协方差。本系统微控制器连接电压和电流传感器，微控制器内有各程序执行模块。本发明加大有效粒子数；有效避免了方差的过修正；估算精度优。 ...

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Номер записи: 7
23-06-2023 дата публикации

Method for removing and realizing strong vibration interference in force signal facing grinding robot

Номер: CN116304591A
Автор: DANG XUANJU, ZHU WANGCHUN, YUAN HANMEI, LIN ZHIWU, LI XIAO, MO TAIPING, WU XIRU, ZHANG XIANGWEN, HUANG PINGAO
Принадлежит:

The invention discloses a method for removing and realizing strong vibration interference in a force signal facing a grinding robot, two filtering algorithms are connected in series to form a double-Kalman filter, and the first filter is used for filtering Gaussian white noise and high-frequency vibration spectrum peak group noise; a single parameter is introduced, a gradual time-varying noise variance is designed in an exponential weighting mode, colored noise characteristics are described, improved Kalman filtering is designed to form a second filter, and colored noise filtering and elimination are achieved. According to the method, effective filtering and elimination of complex noise formed by superposition of Gaussian white noise, vibration noise and colored noise contained in force measurement information in robot force control grinding are achieved.

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Номер записи: 8