Automatic crane control system for load swing elimination

A crane automatic control system for load swing elimination is used for operating a crane swing prevention control algorithm and solving the problem of load swing occurring in the accurate positioning process of a crane. In addition to a crane system structure, the system also comprises a remote data acquisition end and a crane anti-swing motion control board card which can perform wireless communication. The remote data acquisition end acquires swing angle information of a crane lifting appliance and transmits the swing angle information to the anti-swing motion control board card; and after receiving data from the remote data acquisition end, the programmable logic controller and the remote controller, the anti-swing motion control board card performs logic judgment and operation, and outputs an operation result and other control instructions to the programmable logic controller so as to control the crane mechanical main body to operate. An STM32 single-chip microcomputer suitable for ...

Variable-structure four-rotor system and control method thereof

The invention relates to the technical field of rotor aircrafts, and provides a variable-structure four-rotor system and a control method thereof.The variable-structure four-rotor system comprises a fuselage, a steering engine, an airborne computer, a plurality of sensors, a first high-position arm, a second high-position arm, a first low-position arm and a second low-position arm, the motors are arranged at the end parts of the vehicle arms; a height difference exists between the first high-position vehicle arm and the first low-position vehicle arm, and the two vehicle arms on the diagonal line are located at the same height; the airborne computer estimates and compensates disturbance brought by rotating motion of the arms through the linear expansion state observer according to sensor data uploaded by the sensors and the rotating angles of the arms, and the rotating speed of the motors is controlled. While stable flight of the quadrotor is guaranteed, the narrow space passing capacity ...

Ray-imitating amphibious robot

The invention relates to a ray-imitating amphibious robot which comprises a supporting plate, an electric control cabin connected to the upper surface of the supporting plate and at least two sets of traveling wave driving structures connected to the lower surface of the supporting plate and arranged side by side. Each traveling wave driving structure comprises a screw rod driven by a driving element, and the screw rods penetrate through a plurality of joint buckles movably connected end to end; the two ends of the joint buckle movable hinge are connected with the motor cabin through connecting rods; the center of the side portion of each joint buckle is connected with a supporting bone, and the supporting bones of all the joint buckles are covered with bionic materials to form bionic fins. The rotating motion of the spiral space is converted into sine wave translation of the joint buckle movable hinge through the spiral rod driven by the driving element, and the supporting bone is driven ...

Mapping positioning method and device based on fog network

The invention relates to the field of data processing, and discloses a mapping positioning method and device based on a fog network, which are used for improving the accuracy of mapping positioning. The method comprises the following steps: controlling a plurality of ground robots to collect environment information of a target area to obtain an environment information set, and generating a plurality of map construction subtasks through the environment information set; task allocation is carried out on the multiple ground robots, and a task allocation result is obtained; controlling the plurality of ground robots to construct sub-maps based on the task allocation result, generating a plurality of sub-maps, and generating an initial global map through the plurality of sub-maps; controlling the unmanned aerial vehicle to perform point cloud data acquisition on the target area to obtain a point cloud data set; performing three-dimensional map mapping on the point cloud data set to obtain a ...

Crane obstacle-avoidance system based on stereoscopic vision

The invention discloses a crane obstacle-avoidance system based on stereoscopic vision. The crane obstacle-avoidance system works according to the following steps of: calibrating a binocular stereoscopic vision system to obtain inner parameters of a left camera and a right camera and external parameters between the left camera and the right camera; photographing images of a crane work scene by the stereoscopic vision system, and recreating static obstacles in a crane work space; tracking a load in real time in a load conveying process, simultaneously detecting moving objects (such as human, vehicles or other obstacles and the like) suddenly entering into the crane work space, and evaluating movement information, position information and size information of the load and the moving objects; and predicting whether the load collides with the obstacles (the static obstacles and the moving objects) according to a collision prediction strategy so as to determine whether to apply emergency braking ...

Motion planning-based adaptive control method for bridge crane

The invention discloses a motion planning-based adaptive control method for a bridge crane. The method comprises the following steps of: formulating a motion planning, and designing an expected position-time curve for a crane trolley, wherein if the trolley moves along the curve, the trolley can reach a target position relatively quickly, and the load swing angle is in a small acceptable range; meanwhile, adjusting parameters of the trolley aiming at different conditions and requirements so that the maximum transport speed and the acceleration performance of the trolley meet the requirements and constraints of actual working conditions; and designing an adaptive tracking controller, and acquiring a control output by measuring trolley position, speed, load swing angle and angular speed on line in real time. When the resistance parameters such as load quality, sling length, friction and the like of the crane trolley are unknown, the controller can well track the set motion curve, and finally ...

Self-adaption anti-swing positioning control method of under-actuated crane

The invention relates to a self-adaption anti-swing positioning control method of an under-actuated crane. The method comprises the steps of constructing a novel stored-energy function, designing a novel self-adaption anti-swing positioning control method by fully considering the limitation of the rail length, unknown parameters/uncertainty and other factors on the above basis, and enhancing the coupling relationship between the trolley movement and the load swing to ensure a trolley to be positioned accurately, eliminate the load swing rapidly and compensate the influences caused by the unknown parameters/uncertainty factors in an online manner through the updating law. Compared with the existing method, the method can ensure that the trolley moves within a limitation range of the rail length, can achieve good control effect and has good robustness for parameter uncertainty and external disturbance.

Time-optimal bridge crane track planning method based on differential flatness and B-spline

The invention relates to a time-optimal bridge crane track planning method based on differential flatness and a B-spline, and aims at solving the automatic control problem of a nonlinear bridge crane. The method is good in performance of locating a trolley and eliminating the swinging of a load. The method comprises the following steps of proposing system flatness output which is used for processing a coupling relation between the motion of the trolley and the swinging of the load; converting track parameters to a B-spline curve form with to-be-optimized parameters by utilizing the continuity and smoothness of the B-spline curve; obtaining a time-optimal track by utilizing a polygonal optimization algorithm by considering constraints such as the swinging angle of the load and the acceleration of the trolley. The track planning is carried out by utilizing the differential flatness characteristics of a bridge crane system, so that the analysis on the complicated coupling characteristics of ...

Casing screw protector is quick to be dismantled and screw thread cleaning device

... (B, ) the utility model relates to a casing screw protector technical field is a casing screw protector is quick to be dismantled and screw thread cleaning device, and it includes that power device, reduction gear, main shaft, bearing frame, planet wheel are broken out and cleans mechanism and frame, the main shaft right -hand member has connected gradually reduction gear and power device, and the main shaft mid -mounting has the bearing frame, and bearing frame, reduction gear and power device be seat in frame upper end respectively. (B, ) (b) the utility model has the advantages of reasonable and compact structure, convenient to use, it is through the synchronous main shaft of power device, passes to the planet wheel with power and breaks out and clean the mechanism, bites into the casing screw protector through tooth claw, rotatoryly carries out automatic dismantlement, through cleaning brush conflict screw thread surface, rotatoryly carries out automation and cleans, carries out mechanized ...

FPGA (Field Programmable Gate Array) and DSP (Digital Signal Processor) based atomic force microscope hardware control system

The invention discloses an FPGA (Field Programmable Gate Array) and a DSP (Digital Signal Processor) based atomic force microscope hardware control system which aims at the problem that the scanning speed is slow due to the fact that the hardware control system is slow in running speed during scanning through an atomic force microscope. According to the FPGA and the DSP based atomic force microscope hardware control system, a brand new atomic force microscope control scheme is proposed, a hardware control system architecture with the FPGA and the DSP serving as a core is proposed, and a relevant hardware circuit system which comprises a analogue-to-digital conversion module, a digital-to-analogue conversion module, an FPGA core control module and a DSP core control module is designed according to the scheme. Compared with the existing control system, according to the FPGA and the DSP based atomic force microscope hardware control system, advantages of digital logic devices are well taken ...

Mass center compensation control method and system of flight double-arm system

The invention provides a centroid compensation control method and system of a flight double-arm system, and relates to the technical field of automatic control of nonlinear under-actuated electromechanical systems. According to measured double-arm geometric parameters, a mechanical arm kinematic model is established; establishing an unmanned aerial vehicle kinetic model by utilizing the momentum theorem of the mass point system; designing a disturbance observer, and constructing a nonlinear disturbance compensation controller; a state feedback signal of the flight double-arm system is acquired in real time, a control signal for accurately positioning the unmanned aerial vehicle to a target position is calculated by using a nonlinear disturbance compensation controller, and accurate positioning of the unmanned aerial vehicle is completed; according to the method, the kinetic model of the unmanned aerial vehicle is established under the condition of not carrying out any linear operation by ...

Installation foot and have casing of this installation foot

The utility model provides an installation foot and have casing of this installation foot. This installation foot, including be used for the erection joint component the mounting hole, locate the circumferential boss of mounting hole and with the boss is connected, and to keeping away from many the strengthening ribs that the boss direction is extended, the arbitrary one or more of installation foot in the side in the outside is non - closed structure, the width of one arbitrary or many strengthening ribs is incompletely the same. After adopting above -mentioned technical scheme, the appearance of weld mark can be avoided to the installation foot when injection moulding to prevent the installation foot fracture.

Automatic experiment system for bridge type crane

The invention discloses a bridge crane automatic control experimental system which comprises a real bridge crane simulating device, a crane state measuring device and a crane control apparatus, wherein, the bridge crane simulating device is used for simulating a structure of a real bridge crane system which is a control object of the whole experimental system; the crane state measuring device is used for measuring the state quantity information of the bridge crane simulating device in real time and sends the information to the crane control apparatus; and the crane control apparatus is used for receiving the state quantity information of the bridge crane simulating device, which is measured by the crane state measuring device, calculates a corresponding control signal at real time by a preset control method according to the state quantity information and then sends the control signal to the bridge crane simulating device, so as to control the bridge crane simulating device to operate according ...

Atomic force microscopic imaging method and device based on piezoelectric scanning tube dynamic property

The invention discloses an atomic force microscope imaging method and a device basing on the dynamic characteristic of a piezoelectricity scanatron. The method comprises the steps as follows: firstly, after the analysis of the signal of an AFM imaging part, the invention provides an improved imaging method with the dynamic characteristic of the piezoelectricity scanatron on the disadvantage that the imaging method of the prior atomic force microscope has great error under the high speed scan. The invention includes the procedures as follows: identification of mold, calibration of parameters, collection of necessary data for imaging and imaging. The invention effectively increases the imaging precision of AFM on the Z direction, thereby in particular improving the imaging precision under the high speed scan. The imaging device adopts the originality CSPM4000 and the provided signal accessing interface, and utilizes the great the timeliness of RTLinux to achieve the precise prompt feedback ...

Self-reconfiguration wavy crawling robot and control system thereof

The invention discloses a self-reconfiguration wavy crawling robot and a control system thereof, and relates to the technical field of self-reconfiguration robots. The self-reconfiguration wave-shaped crawling robot comprises a plurality of wave-shaped crawling mechanisms, a series connection mechanism and a parallel connection mechanism. The wavy crawling mechanism comprises a motor, a gear set, a screw rod, a chain rod, a screw rod seat and a motor seat; an output shaft of the motor is connected with the uppermost gear of the gear set, one end of the screw rod penetrates through a bearing of the motor base to be connected with the lowermost gear of the gear set, and the other end of the screw rod is connected with a bearing of the screw rod base. The chain rods are sequentially connected through the shaft pins and arranged above the spiral rods in a sleeving mode. The self-reconfiguration wavy crawling robots are connected in series through the series connection mechanism and connected ...

Cross-scale high-precision sample feeding mechanism of atomic force microscope

The invention provides a cross-scale high-precision sample feeding mechanism of an atomic force microscope. The problems that in the using process of a traditional atomic force microscope, the positions of samples are fixed, the scanning imaging range of a microscope probe is limited at a micron level are solved. According to the sample feeding mechanism, the samples can move at a large range from the micron level to a millimeter level and move in a high-precision mode, so that the scanning imaging range of the atomic force microscope is expanded to the millimeter level from the micron level. The cross-scale high-precision sample feeding mechanism comprises a rough level moving mechanism, a fine level moving mechanism and an atomic force microscope levelling mechanism. The rough level moving mechanism is composed of a lead screw nut mechanism in the X direction and a lead screw nut mechanism in the Y direction, the moving range of the rough level moving mechanism is at the millimeter level ...

High-magnification three-dimensional imaging microscope based on double-light source off-axis illumination and imaging method

The invention discloses a high-magnification three-dimensional imaging microscope based on double-light source off-axis illumination and an imaging method and relates to a device for acquiring a left path of image and a right path of image by a CCD (Charge Coupled Device), a method for changing focus depth, a method for acquiring and separating two paths of images, a system calibrating method anda three-dimensional coordinate calculating method of a target. The three-dimensional imaging microscope mainly comprises a left off-axis light source, a right off-axis light source, a concentrated projecting assembly, a microobjective and a CCD, wherein the left off-axis light source and the right off-axis light source are symmetrical. The imaging method comprises the following steps of: calibrating the relation of microscope defocusing amount and double-image distance; acquiring an image; processing the image; recognizing a target; calculating a two-dimensional coordinate; and converting thetwo-dimensional ...

Method and device for measuring small blind hole based on tunnel current feedback collimation

The invention discloses a method and a device for measuring a small blind hole based on tunnel current feedback collimation, which relates to measurement for diameter, roundness, taper, straightness and surface coarseness for a small-aperture deep blind hole. The measuring device comprises a scanning tunnel microscope, an xy electric translation platform with feedback and an electric revolving platform. The method comprises the following steps: mounting a workpiece to be measured on a three-dimensional piezoelectric translation platform of the scanning tunnel microscope; realizing three-dimensional posture adjustment and three-dimensional translation adjustment of a tunnel current feedback probe by adjusting an electric lifting column of the scanning tunnel microscope, the xy electric translation platform, the electric revolving platform and the piezoelectric translation platform; realizing nano precision positioning by using tunnel current; and by taking a coordinate of a needle as a coordinate ...

High-magnification three-dimensional imaging microscope based on double-light source off-axis illumination and imaging method

The invention discloses a high-magnification three-dimensional imaging microscope based on double-light source off-axis illumination and an imaging method and relates to a device for acquiring a left path of image and a right path of image by a CCD (Charge Coupled Device), a method for changing focus depth, a method for acquiring and separating two paths of images, a system calibrating method and a three-dimensional coordinate calculating method of a target. The three-dimensional imaging microscope mainly comprises a left off-axis light source, a right off-axis light source, a concentrated projecting assembly, a microobjective and a CCD, wherein the left off-axis light source and the right off-axis light source are symmetrical. The imaging method comprises the following steps of: calibrating the relation of microscope defocusing amount and double-image distance; acquiring an image; processing the image; recognizing a target; calculating a two-dimensional coordinate; and converting the two-dimensional ...

Atomic force microscopic imaging method and device based on piezoelectric scanning tube dynamic property

Posture estimation method and system based on inertial network

The invention relates to the field of inertial navigation, and discloses an attitude estimation method and system based on an inertial network, which are used for improving the accuracy of attitude estimation of a target carrier, and the attitude estimation method comprises the following steps: carrying out measurement point analysis on the target carrier, and determining a plurality of inertial nodes; the method comprises the following steps: constructing a measurement network through a plurality of inertial nodes, and determining a corresponding distributed inertial measurement network; performing pose data acquisition on the plurality of inertial nodes based on the distributed inertial measurement network to obtain pose data corresponding to each inertial node; performing error compensation processing on the pose data corresponding to each inertial node to obtain a target pose data set; and performing information fusion processing on the target pose data set to obtain a pose estimation ...