Abstract

Disclosed are a robot control method and control system. Said method comprises: using a backend channel program to receive a control signal from an upper-level controller (S11); parsing the control signal to determine the frame structure of the control signal, and acquiring control information carried in the control signal (S12); and using the backend channel program to control the robot according to the control information (S13). Said method reduces occupied I/O resources, and has a simple configuration.

IPC Classes  ?

• B25J 9/16 - Programme controls

Abstract

A method for self-calibrating a robot kinematic parameter, comprising: a calibrated robot enables an end effector to contact with the surface of a standard workpiece for multiple times, and records angles of axes of the calibrated robot during each contact, the standard workpiece being mounted on a flange of a reference robot; the reference robot changes the attitude of the standard workpiece; the calibrated robot repeatedly executes the step of enabling the end effector to contact with the surface of the standard workpiece for multiple times, and recording the angles of axes of the calibrated robot during each contact so as to obtain a plurality of groups of axis angle values of the calibrated robot; and obtain the actual kinematic parameter of the calibrated robot according to the plurality of groups of axis angle values, the nominal kinematic parameter of the calibrated robot, and the actual diameter of the standard workpiece. The method can improve the efficiency, achieve automatic calibration, and make it easy to achieve batch calibration. The present invention also relates to a system for executing the method, and a storage device for storing a program file of the method.

IPC Classes  ?

• B25J 9/00 - Programme-controlled manipulators
• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators

Abstract

A limiting apparatus (100), a mechanical arm (300, 410) and a robot (400), the limiting apparatus comprising a first rotating member (110) and a second rotating member (120) oppositely rotating, the first rotating member being provided with a spiral blocking region (130) and a flexible member (140), the second rotating member being provided with a stopping member (150), the flexible member comprising a flexible main body (141) flexibly embedded in the spiral blocking region and a protruding arm (142) protruding from the flexible main body; when the flexible member and the first rotating member move synchronously, at least one end the flexible member being disposed distantly from two end parts (1301, 1302) of the spiral blocking region, and after rotation of the flexible member linked to the first rotating member relative to the second rotating member exceeds a preset angle, the protruding arm being stopped by the stopping member, causing the flexible member to stop rotation relative to the second rotating member; at that time, if the first rotating member were to continue rotating relative to the second rotating member in its original direction, the flexible member would move relative to the first rotating member along the spiral barrier region, causing the flexible member to contact an end part of the spiral barrier region. By means of the present limiting apparatus, it is possible to prevent excess rotation of a mechanical arm after zero loss.

IPC Classes  ?

• B25J 19/06 - Safety devices
• B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms

Abstract

A rotating excess prompting device, the rotating excess prompting device comprising: a first rotating member (110) and a second rotating member (120) that rotate relative to each other. The first rotating member (110) is provided with a cut-through window (130) and an elastic member (140) which is elastically embedded; the second rotating member (120) is provided with a stopper (150); the elastic member (140) includes an elastic body (141) and a convex arm (142), and the elastic member (140) is further provided with an identification portion (143); when the elastic member (140) and the first rotating member (110) move synchronously, the identification portion (143) is not in a predetermined area of the window (130); after the first rotating member (110) is linked with the stopper (150) to rotate with an angle exceeding a predetermined angle relative to the second rotating member (120), the convex arm (142) is stopped by the stopper (150) so that the elastic member (140) stops rotating relative to the second rotating member (120); and at this time, if the first rotating member (110) continues to rotate relative to the second rotating member (120) in an original direction, the elastic member (140) moves relative to the first rotating member (110) to cause the identification portion (143) ) to enter the predetermined area in the window (130) as a rotating excess prompt. The rotating excess prompting device can prevent the mechanical arm from rotating excessively after the zero position is lost. The present invention further relates to a mechanical arm and a robot.

IPC Classes  ?

• B25J 19/02 - Sensing devices

Abstract

A limiting device. The limiting device comprises a first rotating member (110) and a second rotating member (120), which rotate relative to each other. The first rotating member (110) is provided with an arc-shaped blocking area (130) and an elastic member (140); and the second rotating member (120) is provided with a stopping member (150), wherein the elastic member (140) comprises an elastic body (141) elastically embedded in the arc-shaped blocking area (130), and a protruding arm (142) protruding out of the elastic body (141). When the elastic member (140) and the first rotating member (110) move synchronously, at least one end of the elastic member (140) is arranged away from two end portions of the arc-shaped blocking area (130); moreover, after the first rotating member (110) is linked with the elastic member (140) to rotate by more than a predetermined angle relative to the second rotating member (120), the protruding arm (142) is stopped by the stopping member (150), such that the elastic member (140) stops rotating relative to the second rotating member (120); and at this moment, if the first rotating member (110) continuously rotates relative to the second rotating member (120) in the original direction, the elastic member (140) will move relative to the first rotating member (110) along the arc-shaped blocking area (130), such that the elastic member (140) abuts against one end portion of the arc-shaped blocking area (130). By means of the limiting device, a robot arm can be prevented from rotating excessively after a zero position is lost. The present application also relates to a robot arm and a robot.

IPC Classes  ?

• B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators

Abstract

A limiting apparatus (100), a mechanical arm (300, 410) and a robot (400), the limiting apparatus comprising a first rotating member (110) and a second rotating member (120) capable of rotating relative to one another, the first rotating member being provided with a blocking area (130) and an elastic member (140), the second rotating member being provided with a stopping member (150), the elastic member comprising an elastic body (141) elastically embedded in the first rotating member, a protruding arm (142) protruding from the elastic body, and a limiting arm (143) protruding from the elastic body and extending to the blocking area; when the elastic member and the first rotating member move synchronously, at least one end of the limiting arm is set away from the two end parts (1301, 1302) of the blocking area; after the first rotating member links with the elastic member to rotate more than a predetermined angle relative to the second rotating member, the stopping member stops the protruding arm to stop the rotation of the elastic member relative to the second rotating member; if at this time the first rotating member continues to rotate relative to the second rotating member in the original direction, the elastic member rotates relative to the first rotating member along the blocking area such that the limiting arm abuts the end part of the blocking area. The present limiting apparatus can prevent excessive rotation of the mechanical arm after losing the zero position.

IPC Classes  ?

• B25J 19/06 - Safety devices
• B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms

Abstract

Provided are a master-slave device communication system and method. The system comprises: a master device for sending a slave station confirmation instruction and a functional instruction; and at least two cascaded slave devices including an i-th slave device, wherein 1≤i≤n, i is an integer, and n is the number of slave devices; a first slave device is connected to the master device, receives the slave station confirmation instruction, returns a version number of the first slave device itself to the master device, receives the functional instruction, and then outputs a feedback signal to the master device; the i-th slave device receives the slave station confirmation instruction from an (i-1)th slave device, sends a version number of the i-th slave device itself to the master device, receives a forwarded functional instruction, and then outputs a feedback signal to the master device; an n-th slave device receives the slave station confirmation instruction, sends a version number of the n-th slave device itself to the master device, receives the forwarded functional instruction, and then outputs a feedback signal to the master device; and the first slave device and the i-th slave device forward the slave station confirmation instruction and the functional instruction to other slave devices and forward version numbers and feedback signals of the other slave devices to the master device.

IPC Classes  ?

• G06F 21/00 - Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity

Abstract

An automatic palletizing method and apparatus, and a storage device. The method comprises: determining first to fourth reference points on the same plane and a fifth reference point on another plane according to a preset rule, and obtaining coordinates of the first to fifth reference points; obtaining a total number of rows, a total number of columns, and a total number of layers of a palletizing array; determining a column direction vector of the palletizing array according to the first reference point and the third reference point; determining a layer direction vector of the palletizing array according to the first reference point and the fifth reference point; determining, according to a column ordinal number of a palletizing point to be calculated, the total number of columns, and the coordinates of the first reference point, the second reference point, the third reference point, and the fourth reference point, a row direction vector corresponding to a column where the palletizing point to be calculated is located; and determining coordinates of the palletizing point to be calculated according to a row ordinal number, the column ordinal number, and a layer ordinal number of the palletizing point to be calculated, the row direction vector, the column direction vector, and the layer direction vector, and the total number of rows, the total number of columns, and the total number of layers of the palletizing array.

IPC Classes  ?

• B65G 57/22 - Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers, each of predetermined arrangement

Abstract

d1q1dfw1dfw2qfw2d1dfw1dfw2q1qfw2qfw2; and obtaining a space vector pulse width modulation output signal for controlling the electric motor. The present invention can reduce the counter electromotive force of the electric motor and improve the rotational speed of the electric motor.

IPC Classes  ?

• H02P 21/00 - Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Abstract

Disclosed is a bending following trajectory planning method, comprising: acquiring processing parameters of a bending machine (303) and an auxiliary supporting apparatus (304) for carrying out bending processing on a sheet, wherein the processing parameters comprise a notch width W of a lower die, a tool edge radius r of an upper die, the thickness S of the sheet, a descent distance d(t) of the upper die at each moment t, and the distance L between a reference point, where the auxiliary supporting apparatus is in contact with the sheet, and a central line of a notch of the lower die at an initial moment of bending; according to the descent distance d(t) of the upper die at each moment t, the tool edge radius r of the upper die, the thickness S of the sheet, and the notch width W of the lower die, iteratively calculating a turn-over angle α(t) of the sheet at each moment t; according to the turn-over angle α(t) and the distance L between the reference point of the auxiliary supporting apparatus and the central line of the notch of the lower die at the initial moment of bending, determining the distance between the reference point of the auxiliary supporting apparatus and the lower die at each moment t; and according to the distance between the reference point of the auxiliary supporting apparatus and the lower die, and the turn-over angle α(t) of the sheet, planning motion of the auxiliary supporting apparatus. Disclosed is a bending processing system, comprising the bending machine (303), the auxiliary supporting apparatus (304), a memory (302) and a processor (301), wherein the processor (301) loads a program instruction, and implements the bending following trajectory planning method. Disclosed is a robot, comprising the memory (302), the processor (301), a communication circuit (403), a driving mechanism (404) and an end execution mechanism (405), wherein motion of the end execution mechanism (405) is planned, and the motion of the end execution mechanism (405) is controlled according to an obtained motion plan. Disclosed is a storage device that stores the program instruction, wherein the program instruction can be loaded, and implements the bending following trajectory planning method. The motion precision of the auxiliary supporting apparatus during a bending process can be improved, thereby improving the production quality of a bending process.

IPC Classes  ?

• B21D 5/06 - Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles

Abstract

Disclosed are an image processing method and system, and an electronic device, a robot, and a storage apparatus. The image processing method comprises: obtaining a plurality of feature points of a line in an image; dividing the line into a plurality of sub-lines; performing arc fitting and arc merging on the plurality of sub-lines, and recording the arc fitting result satisfying arc fitting requirements; performing straight line fitting and straight line merging on the sub-lines subjected to the arc fitting and the arc merging, and recording the straight line fitting result satisfying straight line fitting requirements; and outputting the recorded fitting result corresponding to each sub-line. Therefore, the present application can perform fitting on lines in the image to be recognized with different line types (straight line or arc), so as to improve the fitting accuracy.

IPC Classes  ?

• G06T 7/13 - Edge detection

Abstract

Provided are a film stacking apparatus, film stacking shaping system, and heating assembly. The film stacking apparatus (200) comprises a base (310), a heating assembly (400), and a pressing mechanism (320). The heating assembly (400) is mounted on the base (310); the heating assembly (400) comprises a heating block (410) and a heating element; the heating block (410) is provided with a material heating through-hole (411) and a heat hole (412); the material heating through-hole (411) is used for receiving the insertion of a material; the heat hole (412) is used for receiving the insertion of the heating element; the heating element is used for heating the material inserted into the material heating through-hole (411); the pressing mechanism (320) is arranged opposite to the base (310) and used for unloading material from the heating block (410). By means of arranging the material into the material heating through-hole and heating it, the acceptable rate of material surface film stacking can be improved; further, the material is unloaded from the material heating through-hole by means of the pressing mechanism, improving the efficiency of unloading material after heating.

IPC Classes  ?

• H02K 15/02 - Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies

Abstract

An extrusion shaping assembly, a laminated film shaping system and a laminated film shaping method, the extrusion shaping assembly (500) comprising: a first component (510) and a second component (520) which are elastically connected, wherein a first extrusion structure (511) is provided on the face close to the second component (520) of the first component (510), and a second extrusion structure (521) is provided on the face close to the first component (510) of the second component (520). When the first component (510) and the second component (520) are connected, the first extrusion structure (511) and the second extrusion structure 521) form an accommodating space (540) matching the outer contour of a material so as to be used for extruding the material, so that the outer contour of the material meets a preset requirement. The first component and the second component which have the preset extrusion structures match each other to form the accommodating space to extrude the material, so that the outer contour of the material may meet preset requirements.

IPC Classes  ?

• H02K 15/00 - Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines

Abstract

A film folding apparatus, a film fold shaping system, and a material plate. The film folding apparatus (300) comprises: a base (310), a material plate (200), and a pressing mechanism (320). The material plate (200) is arranged on the base (310), and comprises material loading tubes (210), the material loading tubes (210) being provided with material loading through holes (211), and a cross section of the material loading through holes (211) being matched with the shape of the outline of a material. The pressing mechanism (320) is arranged opposite the material plate (200) in order to be used to press the material into the material through holes (211) such that, in the process of the material entering the material through holes (211), a film on the surface of the material is folded into a preset shape. The efficiency of folding the film on the surface of the material can thus be improved, and the uniformity of creases in the film on the material can also be improved.

IPC Classes  ?

• B65B 49/00 - Devices for folding or bending wrappers around contents
• H02K 3/52 - Fastening salient pole windings or connections thereto
• H02K 15/12 - Impregnating, moulding insulation, heating or drying of windings, stators, rotors or machines

Abstract

An external control method for a robot, comprising: establishing a network connection between a robot and an external control system, a plurality of input variables corresponding to control parameters of the robot being preset in the robot; updating at least one input variable in response to a write request from the external control system; and controlling the working state of the robot according to the updated input variable. The present method is flexible and simple, and is suitable for robot control in different scenarios. Also provided are a robot and an external control system.

IPC Classes  ?

• B25J 9/00 - Programme-controlled manipulators

Abstract

Disclosed is a robot program instruction compiling method, comprising the following steps: parsing an input instruction, generating an input parameter list, matching the parameter list, and generating standard input instructions. Further disclosed is a robot control system, comprising a processor, a memory and other components, used for executing the described robot program instruction compiling method. The method and the system can make user input more flexible and reduce the possibility of compilation failure.

IPC Classes  ?

• B25J 9/00 - Programme-controlled manipulators
• B25J 13/00 - Controls for manipulators

Abstract

A defect detection method and device, the method comprising: determining an area of interest in an image to be detected (11); dividing the area of interest into multiple caliper areas which are independent from one another and which have the same size (12); performing perpendicular edge detection on each caliper area, a perpendicular edge being a line segment that is in a caliper area and that is perpendicular to a preset edge of the caliper area (13); and acquiring defect information of the area of interest on the basis of the perpendicular edge (14). By using the described method, defect detection may be accurately and effectively implemented, thus improving defect detection efficiency.

IPC Classes  ?

• G01N 21/88 - Investigating the presence of flaws, defects or contamination

Abstract

A numerically controlled machining method, a numerically controlled machine tool (100) and a computer storage medium (200). The method comprises: compiling a machining instruction, and obtaining a machining program of the current machining section; determining whether a line segment to be machined in the machining program is a micro linear segment or not; if yes, fitting the micro linear segment into a smooth curve segment; saving the smooth curve segment in the machining program as said line segment; and interpolating according to said line segment to obtain a machining path. By means of the machining method, the computing resources of the numerically controlled machining system are not repeatedly occupied, and the utilization of the system can be improved.

IPC Classes  ?

• G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
• G05B 19/4103 - Digital interpolation

Abstract

Disclosed are an inspection apparatus and an inspection method. The inspection apparatus comprises: an image acquisition unit, used for acquiring the image of an object to be inspected; a rotation unit, used for placing said object and driving same to rotate, so that the image acquisition unit acquires at least two images of a same dent on said object to obtain a complete dent image of the same dent; and a processing unit, used for obtaining the dent image of said object from the image acquisition unit, obtaining, from the rotation unit, a rotation angle corresponding to the dent image, and obtaining dent parameters according to the dent image and the rotation angle, to achieve high-accuracy and high-efficiency dent inspection with low algorithm difficulty.

IPC Classes  ?

• G01N 21/88 - Investigating the presence of flaws, defects or contamination
• G06T 7/64 - Analysis of geometric attributes of convexity or concavity
• G06T 7/62 - Analysis of geometric attributes of area, perimeter, diameter or volume
• G06T 7/174 - SegmentationEdge detection involving the use of two or more images

Abstract

Provided are a robot, and a machine vision light source system (100) and a light source device (10) thereof. The light source device (10) comprises: a main body portion (11), a support frame (12), a light-emitting plate (13), and a circuit mechanism (14). An accommodating cavity (112) is formed in the main body portion (11), and an opening (114) is formed at the accommodating cavity (112). The support frame (12) is rotationally connected to the main body portion (11). The light-emitting plate (13) is at least partially located at the supporting frame (12), and the size of the light-emitting plate can be adjusted along the support frame (12). One portion of the light-emitting plate (13) is connected to the support frame (12), and the other portion of the light-emitting plate (13) is accommodated in the accommodating cavity (112) by means of the opening (114). The circuit mechanism (14) is electrically connected to the portion of the light-emitting plate (13) located at the support frame (12), such that the portion of the light-emitting plate (13) located at the support frame (12) emits light. The support frame (12) rotationally connected to the main body portion (11) is configured, the portion of the light-emitting plate (13) disposed at the support frame (12) is electrically connected to the circuit mechanism (14), and the support frame (12) is stretched, contracted, and rotated, so as to adjust the light-emitting area and the light-emitting angle of the light-emitting plate (13). The adjustment process is simple, the operation is easy, and energy and costs can be saved.

IPC Classes  ?

• G06F 1/16 - Constructional details or arrangements

Abstract

A limiting device (100), a mechanical arm (200) and a robot (300). The limiting device comprises: a rotating shaft output member (110) and a rotating shaft fixing member (120), the rotating output member rotating with the rotating shaft with respect to the rotating shaft fixing member; a limiting member (130), restricted and contained in a blocking area (150) which is provided on the rotating shaft fixing member; a guide member (140), connected to the rotating shaft output member and moving synchronously with the rotating shaft output member; wherein when the guide member moves to the blocking area, the guide member drives the limiting member to move along the blocking area, and when the guide member moves to one end of the blocking area, the limiting member abuts on the edge of the blocking area to prevent continued movement of the guide member. By means of the limiting device, excessive winding and twisting of cables in the mechanical arm caused by factors such as power failure and zero loss can be avoided.

IPC Classes  ?

• B25J 19/06 - Safety devices
• B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms

Abstract

A dynamic parameter identification method for a robot, a robot and a storage device, the method comprising: at a plurality of different rotational speeds, enabling a driving motor to rotate at constant speeds, and acquiring corresponding armature current at each rotational speed; according to the corresponding armature current at each rotational speed, calculating corresponding friction torque at each rotational speed to form a plurality of data pairs of the rotational speeds and the friction torques; and establishing a friction polynomial model according to the data pairs, wherein the friction polynomial model is used to describe the relationship between the rotational speeds of the driving motor and the friction torques. The friction polynomial model may not only be used as a linear model, but also has the ability to express nonlinear characteristics, has better adaptability, and may simplify dynamic parameter identification and calculation for the robot.

IPC Classes  ?

• B25J 9/16 - Programme controls
• G01C 21/18 - Stabilised platforms, e.g. by gyroscope

Abstract

An interference detection method for cutter radius compensation, comprising: acquiring a programming trajectory (505); calculating a cutter-to-side edge trajectory (52) of the programming trajectory; determining whether the cutter-to-side edge trajectory intersects with a comparison programming trajectory (502); if the cutter-to-side edge trajectory intersects with the comparison programming trajectory, determining that the programming trajectory and the comparison programming trajectory will interfere with each other. The present invention further relates to an interference detection apparatus for cutter radius compensation, and further relates to an apparatus that has a storage function. The precision and usefulness of the described interference detection method for cutter radius compensation are improved.

IPC Classes  ?

• G05B 19/404 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia

Abstract

An interference detection method and device for cutter radius compensation, the method comprising: obtaining a programming track (502, 504, 705), determining whether the shortest distance between the inflection point on the programming track and a line segment on which a comparative programming track (501,503,702) is located is greater than or equal to cutter diameter, and determining whether the comparative programming track and a cutter central track are on two sides of the inflection point respectively; if the shortest distance is greater than or equal to the cutter diameter, or the comparative programming track and the cutter central track are on two sides of the inflection point respectively, there is no interference between the programming track and the comparative programming track. An interference detection device for cutter radius compensation, which may implement an interference detection method for cutter radius compensation, the device comprising a processor (901) and a memory (902). A device (100) having storage capabilities, which stores a program (1001), the program implementing the interference detection method for cutter radius compensation when executed. The described mode may improve the accuracy and applicability of the interference detection method for cutter radius compensation.

IPC Classes  ?

• G05B 19/404 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia

Abstract

A circular feature detection method, a processing system, and an apparatus having a storage function. The detection method comprises: receiving an image to be processed, said image comprising a circular feature (S101); extracting a region of interest from said image, and obtaining a first parameter corresponding to the region of interest, the circular feature being located within the region of interest, the region of interest being a circle (S102); using the first parameter to detect the circular feature, to obtain a detection parameter corresponding to the circular feature (S103); using the detection parameter to adjust the first parameter, and returning to the step of using the first parameter to detect the circular feature, recording the obtained detection parameter of each detection, until the distance between first center coordinates and detected center coordinates is less than or equal to a preset threshold (S104); and determining final parameters of the circular feature according to a plurality of recorded detection parameters and a first preset policy, the final parameters comprising the center coordinates and the radius of the circular feature (S105). In the described manner, the detection method improves the accuracy of a detection result.

IPC Classes  ?

• G06T 7/60 - Analysis of geometric attributes
• G06T 7/00 - Image analysis

Abstract

A static compliance test system (100) and method. The static compliance test system (100) comprises: a mounting platform (10); a force applying device (20) which applies a force to a force-receiving end to be tested; a first reversing device (30) which adjusts a first force applying direction; a second reversing device (40) which adjusts a second force applying direction; a third reversing device (50) which adjusts a third force applying direction; and a measurement device (60) which measures the amount of displacement change in the first, second and third force applying directions of the force-receiving end to be tested when subjected to an external force so as to obtain the static compliance of a test object. By means of the manner above, a set of systems are used to complete the test in X/Y/Z positive and negative directions to ensure that the force applying directions of the test system are simultaneously easy to operate and are highly efficient.

IPC Classes  ?

• G01M 5/00 - Investigating the elasticity of structures, e.g. deflection of bridges or aircraft wings

Abstract

The present application discloses a numerical control processing method, system, and a device having storage function.The numerical control processing method of the present application comprises: acquiring the target processing speed, chord error and interpolation cycle corresponding to the current processing section; according to the target processing speed, chord error and interpolation cycle, acquiring the upper limit of the arc transition angle; acquiring the next adjacent processing section of the current processing section, to obtain the angle between the current processing section and the next adjacent processing section; if the angle is less than the upper limit of the arc transition angle, performing arc transition processing between the current processing section and the next adjacent processing section. The present application can obtain the reasonable upper limit of arc transition angle through target processing speed, chord error and interpolation cycle so as to more accurately process the parts, thereby improving the processing efficiency and the surface quality of the parts.

IPC Classes  ?

• G05B 19/4097 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM

Abstract

Disclosed in the present invention are an image acquisition method, device and system. The image acquisition method comprises: acquiring a plurality of structured light images obtained by capturing the same target projected by a structured light source at a plurality of time points, wherein the structured light source projects a plurality of pieces of structured light to the target at each of the time points, and the structured light projected at different time points does not overlap; performing point cloud calculations on the plurality of structured light images separately to correspondingly obtain a plurality of point cloud images; and integrating the plurality of point cloud images to obtain a total point cloud image, wherein the total point cloud image comprises point cloud information of each of the point cloud images. By means of the method above, when obtaining point cloud images of the same point cloud information, the calculation amount of the point cloud calculation may be reduced, and the calculation load may be reduced.

IPC Classes  ?

• G01B 11/25 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. moiré fringes, on the object
• G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness

Abstract

A method for acquiring friction characteristics of a servo system, a control method and system of a servo system, and a storage device. The method for acquiring friction characteristics of a servo system comprises: setting a servo system to be under speed loop control (S101); setting a first test rotation speed, and causing a servo motor in the servo system to operate at the first test rotation speed (S102); collecting a first electromagnetic torque signal, and performing frequency spectrum analysis of an alternating-current component of the first electromagnetic torque signal to extract a cyclically changing harmonic frequency from the alternating-current component (S103); and performing, according to the cyclically changing harmonic frequency, fitting of a torque ripple curve to obtain a relationship between torque ripple and a rotational position of the servo motor (S104). The invention enables acquisition of friction characteristics required for performing compensation control on a servo system, and facilitates compensating an output torque of the servo system, reducing or eliminating the effect of friction in the system on the output of the servo system.

IPC Classes  ?

• H02P 6/10 - Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
• H02P 23/14 - Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
• H02P 21/14 - Estimation or adaptation of machine parameters, e.g. flux, current or voltage
• G01N 19/02 - Measuring coefficient of friction between materials

Abstract

Disclosed are a method for recognizing a mechanical parameter of a servo system, a servo control system, and a storage device. The method comprises: causing an angular acceleration speed of a servo motor to change a number of times; collecting current information, angular speed information and angular position information of the servo motor at different time points; acquiring, according to the angular position information, the angular speed information and the current information of the servo motor, multiple sets of angular position change values, angular speed change values and accumulated torque impulse values for a preset sampling length; performing fitting to obtain a mechanical characteristic plane of the servo motor according to the angular position change values, the angular speed change values and the accumulated torque impulse values; and acquiring a mechanical parameter of a servo system according to the mechanical characteristic plane.

IPC Classes  ?

• H02P 23/14 - Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
• H02P 21/20 - Estimation of torque
• H02P 21/00 - Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Abstract

A motion control method for a robot, a robot motion control system, and a storage device. The motion control method comprises: acquiring planned trajectories and planned postures of first and second planned motions of a robot end effector, where the first planned motion starts from a turn-out point and ends at an intermediate point, and the second planned motion starts from the intermediate point and ends at a turn-in point; and determining a planned posture of a transitional motion of the robot end effector on the basis of the planned posture of the first planned motion, of the planned posture at the intermediate point, and of the planned posture of the second planned motion of the robot end effector, where the transitional motion starts from the turn-out point and ends at the turn-in point. The robot motion control system comprises a processor. The processor can be loaded with program instructions and execute the motion control method for the robot. The storage device stores the program instructions that can be loaded and execute the motion control method for the robot. By using the planned postures of the first planned motion and of the second planned motion of the robot and the planned posture at the intermediate point to determine the planned posture of the transitional motion of the robot end effector, a planned angular speed of the transitional motion of the robot end effector produced can be continuous, a jump in the angular speed of the transitional motion of the robot end effector is prevented, and motion control of the robot is facilitated.

IPC Classes  ?

• B25J 9/16 - Programme controls

Abstract

The present invention provides a method for obtaining a super-resolution image and an apparatus for obtaining a super-resolution image. The method comprises the following steps: controlling an imaging mechanism to move on a set path, and obtaining a plurality of low-resolution images of a target area according to the set frequency; and superposing the plurality of obtained low-resolution images into a super-resolution image according to a preset motion-based transformation function, wherein a function coefficient of the transformation function is predetermined according to a motion parameter of the imaging mechanism. By means of the mode above, complicated calculation and operation costs involved in the confirmation of the moving trajectory by an execution mechanism are effectively reduced. In addition, the present invention does not involve the complicated calculation process in the conventional super-resolution image obtaining process by obtaining a controllable image sequence in a set model, thereby effectively improving the operation efficiency of the execution mechanism.

IPC Classes  ?

• G06T 3/40 - Scaling of whole images or parts thereof, e.g. expanding or contracting
• G06T 5/50 - Image enhancement or restoration using two or more images, e.g. averaging or subtraction

Abstract

A method for controlling motion of a device (500), the device (500), and a storage apparatus. The method comprises: acquiring a planned trajectory of initial motion of a device (500) (S101); receiving a speed change instruction, wherein the speed change instruction comprises a target speed rate (S102); calculating a virtual interpolation interval according to the target speed rate and an actual interpolation interval (S103); and at one or more interpolation points, determining, according to the virtual interpolation interval and the planned trajectory of the initial motion of the device (500), the position to be reached by a next interpolation point during actual motion of the device (500), and performing interpolation (S104). After a speed rate of the device (500) is changed, the planned trajectory of the initial motion of the device (500) can still be used for motion interpolation after the speed change, thereby eliminating the need for re-planning. Therefore, the method conserves the computation capacity of the device (500).

IPC Classes  ?

• G05B 19/41 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path

Abstract

A robot motion control method, a control system and a storage device, the method comprising: acquiring planned trajectories and planned orientations of first and second planned movements of a robot end effector, the first planned movement starting at a turning-out point and ending at an intermediate point, and the second planned movement starting at the intermediate point and ending at a turning-in point (S101); determining the turning-out point to be a first feature point, determining a point between the turning-out point and the intermediate point within the first planned movement to be a second feature point, determining a point between the intermediate point and the turning-in point within the second planned movement to be a third feature point, and determining the turning-in point to be a fourth feature point (S102); and determining a planned orientation of a transition motion of the robot end effector according to the planned orientations of the robot end effector at the first to fourth feature points, the transition motion starting at the turning-out point and ending at the turning-in point (S103).

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions
• B25J 9/16 - Programme controls

Abstract

A driving circuit and a switch power supply. The driving circuit (10) at least comprises a control chip (11), a first driving chip (U1), a second driving chip (U2), a third driving chip (U3), a fourth driving chip (U4), a first resistor (R1), a second resistor (R2), a third resistor (R3), a fourth resistor (R4), a first transformer (14) and a second transformer (15), wherein the first driving chip (U1) is coupled to a first input end of the first transformer (14); the second driving chip (U2) is coupled to a second input end of the first transformer (14); the third driving chip (U3) is coupled to a first input end of the second transformer (15); and the fourth driving chip (U4) is coupled to a second input end of the second transformer (15). By means of isolating the first transformer (14) and the second transformer (15), that is, the driving circuit (10) being coupled to a full-bridge inverter circuit (20) through the first transformer (14) and the second transformer (15), a signal transmission delay time is reduced, and high-frequency signals can be transmitted.

IPC Classes  ?

• H02M 1/00 - Details of apparatus for conversion

Abstract

A robot control system, a heartbeat monitoring method and module (703), and a storage medium (801). The heartbeat monitoring method comprises: receiving a signal (B) to be sampled transmitted by a monitored module (708), and using a sampling signal (A) to sample the signal (B); acquiring a signal value (401, 501, 601) of the signal (B) at a current sampling time point (t1, t2, t3, t4), storing, in a first-stage register (402, 502, 602) of a multi-stage register, a signal value (401, 501, 601) of the signal (B) at a previous sampling time point (t1, t2, t3, t4), using the signal value as a signal value of the first-stage register (402, 502, 602) at the current sampling time point, storing, in an (n+1)th-stage register of the multi-stage register, a signal value of an nth-stage register of the multi-stage register at the previous sampling time point, and using the signal value as a signal value of the (n+1)th-stage register at the current sampling time point; and comparing signal values of each pair of adjacent registers of the multi-stage register at the same sampling time point (t1, t2, t3, t4) within a preset time, and if the signal values of any pair of adjacent registers are different, determining that a heartbeat signal is present in the monitored module (708). The design effectively avoids the issue of a false alarm resulting from failed signal sampling caused by interference from the external environment.

IPC Classes  ?

• G06F 11/28 - Error detectionError correctionMonitoring by checking the correct order of processing

Abstract

A safety control system (20), an automobile and a safety control method. The safety control system (20) comprises: a central processing unit (21) configured to output a first level signal; and a power supply chip (22) connected to the central processing unit (21), having a preset level signal threshold stored therein, and configured to receive the first level signal and outputting a second level signal (FS0B) according to the matching result of the first level signal and the preset level signal threshold. The safety control system (20) outputs a safety control signal according to the logic operation result of the first level signal and the second level signal (FS0B). By this way, the cost of the safety control system (20) can be effectively reduced.

IPC Classes  ?

• B60L 15/00 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performanceAdaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
• G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Abstract

A conversion circuit, an adapter board and a control system. The conversion circuit (10) comprises: a forward circuit (11), an input end of the forward circuit (11) being used for receiving a first signal; a reverse circuit (12), an input end of the reverse circuit (12) being used for receiving a second signal; an isolation circuit (13), which is coupled with the forward circuit (11) and the reverse circuit (12) and which is used for converting the first signal or the second signal into a third signal, wherein an output end of the isolation circuit (13) is coupled with the control system (20), and the control system (20) receives the third signal from the isolation circuit (13). By means of the manner above, there is no need to additionally weld electronic components, which facilitates on-site maintenance and debugging.

IPC Classes  ?

• H03K 19/0175 - Coupling arrangementsInterface arrangements

Abstract

A product air tightness detection device (100) and a detection method therefor, the product air tightness detection device (100) comprising: a closed container (10), a pressure generation device (20) and a pressure detection device (30). A sealed cavity (12) is formed in the closed container (10) and is used for accommodating a product (A) to undergo detection; the pressure generation device (20) is connected to the sealed cavity (12) and is used for moving relative to the sealed container (10) so as to change the sealed volume of the sealed cavity (12); the pressure detection device (30) is arranged in the sealed cavity (12) and is used for detecting a pressure value in the sealed cavity (12). The present product air tightness detection device (100) determines the air tightness of the product (A) to undergo detection by measuring the pressure value difference between a standard sample (A') and the product (A) to undergo detection under the same conditions in the sealed cavity (12). The device (100) has a simple structure,employs a novel test method, and may be integrated into an automated production line to carry out automated detection, so that testing efficiency may be effectively improved.

IPC Classes  ?

• G01M 3/32 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for containers, e.g. radiators
• G01M 3/00 - Investigating fluid tightness of structures

Abstract

An adjustable tool, comprising a support device (100), and a positioning baffle (200) and a clamp assembly (300) provided on the support device. The positioning baffle is provided with a sliding space. The clamp assembly forms, together with the positioning baffle, a clamp space for clamping a workpiece, and can be slidably fixed in the sliding space to slidably adjust the size of the clamp space. By slidably providing the clamp assembly in the sliding space on the positioning baffle, the clamp space formed by the clamp assembly and the positioning baffle can be quickly adjusted.

IPC Classes  ?

• G01R 1/04 - HousingsSupporting membersArrangements of terminals
• B25B 11/00 - Work holders or positioners not covered by groups , e.g. magnetic work holders, vacuum work holders

Abstract

A robot fault diagnosis method and system, and a storage device, which relate to the field of robots. The method comprises: obtaining reference audio information when a robot is fault-free (S101); making the robot operate, and recording actual audio information of the robot when operating (S102); comparing the actual audio information with the reference audio information, and determining fault conditions of the robot according to the comparison result (S103). By means of directly recording actual audio information of a robot when operating and comparing same with audio information when the robot is fault-free, fault conditions of the robot may be conveniently determined without dismantling the robot, which helps to shorten test and maintenance time and improve maintenance efficiency.

IPC Classes  ?

• F24F 11/89 - Arrangement or mounting of control or safety devices

Abstract

An automatic welding workstation (100) comprises: a resonator loading working position (10) at which a resonator (1) requiring welding is stored; a tapped-line loading working position (20) at which a tapped-line (3) requiring welding is stored; a pick-up device (30) used to respectively pick up the resonator (1) and the tapped-line (3) from the resonator loading working position (10) and tapped-line loading working position (20); a predetermined installation working position (40) at which the resonator (1) and the tapped-line (3) conveyed by the pick-up device (30) are held and relative positions of the resonator (1) and the tapped-line (3) are adjusted so as to insert the tapped-line (3) into an installation hole (2) of the resonator (1); and a welding device (50) used to weld the tapped-line (3) inserted into the installation hole (2) and the resonator (1) to form an integral unit.

IPC Classes  ?

• B23K 3/00 - Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
• B23K 37/00 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
• H01P 11/00 - Apparatus or processes specially adapted for manufacturing waveguides or resonators, lines, or other devices of the waveguide type
• B25J 9/16 - Programme controls

Abstract

The present invention discloses a method for controlling a robot. The method comprises: receiving a request command from a user or a robot; judging whether the authority of the user or the robot matches with the request command; when the authority of the user or the robot matches with the request command, obtaining sample data corresponding to the request command, with the sample data coming from preset resources of different robots; processing the sample data to obtain recommended data; and generating, on the basis of the recommended data, a control command to be sent to the target robot. According to the method, more accurate data are recommended to the robot. The present application further discloses a server. The server comprises a processor, a memory and a communication interface, with the processor being connected with the memory and the communication interface. The present application further provides a storage medium and a cloud service platform.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer

Abstract

Disclosed are a feeding system (200) for a stepped shaft part, and a material supply device (100) for the feeding system. The material supply device (100) comprises a guide rail (110) and a vibration means (130), wherein the guide rail (110) is provided with a conveying trough (120) extending in the direction of extension of the guide rail (110), and the conveying trough (120) is used for accommodating at least a portion of a part (270) to be machined; and the vibration means (130) is connected to the guide rail (110) and drives the guide rail (110) to vibrate, so as to enable the part (270) to be machined to move along the conveying trough (120).

IPC Classes  ?

• B65G 47/14 - Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
• B65G 27/00 - Jigging conveyors

Abstract

A soldering device, comprising: a soldering station (10); a master grabbing robot (20) with one end connected to a master end effector (40), the master end effector (40) being used to grab an inductance coil, and the master grabbing robot (20) driving the master end effector (40) to convey the inductance coil to the soldering station (10); a slave soldering robot (30) with one end connected to a slave end effector (50), the slave end effector (50) being used to solder the inductance coil, and the slave soldering robot (30) driving the slave end effector (50) to move; and a controller (60) coupled to the master grabbing robot (20) and the slave soldering robot (30).

IPC Classes  ?

• B23K 3/00 - Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
• B23K 37/00 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
• B25J 9/16 - Programme controls

Abstract

A robot (1000) and an end effector (100) thereof. The end effector (100) is used to automatically assemble a part (300) for an assembly main body (200), and comprises a part grasping device (10) and a locking device (20), wherein the part grasping device (10) is used for grasping the part (300) and placing the part (300) in an assembly position. The locking device (20) is connected to the part grasping device (10), and is used to assemble the part (300) to the assembly main body (200). The part grasping device (10) is used to grasp the part (300) and place same in the assembly position, and the part (300) is assembled to the assembly main body (200) by means of the locking device (20) connected to the part grasping device (10), thereby achieving the automatic assembly and fixing of the part (300).

IPC Classes  ?

• B23P 19/06 - Screw or nut setting or loosening machines

Abstract

Provided is a positioning device for a circuit board. The positioning device comprises a bracket assembly (10), at least two positioning mechanisms (20), and a support mechanism (30); the at least two positioning mechanisms and the support mechanism are provided on the bracket assembly, separately; at least one of the positioning mechanisms comprises two positioning pins (210), and the two positioning pins are configured to be inserted into positioning holes (410) of the circuit board (40) and are opened to each other so as to position the circuit board; the support mechanism is configured to support the circuit board. The two positioning pins are inserted into the positioning holes of the circuit board and are opened to each other so as to position the circuit board, thus being able to adapt to positioning holes of different apertures, and moreover, the support mechanism contacts a relatively flat position on the circuit board to assist in supporting the circuit board, so that a PCB board is ensured not to be vertically inclined in the process of positioning the PCB board, and precise positioning of the circuit board is realized; the device is simple and novel in structure and convenient to manufacture, and facilitates realizing automatic positioning of the circuit board.

IPC Classes  ?

• H05K 3/34 - Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits by soldering
• G01R 31/28 - Testing of electronic circuits, e.g. by signal tracer

Abstract

Disclosed are a camera calibration apparatus, system and method, and an apparatus with a storage function. The camera calibration apparatus comprises a camera, a substrate located within a photography range of the camera, and a processor coupled to the camera, wherein the substrate is provided with an identification layer, and the identification layer at least comprises a reference point. The coordinates of a reference point in an image coordinate system are acquired by means of using a camera to photograph the reference point within a photography range of the camera, and the coordinates of the camera in a world coordinate system are acquired according to the coordinates of the reference point in the image coordinate system and the coordinates of same in the world coordinate system, such that a positional relationship between cameras can be rapidly acquired at each frame, so as to improve the precision of photography.

IPC Classes  ?

• H04N 13/327 - Calibration thereof

Abstract

Provided are an automatic welding spot cleaning device (100) and a robot (400), the cleaning device comprises a fixing piece (11), a cleaning piece (13), a connecting piece (12) and a driving piece (31), the connecting piece and the fixing piece are assembled in a rotating mode, and a first end (121) of the connecting piece is fixedly connected with the cleaning piece; the driving piece is used for driving the connecting piece to rotate so as to drive the cleaning piece to rotate; wherein, a first liquid channel (123) is provided inside the connecting piece, the first liquid channel is communicated with the cleaning piece, such that cleaning liquid infiltrates the cleaning piece through the first liquid channel. By means of the above mode, at the same time welding spots are being cleaned, the cleaning liquid can continuously flow to the cleaning piece through the first liquid channel, thereby making it unnecessary to repeatedly dip the brush in the cleaning liquid, as done in existing cleaning procedures, and effectively improving work efficiency and effectively ensuring cleaning quality.

IPC Classes  ?

• B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members

Abstract

A transport device and a transport machine tool. The transport device (10) comprises: a rack (100); at least two rotating rollers (200) which are mounted on the rack (100) for transporting a workpiece; and a blocking device (220) which is mounted on the rack (100), and is retractably provided in a gap between adjacent rotating rollers (200). By providing a retractable blocking device (220) between adjacent rollers (200), the present invention can effectively and automatically block a workpiece to stop same, without frequently starting and stopping a motor, thereby prolonging the service life of the motor.

IPC Classes  ?

• B65G 47/28 - Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
• B65G 47/26 - Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles

Abstract

Disclosed are an image sensor, a method for acquiring an image, a visual system, and a storage medium, wherein the image sensor comprises a plurality of linear sensors, each linear sensor comprises a plurality of sensor elements linearly arranged on one straight line, and a preset interval is provided between adjacent linear sensors. In the present application, a plurality of linear sensors are used, and the data interval between each linear sensor is staggered by a certain period. The use of staggering between signals improved the resolution of an image, and an image within a high dynamic range can also be obtained. According to the present application, the resolution of the acquired image can be improved effectively, thereby improving the user experience.

IPC Classes  ?

• H04N 5/235 - Circuitry for compensating for variation in the brightness of the object
• H04N 9/04 - Picture signal generators

Abstract

A stacking fixture (100) and a robot. The stacking fixture (100) comprises a support device (10), a first gripper (51), a second gripper (52), and a driving device. The first gripper (51) and the second gripper (52) are connected to the support device (10). The driving device is used to drive the first gripper (51) to reciprocate on a first linear track, such that the first gripper (51) and the second gripper (52) grip and release a material. The driving device is also used to drive the second gripper (52) to reciprocate on a second linear track, such that a distance between the first gripper (51) and the second gripper (52) is adjusted according to changes in the dimensions of a material. The first linear track and the second linear track are parallel to a plane on which the support device (10) is located. In the invention, the stacking fixture does not need to be changed when the dimensions of a material change, and only the distance between the first gripper (51) and the second gripper (52) needs to be adjusted according to the changing dimensions of the material, thereby reducing time required to change a stacking fixture, and effectively improving productivity.

IPC Classes  ?

• B25J 15/08 - Gripping heads having finger members

Abstract

Disclosed in the present application are an image edge detection method and device, and a computer storage medium. The method comprises: acquiring an adjacent area difference degree of each pixel point in a first detection area of an image, and extracting first edge points on the basis of the adjacent area difference degrees; determining a second detection area according to the first edge points, wherein the second detection area is smaller than the first detection area; performing an enlargement process on the adjacent area difference degree of each pixel point in the second detection area and extracting second edge points on the basis of the adjacent area difference degrees that have undergone the enlargement process; and determining edges of the image according to the first edge points and the second edge points. The method of the present application can accurately detect weak edges in an image.

IPC Classes  ?

• G06T 7/00 - Image analysis

Abstract

A calibration method, comprising: obtaining a first position parameter of a calibration apparatus in a first target coordinate system; obtaining a second position parameter of the calibration apparatus in a second target coordinate system; establishing a constraint relationship between the first position parameter and the second position parameter; completing calibration of a first target and a second target according to the constraint relationship. A calibration apparatus.

IPC Classes  ?

• B25J 13/00 - Controls for manipulators
• G01B 21/00 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

Abstract

The embodiment of the present invention relates to the field of acquiring a contour of an object. Disclosed are a method of acquiring a contour of an object, an image processing method and a computer storage medium. The method comprises: acquiring images of an object at different lighting angles to obtain a plurality of images of the object; using a positional relationship among contours and shadows of the object in the plurality of images of the object to calculate depth information of the contour of the object. The embodiment of the present invention can acquire a contour of an object with high precision quickly.

IPC Classes  ?

• G06T 7/00 - Image analysis

Abstract

Disclosed in the present application is an image processing method, the method comprising: generating an analysis window applied to an image; calculating a difference between a pixel value at a central pixel point and a pixel value at another pixel point of pixel points covered by a current position of the analysis window on the image; and resetting a pixel value of the central pixel point according to the maximum difference in the differences. The method of the present application resets a pixel value of an image to highlight the difference between a central pixel point and adjacent pixel points.

IPC Classes  ?

• G06T 7/13 - Edge detection
• G06T 7/00 - Image analysis
• G06T 5/00 - Image enhancement or restoration

Abstract

Disclosed is an apparatus (100) for a part insertion operation. The apparatus comprises a support device (10), a feeding device (20), a conveying device (40) and a rotating device (30), wherein the feeding device (20) is used for conveying a part (200) to a first preset position; the conveying device (40) is arranged on the support device (10), and the conveying device (40) is used for conveying the part (200) at the first preset position and inserting the part (200) into a second preset position of a workpiece (300); and the rotating device (30) is disposed in the support device (10) and is used for driving the workpiece (300) to rotate so as to cooperate with the conveying device (40) to insert the part (200) into the second preset position. By means of the method, the rotating device (30) in the apparatus (100) drives the workpiece (300) to rotate intermittently so that a fixing hole, for insertion of the workpiece (300), after rotation is located at the same position for insertion, and the part (200) can be inserted simply by conveying same to the position for insertion. In this way, there is no need to change a fixture, the apparatus is simple in structure, is easy in operation, and the efficiency of operation can be effectively improved.

IPC Classes  ?

• B23P 19/00 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes
• B23P 19/02 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same

Abstract

A method for acquiring the remaining driving mileage of a vehicle, an electronic device, and the vehicle. The method for acquiring the remaining driving mileage of the vehicle comprises: acquiring the current location and the current remaining energy of the vehicle (101); acquiring past driving data of a user (102); determining the remaining driving mileage of the vehicle on the basis of the past driving data of the user, of the current location of the vehicle, and of the current remaining energy thereof (103). By acquiring the current location and the current remaining energy of the vehicle and combining the past driving data of the user, the remaining driving mileage of the vehicle is determined, thus allowing a smarter and more accurate estimation of the remaining driving mileage of the vehicle, and enhancing user experience.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• B60L 11/00 - Electric propulsion with power supplied within the vehicle (B60L 8/00, B60L 13/00 take precedence;arrangements or mounting of prime-movers consisting of electric motors and internal combustion engines for mutual or common propulsion B60K 6/20)

Abstract

A robot (10), comprising a robot body (11) and a clipping device (12). The clipping device (12) is mounted in the robot body (11); the clipping device (12) comprises a drive mechanism (121) and at least two clipping mechanisms (122); the drive mechanism (121) comprises a drive member (1211) and at least two first connection members (1212); at least one first connection member (1212) is provided with an accommodation space (12121); at least one clipping mechanism (122) is movably provided in the accommodation space (12121) so that the at least one clipping mechanism (122) can move with respect to the at least one first connection member (1212); the at least two clipping mechanisms (122) respectively pass through at least two clipping openings (1011) on a circuit board for clipping the circuit board (11). According to the solution, the interference between the clipping mechanism and a component on the circuit board can be avoided so as to efficiently clip the circuit board, and the interval between the clipping mechanisms can be adjusted for clipping circuit boards of different specifications so as to improve the commonality of the robot.

IPC Classes  ?

• B25J 9/00 - Programme-controlled manipulators
• B25J 15/00 - Gripping heads

Abstract

Provided are a distance measurement method and apparatus, the method comprising: acquiring a first group of intersection points of first sight lines in a first group of sight lines of a first camera and a group of projection light rays (S101); acquiring a second group of intersection points of a second group of sight lines of a second camera and the group of projection light rays (S102); matching the first group of intersection points with the second group of intersection points (S103) so as to obtain first coordinates of a measured object; and correlating a matching result of the first group of intersection points and the second group of intersection points, and acquiring a matching result of a third group of intersection points of the other sight lines in the first group of sight lines and the group of projection light rays with the second group of intersection points (S104) so as to obtain overall coordinates of the measured object. The method can greatly reduce the amount of calculation during a matching process of images photographed by two cameras, thereby reducing matching time and improving measurement efficiency.

IPC Classes  ?

• G01C 3/00 - Measuring distances in line of sightOptical rangefinders
• G01C 11/30 - Interpretation of pictures by triangulation

Abstract

A gap detection method and system for a visual welding system. The method comprises: determining an arrangement relationship of two metal parts (M, N) in an area to be welded by means of visual inspection; if the two metal parts (M, N) are arranged crosswise, projecting a crosshair laser pattern onto the two metal parts (M, N); and determining gap information between the two metal parts (M, N) by means of structured light inspection according to the crosshair laser pattern. The method can implement the gap detection of a welding area, and achieves the function of a 3D visual inspection system by using a 2D visual system, thereby improving the technology and reducing costs.

IPC Classes  ?

• B23K 9/127 - Means for tracking lines during arc welding or cutting
• G01B 11/00 - Measuring arrangements characterised by the use of optical techniques

Abstract

A seam inspection method of a vision-based welding system, and a system. The method comprises: determining an arrangement relationship between two metal parts (M1, N1) of a region to be welded by means of visual inspection; when the two metal parts (M1, N1) are coplanar in space, projecting surface laser to the two metal parts (M1, N1); and determining seam information between the two metal parts (M1, N1) according to a projection result of the surface laser. By means of the method, seam inspection for a region to be welded can be achieved, and functions of a 3D visual inspection system are achieved by using a 2D visual system, thereby improving the technology and saving the costs.

IPC Classes  ?

• B23K 9/127 - Means for tracking lines during arc welding or cutting

Abstract

Disclosed by the present application are a method and system for detecting a gap of a visual welding system, the method comprising: determining the arrangement relationship between two metal parts in an area to be welded by means of visual detection; when the two metal parts are arranged on different surfaces in space, projecting a dot-shaped laser pattern on the two metal parts; and determining gap information between the two metal parts using a structured light detection mode according to the dot-shaped laser pattern. By means of the described method, the present application may detect a gap in a welding area and achieves the function of a 3D visual detection system by using a 2D visual system, which improves the technology and saves costs.

IPC Classes  ?

• G01B 11/14 - Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures

Abstract

An image matching method and a visual system. The image matching method comprises: extracting an outline of a workpiece to be processed in a template image, and generating matching reference lines according to the outline of the workpiece to be processed, wherein the intersections among the matching reference lines are feature points used for position locking before matching (101); acquiring an outline of a target workpiece in a target image, and extracting angular points of the outline of the target workpiece as angular points for matching (102); moving the matching reference lines to the angular points for matching and starting matching the target workpiece so as to obtain a matching result, the feature points overlapping the positions of the angular points for matching (103). The method can realize quick image matching to increase matching speed and save matching time.

IPC Classes  ?

• G06K 9/62 - Methods or arrangements for recognition using electronic means

Abstract

Disclosed by the present invention are an image processing and matching method and device and a storage medium, the image processing method comprising: extracting an edge from a first image and obtaining pixel data of both sides of the extracted edge; determining the range of a reference pixel region according to the degree of difference between the pixel data of the both sides of the edge, wherein the reference pixel region is formed by the edge or is formed by the edge and pixels on both sides thereof; and reducing the resolution of the areas in the first image other than the reference pixel region, and retaining pixel information of the reference pixel region at a corresponding edge position of the processed image, thereby obtaining a second image. By means of the present method, original pixel information at the edge of an image is effectively retained when the resolution of the image is reduced, thereby preventing the edge of the image from becoming blurred when the resolution is reduced.

IPC Classes  ?

• G06T 3/40 - Scaling of whole images or parts thereof, e.g. expanding or contracting

Abstract

A signal detection circuit and an in-vehicle computer. The in-vehicle computer includes: a connector (J1), receiving a first signal or a second signal through an input pin (11) and outputting the first signal or the second signal through an output pin (12); a processor (10), including a first input/output pin (1) and a second input/output pin (2); a first detection circuit (20), wherein an input terminal thereof is connected to the output pin (12) and receives the first signal or the second signal, and an output terminal thereof is connected to the first input/output pin (1) and outputs a first detection result to the processor (10); and a second detection circuit (30), wherein an input terminal thereof is connected to the output pin (12) and receives the first signal or the second signal, and an output terminal thereof is connected to the second input/output pin (2) of the processor (10) and outputs a second detection result to the processor (10). The processor (10) determines whether the first signal or the second signal has been received based on the first detection result and the second detection result, such that the circuit is simplified and the number of pins is reduced, thereby saving development time and cost.

IPC Classes  ?

• G01R 29/00 - Arrangements for measuring or indicating electric quantities not covered by groups

Abstract

Provided are a performance testing system (10) and method for a multi-axis driver (90), and a multi-axis driver (90) for testing, wherein the performance testing system (10) comprises: a plurality of to-be-driven devices (111), each of which corresponds to a driving end (91) of the multi-axis driver (90) respectively; a plurality of loads (121), each of which is connected with one of the to-be-driven devices (111); a testing device (13), which is connected with the plurality of loads (121), and is used to drive the loads (121); a testing terminal (14), which is connected with the testing device (13) and the multi-axis driver (90), to obtain working data of the loads (121) and of the to-be-driven devices (111), and calculates the performance of the multi-axis driver (90) according to the working data of the loads (121) and of the to-be-driven devices (111). By setting up a number of to-be-driven devices (111) and the loads (121) corresponding to the plurality of driving ends (91) of the multi-axis driver (90), the plurality of driving ends (91) of the multi-axis driver (90) are directly tested at the same time, without needing a robot body, and achieving the simultaneous testing of each driving end (91) of the multi-axis driver (90) directly, quickly, easily and efficiently.

IPC Classes  ?

• G01R 31/34 - Testing dynamo-electric machines

Abstract

An acquisition method and an acquisition device for a super-resolution image, and an image sensor. The acquisition device is used for acquiring a super-resolution image of a photographed area, the photographed area comprising multiple subareas. The acquisition device comprises: the image sensor and an image processor, where the image sensor comprises multiple first image capturing units and multiple second image capturing units, and the first image capturing units are provided adjacent to the second image capturing units; the first image capturing units are used for capturing first images of the subareas, the second image capturing units are used for capturing second images of adjacent subareas, the resolution of the second images is greater than the resolution of the first images; and the image processor corrects the first images on the basis of the second images and of a preset table, and produces a super-resolution image of the photographed area on the basis of multiple corrected first images. By such means, the efficiency of acquiring a super-resolution image is increased.

IPC Classes  ?

• H04N 5/217 - Circuitry for suppressing or minimising disturbance, e.g. moire or halo in picture signal generation

Abstract

Disclosed is a glue applying robot (100), comprising: a vision assembly (10) for acquiring an image comprising an object to be glued (101); a control assembly (20) connected to the vision assembly (10) and used for processing the acquired image and generating control information; and a glue applying assembly (30) connected to the control assembly (20), and used for receiving the control information sent by the control assembly (20), and applying glue on the object to be glued (101) according to the control information. Further disclosed is a glue applying method which can improve the glue application efficiency and is suitable for dynamically tracked glue application of a production line.

IPC Classes  ?

• B05C 5/02 - Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work from an outlet device in contact, or almost in contact, with the work
• B25J 9/00 - Programme-controlled manipulators

Abstract

A one-dimensional code recognition method, a one-dimensional code recognition terminal, a one-dimensional code recognition device, and a device having a storage function. The method comprises: acquiring the total number of bars and spaces in a one-dimensional code (102); determining whether the total number of bars and spaces is greater than a preset value (103); and if the total number of bars and spaces is greater than the preset value: selecting the bars and spaces of the one-dimensional code according to a preset method so as to reduce the total number of bars and spaces of the one-dimensional code, wherein the selected bars and spaces are used to decode the one-dimensional code (104). In this way, the method can optimize the selection of bars and spaces of a one-dimensional code, exclude bars and spaces with a lower similarity to reduce the amount of input needed to decode the one-dimensional code, and improve the accuracy and speed of one-dimensional code recognition, thereby realizing high-efficient decoding of different one-dimensional codes.

IPC Classes  ?

• G06K 7/10 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation

Abstract

A switching power supply for an electric vehicle and a vehicle-mounted air conditioner compressor, the switching power supply comprising: a primary side (11) that is electrically connected to a vehicle-mounted power supply (10) and that acquires an input voltage from the vehicle-mounted power supply; a secondary side (12) that is used for controlling the operation of a vehicle-mounted air conditioner compressor, the secondary side comprising a first output end (121), a second output end (122), and a third output end (123); a feedback control circuit (13), the feedback control circuit being used for acquiring a voltage sampling signal from any one output end and regulating the output voltage of the first output end, the second output end, and the third output end according to the voltage sampling signal. The number of output ends and output voltages of the secondary side corresponds to the control requirements of the vehicle-mounted air conditioner compressor and meets requirements for particular situations; the feedback control circuit is connected to the output ends of the secondary side so as to monitor and regulate the output voltages of the secondary side, thus improving the operating stability of the vehicle-mounted air conditioner compressor.

IPC Classes  ?

• H02M 3/335 - Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only

Abstract

A compressor driver (101, 803) a connector (102) thereof, and an automobile (801); the connector (102) is used to connect power supply binding posts (104) and a circuit board (103) of the compressor driver (101, 803), the connector (102) at least comprises three plug connectors (105), and the plug connectors (105) comprise: first connectors (201), lead-in ends (203) of the first connectors (201) being provided with openings (204), and the power supply binding posts (104) being inserted into the openings (204); second connectors (202), lead-in ends (205) of the second connectors (202) being connected to lead-out ends (206) of the first connectors (201), lead-out ends (207) of the second connectors (202) comprising a first conductor (208) and a second conductor (209), the first conductor (208) being connected to the lead-in ends (205) of the second connectors (202), two ends of the second conductor (209) being connected to the first conductor (208) and the circuit board (103) respectively, and the central line (A) of the second conductor (209) being located on the same straight line as the central line (B) of the openings (204). By means of such a manner, the compactness of the overall structure and the convenience of disassembly may be improved.

IPC Classes  ?

• F04B 35/04 - Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for the means being electric
• H01R 12/72 - Coupling devices for rigid printing circuits or like structures coupling with the edge of the rigid printed circuits or like structures
• H02K 5/22 - Auxiliary parts of casings not covered by groups , e.g. shaped to form connection boxes or terminal boxes

Abstract

Disclosed in the present application is a simulation device for a plucked string instrument, comprising: a touch display screen, for generating a first electrical signal when being touched; a conversion module, connected to the touch display screen, for converting the first electrical signal generated by the touch display screen into a sound signal; a sound generation apparatus, connected to the conversion module, for receiving the sound signal and generating the sound of a plucked string instrument corresponding to the sound signal. By simulating the display of a playing component of a plucked string instrument by means of a touch display screen and converting an electrical signal generated by the touch of a user into a sound signal, the simulation device for a plucked string instrument provided in the present application enables the user to practice an instrument without requiring a real instrument. The device has a low manufacturing cost, the volume is adjustable because the sound signal is converted from an electrical signal, and thus the user can practice an instrument anytime.

IPC Classes  ?

• G10H 7/00 - Instruments in which the tones are synthesised from a data store, e.g. computer organs
• G10H 1/00 - Details of electrophonic musical instruments

Abstract

An automatic welding device, a clamping robot, and an automatic welding method. The automatic welding device comprises: a material stacking mold (12) used for placing materials to be welded that comprise transverse steel bars and longitudinal steel bars arranged crosswise, wherein the transverse steel bars and the longitudinal steel bars form a steel bar mesh (10); a clamping robot (13) used for determining whether gaps exist between the transverse reinforcing bars and the longitudinal reinforcing bars, and clamping the transverse reinforcing bar and the longitudinal reinforcing bar having a gap therebetween so that the two are in close contact with each other; and a welding robot ( 14) used for welding the transverse reinforcing bars and the longitudinal reinforcing bars that are in close contact with each other.

IPC Classes  ?

• B23K 31/02 - Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups relating to soldering or welding
• B23K 37/04 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work

Abstract

Disclosed are a method for acquiring frequency characteristics of a servo system, and an electronic apparatus and a storage apparatus. The method comprises: within at least one specified frequency range, successively providing sinusoidal excitation signals of different frequencies to a servo system so as to carry out stepwise scanning on an output signal of the servo system; in each step of the stepwise scanning, carrying out synchronous integer-period sampling on the output signal of the servo system to acquire amplitudes and phases of the output signal of the servo system at different frequency points; and according to the amplitudes and phases of the output signal of the servo system at different frequency points and the sinusoidal excitation signals, obtaining, by means of calculation, frequency characteristics of the servo system. By means of providing sinusoidal excitation signals of different frequencies to a servo system and carrying out synchronous integer-period sampling on the output of the servo system, frequency leakage and non-linear modal features of a system during spectral analysis can be improved or eliminated, thereby improving the calculation accuracy. Therefore, the present invention can improve the accuracy of an acquired frequency characteristic curve of the servo system and facilitates accurate control over the servo system.

IPC Classes  ?

• G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators

Abstract

A calibration piece (100), a calibration assembly, and a calibration system for an automatic welding apparatus, the calibration part (100) comprising a fixing portion (110), a main body portion (120), and a calibration portion (130); a surface of the fixing portion (110) is provided with a fixing structure (111), the main body portion (120) extends along an end of the fixing portion (110), and the calibration portion (130) extends along an end of the main body portion (120) that is far from the fixing portion (110), wherein the calibration portion (130) comprises a tip (131), and the calibration piece (100) performs location calibration by means of the tip (131).

IPC Classes  ?

• B23K 37/00 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
• B23K 37/04 - Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work

Abstract

A hand-eye calibration method. The method comprises the following steps: determining a reference object coordinate system, a robot rotation axis coordinate system origin, and a camera coordinate system origin; acquiring multiple first views of a reference object in a first direction by a camera, the first direction being a direction parallel to a line connecting the robot rotation axis coordinate system origin to the camera coordinate system origin; acquiring multiple second views of the reference object in a second direction by the camera, the second direction being a direction non-parallel to the line connecting the robot rotation axis coordinate system origin to the camera coordinate system origin; and obtaining a result of hand-eye calibration on the basis of the first views, the second views, and motion information of the camera.

IPC Classes  ?

• B25J 9/16 - Programme controls
• G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

The present application provides a calibration board, an internal parameter calibration method, a machine vision system, and a storage device. One surface of the calibration board forms an array pattern and a feature pattern located in the array pattern, wherein the feature pattern is used for indicating a geometric parameter of the array pattern. By means of the mode above, the calibration board provided by the present application can reduce manual interventions in a calibration process.

IPC Classes  ?

• G06T 7/00 - Image analysis

Abstract

A gripping tool (20) and a robot, the gripping tool (20) comprising a fixed mechanism (30), a first actuating mechanism (40) and a second actuating mechanism (50). The first actuating mechanism (40) moves to a first preset position and, under the driving of a mechanical arm (10), drives a portion of a lens frame to detach from a mold to a second preset position; the second actuating mechanism (50) moves to a third preset position and, under the driving of the mechanical arm (10), drives the lens frame to completely detach from the mold.

IPC Classes  ?

• B25J 15/00 - Gripping heads
• B29C 49/14 - Clamps
• B25J 18/02 - Arms extensible

Abstract

Disclosed are a method and system for optimizing a kinematic model of a robot, and a storage device. The method comprises: acquiring an image of a distal component of a robot via a camera device; extracting feature points of the distal component on the basis of the image; performing a three-dimensional reconstruction of the feature points to obtain the coordinates of the feature points in an image coordinate system, and obtaining the coordinates of the feature points in a world coordinate system on the basis of a conversion relation between the image coordinate system and the world coordinate system; obtaining the actual posture of the distal component of the robot on the basis of the coordinates of the features points in the world coordinate system; and optimizing a kinetic kinematic model of the robot on the basis of the actual posture of the distal component. By using the camera to acquire the image of the distal component of the robot and by performing the three-dimensional reconstruction of the feature points in the image, the actual posture of the distal component can be obtained conveniently, and the actual posture is utilized to optimize the kinematic model of the robot and to revise a kinematic parameter in the model.

IPC Classes  ?

• G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form

Abstract

The present application discloses a robot motion control method, a robot, and a robot motion control system. Said method comprises: acquiring initial parameters of a tool coordinate system of a robot with respect to a second reference coordinate system when a coordinate system referred to by the robot is changed from a first reference coordinate system to the second reference coordinate system; according to the initial parameters and target parameters of the changed tool coordinate system of the robot with respect to the second reference coordinate system, planning a displacement trajectory of the tool coordinate system with respect to the second reference coordinate system; and controlling the tool coordinate system of the robot to move along the displacement trajectory. By means of the method above, the present application is able to avoid a sudden change in the velocity when the coordinate system referred to by the robot is changed, thereby avoiding damage to the robot.

IPC Classes  ?

• G05D 1/02 - Control of position or course in two dimensions

Abstract

Provided is a workpiece tracking method, comprising: calibrating a conveyor base coordinate system to obtain a first homogeneous matrix of the conveyor base coordinate system relative to a world coordinate system at an initial moment; calibrating a workpiece coordinate system to obtain a second homogeneous matrix of the workpiece base coordinate system relative to the conveyor base coordinate system at an initial moment; obtaining an advancing speed of the conveyor; calculating a real-time homogeneous matrix of the workpiece coordinate system relative to the world coordinate system by taking the first homogeneous matrix, the second homogeneous matrix and the advancing speed as parameters of the initial moment. The method can reduce the complexity and cost of the workpiece tracking method. Further disclosed are a workpiece tracking system and a robot.

IPC Classes  ?

• G01B 21/00 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

Abstract

mmmmm TCP-based position coordinates to obtain a transformation parameter of the m-axis coordinate system of the positioner with respect to the world coordinate system wmm; and using wmm to calculate the m-axis coordinate system of the positioner. In this way, the present application can obtain the position of the m-axis coordinate system of the positioner with respect to the world coordinate system, thereby calibrating the axis coordinate system of the positioner.

IPC Classes  ?

• G05B 19/401 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes

Abstract

Disclosed in the present application are a processing device and a processing base thereof, the processing base comprising a rotation platform, a rotating assembly and a support assembly. The rotation platform is used for supporting a workpiece to be processed; the rotating assembly is rotatably connected to the rotation platform, and the rotation platform rotates around the rotating assembly as a rotation center; and the support assembly is provided at the side of the rotating assembly, and the support assembly is used for supporting the rotation platform and supporting the rotation platform to rotate at the top of the support assembly. By means of the above solution, a processing assembly is able to process any region of the surface of the workpiece to be processed, so that the problems of low processing efficiency and high processing cost caused by using a plurality of processing assemblies to process the workpiece to be processed, when the processing range of one processing assembly is insufficient, can be avoided.

IPC Classes  ?

• B28D 7/04 - Accessories specially adapted for use with machines or devices of the other groups of this subclass for supporting or holding work

Abstract

Disclosed are an intelligent loading and unloading system and a working method therefor. The intelligent loading and unloading system comprises a conveying device (100) for conveying a material (310), the conveying device (100) having a loading position (160) and an unloading position (170); an industrial robot (200) for transferring the material (310) to the loading position (160) and/or for transferring the material (310) at the unloading position (170) to a position for leaving the unloading position (170); an industrial visual device (500) for detecting the position of the material (310); and a control device (400) for controlling the working of the industrial robot (200) according to position information of the material (310) provided by the industrial visual device (500).

IPC Classes  ?

• B65G 60/00 - Simultaneously or alternatively stacking and de-stacking of articles
• B65D 19/00 - Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
• B25J 15/10 - Gripping heads having finger members with three or more finger members

Abstract

The present invention discloses a lens array, an imaging device, and an imaging method. The imaging device comprises: a main lens for guiding imaging light rays; a lens array, located on a focal plane of the main lens, and at least comprising one lens unit; a sensor located on a focal plane of the lens array; and a control unit for controlling a focal length of the lens unit. The control unit adjusts the focal length of the lens unit, such that a camera mode of the imaging device is selectively activated.

IPC Classes  ?

• H04N 5/225 - Television cameras
• H04N 5/232 - Devices for controlling television cameras, e.g. remote control
• G02B 26/02 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the intensity of light

Abstract

An encoder (103), a driver (111), and a controller (112) for a robot, and a robot (10), wherein the encoder (103) comprises a processing circuit (1031), a network protocol-based control circuit (1032), and a network interface (1033); an input end of the processing circuit (1031) is for coupling to an external motor, an output end of the processing circuit (1031) is coupled to an input end of the control circuit (1032), and an output end of the control circuit (1032) is coupled to the network interface (1033); the processing circuit (1031) is used to collect a motion signal of the motor and process the motion signal to obtain a processed signal; the control circuit (1032) is used to send the processed signal to the network interface (1033); and the network interface (1033) is used to couple to an external device so as to establish communication with the external device. The encoder (103) is capable of establishing communication by means of the network interface (1033) and simplifying the wiring design of a robot system, and may increase the rate of data transmission.

IPC Classes  ?

• G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Abstract

A material feeding apparatus and a dispensing device. By using the material feeding apparatus (10), when one of two first driving mechanisms (12) drives one of two bearing mechanisms (11) to be separated from a first preset position, and the other one of the two driving mechanisms (12) drives the other one of the two bearing mechanisms (11) to move to a second preset position, a piece to be dispensed in the two bearing mechanisms (11) can finish dispensing at the first preset position and the second preset position alternatingly, so that the dispensing process may not be interrupted, the efficiency of the dispensing work is improved, and the dispensing time is saved.

IPC Classes  ?

• B05C 5/02 - Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work from an outlet device in contact, or almost in contact, with the work
• B05C 11/00 - Component parts, details or accessories not specifically provided for in groups

Abstract

An adhesive dispensing apparatus, comprising a feeding device (10) and an adhesive dispensing device (20). The feeding device (10) comprises a carrying mechanism (11) and a first driving mechanism (12). The adhesive dispensing device (20) comprises a second driving mechanism (21), a third driving mechanism (22) and an adhesive dispensing mechanism (23). The adhesive dispensing apparatus enables the first driving mechanism (12), the second driving mechanism (21) and the third driving mechanism (22) to locate an adhesive dispensing position in three directions to ensure the accuracy of the adhesive dispensing position, and at the same time, the first driving mechanism (12) can complete the loading and unloading of a workpiece to be dispensed. The adhesive dispensing apparatus has no driving mechanism for driving the workpiece to be dispensed to be loaded and unloaded, reducing costs.

IPC Classes  ?

• B05C 13/00 - Means for manipulating or holding work, e.g. for separate articles

Abstract

Disclosed is an object detection method, an object detection device, and a device having a storage function. The method comprises: acquiring information data of a bidirectional reflectance distribution function of a target object; and performing object detection on the target object by using the information data of the bidirectional reflectance distribution function of the target object and image information data of the target object. The present invention achieves an increase in the dimensions of object detection, thereby improving the accuracy of object detection.

IPC Classes  ?

• G01N 21/25 - ColourSpectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands

Abstract

A simulation device for a bowed string instrument, the simulation device for a bowed string instrument comprising a string (11); a conversion module (21), which is connected to the string and which is used for converting mechanical vibrations of the string (11) into a sound signal; a sound emitting device (31), which is connected to the conversion module (21) and which is used for receiving the sound signal and emitting the sound of a bowed string instrument corresponding to the sound signal. The simulation device for a bowed string instrument converts mechanical vibrations of the string (11) into a sound signal by means of the conversion module (21), receives the sound signal by means of the sound emitting device (31) and emits the corresponding sound of a bowed string instrument; since only a low-cost string is required to produce mechanical vibrations and since the corresponding sound of a bowed string instrument may be obtained by means of the mechanical vibrations, the present invention avoids the problem wherein a high-cost string is required in traditional bowed string instruments in order to produce high sound quality, and thus the same sound quality as a traditional bowed string instrument maybe obtained at a lower price.

IPC Classes  ?

• G10H 1/00 - Details of electrophonic musical instruments

Abstract

Provided is a vision-based automatic loading and unloading device for a stamping machine. The automatic loading and unloading device is used to automatically load and unload a raw material for a stamping machine. The automatic loading and unloading device comprises: a frame provided at one side of a stamping machine; a loading platform provided at the frame for stacking up a raw material; a pick-up mechanism used to retrieve the raw material on the loading platform; an execution mechanism provided at the frame and used to grip the raw material from the pick-up mechanism and to place the raw material at the stamping machine; an unloading platform used to collect a finished item obtained from a stamping operation performed by the stamping machine; and a vision-based positioning system used to identify a position of the raw material and to feed back position information, such that the execution mechanism adjusts a position of the raw material at the stamping machine. The present invention employs a vision-based positioning system to identify a position of a raw material, thereby increasing the precision of positioning the raw material, and increasing the quality testing pass rate of products. Moreover, a pick-up mechanism and an execution mechanism are used to realize automatic loading and unloading of the raw material, thereby facilitating efficient utilization of equipment, increasing production efficiency, and reducing production costs.

IPC Classes  ?

• B21D 22/00 - Shaping without cutting, by stamping, spinning, or deep-drawing
• B23Q 7/00 - Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting

Abstract

A vision-based automatic loading and unloading device (10) for a stamping machine (30). The automatic loading and unloading device is used to automatically load and unload a raw material (20) for a stamping machine. The automatic loading and unloading device comprises: a frame (100) provided at one side of a stamping machine; a loading platform (200) provided at the frame for stacking up a raw material; a pick-up mechanism (300) used to retrieve the raw material on the loading platform; a loading robot (400) connected to the pick-up mechanism and used to control the pick-up mechanism to place the retrieved raw material at the stamping machine; an unloading platform (500) used to collect a finished item obtained from a stamping operation performed by the stamping machine; and a vision-based positioning system used to identify a position of the raw material and to feed back position information, such that the loading robot adjusts a position of the raw material at the stamping machine. Also provided are stamping equipment comprising the automatic loading and unloading device and a vision-based automatic loading and unloading method for a stamping machine. The automatic loading and unloading device employs a vision-based positioning system to identify a position of a raw material, thereby increasing precision of positioning the raw material, and increasing the quality testing pass rate of products. Moreover, a pick-up mechanism and a loading robot are used to realize automatic loading and unloading of the raw material, thereby facilitating efficient utilization of the equipment, increasing production efficiency, and reducing production costs.

IPC Classes  ?

• B21D 43/20 - Storage arrangementsPiling or unpiling
• B21D 43/18 - Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work

Abstract

Provided is a binocular matching method, a method device of visual imaging and a device with storage function, wherein the binocular matching method comprises the following steps: obtaining a binocular image of the target area; obtaining a specific pixel point in the binocular image; obtaining a gray value or a tone value of a pixel point having a predetermined interval from the specific pixel point based on the specific pixel point; determining the similarity between respective specific pixel points on the same matching pole line based on the gray value or the tonal value, and defining at least one pair of specific pixel points having the highest similarity on the same matching pole line as a robust support point; the binocular image is matched by the robust support point. Through the above method, the moving range of image matching is reduced, the calculation amount of the algorithm is reduced, and the purpose of image fast matching is achieved.

IPC Classes  ?

• G06T 7/60 - Analysis of geometric attributes
• H04N 13/00 - Stereoscopic video systemsMulti-view video systemsDetails thereof

Abstract

A tray positioning device, comprising: a tray (100) comprising a first side (110) and a second side (120) provided opposite to the first side, the first side being provided with grooves (111); a conveying mechanism (200) used for conveying a tray in a first direction; a mounting plate (600) fixedly provided below the conveying mechanism; a blocking mechanism (300) mounted in a preset position of the mounting plate, the blocking mechanism comprising a blocking plate (34) and a fixing member (350), the blocking plate being used for abutting against the first side of the tray when the tray is conveyed to the preset position to stop the tray; and a fixing mechanism which applies a pressure to the tray in a direction pointing to the blocking plate when the tray is stopped, the fixing member being inserted into the grooves to realize bidirectional positioning of the tray in the first direction and a second direction, the second direction being perpendicular to the first direction.

IPC Classes  ?

• B65G 47/24 - Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
• B65G 47/22 - Devices influencing the relative position or the attitude of articles during transit by conveyors

Abstract

A robot control system, a power monitoring method, a robot and a storage apparatus, the robot control system comprising a main circuit switch (101), an alternating current/direct current conversion circuit (102), and a main control circuit (103), wherein the main circuit switch (101) is used for receiving an alternating current signal provided by an external device, and outputting the alternating current signal when the main circuit switch (101) is closed; an input terminal of the alternating current/direct current conversion circuit (102) is connected to the main circuit switch (101), and the conversion circuit is used for converting the alternating current signal into a direct current signal for outputting, wherein the alternating current/direct current conversion circuit (102) comprises a first output terminal and a second output terminal, the first output terminal being connected to a main control circuit (103) so as to output a first detection signal to the main control circuit (103), and the second output terminal being connected to the main control circuit (103) by means of the main circuit switch so as to output a second detection signal to the main control circuit (103) by means of the main circuit switch (101); the main control circuit (103) is used for utilizing a level conversion sequence of the first detection signal and second detection signal and determining a reason for the power failure of the robot control system, which may improve the usage safety of the robot.

IPC Classes  ?

• G01R 19/165 - Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values

Abstract

A robot control system, a power monitoring method, a robot and a storage apparatus; the robot control system comprising: a main circuit switch (101) used for receiving an alternating current signal provided by an external device, and outputting the alternating current signal when the main circuit switch (101) is closed; an input terminal of an alternating current/direct current conversion circuit (102) is connected to the main circuit switch (101), and the conversion circuit is used for converting the alternating current signal into a direct current signal for outputting, wherein the alternating current/direct current conversion circuit (102) comprises a first output terminal and a second output terminal, the first output terminal being connected to a main control circuit (103) so as to output a first detection signal to the main control circuit (103), and the second output terminal being connected to the main control circuit (103) by means of the main circuit switch (101) so as to output a second detection signal to the main control circuit (103) by means of the main circuit switch (101); a direct current relay (104) is connected between the alternating current/direct current conversion circuit (102) and the main control circuit (103); the main control circuit (103) is used for utilizing a level conversion sequence of the first detection signal and second detection signal and determining a reason for the power failure of the robot control system, which may improve the usage safety of the robot.

IPC Classes  ?

• B25J 19/06 - Safety devices

Abstract

A robot control system, a power supply monitoring method, a robot, and a storage apparatus. The robot control system comprises: a main circuit switch (101), used for receiving an alternating current signal provided by an external device and outputting the alternating current signal when the main circuit switch (101) is closed; an alternating current-direct current conversion circuit (102), having an input end connected to the main circuit switch (101), and used for converting the alternating current signal to a direct current signal to output, wherein the alternating current-direct current conversion circuit (102) comprises a first output end and a second output end, the first output end is connected to a master control circuit (103) to output a first detection signal to the master control circuit (103), and the second output end is connected to the master control circuit by means of the main circuit switch (101) to output a second detection signal to the master control circuit (103) by means of the main circuit switch (101); and an alternating current relay (105), connected between the main circuit switch (101) and the alternating current-direct current conversion circuit (102), the master control circuit (103) being used for determining a power-off reason of the robot control system by using a level translation order of the first detection signal and the second detection signal. The present invention can improve the safety in utilization of a robot.

IPC Classes  ?

• G01R 31/40 - Testing power supplies

Abstract

A dispensing system (1000), comprising a dispensing device (1100) and a discharging device (1200). The dispensing device (1100) comprises: a detection unit (1120) provided at an inlet; a base (1130); a dispensing block (1140) provided on the base (1130), the dispensing block (1140) being provided with at least two dispensing grooves (1150); and a moving unit (1160) provided on the base, the moving unit (1160) being connected to the dispensing block (1140) and the detection unit (1120), and the moving unit (1160) driving the dispensing block (1140) to move so that the two dispensing grooves (1150) sequentially correspond to the inlet (1110) of the dispensing device (1100). By means of the dispensing system, the automatic assembly efficiency of a damping shock absorber can be improved. Also provided is a feeding system (100), comprising the dispensing system and an obtaining device (2000).

IPC Classes  ?

• B23P 19/00 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes
• B23P 21/00 - Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control

Abstract

A method for controlling the driving of an electric vehicle. The method comprises: acquiring road condition data of a road section to be driven on, state data of a current electric vehicle, and historical data of the driving of the electric vehicle (S100); planning, according to the road condition data, the state data and the historical data, an optimal driving mode in which the electric vehicle drives on the road section to be driven on (S200); and controlling the electric vehicle so that same drives, according to the optimal driving mode, on the road section to be driven on (S300). The electric vehicle drives according to the optimal driving mode, so that the electric vehicle consumes the least amount of energy when driving on the road section to be driven on, thereby improving the endurance of the electric vehicle. Also disclosed are a controller for implementing the steps of the method, an electric vehicle having the controller, and a storage medium storing a program for executing the steps of the method.

IPC Classes  ?

• B60W 30/182 - Selecting between different operative modes, e.g. comfort and performance modes