Research On Visual Control System Of Tank Transfer Manipulator

In order to achieve the collection,processing and analysis of human gait information and recognize the wearer's real-time gait stage,it provides reliable and effective data support for subsequent exoskeleton motion control strategies.This article aims at the gait of rehabilitation-type lower limb exoskeletons.The identification problem started related research.The subject was funded by the National Natural Science Foundation of China,"Research on the "One Source and Multi-drive" Exoskeleton Rigid and Flexible Joint Control Method"(91748110).Based on LabWindows/CVI platform,through the combination of theoretical analysis and prototype test,a host computer monitoring system for gait monitoring was studied.By receiving the data collected by the smart sensor device,a gait recognition state machine is established on the PC side,and the monitoring and analysis functions of the monitor's real limb information and gait recognition results of the monitor wearer are realized.A set of programs for rehabilitation-based exoskeleton gait recognition and planning test system was proposed,and a test system for gait monitoring and identification was established.The key data of gait recognition is obtained by analyzing the wearer's limb information.According to the regularity of the data,it is divided into different periodic gait stages.A set of intelligent sensing device hardware for gait recognition of exoskeletons was developed.Sensors were added at the core measurement points of the exoskeleton to collect real-time body information for gait analysis,and the core limb movement data of the human body was extracted.Features.The results of the experimental study indicate that the human gait monitoring system can effectively collect human limb information and recognize the real-time gait phase.This system can provide data support for the exoskeleton control strategy.The proposed gait recognition algorithm and gait recognition system have important application value for exoskeleton control and have practical and reliable features.