41results about How to "Achieve circumvention" patented technology

The invention discloses a balance point Halo orbit phasing orbit transfer method taking the time constraint into consideration, relates to a Halo orbit phasing orbit transfer method based on an earth-moon three-body dynamic model and belongs to the technical field of aerospace. According to the method, a dynamic equation is established under a restrictive three-body model formed by the earth, the moon and the star, and a Halo orbit near the point L2 is generated under an earth-moon rotation system; the Halo orbit initial phase position of a detector and the phase position difference needing to be changed are determined, and the optimal fuel phasing orbit meeting the phase position constraint condition and the transfer time constraint condition is obtained through an optimization algorithm with the initial anchoring time and transfer time as optimization variables; and the time difference delta t, the task Halo orbit or the upper limit tmax of the transfer time are adjusted according to the task which the detector needs to fulfill, and the orbit shadow detection avoiding task or the spatial intersection detection task of the detector on the Halo orbit is fulfilled. The method can obtain the optimal fuel phasing orbit meeting the phase position constraint condition and the transfer time constraint condition, and has the advantages of good convergence, high flexibility and the like.

The invention discloses a green belt loosening device for road construction, which comprises a cantilever loosening part, a telescopic driving part, a lifting driving part, a carrying frame and a detecting part. The front end of the carrying frame is provided with a detecting part. The left side of the upper end is provided with a lifting driving part, the lower end of the lifting driving part is provided with a telescopic driving part, and the left side of the telescopic driving part is provided with a cantilever loosening part; the detection part controls the lifting driving part, so that the cantilever loosening part and the telescopic driving part can Lift up from bottom to top to form the first storage body; the detection part controls the telescopic driving part, so that the first storage body can shrink from left to right to form the second storage body, and the second storage body is placed in the carrying frame. The invention realizes the mechanized soil loosening of the green belt after road construction, realizes the avoidance of pole-shaped obstacles such as street lamp poles and utility poles in the green belt, effectively improves the soil loosening efficiency of the green belt after road construction, and facilitates later greening Plant with plants.

The invention discloses a hedge trimming device and a control method. The hedge trimming device includes a trimming cutter head for trimming hedges, an arm frame for adjusting the position of the trimming cutter head, an arm frame driving device for driving the arm frame to move, and The cutterhead driving device used to drive the trimming cutterhead to rotate and swing, controls the working status of the boom turning mechanism, the boom turning mechanism, the trimming cutterhead, the cutterhead turning mechanism and the cutterhead turning mechanism through the control system of the hedge trimming vehicle. The arm frame turning mechanism and the arm frame turning mechanism drive the arm frame to move, thereby driving the trimming cutterhead to move to the hedge on the side of the vehicle body, and then drive the trimming cutterhead to turn over through the cutterhead turning mechanism, so that the trimming angle of the trimming cutterhead is consistent with the hedge Match the surface to be trimmed, and drive the trimming cutterhead to rotate to the side without obstacles through the cutterhead turning mechanism when the trimming cutterhead encounters an obstacle, so that the trimming cutterhead can avoid obstacles.

This application discloses a method and system for multi-UAV cooperative tracking of a target, including: S1 obtains the speed and position information of the target, broadcasts it to other UAVs, and receives the speed information and position of the target sent by other UAVs Information and information fusion; S2 multi-UAVs each determine the tracking method according to the speed information of the fused target; S3 multi-UAVs each according to the navigation information of itself and other UAVs, the speed of the target, position information and tracking methods , calculate the final guidance vector; S4 multi-UAV update the speed and position information of the target, broadcast to other UAVs, receive the target information sent by other UAVs and perform information fusion, and return to S2. Through the real-time calculation of the target speed, the tracking method is determined, the tracking ability is enhanced, and the target is prevented from escaping through variable speed; through conflict detection and guidance vector correction, obstacles or other drones during flight are avoided, flight collisions and conflicts are prevented, and safety is improved. .