529results about How to "Avoid colliding with each other" patented technology

The invention provides a robot scheduling method and apparatus. The method comprises the following steps: according to a current work task, selecting a robot to be scheduled; obtaining initial node coordinates and destination node coordinates of the robot to be scheduled in a corresponding three-dimensional coordinate system in a work place; according to the initial node coordinates and the destination node coordinates, a moving speed of the robot to be scheduled and a time table about planned nodes which a robot moves past in the work place, planning a movement path of the robot to be scheduled; and triggering the robot to be scheduled to execute a work task according to the movement path. According to the invention, a mode of demonstrating the work place in the form of nodes and the movement path in the form of time through the three-dimensional coordinate system is employed, and according to states of all nodes within preset time between initial nodes and destination nodes of robots, centralized scheduling is performed on the robots in the work place, such that mutual bumps between the robots is avoided, and at the same time, the flexibility of the control mode of the robots is improved.

The invention relates to the technical field of coordinated dispatching for AGVs, in particular to an AGV dispatching system. According to the AGV dispatching system, multiple AGVs are flexibly dispatched, collision of the AGVs is avoided, the problem of singleness of the traveling path of the multiple AGVs is solved, it is avoided that more navigation tracks need to be additionally arranged, cost is reduced, and production efficiency is improved. The AGV dispatching system comprises a calling module, a communication module, a vehicle-mounted control module and an upper computer module. The calling module is used for sending calling signals to the communication module when the AGVs are needed by a certain station. The communication module receives the calling signals and then sends the calling signals to the vehicle-mounted control module. The vehicle-mounted control module receives the calling signals and then controls the AGVs to move to the station where the calling signals are sent. The vehicle-mounted control module sends position signals to the communication module in the working process. After receiving the position signals, the communication module sends the position signals to the upper computer module for position display.

The invention relates to the technical field of AGVs and particularly relates to an AGV scheduling system. The system comprises several AGVs and a scheduling center 1 which can communicate with the AGVs. Each of the AGVs comprises a vehicle-borne signal transmitting module 101, a vehicle-borne signal receiving module 102 and a vehicle-borne controller 103. The scheduling center 1 comprises a signal receiving module 11, a storage module 12, a calculation module 13 and a signal transmitting module 14. Through the above modules, the AGVs are scheduled, all AGVs in a field can be flexibly scheduled, the collision of the AGVs is avoided, at the same time an AGV can be selected nearby to go to a site according to the site, the production efficiency is improved, and the cost is saved.

The invention discloses a spreader. The spreader comprises a lattice type suspension bracket, the lattice type suspension bracket comprises two parallel and opposite cross beams and at least two support beams which are vertically erected on the cross beams, at least two spreading links are arranged on each cross beam, and at least one pair of hooks is arranged on each support beam. The spreader can simultaneously lift a plurality of crystallizers or dummy bar heads. The labor intensity of workers is reduced, the replacement of the crystallizers or dummy bar heads is simplified, the on-line replacement time is shortened, and the production efficiency is improved.

The invention provides a shuttle vehicle positioning system and a control method. A radio frequency code reader and a groove type photoelectric switch are installed at the bottom of a shuttle vehicle. Code carriers and a location identification chip are installed close to a rail. The code carriers are arranged in the positions, 3-4 m away from a loading table and an unloading table, of the rail correspondingly. The code carriers and the location identification chip are arranged in the positions of the loading table and the unloading table. The location identification chip corresponds to the groove type photoelectric switch in position. The code carriers are arranged on the rail at an interval of 3-4m. Different numbers are set for the code carriers. The shuttle vehicle is installed on the operation rail. A programmable controller communicates with an industrial control computer on the ground through a wireless communication device. The industrial control computer communicates with the programmable controller installed on the shuttle vehicle through the wireless communication device. The programmable controller is connected with the radio frequency code reader and the groove type photoelectric switch through a port of the programmable controller. According to the shuttle vehicle positioning system and the control method, accurate positioning is achieved through combination of the radio frequency code reader and the groove type photoelectric switch, and the positioning system is stable, reliable, high in precision, low in cost and wide in application range.

The invention relates to a robot, in particular to a hexapod bionic robot. The hexapod bionic robot comprises an upper bottom plate, a lower bottom plate, a fire extinguisher, an upper cover, obstacle avoidance sensors, a controller and six legs, wherein a robot body is formed by the upper bottom plate and the lower bottom plate; the upper cover is mounted on the upper bottom plate; the controller is mounted in the upper cover; the robot body is octagonal; a pair of opposite edges of the robot body are two tips respectively, and the other six edges are respectively positioned on two sides so as to form side waists; the first leg is mounted at one end of one side waist, the second leg is mounted in the middle of the side waist, and the third leg is mounted at the other end of the side waist; the fourth leg is mounted on the other side waist and symmetrical to the first leg, the fifth leg is mounted on the side waist and symmetrical to the second leg, and the sixth leg is mounted on the side waist and symmetrical to the third leg; the fire extinguisher is mounted at one tip of the robot body; each obstacle avoidance sensor is mounted between every two adjacent legs. The hexapod bionic robot provided by the invention has high adaptive capability to environment, can realize real-time obstacle avoidance and can reasonably plan walking routes; the robot body is stable, and legs are flexible and varied to move; the hexapod bionic robot can be adapted to various terrains, different speeds and different load requirements.

The present invention provides the making process of homogeneous superparamagnetic polymer microballoon. Nanometer Fe3O4 grain prepared in coprecipitation process has its surface coated with oleophilic layer to form hydrophobic Fe3O4 magnetic fluid, and the magnetic fluid is dissolved in hydrophobic olefin monomer and oil soluble initiator via stirring to form homogeneous dispersive oil phase fluid. The oil phase fluid is crushed and dispersed into homogeneous oil drops in a spouting suspension polymerization process so as to form homogeneous O/W suspension in water phase. Under certain polymerizing temperature, oil drop is cured fast and constant temperature polymerized into homogeneous size superparamagnetic polymer microballoon. The superparamagnetic polymer microballoon has size of about 10 micron, specific saturation magnetic intensity of 15-20 emu/g, homogeneous magnetic content, stable chemical property and latent application in biological separation.

A path optimization AGV carrying system based on a Dijkstra algorithm is disclosed. The system comprises a workshop, an AGV dolly, a wireless communication module and an upper computer operating the Dijkstra algorithm. The system is characterized in that ground in the workshop paved with a color band track and is provided with a plurality of stations located at station positions; the color band track is used by the AGV dolly to read ground color band path information through an optical sensor (7) so as to realize navigation; and the AGV dolly is mainly formed by a vehicle frame (3), a controller module (1), an obstacle avoidance system, a driving mechanism, an elevating mechanism, a driven wheel (10), a wireless communication module and a touch screen (2). A color band tracking mode and an RFID label positioning mode are realized. And usage of the touch screen 2 can provide great convenience for a field staff to debug. The technical scheme is suitable for a multi-AGV carrying system, problems of AGV mutual collision and conflicts can be avoided, and the system is operated according to an optimal route; and during actual usage, a few of persons can complete cargo transportation, cost is reduced and work efficiency is increased.

The invention relates to robots and in particular relates to a six-leg two-arm bionic robot. A robot body comprises an upper bottom plate and a lower bottom plate; a fire extinguisher is arranged on the robot body; six legs are also arranged on the robot body; an upper cover is arranged on the upper bottom plate; obstacle avoidance sensors are arranged at the periphery of the upper cover and are connected with a control system in the upper cover; a base is connected on the upper cover; a rotation arm waist part is arranged on the base and rotates around the center line vertical to the base; the top of the rotation arm waist part is hinged with a stretching arm trunk; the top of the stretching arm trunk is hinged with an upper arm shoulder part; the upper arm shoulder part is respectively hinged with a left arm and a right arm; a camera is also arranged on the upper arm shoulder part; a temperature sensor and a mechanical claw are arranged on the left arm; and a saw blade is arranged on the right arm. According to the six-leg two-arm bionic robot, the robot body is stable, the rotation space of the legs is large, many functions are integrated on the two arms, obstacles in the advance process can be removed, simultaneously remaining fire can be cleared, and the personnel and material rescue in various disasters can be completed by replacing a tail end actuator.

The invention discloses an unmanned aerial vehicle formation reconstruction system and method based on an ant colony algorithm and an artificial potential field method. The system comprises a target distribution module, a path planning module and a ground station module. A swarm intelligence optimization algorithm is adopted to improve a selection strategy of a standard ant colony algorithm, and the global search capability and search precision of the algorithm are improved; and when the scale of an unmanned aerial vehicle group is large, a global optimal solution can be searched with higher probability. An improved artificial potential field method is adopted in the path planning process, a problem that collision is possibly caused because a gravitational field is too large in the initialmoving stage of the unmanned aerial vehicle is solved through improvement of a gravitational field formula, and a problem that a target cannot be reached in the process that the unmanned aerial vehicle gets close to the target point is solved through improvement of a repulsion field. If the unmanned aerial vehicle sinks into the local minimum point, an escape force is additionally applied to thecurrent unmanned aerial vehicle to help the current unmanned aerial vehicle get rid of the local minimum point, and a problem that the artificial potential field method sinks into local optimum easilyis effectively solved by adopting a local minimum point escape strategy. The system and method are high in calculation speed.

The invention relates to a microflow chip comprising synthesized channel and two beam focusing ball tracks, in which two exits of beam focusing ball tracks converge at the entrance of the synthesized channel, each beam focusing ball track comprises prepolymer microsphere track, discontinuous phase track and two continuous phase channels, the said two continuous phase channels distribute on both sides of the discontinuous phase track, the prepolymer microsphere track, discontinuous phase track and continuous phase channels evenly have ingate and exit and the exits of the discontinuous phase track and continuous phase channels converge at the ingate of the synthesized channel. The invention also provides a method for preparing polymer microsphere using the said microflow chip: injecting two continuous phases from ingates of continuous phase channels of two beam focusing channels, injecting discontinuous phase from discontinuous phase channels of beam focusing channels, then obtaining polymer microsphere from the synthesized channel exit. The invention can exactly prepare controllable polymer microsphere with coincidence sizes.

The invention relates to the technical field of feed processing equipment, and particularly discloses a dust-free feed mixer, comprising a frame. The frame is fixedly provided with a motor and a mixing tank, the output end of the motor is fixedly connected with a rotating shaft, and the rotating shaft is fixedly connected with a plurality of stirring blades; a first sliding plate is connected intothe mixing tank in a sliding manner, the mixing tank is communicated with an exhaust pipe, filter gauze is fixedly installed in the exhaust pipe, the rotating shaft is coaxially fixedly provided witha plurality of blades; the mixing tank is communicated with a cylinder body, and the cylinder body is internally fixedly connected with a partition plate which divides the cylinder body into a storage chamber and a feeding chamber and is provided with a first feeding port, and the first feeding port is hinged with a rotating plate; the feeding chamber is internally connected with a piston in a sliding manner, a connecting rod is fixedly connected between the piston and the first sliding plate, the feeding chamber is provided with a blanking mechanism, and the rotating shaft is coaxially fixedly connected with a cam for starting the blanking mechanism. According to the dust-free feed mixer, a feed additive can be automatically added according to the weight of feed added into the mixing tank, and the uniformity of feed mixing is enhanced.

The invention discloses a high-pressure disinfection and cleaning integrated machine. The high-pressure disinfection and cleaning integrated machine comprises an ozone generator, a conveying belt, a cleaning tank, high-pressure nozzles, a water tank body, a cleaning fluid storage tank, an ultrasonic generator and a filtering device, wherein the cleaning tank is arranged in the water tank body, an inlet and an outlet are arranged at two ends of the water tank body, and the conveying belt is arranged in the inlet and the outlet. With the adoption of the conveying belt, mutual collision and manual carrying of cleaning articles are avoided, the labor intensity is reduced, and the cleaning efficiency is increased; the high-pressure nozzles and the cleaning fluid storage tank are adopted for washing fruits and vegetables by the aid of water flow, the cleaning effect on the articles is improved, water recycling is realized, and energy is saved; by means of the ultrasonic generator, tiny bubbles are formed on the water surface and break instantly once meeting attachments, and the attachments on the surfaces of the articles fall off; the disinfection and sterilization functions are realized by the aid of the ozone generator, and the high-pressure disinfection and cleaning integrated machine is applicable to cleaning of the articles.

The invention discloses a displacement chromatography hydrogen isotope separation device which comprises a rack as well as a cooling part, a separation column, an air supply part, an air collection part, a lifting part and a driving part. By adopting the displacement chromatography hydrogen isotope separation device disclosed by the invention, different adsorption functions that hydrogen and hydrogen isotope are replaced and separated by using a separation material can be achieved, the lifting part is driven by the driving part to precisely control the lifting position of the separation column, and then the separation column can be descended or lifted off the cooling part, so that adsorption or desorption of hydrogen isotope by the separation material under different temperature conditions can be achieved, a high retention rate of deuterium-tritium isotope in the separation material can be ensured, and a deuterium-tritium isotope gas obtained through final separation and selection is relatively high in purity; compared with the prior art, the device needs no parts for introducing deuterium or separating deuterium, meanwhile deuterium and tritium do not need to be replaced by introducing hydrogen after the separation material is in saturation adsorption of hydrogen, and in addition, the device is simple in structure, low in energy consumption rate, simple in process and low in cost.

The invention relates to the technical field of livestock breeding, and discloses a fish feed feeding device for livestock breeding. The fish feed feeding device for livestock breeding comprises a mixing box. The left side of the top of the mixing box communicates with a feeding hopper, the top of the mixing box is fixedly connected with a first motor, an output shaft of the first motor is fixedlyconnected with a rotary rod through a coupler, a first bearing is embedded into the top of the mixing box, the inner ring of the first bearing and the surface of the rotary rod are fixedly sleeved, the surface of the rotary rod is fixedly connected with stirring blades, and the portion, located below the stirring blades, in the mixing box is fixedly connected with an annular fixing plate. By means of a screening plate vibrating up and down, fish feed is screened, the situation that particles of the fish feed are large is avoided, meanwhile, the screened fish feed is thrown out and cast into afish pond by a feeding box through centrifugal force, and the situation that as the fish feed is cast in an excessively-concentrated manner, fishes collide with one another and are hurt is avoided.

The invention discloses a bearing feeding device and an automatic feeding method. The bearing feeding device comprises a rack, a storage assembly and a feeding disc, wherein a positioning seat is arranged on the rack, and a first through hole is formed in the positioning seat; the storage assembly comprises a storage barrel, a penetrating rod and a first bolt, the storage barrel is arranged on thepositioning seat, the side wall of the storage barrel is provided with an opening groove, and the first bolt is inserted into the lower end of the penetrating rod in the radial direction of the penetrating rod; and the feeding disc is rotationally connected with the rack, and the feeding disc is provided with a trough. By using the bearing feeding device, the penetrating rod penetrates through abearing string, the first bolt is inserted into the lower end of the penetrating rod, then the bearing string and the penetrating rod are put into the storage barrel together, the first bolt is pulleddown, the feeding disc is rotated clockwise so that the front end of the trough can be located below the first through hole, one bearing at the lowest end in the storage barrel can fall into the front end of the trough, and the feeding disc is rotated anticlockwise so that the bearing can be sent to a bearing press mounting position, so that automatic feeding is achieved, and working efficiency is improved.

The invention relates to an anti-collision rail car system, which comprises a plurality of rail cars and a master control system. The rail cars run simultaneously on an independent track, the master control system are used for remotely monitoring the rail cars, the rail cars comprises a first detection module and a control module, the first detection modules are used for obtaining position information of the rail cars through detecting a plurality of crossbeams on the track, and the control modules are used for transmitting the position information to a control system and controlling the rail cars according to feedback of the master control system. The first detection modules can obtain the position information of the rail cars through detecting the number or properties of the crossbeams on the track and comprise a magnetic proximity switch, a counting unit and a conversion unit, the magnetic proximity switches are used for detecting whether the track is provided with the crossbeams, the counting unit is used for calculating the number of the crossbeams according to the ON/OFF states of the magnetic proximity switches, and the conversion units are used for converting counting results of the counting unit into the position information. When the anti-collision rail car system is adopted, multiple cars can run simultaneously on the independent track, dynamic interference and real-time adjustment of the cars can be achieved, and collision of the cars can be avoided.

The invention discloses a belt conveyor with a telescopic head. The belt conveyor comprises a frame with one end arranged into a truss body, a walking mechanism arranged at the bottom of the frame, a guide mechanism arranged on the truss body and the frame and a gear and rack transmission device driving the frame to move in the truss body. A bearing support roll is fixed at the upper end of the frame, a head roller is fixed on the head portion of the frame, a first redirection roller is fixed on the tail portion of the frame, and a second redirection roller is fixed at the bottom of the truss body. Due to the fact that the head of the belt conveyor can be retreated, collision between the head and a moving device can be avoided, and the operation efficiency of the moving device is improved. In addition, the blanking central position of the head is adjustable, and the off tracking problem of a sealing-tape machine is solved.

The invention discloses a method for detecting drop strength of green pellets under a motion state and belongs to the technical field of iron mine pellets. The method comprises the following steps: 1) selecting the pellets, namely selecting M 10-18mm green pellets; 2) detecting the dropping of the pellets, switching on a motor control switch of a detection device, rotating a driving motor to drive a base plate to rotate, causing the green pellets fall onto the base plate from a pellet loading part of the detection device, recording the falling times as i, detecting the surfaces of the green pellets, recording the quantity of the green pellets with cracks on the surfaces at the No.i time as mi, and when Sigma mi is less than M, causing the green pellets without cracks fall onto the base plate from the pellet loading part till Sigma mi is equal to M; and 3) treating the drop strength with data, wherein the formula is as shown in the specification. According to the method disclosed by the invention, the simultaneous detection for a plurality of green pellets can be realized and the detection for the drop strength of green pellets under the motion state also can be realized.

The invention discloses a blanked material transmission guiding mechanism and a transmission method of blanked materials. The blanked material transmission guiding mechanism comprises a plurality of guiding wires with smooth surfaces and twisted to rotate, a sliding way formed by surrounding of the guiding wires and a plurality of fixing rings which are fixedly surrounded on the periphery of the guiding wires. The sliding way is provided with a material inlet and a material outlet, wherein the material inlet is higher than the material outlet. The material inlet of the blanked material transmission guiding mechanism is connected with a product output end of a last work station and can receive products from the last work station. The material outlet of the blanked material transmission guiding mechanism is connected with a product input end of a next work station and can transmit the products to the next work station. The blanked material transmission guiding mechanism can achieve smooth turning and stable sliding of the products and avoids conditions of collision, sliding rail blocking and deviation from the rail.

The invention discloses a combined anti-collision mechanism for an underwater robot, which includes an underwater vehicle body, collision plates, cutting gears and drainage plates; the outer ring of the underwater robot body is provided with a waterproof shell, a cutting placement plate is arranged on the outer side of the turntable, and a first insert groove and a second insert groove are arranged at the end of the surface of the cutting placement plate, the outer end of the first insert groove is provided with a second insert groove, the center point of the cutting gear is connected with thecutting placement plate through a rotating shaft, the outer surface of the cutting placement plate is provided with a second rotating groove, and the flow guide plate is fixed between the collision prevention plates. A first damping spring, the shock absorber plate, the first rotating shaft and the collision avoidance plate in a combined anti-collision mechanism for an underwater vehicle- are arranged so that when the external object collides with the underwater vehicle, the top end of the shock absorber plate and the top end of the waterproof shell contact each other, thereby cushioning theimpact force of the external object and minimizing the injury of the external object and the underwater vehicle. The shock absorber plate comprises a shock absorber plate, a first rotating shaft and acollision avoidance plate.

The invention discloses an external pipeline paving device of large-scale air purifying equipment. The device comprises a fixing cover, horizontal positioning frames and a vertical positioning frame;the vertical positioning frame comprises a U-shaped bottom plate, transverse sliding rods and supporting brackets, the front end and the rear end of the transverse sliding rods are provided with firstthreaded sections and second threaded sections, and the thread directions of the first thread sections and the second thread sections are opposite, and the first threaded sections and the second threaded sections are provided with supporting brackets. According to the device, the external pipeline is integrally supported and fixed through the paving device, so that the overall stability of the pipeline is ensured, then the paving device and the equipment are connected and fixed, the operation difficulty of directly paving the pipeline on the surface of the equipment is reduced, and the pipeline and the inner pipeline in the equipment can be conveniently connected and fixed, and the tight performance after the pipeline is in butt joint is improved, and the multiple parts of the pipeline can be simultaneously supported and positioned through the paving device, the structure stability of the external pipeline is effectively ensured, and the effects of damping and noise reducing are achieved.