288results about How to "Avoid collision situations" patented technology

The invention discloses a multi-rotor-wing submersible unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises a machine body and a plurality of rotor wing arms which are arranged on the machine body and are symmetrically distributed, wherein a rotor wing assembly is arranged at one end, far away from the machine body, of each rotor wing arm; a pair of undercarriages are symmetrically mounted at the bottom of the machine body; airbags cover the undercarriages; the machine body is internally provided with a processor, a power supply module, a wireless communication module, a compressed air storage device and a control valve; and a gas output end of the compressed air storage device is connected with the airbags by the control valve. The method comprises an aerial mode and an underwater mode. According to the multi-rotor-wing submersible unmanned aerial vehicle, the snorkeling condition in water can be effectively controlled by controlling the compressed air storage device to inflate the airbags, so that the aerial and underwater barrier-free navigation is realized, and the problem that the unmanned aerial vehicle accidently falls into water to be damaged in a flying process is effectively solved. The multi-rotor-wing submersible unmanned aerial vehicle can be widely applied to the field of unmanned aerial vehicles.

The invention discloses an AGV path planning method and device based on a topology map, which can modify the passability among respective nodes in the topology map according to actual conditions, andreasonably and effectively plan the path. The method comprises the following steps: acquiring the topology map corresponding to the scheduling system; preprocessing the topology map according to the motion state of the all the AGVs in the topology map and the location of the occupied nodes in the scheduling system, and modifying the node information in the topology map to obtain a modified topology map; determining a starting point and an ending point of the current AGV in the modified topology map, calculating a total generation value of the nodes on different paths from the starting point tothe ending point according to the node information in the modified topology map, and performing path planning on the current AGV according to the calculated total generation value of the nodes.

An intelligent external inspection and maintenance vehicle for a rail beam of suspension monorail transit aims to achieve the automatization, informatization and intellectualization of the external fault and defect inspection of the rail beam and provide working conditions for inspection and maintenance. The intelligent external inspection and maintenance vehicle comprises a vehicle body, a driving unit, an intelligent detection unit, a vehicle-driving control unit and a safety protection unit, wherein the driving unit consists of a power battery and suspension bogies; a suspension monorail beam inspection and maintenance platform is arranged at the rear part of the vehicle body; the vehicle body is equipped with sensor lifting and lowering supports, contour detectors, a lifting and lowering fence translational track, an inspection and maintenance work lifting and lowering platform, gauge detection laser sensors and corrosion detection cameras; the suspension monorail beam inspection and maintenance platform can move horizontally and vertically on the lifting and lowering fence translational track; the motion range of the suspension monorail beam inspection and maintenance platformcovers the left, right and lower sides of the rail beam for providing an inspection and maintenance platform capable of moving horizontally and vertically at the external of the rail beam; the contour detectors and the corrosion detection cameras of an intelligent detection system are mounted at the sensor lifting and lowering supports which is capable of moving vertically on both sides of the middle part of the vehicle body; the corrosion detection cameras are mounted at the outer side of the middle of the sensor lifting and lowering supports; and the contour detectors are mounted at the inner side of the middle and top of the sensor lifting and lowering supports.

The invention provides a safety controlling method and device of lift door; in the lift door controlling device automatically closing the lift door after the lift arriving to the destination floor, the device prevents the clothes or hands and other things of the passengers leaning on the lift door being clamped by the door pocket. Upper part of the opening end of the lift door is equipped with a reflection-type photoelectric sensor (1) shining the detection beam at the upper and lower direction to detect whether there is passenger near the opening end of the lift door. When the lift door is open, if the sensor (1) acts and replaces the usual lift door opening speed mode (31) by speed mode (32), which prolongs the slow speed opening area when the lift door is open equipped for joint of the left car door and the lift lobby door. Furthermore, as the mode (33) shown, the lift door opening acceleration is reduced. And, when the sensor (1) detects there is obstacle during opening the lift door, as the mode (34) shown, the lift door opening action is stopped, and after ensuring the senor is not acted, the lift door opening action is restarted, thereby preventing the clothes or hands and other things of the passengers leaning on the lift door being clamped by the door pocket.

The invention relates to a clean robot obstacle avoidance system and method. The system comprises a cleaning robot, multiple obstacle avoidance units arranged around the cleaning robot and a center control unit electrically connected with the obstacle avoidance units; the obstacle avoidance units are used for detecting obstacle information around the cleaning robot and transmitting the detected information to the center control unit in real time, and the center control unit controls the cleaning robot to conduct real-time obstacle avoidance according to the received information and continues to operate according to a preset path after avoidance is finished. Accordingly, the walking path of the cleaning robot can be corrected, avoidance is conducted on obstacles, the situation of colliding with the obstacles is avoided, and then furniture or a cleaning robot body cannot be destroyed, and the service life of the cleaning robot can be prolonged.

The invention discloses a bridge of a longitudinal segmental prefabricated small box girder, and a construction method thereof. The bridge comprises two or more girders extending in the length direction of the bridge, wherein the side girders are located on the two sides of the bridge, and the middle girder is located between the side girders on the two sides of the bridge; each girder comprises aplurality of small prefabricated box girders and is formed by adopting a segment method; every two adjacent girders are connected through a small box girder transverse cast-in-place segment between the corresponding prefabricated small box girders; and the plurality of prefabricated small box girders comprise a front supporting point segment prefabricated small box girder, a front span inner cross girder segment prefabricated small box girder, a mid-span segment prefabricated small box girder, a rear span inner cross girder segment prefabricated small box girder and a rear supporting point segment prefabricated small box girder. During construction, firstly, segments of the prefabricated small box girder are manufactured; then all the prefabricated small box girders are conveyed to a construction site to be spliced into the girder; and finally, transverse connection of the girder is conducted. Compared with a method using a traditional prefabricated segmental girder, the method of theinvention greatly reduces the number of segments and simplifies construction.

The invention discloses a medical instrument storage device which comprises a box, wherein a medical identifier is fixedly connected with the front side of the box; a box cover is moveably connected with the top of the rear side of the box through a hinge; first fixing blocks are fixedly connected with the two sides of the bottom of the inner wall of the box; second fixing blocks are fixedly connected with the two sides at the bottom of the inner chambers of the first fixing blocks; first moveable rods are moveably connected with the tops of the second fixing blocks. According to the invention, the first fixing blocks, second fixing blocks, first moveable rods, third fixing blocks, moveable plates, tension springs, second moveable rods and a cushion are used together for solving the problem that the present medical instrument storage device has no damping function. The medical instrument storage device has the advantage of damping function, is capable of preventing the medical instruments in the box from being collided and damaged, is capable of effectively protecting the medical instruments, is capable of accelerating the rescuing for the wounded personnel and saving the life of the wounded personnel and is worthy of popularization and application.

The invention discloses a preset trajectory-based batch unmanned aerial vehicle intensive formation system. The system comprises a ground control end, a wireless communication interaction module and aplurality of unmanned aerial vehicles; the ground control end comprises a flight path generation unit, an instruction control unit and a status display unit; each unmanned aerial vehicle has its ownunique number and is equipped with a data transmission and analysis unit, a storage unit, a flight controller unit, a sensor measurement and fusion navigation unit, a clock synchronization unit, a positioning unit and a state detection unit; the data transmission and analysis unit receives flight path information uploaded by the flight path generation unit, and parsing the flight path informationand storing the parsed information in the storage unit; the sensor measurement and fusion navigation unit processes original state data measured by the sensor, and solves the three-dimensional spatialposition velocity and attitude information of the unmanned aerial vehicle; and the clock synchronization unit unifies the time of all the unmanned aerial vehicles; and all the unmanned aerial vehicles fly according to preset trajectories through the flight controller unit and displays the light colors of target points.

The invention discloses a display device, a rotation method, device and system of the display device and a wall hanging support. The method comprises the steps of receiving a rotation instruction, wherein the rotation instruction is used for controlling the wall hanging support to drive the display device to rotate; judging whether a space where the display device is located allows the display device to rotate therein; and under the condition that the space where the display device is located allows the display device to rotate therein, controlling the wall hanging support according to the rotation command to drive the display device to rotate. The invention solves the technical problem that in the prior art, a display device can only rotate depending on the manual mode, and consequently equipment control is inconvenient.

A vehicle anti-collision system comprises a vehicle speed sensing unit, a distance measuring sensing unit, an electronic parking brake unit and a control unit. The vehicle speed sensing unit is used for sensing the speed of a vehicle; the distance measuring sensing unit is used for sensing the relevant distance from an obstacle around the vehicle to the vehicle; the control unit is used for calculating a period of time in which the vehicle will collide with the obstacle according to the speed of the vehicle, and the relevant distance from the obstacle to the vehicle, and controlling the electronic parking brake unit to provide brake assistance for the vehicle when the collision duration is not longer than a period of brake time. The electronic parking brake unit is arranged and matched with the vehicle speed sensing unit and the distance measuring sensing unit, brake assistance can be executed to avoid the vehicle collision situation at the condition of low-speed reversing or parking, and the arrangement cost of the system can be reduced.

The invention discloses a three-stage platform carrying structure of a wrecker. The three-stage platform carrying structure comprises a first stage large platform, a second stage small platform and a third stage small platform. The tail end of the first stage large platform is hinged to the connecting end of the second stage small platform and the connecting end of the third stage small platform. A groove type slideway of the first stage large platform, a groove type slideway of the second stage small platform, a groove type slideway of the third stage small platform and a rectangular longitudinal beam guide rail of an auxiliary wrecker frame are slidably connected with one another in a matched and embedded mode. A platform derricking oil cylinder is arranged between the auxiliary wrecker frame and a chassis longitudinal beam below. The tail portion of the chassis longitudinal beam is hinged to the bottom side of the auxiliary wrecker frame. A supporting leg is arranged at the bottom of the tail end of the auxiliary wrecker frame. The bottom of the first stage large platform and the front end of the auxiliary wrecker frame are each provided with a platform telescopic oil cylinder hinge point connected with a platform telescopic oil cylinder. Through telescoping motion of the platform telescopic oil cylinder, the first stage large platform, the second stage small platform and the third stage small platform are made to slide longitudinally, stretch backwards and slide to working positions in sequence in an inclined state. The inclination angles between the three platforms and the ground after the three platforms slide backwards and downwards to the working positions are A, B and C correspondingly, and A>B>C.

The invention discloses a control method and device of an unmanned device. The method comprises that external input reference which includes a preset planned path is obtained; the planned path is divided into at least one sub path according to inflection points in the planned path; an invariant set and a corresponding reachable set of each sub path are obtained according to an initial power system model of the unmanned device and a preset external reference input integration model; and a practical path of the unmanned device is determined according to the intersection points between the reachable set of each sub path and the sub path itself. Requirements of the external environment and dynamic requirements of the unmanned device are met at the same time, and the unmanned device is prevented from colliding with barriers.

The invention discloses an anti-collision system and method for ship loaders. The system comprises a cantilever crane projection length measuring device, a ship loader interval measuring device and a control device, wherein the cantilever crane projection length measuring device is used for determining the projection length of a cantilever crane of a ship loader on a track where the ship loader travels; the ship loader interval measuring device is used for determining the distance between the ship loader and an adjacent ship loader which travels on the track and is in front of the ship loader; and the control device is used for calculating the absolute collision distance between the two adjacent ship loaders according to the projection length and the distance, and giving an alarm or controlling the ship loaders to stop operating according to the absolute collision distance. By means of the technical scheme, the security coefficient of the ship loaders in the operation process is greatly increased, and the situation that the ship loaders collide due to misoperation of operators or lacking of monitoring by supervisors is avoided.

The invention discloses a self-focusing light path system, which comprises a focusing light source, an illuminator, a baffle, a condenser, a first objective lens or a first objective lens assembly, a second objective lens and a camera, wherein the illuminator is located between the focusing light source and the baffle; the baffle is located between the condenser and the illuminator; the focusing light source is located on the focal plane of the illuminator; and the baffle is located on the square focal plane of the illuminator. Compared with the prior art, the self-focusing light path system has the advantages that focusing is accurate, the focusing back stroke distance can be shortened, the focusing time is saved, and collision between the first objective lens or the first objective lens assembly and a detection target can be effectively avoided.

The invention provides a vehicle braking control method and device. The method comprises the steps of collecting a road surface peak value attachment coefficient of a current road surface collected by a vehicle and a current distance from the vehicle to an obstacle ahead in real time; determining a maximum braking deceleration of the vehicle according to the road surface peak value attachment coefficient; determining a braking alarming distance and a safe braking distance of the vehicle according to the maximum braking deceleration; comparing the current distance of the vehicle with the braking alarming distance and the safe braking distance, and controlling the vehicle to conduct braking according to a comparison result. According to the vehicle braking control method and device, the road surface peak value attachment coefficient of a road is adopted to determine the braking alarming distance and the safe braking distance corresponding to the road, different road surface peak value attachment coefficients correspond to different braking alarming distances and safe braking distances, and thus the situation that the vehicle collides with the obstacle ahead or a vehicle ahead caused when braking is too late is avoided.

The invention discloses a method and device for determining a moving trajectory, a mobile robot and a storage medium. The method includes the following steps: acquiring scan information within a set distance range of the mobile robot; determining current relative position information of a narrow channel boundary and the mobile robot according to the scan information, wherein the width difference between the narrow channel and the mobile robot is less than a fixed width threshold; and determining a moving trajectory of the mobile robot according to the current relative position information to achieve that the mobile robot passes through the narrow channel. In the embodiment of the invention, by adopting the above technical scheme, the moving trajectory of the mobile robot can be determinedaccording to the relative position of the mobile robot and the narrow channel boundary, the planning accuracy of the moving trajectory can be improved, and the occurrence of the situation that the mobile robot shakes right and left when passing through the narrow channel can be avoided so as to ensure that mobile robot can safely pass through the narrow channel.

The invention relates to a blowing fan which is used for solving the problem that when a fan wheel of an existing blowing fan rotates, a chassis of the blowing fan is easily collided with a fan frame. The blowing fan comprises a fan frame, a stator set and a fan wheel. The fan frame comprises a base plate part and a cover plate part, a lateral wall part is arranged between the base plate part and the cover plate part, an air inlet is formed in the cover plate part, and an air outlet is formed in the lateral wall part. The stator set is arranged inside the fan frame; the fan wheel is arranged between the base plate part and the cover plate part of the fan frame, combined with the stator set, and provided with a wheel hub, the peripheral face of the wheel hub extends in the radial direction to form the chassis, and a plurality of blades are arranged on the surface of at least one side of the chassis. The chassis of the fan wheel extends in the radial direction from the wheel hub to the lateral wall part, and is inclined in the direction of the cover plate part.

The invention discloses an unmanned aerial vehicle control method, device and a storage medium. The unmanned aerial vehicle control method comprises steps: a server acquires a position point fed backby the unmanned aerial vehicle; according to the position point, a corresponding spherical model is generated and displayed on a three-dimensional map; and in the case of route planning, the flight path of the unmanned aerial vehicle is set according to the three-dimensional map and the spherical model. Thus, the effect of improving the control accuracy of the unmanned aerial vehicle is realized.

The invention discloses a vehicle automatic braking method, device and equipment and a storage medium, and relates to the technical field of vehicle braking control. The method comprises the steps ofobtaining the position relation of a front vehicle relative to a host vehicle, and judging a lane where the front vehicle is located; when it is judged that the front vehicle is located on the adjacent lane of the lane where the host vehicle is located, calculating the transverse distance of the front vehicle relative to the host vehicle and the course angle of the front vehicle according to the position relation, and judging whether the front vehicle has the tendency to converge into the lane where the hos vehicle is located according to the course angle and the transverse distance; when it is judged that the front vehicle has the tendency to converge into the lane of the host vehicle, inputting the current motion parameters into a pre-trained first safe distance model to obtain first safe distance parameters, wherein the motion parameters comprise a currently estimated pavement adhesion coefficient; and controlling the vehicle to brake according to the first safety distance parameterand the actual longitudinal distance between the two vehicles. By means of the method, automatic braking can be achieved under the front vehicle cut-in working condition, the situation of collision with the front vehicle is effectively avoided, and practicability is greatly improved.

Embodiments of the invention provide a control method and a control device for unmanned aerial vehicle climbing and an unmanned aerial vehicle, and belong to the field of unmanned aerial vehicles. Thecontrol method comprises the steps of detecting the slope of a barrier in front of the horizontal advancing direction of the unmanned aerial vehicle; determining the expected climbing speed of the unmanned aerial vehicle according to the slope and the advancing speed of the unmanned aerial vehicle; determining the acceleration time required by the unmanned aerial vehicle to reach the expected climbing speed according to a preset vertical acceleration; determining the advance climbing distance of the unmanned aerial vehicle according to the acceleration time and the advancing speed; and when the horizontal distance between the unmanned aerial vehicle and the barrier is detected to be smaller than or equal to the advance climbing distance, controlling the unmanned aerial vehicle to climb upat the preset vertical acceleration until the unmanned aerial vehicle reaches the expected climbing speed. According to the technical scheme, when the unmanned aerial vehicle encounters a barrier, the climbing can be carried out in advance, so that a situation that the collision with the barrier such as a slope and the like can be effectively avoided.

The invention relates to an anti-collision early-warning system for subway trains, which comprises an overhead contact system and a vehicle-mounted device, wherein the overhead contact system is erected along a train track, and a graded insulation part of the overhead contact system is provided with a neutral-section passing device; and the vehicle-mounted device is arranged on a train and comprises a coupling module, a signal processing module and an early-warning display module which are sequentially connected, wherein the coupling module and the overhead contact system are coupled so as to acquire or send carrier signals, and the signal processing module and the early-warning display module are both connected with a traffic safety device. The method comprises a sending process and an acquisition process which are synchronously performed, and the real-time traffic information is obtained through sending and acquiring information in the overhead contact system by using carrier signals. Compared with the prior art, the system and method disclosed by the invention can realize two-way communication, and are not easy to be disturbed; and the communication coverage distance is far larger than that of the existing wireless communication system.

The invention discloses a short link generation method and device, and relates to the technical field of computers. A specific embodiment of the method comprises the following steps: receiving a short link generation request; wherein the short link generation request comprises a long link; obtaining a number range and current allocated number information, and obtaining a number allocated to the short link generation request in combination with a predetermined number allocation mode; determining a number plate corresponding to the number, and generating a short link corresponding to the long link in combination with the protocol and the domain name in the long link. According to the embodiment, the to-be-distributed number is stored and maintained through the single machine, wherein single machine sending is achieved through cluster random distribution, then short links are generated through pseudo-random number allocation; therefore, the situation of short link collision is avoided on the whole, and the problem that short link characters are continuous is solved.

The invention provides a method and device for determining the driving track of an automatic driving vehicle and electronic equipment, and the method comprises the steps: firstly obtaining the driving characteristics and the lane structure characteristics of a target vehicle, determining the lane changing intention of the target vehicle in a first preset time period according to the driving characteristics and the lane structure characteristics, and obtaining the driving track of the target vehicle; wherein the first preset time period is a short time period, then a driving track of the vehicle in a second preset time period is determined according to the lane changing intention, the second preset time period is a long time period, and short-time intention prediction and long-time track prediction are combined, so that the driving track of the vehicle is predicted. The finally determined driving track can accurately judge the lane changing intention of the vehicle, and can plan a more reasonable driving track for the vehicle after lane changing, so that the vehicle collision condition is avoided, and the driving safety of the automatic driving vehicle is effectively improved.

The invention discloses a remote control safety tower crane based on a point position coordinate and a hoisting method of the remote control safety tower crane. The remote control safety tower crane comprises an aerial photography device, a wireless transmitter and receiver, a remote controller, a central controller, an alarm device, a display device and a tower crane collision prevention pre-warning system, wherein the aerial photography device is located at the tip of a tower crane body, and is sequentially connected with the remote controller and the central controller in a cab of the tower crane body through the wireless transmitter and receiver; the central controller is also connected with the alarm device, a motor of the tower crane body and the tower crane collision prevention pre-warning system; the tower crane collision prevention pre-warning system comprises a safety distance measurement system which is connected with the central controller; and the safety distance measurement system is sequentially connected with an ultrasonic probe, a temperature sensor and a humidity sensor through wireless signals. The hoisting method is simple to operate; tower crane operating personnel has the scientific basis when operating the tower crane due to an intelligent operation; and the relatively normative and scientific operation can be carried out.

The invention discloses an automobile braking control method. The automobile braking control method comprises the steps that a front axle payload mass, a rear axle payload mass and the mass center heights of an automobile are calculated according to the height of an automobile body; the front axle lateral deviation rigidity and the rear axle lateral deviation rigidity of the current automobile areread; the deceleration limiting value in the emergency braking process of the current automobile is calculated according to the mass center heights, the front axle payload mass, the rear axle payloadmass, the front axle lateral deviation rigidity and the rear axle lateral deviation rigidity; the maximal safety braking deceleration is calculated according to the automobile running speed and the road surface peak value attachment coefficient; and the brake warning distance and the safety braking distance are calculated according to the deceleration limiting value and the maximal safety brakingdeceleration, the brake warning distance and the safety braking distance are compared, and the automobile is controlled to conduct braking according to the comparative result. According to the automobile braking control method, the automobile braking accuracy can be improved, and accidents caused by automobile instability in automobile emergency braking and too-late emergency barking are avoided.

The invention provides a lake surface floating algae removing and fishing device, and relates to the field of fresh water purification. The lake surface floating algae removing and fishing device comprises a rectangular frame body, foam floating blocks are fixedly connected to the bottom of the rectangular frame body, and the bottom of the rectangular frame body is provided with a fishing groove;the back portion of the rectangular frame body is provided with an elliptical slot, and the elliptical slot is internally provided with an elliptical block; a fishing mechanism is fixedly connected tothe back portion of the rectangular frame body, and scraping devices are arranged between the elliptical slot and the elliptical block; a transmission device is connected to the fishing mechanism, and a centrifugal mechanism is arranged at the back portion of the rectangular frame body. According to the lake surface floating algae removing and fishing device, fishing and filtering plates can fishalgae in water and have a water filtering function, the water can be discharged while the algae is collected, the problem of excessive water content of fished algae is effectively solved, and the fishing effect is improved.

The invention discloses a seat basin assembly of a vehicle seat and the vehicle seat. The seat basin assembly comprises a seat basin. The seat is provided with a seat cushion frame, and the seat basin is mounted in the seat cushion frame. The seat basin assembly further comprises an electric seat basin angle adjusting device, and the electric seat basin angle adjusting device is also mounted in the seat cushion frame, and is connected with the seat basin for adjusting the rotation angle of the seat basin. The seat basin assembly is simple in structure, capable of conveniently adjusting the rotation of the seat basin, and comfortable to use. The invention also discloses the vehicle seat including the seat basin assembly.

The invention discloses a physical training system for sports dancing, comprising a training device and a three-dimensional monitoring training and teaching system; the training device comprises a vertical rod, a lifting device, an elastic protecting chassis, a positioning device, a spring pillar and a yoga ball; the middle of the vertical rod is connected with a cross rod, and the upper part of the lifting device is provided with a turntable; the surface of the elastic protecting chassis is provided with a rod slot, and the upper part of the turntable is equipped with a running belt; the upper part of the positioning device is connected with a pedal, the lower part of the spring pillar is fixed with a lifting handle; the lower part of the yoga ball is equipped with a power roller slot, and the middle of the running belt is provided with the power roller slot; the upper part of the pedal is equipped with a band, and the lower part of the pedal is connected with a slide rail. The physical training system is provided with multiple training devices; through mutual cooperation and association of activity and inertia of training devices, the training method can be selected independently according to own condition; specific to the property of the sports dancing, the training efficiency of the sports dancing can be largely promoted, and the training effect is increased.