3results about How to "Avoid secondary collision" patented technology

This application discloses an abnormal collision detection and control method and related apparatus for a robot, applied to the robot's control module. The method includes: acquiring first multi-channel sound data through a multi-channel sound acquisition module within a first preset time period; acquiring first state data through a robot state perception module; preprocessing the first multi-channel sound data and the first state data to obtain second multi-channel sound data and second state data; extracting features from the second multi-channel sound data to obtain first feature data; performing abnormal collision detection based on the first feature data and the second state data to obtain a target collision detection result; and optimizing the robot's control parameters based on the first feature data, the second multi-channel sound data, the second state data, and the target collision detection result. Using this application, abnormal collision events during robot operation can be accurately detected, and control optimization can be performed accordingly.

The invention relates to the technical field of deep ploughing planting equipment, and discloses a poria cocos deep ploughing planting device which comprises a traction frame and a mounting frame rotationally connected to the rear side of the traction frame, a ground penetrating radar used for monitoring stones is fixedly mounted on the front side of the traction frame, and limiting assemblies are arranged between the traction frame and the two sides of the mounting frame. A plurality of deep ploughing assemblies are arranged on the mounting frame; and the deep ploughing assembly comprises a moving seat slidably connected to the mounting frame and two arc-shaped guide grooves formed in the two sides of the moving seat, a rotating frame is slidably connected between the two arc-shaped guide grooves, and a deep ploughing screw rod is rotatably connected into the rotating frame. The ground penetrating radar is used for detecting the positions and the sizes of hard stones in soil in real time, and the deep ploughing screw rod is controlled to gradually lift up to the rear side while moving to the rear side according to the detection result, so that the hard stones in the soil are actively avoided, and the continuity and the overall efficiency of deep ploughing operation are guaranteed.

The utility model discloses a kind of pneumatic monorail hoisting turnout, it is related to monorail hoisting turnout technical field.It includes hoisting turnout structure, and the right side of hoisting turnout structure one end bolt mounting has buffer structure, and the hoisting turnout structure includes main frame, and the outer wall of main frame inside is equipped with fixed plate, and the outer wall of main frame right side is equipped with big air cylinder, and the buffer structure includes buffer frame, and the inside of buffer frame is equipped with limit stop, and the top of buffer frame is equipped with mounting plate, and the outer wall of buffer frame top is equipped with support clamping plate, when impact plate is impacted, push rod extrudes buffer spring and air in pipe synchronously, releases air pressure energy by exhaust hole, and the sliding limit in cooperation with the positioning frame in limit groove, can quickly absorb railcar collision energy, reduce impact load damage to turnout structure, effectively prolong the service life of equipment, applicable to high frequency collision scene in heavy load transportation.