52results about How to "Control steering" patented technology

The invention provides a virtual object state control method, a virtual object state control device, electronic equipment and a storage medium. The virtual object state control method comprises the steps of detecting whether a first touch control starting operation is received or not, and when the first touch control starting operation is detected to be received, judging whether the first touch control starting operation occurs in a virtual joystick area or not; when the first touch control starting operation is judged to occur in the virtual joystick area, controlling a virtual object to move according to a sliding operation which is continuous with the first touch control starting operation; detecting whether a first touch control ending operation which is continuous with the sliding operation is received or not, and when the first touch control ending operation is detected to be received, controlling a virtual joystick to enter a steering control state; when a touch control operation acting on a preset position of the virtual joystick area is detected under the steering control state, determining a target rotation direction of the virtual object according to the touch control operation. The virtual object state control method and the virtual object state control device improve the steering efficiency of the virtual object.

The invention relates to a Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering. The Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering includes the steps: a) acquiring positioning data; b) establishing a state observation equation with a rough error; c) establishing state estimation; d) solving an observation value variance matrix; e) acquiring adaptive filtering solution; f) estimating an error variance matrix; g) performing robust adaption filtering. The Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering has the advantages that the Beidou navigation method based on fusion of robust adaptation and extended Kalman filtering is obviously superior to a least square methodand a Kalman filtering method, and has a certain degree of improvement compared with the extended Kalman filtering method, and the error precision is about 5cm, thus satisfying the accuracy requirement for automatic driving of agricultural machinery, being able to be combined with a high-performance controller to effectively control the steering and speed of agricultural machinery, and being ableto achieve the aim of autonomous positioning, automatic track tracking and automatic driving of the agricultural machinery.

The invention relates to an apparatus and a method for controlling a vehicle using an electromyographic signal. The apparatus comprises an electromyographic signal measuring part, an electromyographic signal processing part, an electromyographic signal combining part and a control part. The electromyographic signal measuring part measures electromyographic signals of a left / right front arm. The electromyographic signal processing part processes the electromyographic signals of the left / right front arm measured by the electromyographic signal measuring part. The electromyographic signal combining part combines the electromyographic signals of the left / right front arm processed by the electromyographic signal processing part. The control part judges actions of the left / right front arm according to the combination results of the electromyographic signals of the left / right front arm, and controls steering direction of a vehicle, braking and at least one kinds of functions of an Audio Video Navigation (AVN) device arranged on a vehicle according to the actions of the left / right front arm obtained through judgment. According to the invention, by use of the apparatus, steering of the vehicle, braking and multimedia functions of the vehicle can be controlled according to intentions of a driver.

The invention discloses a direct-current motor driving device. The direct-current motor driving device is characterized by comprising a chip module, a power supply module and an H-bridge circuit module, wherein the chip module is used for controlling output of an output end of the chip module according to pulse width modulation PWM signals; the output end of the chip module comprises a first output end P1, a second output end P2, a third output end P3 and a fourth output end P4; the H-bridge circuit module is used for controlling a motor to rotate forwards or reversely and adjusting a rotationspeed according to output signals of the output end of the chip module; the power supply module is used for supplying power for the chip module and the H-bridge circuit module. Compared with the prior art, the direct-current motor driving device disclosed by the invention can effectively solve the problem of serious resource occupancy of a main controller port only by needing a PWM port.

The invention discloses a piezoelectric water-jet propulsion system and a toy boat equipped therewith. Defects of a conventional propulsion system and a mechanical transmission mechanism, such as complex structure, huge size and large weight, are improved to certain degree. The piezoelectric water-jet propulsion system comprises a battery chamber, an electronic chamber and piezoelectric water-jet propulsors. A battery pack for supplying power to the battery chamber is arranged in the battery chamber. The electronic chamber is internally provided with a driving circuit used for driving the piezoelectric water-jet propulsors. The driving circuit applies an electric field to piezoceramics in the piezoelectric water-jet propulsors such that high-frequency vibration is generated. A boat body is pushed forwards by converting electric energy into mechanical vibration applied to water. The toy boat is featured by being simple in structure, compact in size, low in weight and noise, stable in performance and smooth in operation.

The present invention discloses a multifunctional tracked machine for an orchard. The multifunctional tracked machine includes a vehicle travelling mechanism, a storage hoper disposed on the vehicle travelling mechanism and a manual desk; the vehicle travelling mechanism includes a track, a driving apparatus and a bottom board, the bottom board is disposed on the track, and the driving apparatus is fixedly disposed on the bottom board to drive the track to move; the storage hopper is disposed on the bottom board; a lifting mechanism is disposed between the storage hopper and the bottom board and is used for lifting and overturning the storage hopper for unloading materials; the manual desk is suspended in the side of the storage hopper, but does not overturn with the storage hopper; the overall storage hopper is supported by the bottom board, so that the stability of the storage hopper is enhanced; and due to the suspended arrangement of the manual desk, the design width of the bottomboard is reduced, and thus, a fruit picker may be set to be smaller and more flexible. The manual desk is provided with a manual operating desk for controlling the driving apparatus to drive the trackto move and steer and controlling the lifting mechanism to lift and overturn the storage hopper, and the bottom of the bottom board is provided with a universal wheel I and a mower, so that safe support is provided for the fruit picker, and meanwhile, weeding is realized during advancing.

The invention discloses a BIM (Building Information Modeling) data acquisition device for urban sewers, and mainly relates to the field of BIM technology. The device comprises a frame, a first crawler wheel and a second crawler wheel are arranged on the frame, a buoyancy block is arranged at the bottom of the frame, an impeller driving mechanism is arranged at one end of the frame, a photographic mechanism is arranged at one end of the frame away from the impeller driving mechanism, an ultrasonic sensor is arranged at the bottom of the frame, a pH value detection mechanism is arranged on the frame, and an air quality sensor and a control box are arranged at the top of the frame. The device has the advantages that data of urban sewers can be measured, original data can be provided for establishing urban sewer BIMs, the workload of workers can be relieved, the operation states in the sewers can be provided for workers, the BIMs can be maintained conveniently, and operation management of the urban sewers is facilitated.

The invention discloses a water mist dedusting device used for road dust. The water mist dedusting device comprises a compartment, rolling wheels, a handrail, a control panel, a water storage bucket,a water pipe, a rotating disc, a bracket, a spray cylinder, a supporting block, a rotating rod, a first hydraulic pump, a telescopic rod, a magnet sheet, a high-pressure water pump, a second hydraulicpump, a division plate, a piston rod, a hose, buffer boxes, nozzles, baffles, a spring, a motor and a power block. The water mist dedusting device used for the road dust has the beneficial effects that the bottom end of the spray cylinder is connected with the bracket through the rotating rod so that the spray cylinder can swing up and down, the supporting block controlled through the hydraulic pumps is mounted at the bottom of the spray cylinder, the magnet sheet is arranged on the top of the supporting block, and the specification of the magnet sheet is matched with the specification of a magnet sheet in a clamping groove in the bottom of the spray cylinder so that the supporting block can be connected into the bottom of the spray cylinder in a clamped mode, shaking of the spray cylinder during swing up and down is prevented, and steering of the spray cylinder can be conveniently controlled through the motor; and the water mist dedusting device used for the road dust has the characteristics that operation is convenient, and adjusting of the spraying distance is convenient.

The invention relates to a large crane lifting monitoring control system including a crane, the crane is provided with a control room and a boom, the side face of the control room is provided with a multi-channel multi-functional controller and a monitor, and the head part of the boom is vertically provided with an anti-vibration camera system. Through the design, the system can assist an operator to clearly see a working environment of a visual blind area through the monitor, thereby improving the work efficiency to a great extent and eliminating potential safety hazard; at the same time, the anti-vibration camera system on the boom can be vertically mounted in a suspension manner, eliminates or reduces the influence of image deformation, joggling, distortion, electromagnetic interference and the like on the monitor because of violent vibration, joggling, swinging and other working phenomena generated by irregular motion during the crane boom working process, and can ensure that a camera is used for imaging clear.

The invention discloses a universal interconnection system and method for preventing collision risk of marine ships. The system comprises a ship body, a positioning module, a processor unit, a wireless communication module, a warning device and an alarm device are arranged on the ship body, wherein the positioning module is used for positioning coordinates of the ship body, the processor unit is used for processing information, the wireless communication module is used for communicating with a data center and a networking ship, the warning device is used for warning other ships, and the alarmdevice is used for providing danger prompt for drivers in the ship body. The system can collect the position, the speed and the driving route of ships in the same sea area intranet, check to see if there are any non-networked ships by receiving radar information and judge whether risks occur among the ships or not by analyzing the data through a server end, and if there is risk, the server end sends signals to the risk ship, so that early warning can be carried out among the ships through the warning device in advance, and accordingly, marine traffic accidents are prevented.

The invention discloses a hydraulic control system of an iron making blast furnace repairing and dismounting robot. The hydraulic control system of the iron making blast furnace repairing and dismounting robot comprises a pressure supply mechanism, a first control mechanism, a second control mechanism and a heat extraction device, wherein the pressure supply mechanism comprises a flow dividing element, the input end of the first control mechanism is connected with one output end of the flow dividing element and used for controlling a vehicle body to travel, the input end of the second controlmechanism is connected with the other output end of the flow dividing element and used for controlling a first dismounting and mounting mechanical arm to act, the second control mechanism comprises aplurality of control assemblies arranged in parallel, at least one control assembly comprises a pressure maintaining element, the output end of the first control mechanism and the output end of the second control mechanism are connected to the heat extraction device, and the output end of the heat extraction device is connected to the pressure supply mechanism. According to the hydraulic control system, the robot can be integrally controlled, the pressure in the system is kept stable through the pressure maintaining element, the stable and reliable action of the robot can be ensured, and the cyclic utilization of hydraulic oil liquid is realized.

The invention provides a book checking AGV vehicle for a library. Information of books and bookshelves is automatically read through a RFID reader to realize unmanned automatic checking. Navigation is performed on the AGV vehicle through installing a magnetic navigation sensor, a magnetic stripe navigation sensor control panel and magnetic stripes so that the AGV vehicle moves along public passages of library bookshelves; the steering of the AGV vehicle is controlled by installing Mecanum wheels, a navigation industrial control host, a motor-driven control board and a driving logic control board; navigation is performed on the AGV vehicle through installing a laser ranging sensor and a laser ranging control board so that the AGV vehicle can move along the branch passages among bookshelves; an encoder is installed for controlling a AGV vehicle to switch and steer along passages of public passages and passages at two sides of bookshelves.

The invention provides a camera for a laptop. The camera comprises a light supplementing device and a photographing assembly, wherein the light supplementing device comprises a plurality of LED lampsand a lamp plate; the lamp plate is provided with a first surface and a second surface; a lens hole is formed in the center of the lamp plate; the LED lamps are arranged on the first surface and uniformly distributed around the lens hole; the photographing assembly comprises a lens, a base, a light-sensitive chip, and a fixing plate; the fixing plate is provided with a third surface and a fourth surface; the light-sensitive chip is fixed on the third surface and covered by the base; the lens is embedded above the base and protruded out of the lamp plate through the lens hole; copper columns are arranged between the lamp plate and the fixing plate; screws above the lamp plate penetrate the lamp plate so as to be in threaded connected with the copper columns; and screws below the fixing plate penetrate the fixing plate so as to be in threaded connected with the copper columns. The camera for the laptop provided by the invention has the advantages of high simplicity in structure, low possibility of damage, good lighting effects, high leakproofness, and high adjustability.

The invention discloses a rehabilitation walking assistance robot device. The rehabilitation walking assistance robot device comprises an upper trunk, a lower trunk, trunk connecting plates, six robotleg rotation shafts, six electric push rods and six robot legs. The upper trunk and the lower trunk are fixed together through the trunk connecting plates. The six robot legs are connected with the upper trunk and the lower trunk through the six robot leg rotation shafts. A triangular truss structure is adopted in the robot leg structure, feet can do the constant-speed linear motion for a long time through crank drive, stability during walking is enhanced, and accordingly rehabilitation training safety is improved. Each leg is controlled by one stepping motor to walk and controlled by one electric push rod to rotate, and it is kept that the six legs have good independence in the walking and moving process. A symmetric structure design is further adopted in the rehabilitation walking assistance robot device, the motion is flexible, the bearing capability is high, and the rehabilitation walking assistance robot device has the beneficial effects of being simple and compact in structure,reasonable in design and good in machining and assembling technology.

A power steering system includes: a first drain passage for draining an oil pressure from a first oil passage, a second drain passage for draining the oil pressure from a second oil passage, and a pair of a first and second switch valves. When one of the first oil passage and the second oil passage is so pressurized by an operation of a reversible oil pump as to have an increased internal pressure, the pair of the first switch valve and the second switch valve allow the following: i) closing one of the first drain passage and the second drain passage which one is connected to the oil passage having the thus increased internal pressure, while ii) opening the other of the first drain passage and the second drain passage which other is connected to the oil passage that is so depressurized as to have a decreased internal pressure.

The invention relates to a remote control self-moving type pneumatic dust removal device. A pneumatic dust removal structure is installed at the top of a pneumatic self-moving type crawler flatbed vehicle, and the pneumatic dust removal structure includes an outer shell. The outer shell is of a hollow tubular structure, and openings communicating with an inner cavity of the outer shell are formedin both ends of the outer shell, wherein an air inlet is formed in one end, and an air outlet is formed in the other end. An air suction device is installed at the air inlet, and an atomizing nozzle assembly is installed in the outer shell. A water inlet pipe port which communicates with the atomizing nozzle assembly is installed on the outer wall of the outer shell. The remote control self-movingtype pneumatic dust removal device has the beneficial effects that contaminated air in a roadway is sucked into the outer shell, the air passes through water mist sprayed from the atomizing nozzle assembly and then is purified, the pneumatic self-moving type crawler flatbed vehicle drives the pneumatic dust removal structure, a power source is compressed air, and the compressed air is used as driving force to drive a pneumatic motor to work, so that the potential safety hazards of electric drive is eliminated, the problems of difficult movement and high energy consumption of dust removal devices are solved, and more safety and reliability are achieved.

The invention relates to a multifunctional baby carriage system, which comprises a baby carriage. The baby carriage is provided with a weighing sensor, the weighing sensor is connected with an MCU, and the MCU is also connected with a buzzer. The system also comprises an intelligent mobile phone; the intelligent mobile phone is internally provided with a first Bluetooth module; and the MCU is also connected with a ranging module and a second Bluetooth module for being connected with the first Bluetooth module. Bluetooth wireless communication is realized through the first Bluetooth module and the second Bluetooth module in the intelligent mobile phone, a condition of whether the baby is taken away is judged through a weight signal detected by the small weighing sensor, and the buzzer is automatically controlled to give an alarm automatically. In addition, control on music on and off and volume adjustment is sent to the MCU through the intelligent mobile phone, and control on motor forward, backward, steering, quickening, stopping and synchronization is sent to a motor driving module. Thus, the baby carriage use safety is improved, and intelligent control on the baby carriage by the intelligent mobile phone is enriched.

The invention discloses a flexible four-directional tube structure of an endoscopy. The flexible four-directional tube structure comprises a plurality of sphere assemblies, a plurality of line bodies and a plurality of elastic assemblies, wherein the line bodies are continuously threaded into holding spaces of the elastic assemblies; the elastic assemblies are continuously embedded into grooves of the sphere assemblies, so that the plurality of sphere assemblies form a tubular body; the tubular body can be bent along with a pull force exerting direction of the line bodies, so that the steering of a lens of the endoscopy is controlled.

The invention belongs to the field of intelligent agricultural equipment and provides a self-propelled caterpillar band chassis vehicle remote control system which is used for remotely controlling a self-propelled caterpillar band chassis vehicle. The system comprises an execution unit, a pneumatic unit and a control unit. The execution unit comprises a left turning air cylinder (14), a right turning air cylinder (13), a clutch air cylinder (6), a high and low gear shifting air cylinder (19), a transverse multi-gear shifting air cylinder (22) and a longitudinal multi-gear shifting air cylinder (24). The pneumatic unit comprises an air pump (26), a one-way valve (27), an air storage tank (28), a pneumatic three-piece unit (29), a pressure controller (30), an overflow valve (31), a hand slide valve (32), a compensated flow control valve (33), an electromagnetic valve (34) and a position sensor (35). The control unit comprises a signal receiving device, a signal transmitting device and a programmable logic controller. The remote control system is quite suitable for working under the conditions of the limited working space, the complex road condition and the severe environment, man-machine separation is achieved, and working safety is guaranteed.

A control device mounted on a vehicle including one or more processors. The one or more processors are configured to receive a plurality of first requests from a driver assistance system. The one or more processors are configured to arbitrate the first requests. The one or more processors are configured to calculate a second request that has a physical quantity different from that of the first request, based on an arbitration result. The one or more processors are configured to distribute the second request to at least one of a plurality of actuator systems. The one or more processors are configured to output an actual steering angle of the vehicle to the driver assistance system.

The invention relates to the technical field of photovoltaic power generation, in particular to an intelligent photovoltaic power generation device and a control method thereof. According to the invention, photovoltaic power generation and the hydrogen fuel cell are effectively combined together; an electrolyzed water triggering mechanism is adopted, and an electrolytic tank, a hydrogen energy storage device, an oxygen energy storage device, a hydrogen inlet, an oxygen inlet and a hydrogen fuel cell are subjected to electrochemical reaction to generate electric energy; and the maximum power point tracking principle is used, the photovoltaic array output voltage and current are tracked, the duty ratio is adjusted for impedance matching, meanwhile, the photovoltaic array is always in the maximum illumination state by calculating the optimal illumination direction, the photovoltaic power generation electric energy conversion efficiency is improved, furthermore, weather data in cloud service can be obtained through an Internet of Things platform, and the mobile phone APP can remotely monitor the electric energy data of the system and control the steering of the photovoltaic cell array.

The invention discloses a manual parking device with a locking function. The manual parking device comprises a parking plate and a track, and is characterized in that a worm, a worm gear, an idler wheel and a limiting system are arranged in the parking plate, two sides of the parking plate are bulged, a rotating device is further arranged inside one side of the parking plate, the rotating device is connected with the worm, the worm is engaged with the worm gear, the worm gear is connected with the idler wheel, and the idler wheel is connected with the track for limiting the idler wheel to guide in a sliding manner; the limiting system is used for limiting the rotation of the rotating device. According to the manual parking device, the rotating device is shaken manually and then is transmitted by the worm gear and the worm, the idler wheel is driven to rotate, the parking device moves, the rotating device is limited to rotate through a limiting rod, and the movement of the parking device is locked, so that the manual parking device is simple in structure and convenient to use.

The invention relates to the technical field of unmanned steering control. The invention further discloses a motor steering device of the active steering system and a steering angle power-assisted torque estimation method. The device comprises a steering wheel, a steering column with an intermediate shaft, a torque and corner sensor, a speed reducing mechanism, an electronic control unit ECU, a motor and a motor position sensor, the steering wheel is fixedly connected to the top of the steering column with the intermediate shaft; the torque and rotation angle sensor and the speed reducing mechanism are both arranged on the steering column belt middle shaft, the steering gear is arranged at the bottom of the steering column belt middle shaft, and the pinion shaft is arranged in the steeringgear and movably connected to the bottom of the steering column belt middle shaft. According to the torque redundancy design method for the active steering system based on the motor rotation angle, by arranging the motor position sensor, the ECU and the speed reducing mechanism, steering of a vehicle can be effectively controlled, and redundancy backup of faults of the torque sensor can be achieved under the condition that physical hardware of an existing system is not changed.

The invention relates to a steering structure of an intelligent steering gear, comprising a control module, a sensing module, a steering module and a driving module, wherein two sets of light reflecting sensing units are arranged on the steering module, and the sensing module electrically connected with the control module correspondingly points to the light reflecting sensing units; the steering module is driven by the driving module, and the light reflecting sensing units generate angular deviation with the sensing module along with rotation of the steering module; two adjacent homochromaticlight reflecting elements are arranged on the light reflecting sensing units, two light receiving ends symmetrically arranged in the sensing module detect the light reflecting intensity simultaneously, and the control module can accurately detect the rotating angle of the steering module by light reflecting intensity difference and arrangement detected by the sensing module, so as to control steering of the system with high precision.

The invention relates to a balance car and a control method thereof. The balance car comprises a frame, wheels, sensors mounted in the middle position of the frame for sensing the reversing degrees ofthe left and right ends of the frame opposite to the middle position, and a control module for controlling the balance car to turn or go straight according to data information acquired by the sensors. The wheels are mounted on the left and right sides of the frame, and the control module is mounted on the lower side of the frame. The balance car provided by the invention can turn conveniently, and is stable and safe to operate and convenient to operate.

The invention relates to a control system and a hovercar. The control system comprises a support suitable for being installed on a car body of the hovercar, a main shaft movably connected to the support, a drawing clutch mechanism, a steering wheel and a displacement sensor arranged on the steering wheel. The main shaft is provided with an axis and can move along the axis relative to the support and rotate around the axis. The main shaft is further connected to a land driving system of the hovercar so as to drive the hovercar to steer when the hovercar walks on the land through rotation movement of the main shaft. The drawing clutch mechanism comprises a locking piece connected between the support and the main shaft, and the locking piece is used for limiting or releasing the moving freedom degree of the main shaft relative to the support. The control system can control the steering of the hovercar on the land and can also control the pitching attitude of the hovercar in the air, the control is simple, and the structure is simplified.

The invention discloses a sand blasting machine capable of controlling steering of spray heads in multi-degree-of-freedom. The sand blasting machine comprises a sand blasting machine body, a connecting transverse rod, spray head bodies and a connecting roller, a conveying belt is installed at the bottom of the sand blasting machine body, a supporting hanging rod is fixedly connected to the inner wall of the upper side of the sand blasting machine body, and a supporting rod is connected to the interior of the lower end of the supporting hanging rod; and the connecting transverse rod is fixedly mounted at the lower end of the supporting rod, the spray head bodies are uniformly mounted outside the connecting transverse rod, connecting plates are fixedly mounted at the left ends of the spray head bodies, connecting rods are fixedly connected to the left ends of the connecting plates, bearing blocks are connected to the exteriors of the right ends of the spray head bodies, bearing rods are fixedly mounted at the right ends of the bearing blocks, and an adjusting mechanism is arranged on the left side of the sand blasting machine body. According to the sand blasting machine capable of controlling steering of the spray heads in multi-degree-of-freedom, in the using process, the spraying heads can be conveniently controlled to continuously swing, the steering of the spraying heads in the machine body can be controlled in a multi-degree-of-freedom mode, and the sand blasting effect is prevented from being affected.

The invention discloses a milling machine spindle operation control system which comprises a spindle coil and a power supply and further comprises a reversing device and a controller. The spindle coil is electrified to generate a magnetic field to drive a spindle to rotate; the power supply is used for inputting currents into the spindle coil; the reversing device is used for changing the current input direction of the spindle coil; the controller is used for controlling the reversing device; the reversing device is connected between the spindle coil and the power supply and is electrically connected with the controller. When the milling machine spindle operation control system is applied, by controlling the rotation direction of the spindle, burrs generated in the machining process can be conveniently, effectively and completely removed or avoided, and thus the bad effect of the burrs on the subsequent machining process is avoided; and meanwhile, a secondary drilling process is not needed, so that the bad effect of drilling deviation on accuracy of a half hole is avoided. The invention further discloses a milling machine comprising the milling machine spindle operation control system.

The invention discloses a milling machine spindle operation control system which comprises a spindle coil and a power supply and further comprises a reversing device and a controller. The spindle coil is electrified to generate a magnetic field to drive a spindle to rotate; the power supply is used for inputting currents into the spindle coil; the reversing device is used for changing the current input direction of the spindle coil; the controller is used for controlling the reversing device; the reversing device is connected between the spindle coil and the power supply and is electrically connected with the controller. When the milling machine spindle operation control system is applied, by controlling the rotation direction of the spindle, burrs generated in the machining process can be conveniently, effectively and completely removed or avoided, and thus the bad effect of the burrs on the subsequent machining process is avoided; and meanwhile, a secondary drilling process is not needed, so that the bad effect of drilling deviation on accuracy of a half hole is avoided. The invention further discloses a milling machine comprising the milling machine spindle operation control system.

The invention relates to a standard circular radial-flow type full-automatic cleaning robot applied to secondary sedimentation tanks and solves the technical problems of high labor cost, low operationsafety coefficient, time waste and labor waste when the secondary sedimentation tanks are cleaned. The standard circular radial-flow type full-automatic cleaning robot is provided with a framework plate, wherein an elastic compensation brush mechanism, a tensioning and positioning mechanism and a sliding and automatic charging mechanism are arranged on the framework plate; the elastic compensation brush mechanism is provided with a main vertical spiral elastic compensation brush mechanism, an end surface elastic compensation brush mechanism, a side spiral elastic compensation brush mechanismand a bottom elastic compensation brush mechanism; the tensioning and positioning mechanism is provided with a bearing driving wheel component, a bearing driven wheel component, a tensioning driving wheel component, a tensioning driven wheel component and a fixed wheel component; the sliding and automatic charging mechanism is provided with a mobile charging box and a fixed charging box. The standard circular radial-flow type full-automatic cleaning robot can be widely used in the field of cleaning equipment of sewage treatment sedimentation tanks.