13results about How to "Effective avoidance" patented technology

The invention provides an unmanned underwater vehicle path re-planning method in a complex environment, which is a path re-planning method combining a space path with a speed strategy, and comprises the following steps: detecting a fault of a propeller, then deciding to continue to execute a task or return to reduce loss, and implementing the path re-planning method through thrust distribution; re-planning a path in a sudden water flow environment through an APF algorithm so as to cope with water flow obstruction and return to an original path at a safe position; in combination with a DWA algorithm, sudden moving obstacles are further considered, and the method can avoid the obstacles on the premise that an original planned path and a re-planned path in a water flow environment are not damaged. According to the method provided by the invention, path re-planning under different events can be completed aiming at potential safety hazards caused by emergencies in a complex underwater scene, reasonable coordination is carried out when multiple types of abnormal events are concurrent, and the path re-planning method under three uncertain events can be simultaneously realized in an overall algorithm framework.

The invention relates to the technical field of bathroom appliances, and discloses a lifting type rotating shaft shower door which comprises a first sliding rail profile, a second sliding rail profile, a lifting air cylinder and a rotating shaft sliding door, a first cavity is formed in the first sliding rail profile, and an air cylinder fixing piece is arranged at a lower end opening of the first cavity; a convex part embedded into the first cavity is arranged on the second sliding rail profile, the interior of the convex part is hollow and forms a second cavity, an air cylinder limiting piece is arranged in the second cavity, and rotating shaft limiting pieces are arranged at the upper end and the lower end of the second sliding rail profile respectively; the lifting air cylinder is arranged in the second cavity, an output rod of the lifting air cylinder is connected with the air cylinder fixing piece, a cylinder body of the lifting air cylinder abuts against the air cylinder limiting piece, and the lifting air cylinder is used for driving the second sliding rail profile to ascend and descend relative to the first sliding rail profile. According to the lifting type rotating shaft shower door, the rotating shaft sliding door has a lifting function, so that a shower water valve and the like can be effectively avoided, and 180-degree barrier-free opening of the rotating shaft sliding door is realized.

The utility model discloses a welding gun electrode cap coping device which comprises a driving mechanism, an adjusting mechanism connected with the driving mechanism, a rotating shaft, a swing arm rod, a coping mechanism and a floating mechanism connected with the coping mechanism, and the adjusting mechanism comprises a first rotating rod, a second rotating rod and a connecting rod connecting the first rotating rod and the second rotating rod; the connecting rod comprises a sleeve rod and a telescopic rod; the telescopic rod can slide in the sleeve rod, the two ends of the telescopic rod are rotationally connected with the first rotating rod and the second rotating rod respectively, and one end of the second rotating rod is connected with the swing arm rod through the rotating shaft. Therefore, not only can the grinding work of the welding machine electrode cap be met, but also effective avoidance can be realized, so that a welding gun can conveniently grab a workpiece for welding, the starting efficiency of a production line is improved, and the labor cost consumed by grinding is reduced. Therefore, the problems of low production line starting efficiency and serious labor consumption in the prior art are solved.

The invention relates to a door opening area obtaining method, a robot and a robot door passing method. The method comprises the steps that in the moving process of a robot, a target door corresponding to the robot is obtained; a door line of the target door is obtained, the door opening direction of the target door is obtained, and the door line of the target door is used for distinguishing the inner side and the outer side of the target door and corresponds to the width of the target door; and the door opening area of the target door is obtained according to the door line of the target door and the door opening direction of the target door, so that the robot avoids the door opening area of the target door when the target door is opened or closed. On the basis of the method and the device, the door opening areas of the passing doors are obtained to correspondingly obtain the avoidance areas of the robot for each passing door, so that the robot can effectively avoid in the door opening process of the passing doors, and the motion smoothness of the robot is improved.

The utility model relates to the field of postoperative recovery instruments, in particular to a lumbar postoperative pressure-resistant pad which comprises a supporting plate, an avoiding hole is formed in the center of the supporting plate, the supporting plate is provided with a mounting groove communicated with the avoiding hole and the edge of the supporting plate, and a protrusion is arranged in the center of the supporting plate, extends in the supporting width direction and points to one side of a patient. An adjusting assembly is arranged on the side, away from the patient, of the supporting plate and used for adjusting the radian of the supporting plate in the width direction. On the premise that the situation that the flow guide tube is bent due to extrusion of the patient is avoided as much as possible, the waist of different patients can be adapted.

This utility model belongs to the field of underground working well construction technology, specifically relating to a shotcrete drill bit and a composite pile formed by rotary drilling using this drill bit. The shotcrete drill bit includes a drill rod, a spiral blade disposed at the bottom of the drill rod, shotcrete blades disposed on the drill rod body, and a shotcrete head disposed on the shotcrete blades. The shotcrete blades are curved structures that bend backward in the middle. The shotcrete head is disposed at the leading edge of the bend of the shotcrete blades. The shotcrete blades are provided with a shotcrete channel connecting the shotcrete head and the internal channel of the drill rod. The shotcrete drill bit of this utility model can form a hollow cement mixing pile by rotary drilling and simultaneously shotcreting grout into the outer part of the formed hole using the shotcrete head. This not only simplifies the construction process but also reduces the amount of cement used.

The present invention discloses an injection mold for producing plastic rings, comprising a base, the upper side wall of the base is fixedly connected with a lower mold, the upper side wall of the lower mold is provided with an injection cavity, the upper side wall of the lower mold is provided with a ring-shaped permeation groove, the lower mold is provided with a groove located below the injection cavity and connected with the permeation groove, the inner wall of the permeation groove is slidably connected with a load-bearing plate, and the lower side wall of the load-bearing plate is symmetrically fixedly connected with a pressure rod extending to the inside of the groove. The present invention moves the movable plate to the left or right, so that the movable plate drives the push rod, the fixed plate and the upper mold to move upward or downward, thereby quickly completing the closing and opening of the upper mold, effectively improving the efficiency of injection molding and demoulding, and triggering the pressure sensor to transmit information to the PLC controller in the control chamber, thereby controlling the alarm to sound, reminding the operator that the device is leaking, and effectively avoiding unnecessary safety accidents and property losses.

The invention discloses a rule-based scene library setting automatic driving decision-making system and method and a vehicle, and belongs to the technical field of automatic driving, and the system comprises a sensor module which is used for collecting environment information around the vehicle; the data processing module is connected with the sensor module, and the data processing module is used for processing and analyzing the environment information collected by the sensor module so as to identify an obstacle and extract feature information of the obstacle; the decision module is used for making an avoidance decision according to the feature information extracted by the data processing module on the basis of a predetermined rule; and the execution module is used for controlling the vehicle to execute the avoidance decision generated by the decision module. According to the invention, various obstacles and moving states thereof can be accurately identified in a complex urban traffic scene, sudden occurrence of the obstacles can be rapidly judged and processed, and decision rules are continuously optimized through real-time learning and experience accumulation so as to adapt to different urban environments and obstacle arrangement.

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle rear-end collision prevention method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring multi-sensor data, extracting a key feature array based on the multi-sensor data, calculating a spatial quality score according to the key feature array and a preset weight array, and judging a rear-end collision prevention level according to the spatial quality score and a score threshold array; and after a vehicle braking control strategy and a segmented avoidance strategy are determined at least according to the rear-end collision prevention level, corresponding strategy execution is completed. According to the embodiment of the invention, the method can at least dynamically evaluate the quality of the space where the vehicle is located, and facilitates the effective avoidance of the vehicle in a space-limited area. In addition, through the segmented avoidance strategy, the risk of secondary collision can be reduced while the probability of primary collision is reduced, and the personal and property safety of the user can be guaranteed.

The present invention discloses a cinema sofa, comprising a backrest assembly, a base assembly and an armrest, wherein the base assembly comprises a base frame, a seat frame arranged above the base frame and a footrest arranged in front of the base frame, wherein the footrest is arranged to face the inner direction of the base frame and to be tilted upward, thereby forming a foot avoidance space under the seat frame; a notch is provided at the front lower end of the armrest, so that the front lower end surface of the armrest is flush with the front end surface of the footrest. The cinema sofa of the present invention can form a foot avoidance space under the seat frame through the notch design of the front lower end of the armrest and the upward tilt design of the footrest, so that the viewer can tiptoe with the ankle joint as the axis point and cooperate with the knee joint to swing so as to achieve effective avoidance. At the same time, when the viewer tiptoes, his heel can be supported on the footrest, so that a triangle is formed between the line between the heel fulcrum and the toe fulcrum, the ground and the footrest, so as to achieve better landing and relative comfort when avoiding.

The invention discloses a hook-clasp structure and underwear back clasp, which belongs to the technical field of underwear accessories, comprising a clasp hole and a hook, one end of the clasp hole is provided with a positioning ring, the other end of the clasp hole is provided with a step clasp position, one end of the hook is provided with a positioning ring, the other end of the hook is provided with a hook portion, the step clasp position protrudes away from the bottom surface of the positioning ring of the clasp hole, the hook is clasped on the step clasp position through the hook portion, so as to be clasped with the clasp hole, a step clasp position protruding away from the back surface of the human body is provided on the clasp hole, so that a space clearance is formed between the step clasp position and the back surface of the human body, and when the hook is clasped on the step clasp position through the hook portion, the front end of the hook portion is placed in the space clearance without contacting the back surface of the human body, thereby effectively avoiding the hook portion from pressing the back surface of the human body to bring discomfort to the human body, and compared with the prior art, the overall wearing comfort is better, meanwhile, since the step clasp position protrudes away from the bottom surface of the positioning ring of the clasp hole, the hook portion of the hook is able to be more conveniently clasped into the step clasp position when worn.

The present invention discloses a feeding device and a feeding method thereof, wherein the feeding device is used for separating multi-layer stacked objects, and comprises a bearing mechanism, a loading elevator, a transfer device, a reflux elevator, and a reflux conveyor line. The scheme can lift a low-position pallet to a high position for splitting by setting a loading elevator, thereby effectively meeting the unloading requirements of the high-position material tray. In addition, by setting a transfer device, the loading elevator can be effectively released. When the pallet is unloaded, the pallet of the loading elevator can be picked up again, thereby effectively utilizing the unloading time, which is beneficial to improving the feeding efficiency. Further combined with the reflux elevator and the reflux conveyor line, the reflux of the empty pallet can be effectively realized, creating favorable conditions for the rapid reuse of the empty pallet.