30results about How to "Effectively bypass" patented technology

The invention relates to the field of navigation, and discloses an obstacle avoidance method, a mobile robot and a computer readable storage medium. The obstacle avoidance method is applied to the mobile robot, and comprises the steps of acquiring a plurality of predicted paths with the length being greater than the preset length according to the current speed and a plurality of predicted accelerations of the mobile robot, wherein the preset length is greater than or equal to the distance between the mobile robot and an obstacle; evaluating the evaluation score of each predicted path, and acquiring the predicted path with the highest evaluation score to serve as a target path; and controlling the mobile robot to move along the target path. Compared with the prior art, the obstacle avoidance method, the mobile robot and the computer readable storage medium provided by the embodiment of the invention have the advantage that the mobile robot can effectively bypass the obstacle.

The invention provides an unmanned aerial vehicle laser relay redirection energy transmission device, and belongs to the technical field of laser assisted machining. The unmanned aerial vehicle laserrelay redirection energy transmission device comprises an unmanned aerial vehicle provided with a redirector and a laser device provided with a master control system and an emitter. Communication signals are established between the unmanned aerial vehicle and the master control system. The master control system is used for controlling the laser device to generate lasers with different power. The laser device is connected with the emitter capable of steering by optical fibers. The emitter is used for tracking and aiming the redirector capable of steering. The redirector is used for reflecting and focusing the laser onto a target. Through adjusting the steering of the emitter and the redirector, a systematic observation optical path being coaxial with a laser emission path is achieved. The unmanned aerial vehicle is not necessarily provided with the heavy laser device, through adjusting the redirector to aim at the target and adjusting the emitter to track and aim the redirector, bypassing an obstacle can be effectively achieved through reflection, and the laser can be transmitted and focused onto the target.

The invention relates to the technical field of urban greening equipment, in particular to a green belt trimming device capable of crossing an obstacle and an implementation method. The green belt trimming device comprises a telescopic mechanism, a detouring mechanism, a horizontal support plate, a cutting mechanism, an induction assembly and a controller, wherein the detouring mechanism is arranged at a movable end of the telescopic mechanism; the horizontal support plate is arranged at an outer position at the bottom of the movable end of the detouring mechanism; the cutting mechanism is arranged on the horizontal support plate; the induction assembly is arranged at the inner side of the movable end of the detouring mechanism; the running track of the movable end of the detouring mechanism is a ring; a gap for the obstacle to enter the inner side exists between the movable end and a fixed end of the detouring mechanism in a working condition; a groove connected with the movable end of the cutting mechanism in a sliding manner is formed in the horizontal support plate; and the telescopic mechanism, the detouring mechanism, the cutting mechanism and the induction assembly all are electrically connected with the controller. The green belt trimming device can effectively cross the obstacle in the middle of a green belt, so that the work efficiency is high, an extra posture adjusting step is avoided, the operation is simple and manpower is saved.

The invention discloses a multipath routing method for the Ad-Hoc network based on planar region division. A source node is used for calculating the distance between the source node and a destination node, all plane surfaces, on which all nodes in the network locate, are divided into nonoverlapping regions, the number of the regions and the number of corresponding curves are determined, and the coefficient of curvilinear equation is computed; the source node can write geography information of the source node and the destination node, as well as the coefficient of curvilinear equation into the head of a data packet, and forwarding to a next hop node is carried out according to a routing forward strategy; after a forwarding node receives the data packet, the geography information of the source node and the destination node, as well as the coefficient of curvilinear equation are taken out from the head of the data packet, self locating region is determined, and forwarding is continuously performed according to the routing forward strategy; then forwarding is performed by a follow-up forwarding node according to the method until the data packet reaches a target node. According to the invention, multiple paths can be built in the divided nonoverlapping regions by using the position information of nodes, not only the nonoverlapping property of nodes is considered, but also spending on route discovery caused by simple flooding is avoided, and the route discovery efficiency is improved.

The invention discloses an obstacle avoidance itinerant method and system for a mowing robot, provides a comprehensive solution for intelligently calculating an optimal path for the mowing robot to move to a specified position and realize autonomous obstacle avoidance, considers the characteristics of motor control, and aims to improve the movement ability and mowing efficiency of the mowing robot. When the method provided by the embodiment of the invention is used in a relatively open lawn, too high computing power support does not need to be provided, and a relatively accurate real-time pose can be obtained by using GPS differential positioning so as to achieve the purpose of accurately avoiding obstacles and touring even in a narrow gap.

The invention relates to the technical field of fertilization, in particular to a method for fertilizing a walnut tree. The method comprises the following steps: 1, preparing a walnut tree fertilization device; 2, applying pressure downwards for perforation, wherein a rotating head is driven to be deviated by deviation of a compression spring when the rotating head makes contact with a tree root; 3, when the perforation depth is proper, starting a telescopic cylinder; 4, uplifting a drilling mechanism, moving a conveying pipe downwards to bounce off pedal-shaped rotating blocks, and simultaneously pouring a fertilizer into a hopper. The scheme is suitable for fertilizing a walnut tree with a deeper root system, a good fertilization effect is realized, and the root system of the walnut tree is unlikely to be damaged.

The invention discloses a carbon-free trolley. The carbon-free trolley comprises a trolley frame and is characterized in that a weight power assembly capable of converting gravitational potential energy of a weight into power energy, a drive belt wheel assembly connected with the weight power assembly, a crank connecting rod assembly, a driven cam assembly connected with the drive belt wheel assembly and used for pushing the crank connecting rod assembly to move, a drive wheel connected with the drive belt wheel assembly, a steering wheel connected with the crank connecting rod assembly and adriven wheel rotatably installed on the trolley frame are installed on the trolley frame, the drive wheel, the steering wheel and the driven wheel are in a triangular distribution and respectively make contact with the ground to horizontally support the trolley frame, the steering wheel is located in front of the drive wheel and driven wheel, the weight power assembly pulls the drive belt wheel assembly to move through lowering of the weight, and therefore the driven cam assembly and the driven wheel are driven to move; the crank connecting rod assembly moves with the driven cam assembly, thesteering wheel is driven to steer, and the driven wheel rolls with moving of the driven wheel and the steering wheel to make the trolley run.

The invention discloses a rib fretsaw locator for thoracoscope. A locating pipe is formed by two locating branch pipes having completely same structure and size, the two locating branch pipes are arranged together side by side closely, and a fretsaw passes through the center hole in each locating branch pipe; the locating branch pipes are hard pipes, and are formed by straight pipe sections and arc pipe sections, the front end of each straight pipe section is smoothly connected with the rear end of the respective arc pipe section, and bent directions of the two locating branch pipes are consistent; and the handle structure is arranged at the rear part of the straight pipe section of each locating branch pipe. The fretsaw can run through the rib fretsaw locator, and the fretsaw can be separated from a wound incision and great vessels in lungs and chest, so that the incision and great vessels in lungs and chest can be radically prevented from being injured by a rough and sharp fretsaw; and the front end of the arc pipe sections can be closely contacted with the surface of a rib to be cut off, so that the fretsaw can be accurately located, severe shaking of the fretsaw can be avoided when a rib is cut off, smooth operation and cutting accuracy of an operation can be guaranteed, and side injury can be avoided.

According to the movement control method of the cleaning machine, the cleaning machine comprises a machine body, the machine body is provided with two pieces of mop cloth distributed in a parallel structure, and the mop cloth is arranged to be of a structure capable of being attached to the ground to horizontally rotate; the two mops are controlled to horizontally rotate to serve as a power source to drive the cleaning machine to move on the ground to execute a cleaning mode; in the cleaning mode, if it is detected that the posture of the cleaning machine is inclined in the state that the horizontal rotating speed of the two mops is not reduced and the horizontal rotating direction of the two mops is not changed, and the inclination angle F is larger than or equal to E degrees, the posture of the cleaning machine is controlled and adjusted so that the cleaning machine can be separated from the current position. According to the scheme, the problem that an existing cleaning machine cannot timely and effectively escape or bypass obstacles in the process of moving on the ground is solved.

The invention discloses a protection method of an electric power system, which comprises a plurality of inlet switches for electric energy to flow in and a plurality of outlet switches for electric energy to flow out on an electric power circuit, and is characterized in that the values of current passing through the inlet switches and the outlet switches are converted into pulses with corresponding relations through a voltage-frequency conversion circuit; and then the pulses are added or subtracted in advance, finally the difference value between all inlet pulse cumulants and all outlet pulse cumulants is calculated through a comparison module, and when the difference value exceeds a preset value, the comparison module controls to cut off each inlet switch. According to the method, when the line breaks down, response is fast, a communication path does not need to be directly erected in a point-to-point mode, fast differential protection can be conveniently achieved through an original communication line, and popularization is convenient.

The invention relates to a soldering flux suction nozzle, wherein the front end of the suction nozzle is in a forward leaning way, a rear middle part is in a bridge arch way and in a copy welding line way, the suction nozzle is arranged in the bridge arch type rear middle part, the suction pipe is backwards formed at a certain angle and is connected with a flux hose. The flux hose is a rubber hose. The suction nozzle is arranged at a cross arm end of a welding manipulator. The flux suction nozzle can effectively pass over either bulges or barriers; and the soldering flux suction nozzle is good in flux recovery effect, convenient to use and strong in practicality.

The invention relates to an automobile glass transportation robot capable of crossing a rail automatically. The automobile glass transportation robot comprises four parts, namely a distance measuring instrument, a bearing box, a rail crossing assembly and clamping assemblies. Wherein the movable clamping assemblies are arranged on the periphery of an inner hole of the bearing box, the clamping assemblies move along a sliding rail so as to adapt to automobile glass of different sizes and specifications, meanwhile, grabbing in the follow-up mechanical arm assembling process is facilitated, the clamping assemblies achieve clamping of different thicknesses through adjustable limiting pieces with the buffering effect, a clamping piece and a support are each provided with a rubber piece, the edge of the automobile glass is further protected, the situation that the surface quality of the automobile glass is affected due to shaking in the transportation process is avoided, the travel path position is predicted at any time through the distance measuring instrument, obstacles are found in the first time, and the robot crosses over the obstacles through the rail crossing assembly capable of rotating reversely. The distance measuring instrument and the rail crossing assembly are matched and used, and the rail crossing assembly carries out corresponding measures set by the system according to the received related data, so that the obstacles can be effectively crossed.

The invention provides a deep neural network model marking and recognition method and system based on blind watermarks, and the method comprises the steps: taking a basic image and an exclusive mark as the input, generating blind watermarks with invisible features, and enabling the distribution of the blind watermarks to be completely consistent with the distribution of the basic image and not tobe differentiated; assigning a predefined label to the generated blind watermark, then mixing the blind watermark and the training data set into a batch of samples according to a certain proportion, sending the batch of samples into a set deep neural network model for training, enabling the blind watermark to be embedded into the deep neural network model to form a host model, and realizing modelmarking; according to the invention, the set mark can be embedded into the normal image to generate the blind watermark with invisible features, and then the blind watermark is embedded into the hostmodel to be protected, so that marking and recognition of the network model are realized.

The invention discloses sludge pumping equipment for river sewage treatment. The equipment comprises a first floating plate and two second floating plates, wherein the first floating plate is connected with the second floating plates through connecting rods, the bottom of each second floating plate is provided with a moving assembly, the first floating plate is provided with a pump, the second floating plates are provided with a sludge box, the pump is communicated with the sludge box through a connecting pipe, a mud pumping assembly is arranged below the first floating plate, and the mud pumping assembly comprises a conduction pipe and a mud pumping pipe. Through a self-induction unit, stable mud pumping at an uneven river bottom can be achieved, obstacles or protruding places can be effectively crossed, and the reliability of the equipment is improved; a communicating pipe is in threaded connection with the conduction pipe through a threaded pipe, preliminary adjustment can be conducted according to the depth of a river surface, and the practicability of the equipment is improved; and the inner wall of a cutting pipe is spiral, and cutting blades on the inner wall of the cutting pipe realize cutting of hard substances in sludge, so that damage of the hard substances to pipelines in the equipment is reduced, and the reliability of the equipment is improved.

The invention relates to a method for getting out of trouble for a sweeping robot. The sweeping robot is a columnar structure, and the two ends of the columnar structure are respectively provided with a first walking unit and a second walking unit; the method includes: detecting that the sweeping robot is trapped in the first area; obtaining the sweeping robot The characteristic position coordinates of the robot in the same coordinate system as the first area; control the sweeping robot to travel in any direction until it encounters an obstacle in the first area; control the walking unit in the sweeping robot to take turns and update the characteristic position coordinates of the sweeping robot in real time during the movement of the walking unit in turn; judge whether the sweeping robot has escaped successfully according to the updated characteristic position coordinates. In this application, by controlling the walking units of the sweeping robot to move in turn, the sweeping robot can effectively avoid obstacles, so as to prevent the sweeping robot from being unable to get out of the predicament for a long time and affect the normal path planning.