30results about How to "Effectively bypass" patented technology

The invention provides a tree-climbing robot. The tree-climbing robot is provided with a trunk supporting component, a first tree-grabbing arm and a second tree-grabbing arm; the first tree-grabbing arm and the second tree-grabbing arm are connected with the upper portion and the lower portion of the trunk supporting component in a mechanically-matched mode correspondingly, the structures of the first tree-grabbing arm and the second tree-grabbing arm are mutually symmetrical, and the trunk supporting component is provided with a telescopic driving component body; and the output end of the telescopic driving component body is engaged with racks of two body movable component bodies on the trunk supporting component through gears. According to the tree-climbing robot, a whole mechanical system completes the whole process of tree climbing through matching of the mechanical structural components and transiting of the racks and the gears, the structure is simple, and control is simple and convenient. The tree-climbing process is completed through the alternating effect of the upper and lower climbing arms, and a rotatable arm can effectively bypass tree branches on a tree trunk.

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 provides an escape method and device for a sweeping robot, computer equipment and a storage medium, and the method mainly comprises the steps: obtaining the coordinate center of an obstacle in a current region map when the sweeping robot works around the obstacle all the time, building a rectangular coordinate system on the current region map by taking the coordinate center as the origin of coordinates, searching from the boundary of the current area map to the X axis and the Y axis in four directions of the rectangular coordinate system, and determining an area where the sweeping robot does not walk in the X direction and the Y direction or an area where the sweeping robot only walks in one of the X direction and the Y direction; searching according to a peripheral rectangleof the obstacle, and determining obstacle points in areas which do not pass through in X and Y directions or areas which pass through in only one of the X and Y directions as target escape points; and guiding the sweeping robot to escape through the target escape points. By means of the implementation mode, obstacles can be effectively bypassed, and the situation that normal path planning is affected due to the fact that the sweeping robot cannot get out of dilemma for a long time is avoided.

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 a motor winding enameled wire spontaneous heating curing method and a winding motor adopting the method. A main phase winding wire B head and an auxiliary phase winding wire Bhead are connected in parallel to form a main and auxiliary winding B head parallel wire; the main phase winding wire A head and the auxiliary phase winding wire A head are connected in parallel to form a main and auxiliary winding A head parallel wire; then electrifying, heating and curing are carried out between a lead B head of the reheat protector and the main and auxiliary winding A head parallel wire, or, electrifying, spontaneous heating and curing are carried out between the main and auxiliary winding B head parallel wire and the main and auxiliary winding A head parallel wire, so thatthe electrified spontaneous heating curing winding bypasses the heat protector; and a power-on power supply adopted for electrified spontaneous heating curing is consistent with a power supply adopted when the motor works. The heating curing operation of the motor winding is more flexible and convenient, the heating curing energy consumption is more flexibly and effectively controlled, the heating curing occupies a small workshop space, the heating quality control is more flexible, stable and effective, the motor winding thermal curing quality is high, and the curing cost is low.

The invention relates to the technical field of fertilization and in particular relates to a fertilizing apparatus for walnut trees. The fertilizing apparatus comprises a drilling mechanism and a fertilizer spreading mechanism. The drilling mechanism comprises a top surface, a side wall, a pressure spring and a drill. The fertilizer spreading mechanism comprises a fertilizer conveying pipe, a telescopic pipe and a hopper. The lower end of the side wall is fixedly connected with the drill through the pressure spring. The drill is composed of an arc drilling block. A cavity is disposed in the whole body of the drilling mechanism and is provided therein with a telescopic cylinder fixedly connected with the top surface. The fertilizer conveying pipe is connected with the telescopic cylinder. The stretching length of the telescopic cylinder is larger than the distance from the bottom end of the fertilizer conveying pipe to the tip end of the drill. The hopper is arranged on the side wall. The hopper communicates with the fertilizer conveying pipe through the telescopic pipe. The fertilizing apparatus for walnut trees is suitable for fertilizing walnut trees with deep root systems, has a good fertilizing effect, and is not liable to damage the root systems of the walnut trees.

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 provides an imaging method and device for four-dimensional ultrasonic guided puncture. The method is applied to generating a real-time three-dimensional ultrasonic image by acquiring real-time ultrasonic volume data to assist medical staff in clinical guided puncture, wherein the ultrasonic volume data is a set of data of a plurality of two-dimensional ultrasonic images which are continuous in time. The method comprises the steps of determining overall space information in the ultrasonic volume data, and generating three-dimensional rendering space information according to the overall space information; determining puncture needle information in the ultrasonic volume data, and generating three-dimensional rendering puncture needle information according to the puncture needleinformation; determining target tissue area information in the ultrasonic volume data, and generating three-dimensional rendering target tissue area information according to the target tissue area information; and generating a three-dimensional ultrasonic image according to the three-dimensional rendering space information, the three-dimensional rendering puncture needle information and the three-dimensional rendering target tissue area information. The three-dimensional ultrasonic image can clearly and visually display the spatial position of a puncture needle and the spatial anatomical structure of a target and surrounding tissue.

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 portable intelligent water quality detection ship with positioning and remote control functions, and relates to the field of water quality detection. The ship comprises a hull, a single-chip microcomputer system, a turbidity sensor, an infrared obstacle avoidance module, a positioning module, a wireless communication module, a liquid crystal display screen, a motor drivemodule, the two drive motors and the two propellers, wherein the single-chip microcomputer system is respectively connected with the turbidity sensor, the infrared obstacle avoidance module, the positioning module, the wireless communication module, the liquid crystal display screen and the motor drive module, and the wireless communication module and the control terminal establish wireless communication connection. The motor drive module is connected with and drives two drive motors to operate, and the drive shaft of each drive motor is connected with and controls one propeller. The ship is controlled based on the single-chip microcomputer system, combines with the positioning technology, the wireless communication technology, the infrared obstacle avoidance technology and the turbidity detection technology, can be used remotely, realizes the positioning and real-time data transmission, is portable and small and exquisite, and is diversified in work environments.

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.

The embodiment of the invention provides a parking control method and device, a vehicle and a readable storage medium. The method comprises the following steps: acquiring obstacle information in a parking area in the automatic parking process of the vehicle; acquiring current speed control information of the vehicle; determining output torque information required to be generated by a motor of thevehicle according to the obstacle information and the current speed control information; calling a preset prediction model to determine target acceleration information required to be generated by a brake of the vehicle according to the output torque information; and controlling the motor to adjust the current rotating torque according to the output torque information, and controlling the brake toadjust the current braking torque according to the target acceleration information, and completing automatic parking after the vehicle passes through the obstacle. According to the embodiment of the invention, the predictability of brake control is improved while the vehicle can effectively cross the obstacle, and the comfort and parking precision of the vehicle during braking are guaranteed.

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 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 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.

An embodiment of the present invention provides a parking control method, device, vehicle and readable storage medium. The method includes: obtaining obstacle information in the parking area during the automatic parking process of the vehicle; obtaining the current speed control of the vehicle information; according to the obstacle information and the current speed control information, determine the output torque information required by the motor of the vehicle; call the preset prediction model to determine the brake of the vehicle according to the output torque information The target acceleration information that needs to be generated; control the motor to adjust the current rotation torque according to the output torque information, and control the brake to adjust the current braking torque according to the target acceleration information, so that the vehicle passes through the obstacle. Automatic parking. According to the embodiments of the present invention, while the vehicle can effectively overcome obstacles, the predictability of brake control is improved, and the comfort and parking accuracy of the vehicle during braking are ensured.

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 discloses a suspension rail type server robot capable of ascending and descending to bypass beams and door frames. The suspension rail type server robot comprises a suspension type combined rail, a 3D rail car, a power system and an intelligent control system. By combining the suspension type combined rail with a curve and the 3D rail car which is capable of adaptively changing the trend, the robot can effectively bypass components such as beams, realize cross-room article conveying, and is more suitable for common article conveying among wards, restaurants or family rooms.

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 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 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 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 provides a launching adsorption type intelligent obstacle crossing window cleaning robot. The robot comprises a shell, an adsorption advancing system, a cleaning system, a launching traction obstacle crossing system, a rotary telescopic system and a control system. The robot has the beneficial effects that the robot can detect the cleanliness of a glass window surface, autonomously control or remotely control the mobile cleaning work on the glass window surface through a remote controller, and can automatically clean the glass window surface by controlling the lifting of a telescopic sleeve rod of a launching platform, the rotation of a circular rotating chassis and the rotation of a rotating shaft of a launcher, finally, the vacuum suction cups with the micro vacuum pumps are launched in the two opposite directions by selecting the proper height, angle and direction, the obstacle crossing function is achieved through adsorption of the vacuum suction cups and winding and unwinding of the launching rope, the robot can cross obstacles such as window frames or protruding walls, and cleaning work of the multiple glass window faces is completed. The robot is further provided with a solar charging system, charging can be carried out while the robot works, and the concepts of intelligence, environmental protection and energy saving are embodied.

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.