3results about How to "Good autonomy" patented technology

The present invention belongs to the technical field of unmanned submersibles, and specifically relates to a trajectory optimization method for an arm-carrying unmanned submersible based on speed operability measurement. A kinematic model of an arm-carrying unmanned submersible is established based on the principle of rigid body kinematics; the capture trajectory of the arm-carrying unmanned submersible is planned in the joint space based on the skill learning method; the speed operability ellipsoid is constrained in the Riemann space based on the zero space cost function to optimize the capture trajectory of the arm-carrying unmanned submersible, realize the dexterous and precise control operation of the arm-carrying unmanned submersible in a complex underwater environment, enhance the robustness of the arm-carrying unmanned submersible to external interference, and improve the operating efficiency of the arm-carrying unmanned submersible. The present invention solves the problem of the accuracy of capturing dynamic targets during the operation of underwater manipulators and the problem of the dexterity of capturing moving underwater manipulators.

The utility model provides a cleaning assembly and coating equipment. The cleaning assembly comprises a base, a driving part and a cleaning part. Wherein the height of the base is adjustable. The driving piece is installed on the base. The cleaning piece is connected to the side, away from the base, of the driving piece. And the driving piece is used for driving the cleaning piece to rotate. According to the cleaning assembly, the cleaning effect is better, the oil removal efficiency is higher, and the conditions of secondary pollution and the like caused by oil stain accumulation are avoided. And the height of the base can be adjusted according to specific working conditions, it is guaranteed that the cleaning piece and the skid make more sufficient and tight contact, and the cleaning effect and the oil removal efficiency of the cleaning assembly are further improved. Meanwhile, the cleaning assembly has the better cleaning effect and autonomy, frequent replacement, cleaning and maintenance are not needed, the labor cost, the maintenance cost and the use cost are effectively saved, and the safety of workers in the operation process is also improved.