250results about How to "Good orientation" patented technology

The invention relates to an offshore pile foundation construction platform, in particular to an offshore pile foundation operation assembly platform and method. Comprising a pile top supporting structure, a working platform and an inter-pile connecting structure, and the pile top supporting structure is detachably fixed to the top of a pipe pile; a hole allowing a pipe pile to penetrate through is formed in the middle of the operation platform, and the operation platform is vertically and adjustably connected to the pile top supporting structure through a connecting structure. The inter-pile connecting structure is a telescopic structure which is folded and placed in the working platform before working construction and extends outwards to form a channel for connecting the working platform on the two adjacent pipe piles during working construction. The assembling platform is simple in structure and convenient to use, not only can a platform structure be formed on the pipe pile, but also the adjacent working platforms can be connected, the whole assembling platform is very easy to assemble and disassemble, and construction is easy.

The utility model provides a clamping tool for a connecting buckle, and belongs to the technical field of rim machining auxiliary equipment. The clamping tool comprises a mounting seat, a positioning block and a movable guide rod are arranged on the mounting seat, the positioning block is used for placing a connecting buckle, a pressing piece is arranged at the outer end of the guide rod, the clamping tool further comprises a driving piece used for driving the guide rod to move towards the positioning block, a guide block is arranged on the mounting seat, and the guide rod is connected to the guide block in a sliding mode. According to the clamping tool, the operation convenience can be well improved, the guide block plays a good role in guiding the guide rod, the stability in the moving process is improved, and the pressing piece can more accurately clamp the connecting buckle.

The invention discloses a solution jet spinning nanofiber yarn forming device, and relates to the technical field of yarn, the solution jet spinning nanofiber yarn forming device comprises a nanofiber generating mechanism, a fiber bundle compounding mechanism and a yarn collecting mechanism which are arranged in sequence, the nanofiber generating mechanism can utilize airflow to stretch spinning solution trickles to obtain nanofiber bundles, and the nanofiber bundles are arranged on the spinning solution trickles. The fiber bundle compounding mechanism is arranged at the outlet end of the nanofiber generating mechanism, the fiber bundle compounding mechanism receives nanofiber bundles generated by the nanofiber generating mechanism and forms nanofiber yarns, and the yarn collecting mechanism is used for winding and collecting the nanofiber yarns. The invention further discloses a method for preparing the nanofiber yarn through the device. The nanofiber yarn prepared through the device and the method has the advantages of being small in size, large in specific surface area, high in porosity, good in orientation degree, large in tensile strength, fluffy in structure, capable of achieving large-scale production and the like.

The invention relates to the technical field of fastener conveying, in particular to a feeding and discharging device applied to fastener storage, which comprises a main goods shelf for storing fastener storage baskets, transverse rack guide rails are fixedly assembled on the upper and lower ends of the side wall of the main goods shelf, and lateral translation frames are slidably assembled on the outer side of the main goods shelf through the transverse rack guide rails. According to the feeding and discharging device applied to fastener storage, by adopting the external hanging type structural design, transformation and upgrading can be rapidly conducted on a traditional goods shelf, and popularization and promotion are facilitated; by adopting the variable angle design, the operation difficulty of feeding and discharging can be reduced, and the guidance quality is improved; the lateral translation frame is assembled on the outer side of the main goods shelf in a sliding mode through the transverse rack guide rail, the lateral translation frame is used for driving the electric control type feeding device and the electric control type discharging device in the lateral translation frame, and then the electric control type feeding device and the electric control type discharging device are used for lifting adjustment along the lateral translation frame.

A method for preparing a highly oriented anisotropic bonded magnet belongs to the field of magnetic material preparation technology. The preparation method is as follows: First, a binder is dissolved in a solvent to form a homogeneous and stable solution. Then, surface-pretreated anisotropic magnetic powder is added to the solution. Next, the magnetic powder / binder solution is placed in a ball mill jar for ball milling to refine the powder, ensuring uniform dispersion and achieving better calendering orientation anisotropy. Finally, an extractant is added while vacuum filtering the ball-milled suspension, causing the magnetic powder / binder composite to precipitate as a pre-oriented precipitate. The precipitate is crushed, sieved, and then calendered. During calendering, the pre-oriented magnetic powder / binder composite undergoes further mechanical orientation, thereby preparing an anisotropic bonded magnet with a higher degree of orientation.

The utility model discloses a novel mechanical snap ring type air door interlocking device which comprises a first air door, a second air door, connecting baffles and an air door interlocking mechanism, and the connecting baffles are installed on the first air door and the second air door respectively. Door frames of the first air door and the second air door are each provided with one air door interlocking mechanism, and the air door interlocking mechanism at the position of the first air door is connected with the second air door through an interlocking rope and a telescopic spring; and the air door interlocking mechanism at the second air door is connected with the first air door through another interlocking rope and a telescopic spring. When one air door is opened, the other air door is completely in a locked state and cannot be opened, so that the air flow of a roadway is isolated or the air quantity passing through the roadway is limited.

The utility model discloses a sensor terminal and a sensor terminal injection mold structure, the sensor terminal comprises three connecting terminals which protrude out of a sensor shell and extend in parallel, the root part of each connecting terminal is provided with an arc-shaped bulge, one end, relatively far away from the root part, of each connecting terminal is an inner side end, and the other end of each connecting terminal is an outer side end. Limiting bosses are symmetrically arranged on the two sides, close to the inner side ends, of the connecting terminals in the extending direction, a short circuit prevention gap is formed between the limiting bosses on the adjacent connecting terminals, and a guide channel matched with a connector injection mold is formed between the adjacent connecting terminals. And the limiting boss is arranged on the connecting terminal so as to guide the connecting terminal when the connecting terminal is inserted into the connector injection mold, and the connector injection mold can abut against the limiting boss, so that injection molding calibration is completed. According to the sensor terminal and the sensor terminal injection mold structure, the injection molding length quality requirement of the sensor terminal can be met, and the plugging work efficiency is improved.

The present application relates to the technical field of clothes processing, and particularly provides a drying system and clothes processing equipment, aiming to solve the problem of poor stability of the compressor caused by the existing installation mode of the compressor. To this end, the drying system of the present application comprises a base, a heat pump module and a metal bracket, the base is formed with a drying air duct, the evaporator and the condenser of the heat pump module are both installed inside the drying air duct, and the metal bracket is located between the compressor of the heat pump module and the base and is fixedly connected with the compressor and the base. By additionally arranging the metal bracket between the compressor and the base, the contact area with the base is increased, so that the compressor is more stable, the compressor is more stably operated, and the metal bracket has high structural strength, which is more conducive to improving the stability of the compressor. In addition, the metal bracket can also play a certain buffering role, which is conducive to reducing the vibration of the base, thereby reducing the noise during equipment operation and improving the user experience.

The utility model provides a pulley assembly, and belongs to the technical field of pulley assemblies. The first pulley bracket is rotatably connected with the fixed bracket, and a first bearing pulley and a first guide pulley are arranged on the first pulley bracket; the second pulley bracket is rotatably connected with the fixed bracket, and a second bearing pulley and a second guide pulley are arranged on the second pulley bracket; wherein the first bearing pulley and the second bearing pulley are arranged in the vertical direction, the first guide pulley and the second guide pulley are transversely arranged, and the first pulley support and the second pulley support are rotationally connected with the fixed support; each pulley support can rotate relative to the fixed support in the running process, so that the flexibility in the radian direction is provided, and the steering processing capacity of the pulley assembly is greatly improved.

The application discloses a folding method of a side airbag of a car seat, which comprises the following steps: step 1, laying the side airbag; step 2, folding the upper part of the airbag to the passenger side, and then folding the upper part upward to form a Z-fold; step 3, inserting the lower end of the airbag into a fold to form an inner plug structure, at this time, the airbag is folded into a long strip shape; step 4, laying the long strip-shaped airbag, and folding the X-direction front part of the airbag to the passenger side direction; step 5, continuing to fold the X-direction rear part of the airbag to the root of the gas generator in a Z-fold manner; and step 6, wrapping a cloth around the outer periphery of the folded airbag to maintain the shape. The application has a good guiding effect on a large amount of gas generated by the gas generator, can effectively guide the gas to rapidly inflate to the dummy arm direction, makes the airbag unfold to the passenger side of the dummy and be filled with the gas, and realizes the function of rapidly lifting the arm of the dummy.

The utility model provides a back door assembly and a vehicle. The back door assembly comprises a back door metal plate, a tail lamp arranged on the back door metal plate and an outer decoration plate located below the tail lamp. A connecting part is arranged at the top of the outer decoration plate, the connecting part is bent forwards and extends upwards to the position between the tail lamp and the back door metal plate, and the connecting part and the tail lamp are connected with the back door metal plate through the same connecting piece. According to the back door assembly, the connecting part located between the tail lamp and the back door metal plate is arranged at the top of the outer decorative plate, and the connecting part and the tail lamp are connected with the back door metal plate through the same connecting piece, so that the structural strength of the outer decorative plate can be improved, the number of holes in the back door metal plate can be reduced, and the service life of the back door assembly is prolonged. Therefore, the forming of the metal plate of the back door is facilitated, the assembling efficiency of the back door assembly is improved, and the production cost is reduced.

The invention belongs to the technical field of material science and engineering, and relates to a method for preparing a high-orientation high-reflectivity graphene film through vapor pressure assisted stretching reduction, and the method comprises the following steps: carrying out isotropic stretching and vapor treatment on a graphene oxide film at the same time, namely heating a mixed solution of a hydrogen iodide aqueous solution and ethanol until the mixed solution is vaporized, and carrying out heat preservation at 90-120 DEG C for 6-24 hours, the volume ratio of the hydrogen iodide aqueous solution to the ethanol is 1: (2-5). According to the method, the graphene film is subjected to isotropic tensile stress in the reduction process, so that wrinkles and ripples generated by thermal fluctuation and interlayer spacing change are effectively eliminated, and the flatness of the graphene sheet layer is improved.

The utility model provides an energy -saving type cowshed ventilation fan belongs to ventilation fan field, including fan frame and fan blade, the positive rear of fan blade is provided with drive motor, and drive motor's output is fixedly connected with the axle core department of fan blade, the fan blade is located the inside of fan frame, and drive motor is fixedly connected with fan frame through connecting piece, one side of fan frame is fixedly connected with two upper and lower symmetry connecting blocks, the bottom end of the connecting block of the most top is rotatably connected with connecting rod through bearing, and the bottom end of connecting rod penetrates and rotatably another connecting block through bearing and extends its downside. The utility model is favorable to the equipment orientation of installation completion convenient adjustment, can carry out equipment height adjustment according to the environment at will, reduces the operation difficulty of installation personnel and the later adjustment time, guarantees optimal wind direction and angle and carries out heat dissipation, realizes manual and energy double energy -conservation, solves the angle adjustment of convenient to it and the consumption of manual in prior art after fixing.

The invention relates to a novel viscose fiber spinning method, and relates to the technical field of viscose fibers. The non-acidic coagulating bath is mainly composed of at least one of sodium salts. The viscose stock solution does not release hydrogen sulfide and carbon disulfide during non-acid coagulating bath spinning forming, spinning station workers and the atmospheric environment are friendly, sodium bicarbonate consumed by fiber forming can be prepared by reacting carbon dioxide with sodium carbonate, the production cost of chemical raw materials is low, the byproduct sodium carbonate generated in a coagulating bath is higher in economic value, and the production cost is low. And the fibers are uniformly formed, the orientation degree is higher, and the dimensional stability is better.

This utility model relates to a bending roll device for work rolls in medium and heavy plate rolling mills, belonging to the field of rolling mill equipment in the metallurgical industry. Its purpose is to extend the service life of the bending roll cylinder. The upper cylinder piston rod of the upper bending roll cylinder is connected to an upper guide plate. The top plate, outer guide plate, and inner guide plate of the upper guide plate form a downward-facing groove that engages with the top of the bending roll cylinder block. The upper cylinder piston rod is connected to the top plate and pushes the upper roll bearing seat via the upper guide plate. The lower cylinder piston rod is connected to a lower guide plate and pushes the lower roll bearing seat via the lower guide plate. The upper guide plate transmits the frictional force of the bearing seat moving axially along the work roll when the work roll shifts to the bending roll cylinder block, preventing the upper cylinder piston rod of the upper bending roll cylinder from being subjected to radial force. It has a good guiding effect and alleviates problems such as sealing oil leakage, rapid guide wear, and even piston rod deformation caused by long-term radial force during roll shifting. This helps extend the service life of the upper bending roll cylinder and is suitable for rolling mills with large openings. The bending roll cylinder is easy to install and disassemble, and convenient to maintain.

The utility model provides a guide device for steel band flattening machine, the utility model discloses a support plate is fixed on the steel band flattening machine body, and the two spacers are slidably arranged on the support plate, and the spacer can be moved along with each other in the process of one of the two spacers moving because of the existence of the synchronous connecting rod, so that the interval between the two spacers is fixed in the subsequent movement adjustment of the two spacers, and the actual size of the steel band cannot be accurately matched, and the guiding effect is improved.

The utility model provides a kind of heat exchange pipe groove processing mould, it is related to stamping die technical field, including processing mould assembly, the outside of processing mould assembly is provided with protection assembly, dismounting assembly is provided on the processing mould assembly, the processing mould assembly includes upper die and lower die, installation slot is opened in the upper die, stamping head is provided on the upper die.The utility model is by sliding block sliding in the inside of installation slot, it is favorable to the maintenance of stamping head, then using limit plug synchronous sliding in the inside of installation slot, it is favorable to the transverse limit of sliding block, moving limiting plate is active in the inside of fixed frame, it is favorable to make the limiting plate provide limiting effect to limit plug, then using fastening bolt is penetrated in the inside of limiting plate, it is favorable to the limiting of limiting plate, without the maintenance of a large number of bolts, it can be maintained and replaced to stamping head, improve maintenance efficiency.

The utility model relates to the technical field of welding deformation correction, and discloses an H-shaped steel column welding deformation correction device convenient to position, which comprises a bottom plate, a processing table, an H-shaped steel column main body and a flame gun, vertical plates are fixed on two sides of the top of the bottom plate, and a positioning roller is arranged between the assembling plates by utilizing a shaft rod. A sliding groove is formed in a vertical plate, a first sliding block is embedded in the sliding groove to form sliding connection, after a first telescopic rod works, the height position of a first adjusting box can be pushed to be adjusted, and then a first motor is started to work to drive a first threaded rod to rotate; at the moment, a first threaded block and a first threaded rod are matched to move back and forth, when a flame gun is used for work correction, the position of the movable positioning roller can be adjusted, and a second telescopic rod can be started to work to push and change the left-right position of the positioning roller, so that the two positioning rollers can position the H-shaped steel column main body, and the positions of the positioning rollers can be changed during linear heating; and the overall positioning capability is improved.

The present application is about a method for improving the piezoelectric properties of regenerated eggshell membranes, and relates to the field of fiber membranes. The method comprises: pre-treating waste eggshell membranes to obtain eggshell membrane powder; dissolving the eggshell membrane powder in an aqueous solution and stirring until fully dissolved to obtain an eggshell membrane aqueous solution; adding a PEO polymer to the eggshell membrane aqueous solution and stirring fully to obtain a spinning solution; electrospinning the spinning solution in an electrostatic spinning machine to obtain a nanofiber membrane made of waste eggshell inner membranes; encapsulating the nanofiber membrane with PDMS and a curing agent to obtain a flexible piezoelectric sensor. The nanofiber membrane prepared in the present application has good biocompatibility and degradability. After encapsulating the nanofiber membrane with PDMS and a curing agent, a flexible piezoelectric sensor is obtained, which produces a significant piezoelectric response under the excitation of a small vibration, and can become a source of alternative green energy to power various portable electronic devices used in daily life.

The application relates to the field of carbon nanotube catalyst materials, and specifically discloses a catalyst and a preparation method thereof, an array type carbon nanotube and a preparation method thereof. A catalyst is formed into a sheet-shaped nanocrystalline grain, and the sheet-shaped nanocrystalline grain comprises at least one kind of microwave active metal ion. The preparation method of the catalyst comprises the following steps: S1, microwave-assisted reaction; S2, standing and aging; and S3, calcination treatment. An array type carbon nanotube is prepared by catalysis of the catalyst, the array type carbon nanotube has a plurality of unit carbon nanotube bundles, the unit carbon nanotube bundle comprises a plurality of carbon nanotubes which are intertwined and have a tube length greater than 1 mu m, and the tube diameter of the unit carbon nanotube bundle is 0.2-2 mu m. The carbon nanotube prepared by catalysis of the catalyst has a consistent length-diameter ratio, good orientation and high purity, so that the excellent performance of the carbon nanotube can be brought into play.

The present invention discloses a preparation process of sintered ferrite and a sintered ferrite magnet. The preparation process includes the following steps: Raw material ratio: Select high-purity iron powder, iron oxide powder, and lanthanum powder as raw materials. According to the chemical formula, with a molar ratio of 5.6 < n < 6.1, the ferrite powder, iron oxide powder, and lanthanum are proportioned, and an appropriate amount of additive is added; Mixing: Put the materials proportioned in S1 into a wet ball milling device, and then adopt the wet ball milling process to crush and mix the materials. In the present invention, by introducing the pulsed electromagnetic field technology during the pressing and forming process, the arrangement density and orientation of the powdery materials can be improved, thereby effectively improving the forming efficiency of the ferrite green body and the performance of the magnet. By introducing nitrogen-containing gas to optimize the sintering environment during the sintering process, the ferrite green body forms a microporous structure to achieve the optimization of the material structure, thereby further improving the performance of the magnet.

The application provides a gas explosion device, a gas explosion system and an ignition method applied to a film and television fireworks special effect. The gas explosion device comprises: a combustible medium container for storing combustible medium; a driving assembly comprising a driving assembly body with a first cavity and a moving piece, the moving piece being located in the first cavity, the moving piece comprising a puncture part; a driving piece arranged in the first cavity and located on one side of the moving piece, used for generating driving kinetic energy to push the moving piece to move; and a first charge arranged in the puncture part of the moving piece, used for ignition after the puncture part pierces into the combustible medium container, so as to ignite the combustible medium in the combustible medium container. The gas explosion device, the gas explosion system and the ignition method are used to achieve the effect of instantaneous complete explosion under the condition of meeting safety.

The utility model provides a tire crusher which comprises a base, a support is arranged on the base, a crushing box with an opening in the lower end is arranged on the support in a penetrating mode, a feeding hopper is arranged on the top of the crushing box, two installation frames are arranged between the front side wall and the rear side wall of the crushing box in a sliding mode, and installation shafts are rotationally arranged on the two installation frames respectively. And telescopic push rods are arranged at the left side end and the right side end of the crushing box correspondingly, and output shafts of the telescopic push rods are connected with the mounting frame. According to the tire crusher disclosed by the utility model, the basic requirement of crushing waste tires can be met, and the horizontal position of the crushing structure can be flexibly and conveniently adjusted, so that a worker can conveniently clean crushed tire materials clamped on the crushing structure from the upper side.

This invention provides a fiber-based biomimetic polyurethane artificial blood vessel and its preparation method. The method involves using wet spinning technology to obtain filaments, which are then drawn and wound onto the surface of a metal tube to form a polyurethane fiber inner layer. A fabric middle layer is woven onto the surface of the polyurethane fiber inner layer. An organic solvent is sprayed onto the surface of the fabric middle layer, and an outer polyurethane fiber layer is prepared on the fabric surface using electrospinning technology. Finally, after curing and demolding, the fiber-based biomimetic polyurethane artificial blood vessel is obtained. This invention combines wet spinning, weaving, and electrospinning technologies to achieve integrated preparation of polyurethane artificial blood vessels. The resulting artificial blood vessel is of high quality, with a tightly bonded three-layer fiber-based structure that maximally mimics the three-layer structure of natural blood vessels. The inner layer provides excellent compliance, the fabric layer increases the blood vessel's impermeability and sutureability, and the outer layer effectively prevents vascular delamination and promotes endothelialization. Furthermore, the preparation method is environmentally friendly and pollution-free, with a short process flow, making it suitable for continuous industrial production.

The present application relates to a liquid crystal elastomer microstructure preparation method based on photopolymerization phase separation, the method comprising S1, for a first liquid crystal cell with a specified thickness, filling a mixture of photopolymer monomers and liquid crystals between the first substrate and the second substrate of the first liquid crystal cell, the first substrate being a substrate without an alignment layer, and the second substrate being coated with an alignment layer; S2, covering a gray-tone mask on the first surface of the first substrate of the first liquid crystal cell; the first surface of the first substrate being the surface away from the mixture; S3, performing ultraviolet exposure on the gray-tone mask to separate the photopolymer monomers and the liquid crystals, and obtaining a composite structure; S4, based on a pre-configured liquid crystal elastomer prepolymer, processing the composite structure according to a preset liquid crystal elastomer microstructure preparation strategy, and obtaining a liquid crystal elastomer microstructure. The liquid crystal elastomer microstructure film prepared by the method has a thickness ranging from several microns to tens of microns, good alignment, and simple manufacturing process, low cost and high precision.

The utility model discloses a lifting device for coal processing, which comprises a lifting frame and a hopper arranged in the lifting frame, the bottom of the hopper is connected with a supporting seat, an arc-shaped groove is arranged in the supporting seat, the arc-shaped groove is connected with a connecting shaft in a sliding mode, two ends of the connecting shaft are connected with supporting wheels in a rotating mode, and the supporting wheels are connected with the lifting frame. The supporting wheel is matched with a supporting groove formed in the front side of the lifting frame, the lifting frame is connected with a driving mechanism used for driving the hopper to ascend and descend, the driving mechanism is connected with the connecting shaft, and the rear side of the lifting frame is connected with a guiding mechanism used for guiding the hopper. The guide mechanism comprises two guide rails, two guide grooves, two rotating wheels, two fixing shafts and a positioning mechanism, the rotating wheels are connected into the guide grooves, and the positioning mechanism is used for synchronously positioning the two guide rails. According to the utility model, the lifting and pouring of coal are smoother and coherent, the efficiency is high, the pouring at different height positions is realized, and the use in different occasions is met.

The utility model discloses an air conditioner, the air conditioner includes: air conditioner body and air deflector subassembly, and the air conditioner body has the air outlet, and the air deflector subassembly is located at the air outlet, and includes air deflector grille and air deflector swing leaf, and the air deflector grille rotatablely installed in the air conditioner body, and the air deflector swing leaf is located at the upstream of air deflector grille, and is along the multiple interval arrangement of the rotation axis of air deflector grille, and the air deflector swing leaf rotatablely installed on air deflector grille, to follow air deflector grille synchronous rotation around rotation axis. According to the air conditioner of the utility model, through install air deflector swing leaf on air deflector grille, air deflector swing leaf follow air deflector grille synchronous rotation around rotation axis, and air deflector grille rotates and will not produce interference with air deflector swing leaf when guiding air, thereby can promote the work reliability of air deflector subassembly, promote the guiding effect to the air flow, and reduce the interference between air deflector grille and air deflector swing leaf still benefit to prolong the service life, benefit to reduce the work noise of air deflector subassembly.

The utility model discloses an anti-dead-attraction device for a maglev train, which belongs to the technical field of safety driving devices for maglev trains and comprises a maglev track and a magnetic attraction component mounted on the surface of the maglev track, and a guide component is erected outside the maglev track. The supporting plate is fixed to the surface of the magnetic suspension track through a locking piece, the inner wall of a groove in the surface of the supporting plate is fixedly connected with a shaft rod, the exterior of the shaft rod is rotationally connected with a guide wheel, the magnetic suspension train directionally travels along the magnetic suspension track, and in the traveling process, the guide wheel rotates at a high speed under aerodynamic force of the traveling area of the magnetic suspension train. When the height fluctuation phenomenon of the maglev train occurs, the guide wheels have good isolation, auxiliary supporting and guiding performance on the maglev train, so that a good anti-dead-suction protection effect is achieved, and the driving safety is improved; and the drainage groove is formed in the bottom of the supporting plate and communicated with the groove, so that rainwater is conveniently drained, and the working area of the guide wheel is kept dry.

This invention relates to the field of sand making technology, specifically to a sand making device with controllable stone powder content. The device includes a return conveyor tailstock, a sand making structure on the side of the tailstock, a primary filtration structure inside the tailstock, and a secondary filtration structure on the side of the tailstock away from the primary filtration structure. The stone powder is initially filtered by the up-and-down vibration of a moving block. When a specific size needs to be filtered out, the pneumatic bar valve moves, driving the inverted V-shaped guide plate to a parallel state. At this time, the first telescopic plate continues to move, changing the parallel guide plate into a regular V-shape, causing the stone powder on the guide plate to contact the interior of the return conveyor tailstock. This reduces the volume and irregularity of the splashed stone powder through collisions, and accelerates the guidance of the stone powder towards the pneumatic bar valve for filtration, thus improving production efficiency and the filtration effect of the pneumatic bar valve.

The application discloses a kind of autonomous exploration method and device based on boundary and stratification, it is related to the field of robot autonomous exploration, this method includes in current two-dimensional grid map, according to the current position of robot setting a dynamic sliding window, it can be according to the uncertainty of environment, the distribution of obstacle and the motion speed of robot adaptive control the size of sliding window.In addition, the application selects a local target boundary point from the dynamic sliding window or selects a global target boundary point from each undetected global boundary point as a guide point, so that the RRT sampling algorithm plans a feasible path in the specified direction, improving the efficiency of autonomous exploration.In addition, the application selects the target boundary point from the local boundary point or from the global boundary point, stratifies the boundary point, reduces the number of sampling points to be evaluated, and improves the efficiency of autonomous exploration.