2results about How to "Implement navigation" patented technology

The application discloses a kind of based on hovering underwater vehicle's underwater unknown environment active mapping method, belong to robot environment exploration technical field.The underwater unknown environment active mapping method based on hovering underwater vehicle provided by the application utilizes hovering underwater vehicle to obtain the environmental data of unknown area of ocean in cooperation with sensor, determines the best next viewpoint according to information gain value, and determines the safe and feasible path to the best next viewpoint according to the cost of each adjacent node on the current tree as the parent node when the best next viewpoint is reached.Updating grid map in real time in this way, efficiently, quickly and accurately realize the construction and dynamic updating of map, and then assist underwater vehicle to realize the navigation of target area, and has broad application prospect in underwater environment exploration task and underwater structure inspection based on underwater vehicle and similar tasks.

The application discloses an ultrasonic driving nanorobot and a preparation method and application thereof, and the preparation method comprises the following steps: reacting Pd NPs, 4-mercapto phenylacetic acid and polyacrylic acid, adding tetraethyl orthosilicate and ammonia, and stirring to obtain PdSiO2; reacting titanium chloride solution, sodium bicarbonate solution and PdSiO2, and performing amino modification to obtain NH2-TiO2-Pd-SiO2; connecting COOH-PEG-TPP and COOH-PEG-RGD to the surface of NH2-TiO2-Pd-SiO2, and removing SiO2; the nanorobot can penetrate the dense extracellular matrix in a tumor microenvironment and precisely target a diffuse lesion, and further has the functions of catalytically generating active oxygen free radicals and regulating a tumor microenvironment, so that the oxidation-reduction / metabolic balance of the TME is changed, immunogenic cell death is induced, and the anti-tumor immune response is further enhanced.