67results about How to "Keep a safe distance" patented technology

The invention relates to an automatic driving vehicle obstacle avoidance method and device based on TransFormer-APF-MPC and a medium, and the method comprises the following steps: obtaining pedestrian motion data and interaction scene data in real time, inputting the pedestrian motion data and the interaction scene data into an automatic driving vehicle obstacle avoidance network based on TransFormer-APF-MPC, and outputting an automatic driving vehicle obstacle avoidance scheme; the automatic driving vehicle obstacle avoidance network based on the TransFormer-APF-MPC comprises a TransFormer model and an APF-MPC obstacle avoidance model, the TransFormer model is used for predicting pedestrian trajectories according to input data, the APF-MPC obstacle avoidance model comprises a path planning layer and a trajectory tracking layer, the path planning layer is used for generating an optimal obstacle avoidance path by improving an artificial potential field method, and the trajectory tracking layer is used for tracking the optimal obstacle avoidance path. According to the improved artificial potential field method, the repulsive force between the vehicle and the obstacle and the gravitational force between the vehicle and the target point are calculated according to the improved repulsive force constant function with the adjustment factor introduced; and the trajectory tracking layer is used for calculating a vehicle control instruction through a model prediction control method, so that the vehicle runs along the optimal obstacle avoidance path. Compared with the prior art, the real-time obstacle avoidance planning and control of the vehicle can be better realized.

The invention relates to the technical field of power transformation equipment, and discloses a transformer substation bolt electrified fastening device which comprises an insulating sleeve, a fastening rod is rotationally arranged in the insulating sleeve, a fastening sleeve is arranged at the top end of the fastening rod, and the bottom end of the fastening rod extends out of the bottom of the insulating sleeve and then is connected with an adjusting rod. The adjusting rod is perpendicular to the fastening rod; the fastening rod and the adjusting rod are made of insulating materials. In the working process, the adjusting rod is rotated to drive the fastening rod to rotate, the fastening sleeve rotates synchronously, and fastening of a bolt is completed; according to the invention, the bolt can be fastened under the electrified condition, so that the power supply is not influenced, the use of auxiliary equipment can be reduced, the construction cost is reduced, and the use flexibility is improved.

The invention provides a welding device and method for saxophone machining, and relates to the technical field of saxophone machining. The welding device comprises a driving mechanism, a laser welding mechanism, a supporting mechanism, a smoke discharging mechanism, a control mechanism and a protection mechanism; the laser welding mechanism is mounted on the driving mechanism; the supporting mechanism is installed on the top of the driving mechanism and used for installing a welding tool. The smoke discharging mechanism is installed on the rear side of the driving mechanism and used for sucking smoke generated during welding. The control mechanism is mounted on the driving mechanism; the protection mechanism is mounted on the front side of the driving mechanism; the distance between the laser welding head and the saxophone is automatically adjusted, it is guaranteed that the saxophone is located at the accurate focal length when different positions of the saxophone are welded, and the welding quality of the saxophone is improved; the saxophone laser welding device solves the problems that due to the fact that a laser welding head is usually fixedly installed, when different positions of a saxophone are welded, the focal length is prone to being inaccurate, and the welding quality of the saxophone is reduced.

The invention provides a collaborative robot man-machine interaction and anti-collision control method and device based on admittance, and relates to the technical field of robot intelligent control. The method comprises the following steps: acquiring control input force; according to the control input force, constructing a relationship between a state variable and control input in the man-machine interaction system; according to the relation, an expected admittance model and a soft saturation function are adopted, and a reference trajectory of the robot end effector is generated; according to the reference trajectory, an Actor-Critic algorithm is adopted, and a reinforcement learning neural network controller based on admittance control is designed; according to the reinforcement learning neural network controller based on admittance control, a control strategy in the man-machine interaction system is adjusted, and an anti-collision strategy in the man-machine interaction system is obtained. According to the invention, the safety and stability of the man-machine interaction system are improved.

The utility model discloses a battery upper cover assembly, a battery frame, a battery pack and a vehicle. The battery upper cover assembly comprises a battery upper cover and a vehicle body floor which are oppositely arranged; the battery upper cover is provided with a first characteristic rib, and the first characteristic rib is arranged in a protruding mode in the direction close to the vehicle body floor; a second characteristic rib is arranged on the vehicle body floor, and the second characteristic rib protrudes in the direction away from the battery upper cover; the first characteristic rib and the second characteristic rib are arranged oppositely and extend in the same direction in the first direction, and the size of the first characteristic rib in the second direction is smaller than or equal to the size of the second characteristic rib in the second direction. The vehicle comprises the battery upper cover assembly. According to the battery upper cover assembly, the battery frame, the battery pack and the vehicle provided by the invention, the space loss in the height direction of the vehicle body caused by the arrangement of reinforcing ribs on the battery upper cover is avoided, so that the arrangement of structural parts in the battery and the reservation of a safe distance are ensured.

The invention discloses a route design method, system and terminal based on unmanned aerial vehicle obstacle avoidance, and the method comprises the steps: obtaining inspection task information, and obtaining a target unmanned aerial vehicle network; obtaining flight state information collected by a target unmanned aerial vehicle in the target unmanned aerial vehicle network, and generating risk collision information through a trained risk prediction model; and obtaining the route of each target unmanned aerial vehicle according to the target networking information, the flight state information, the risk collision information and the target networking information. According to the invention, by analyzing the flight state information of the unmanned aerial vehicles, the information of each unmanned aerial vehicle and the surrounding environment building and the distance information between the unmanned aerial vehicles during inspection are obtained, the plurality of unmanned aerial vehicles are controlled through the structure information of the unmanned aerial vehicle networking, and the safe distance between the unmanned aerial vehicles is maintained. The risk of the plurality of unmanned aerial vehicles when the plurality of unmanned aerial vehicles execute the inspection task is reduced, and the management efficiency of the plurality of unmanned aerial vehicles is improved.

The invention relates to a self-adaptive weight adjustment artificial potential field method obstacle avoidance method and system and a sanitation vehicle. The method comprises the steps that a laser radar and an ultrasonic sensor are used for collecting environment data around the vehicle; carrying out denoising, fusion and normalization processing on the collected data; establishing an attraction potential field and a repulsion potential field between the target and the obstacle; dynamically adjusting the weight of the attraction potential field and the weight of the rejection potential field according to the current position of the vehicle and the environment information; calculating a total resultant force field according to the adjusted weight, the attraction potential field and the rejection potential field, and searching an optimal path from the current position to the target point by using a path search algorithm based on the total resultant force field; and controlling the driving direction and speed of the vehicle according to the calculated optimal path. According to the invention, the weights of the attraction potential field and the repulsion potential field are dynamically adjusted, so that the vehicle can make an optimal obstacle avoidance decision according to the current environment and state, and the obstacle avoidance efficiency and safety are improved.

The invention provides an unmanned aerial vehicle routing inspection path planning method based on artificial intelligence, a medium and a server, and the method comprises the steps: obtaining an initial routing inspection path in a power routing inspection region, the initial routing inspection path being a double-side routing inspection path, and a power transmission cable at each side corresponding to a single-side routing inspection path, each single-side inspection path comprises a plurality of I-class inspection path segments for performing power inspection on the power transmission towers and II-class inspection path segments for performing power inspection along power transmission cables between two adjacent power transmission towers, and the I-class inspection path segments and the II-class inspection path segments are connected in sequence; and for a current inspection path segment where the unmanned aerial vehicle is located, obtaining electric power inspection data of the unmanned aerial vehicle in a current time period, and adjusting the current inspection path segment based on the electric power inspection data in the current time period, so that the unmanned aerial vehicle performs electric power inspection based on the adjusted inspection path segment, the power inspection data comprises position data, attitude data and state data of the unmanned aerial vehicle and image data shot by the unmanned aerial vehicle.

The utility model relates to a system for controlling the distance between lift cars in the same hoistway. The system comprises a distance measuring device, a control unit and a car control device. The distance measuring device is electrically connected with the control unit and is configured to detect the distance between two adjacent lift cars and send the detected distance between the lift cars to the control unit, and the control unit is configured to receive the distance between the lift cars from the distance measuring device. The control unit is electrically connected with the lift car control device and is configured to send the distance between the lift cars received from the distance measuring device to the lift car control device. The car control device is configured to receive the inter-car distance from the control unit and control operation of the car based on the inter-car distance. According to the utility model, the distance between the adjacent cars can be accurately measured, and the distance can be adjusted in real time, so that the safe distance between the cars and the operation efficiency are ensured.

The invention provides a low-voltage circuit breaker tester and a testing method thereof. The low-voltage circuit breaker tester comprises a collector, a current booster and a handheld tester, the collector is connected with a circuit breaker and is used for collecting current data of the circuit breaker; the current rising source is connected with the circuit breaker and is used for loading a test current to the circuit breaker; the handheld tester is connected with the collector and the current rising source through a wireless network, and is used for selecting a brand of a circuit breaker needing to be tested, switching to a corresponding communication protocol according to the selected brand, collecting equipment information of the circuit breaker through the collector based on the communication protocol, and sending the equipment information to the handheld tester. And the controller is used for controlling the current rising source to load a test current to the circuit breaker according to the equipment information, controlling the collector to collect current data of the circuit breaker based on the communication protocol, and detecting whether the function of the circuit breaker is normal or not according to the current data. According to the application, the problem that different brands of circuit breakers are incompatible in the test and detection process on site is effectively solved.

The utility model discloses a ceramic tile turnover tray rack which comprises a bottom support, stand columns are welded to the outer walls of the four corners of the top of the bottom support, a plurality of surrounding rods distributed in an up-and-down mode are welded between the stand columns on the adjacent sides, a plurality of clamping bases are welded to the outer walls of one sides of the stand columns, and detachable clamping blocks are clamped in the clamping bases. A stop lever is welded between the two clamping blocks, a plurality of supports are welded to the outer wall of one side of the stand column, cantilevers are connected to the top ends of the supports in a clamped mode, separation assemblies are hung above the cantilevers on the two sides, and a plurality of guide rail bases are fixedly installed on the outer wall of the top of the bottom support. According to the ceramic tile turnover frame, the bottom support, the stand columns and the surrounding rods are arranged to form the ceramic tile turnover outer frame, ceramic tiles are placed in the guide rail bases, limiting supporting between every two adjacent ceramic tiles is achieved through the separation assemblies, safety of the ceramic tiles in the transportation process is guaranteed, meanwhile, the ceramic tiles do not need to be manually carried to a large height, and manpower input is reduced.

The embodiment of the present application relates to the field of energy storage technology, and provides an energy storage boost converter box, including: a box body, the box body includes a control area and a converter area, an isolation plate is arranged between the control area and the converter area, the control area is used to set a control circuit, and the converter area is used to set a first converter and a second converter; the control circuit includes: a first circuit breaker, a second circuit breaker, a first fuse, a second fuse, a first relay, a second relay, a third relay and a fourth relay; the first circuit breaker is arranged above the second circuit breaker through a first bracket; the first fuse and the second fuse are arranged above the first relay, the second relay, the third relay and the fourth relay through a second bracket. The energy storage boost converter box provided by the embodiment of the present application is at least conducive to realizing a high degree of integration of the energy storage system.

The utility model discloses a gun type device for hanging a 500kV ground wire, which belongs to the field of drip irrigation emitter design, and is characterized by comprising a launching tube and a supporting tube, a storage device and a launching device are arranged in the launching tube, a ground wire is stored in the storage device, the ground wire is fixed on a cable after being launched by the launching device, a sighting device is arranged at the side part of the launching tube, and the sighting device is connected with the supporting tube. A grounding claw is arranged at the end of the grounding wire, a trigger for controlling the launching device is arranged on the side portion of the launching support, a rotating wheel for controlling the storage device is arranged on the side portion of the launching tube, a prefabricated hole for the grounding wire to stretch out is formed in the side portion of the launching tube, and an auxiliary handle for a worker to grasp is arranged on the side portion of the launching tube. Compared with the prior art, the grounding wire hanging device has the advantages that the grounding wire hanging is more convenient, the operation time is greatly shortened, the grounding wire hanging efficiency is improved, the safety distance is kept when a worker hangs the grounding wire, and in addition, the grounding wire is more convenient to store due to the arrangement of the storage device.

This invention belongs to the field of mechanical engineering technology and discloses a support device for a telescopic arm of a robot for adding a cover to a mixed-iron car. The device includes a support plate, a limiting box fixedly installed on the top of the support plate, a threaded sleeve movably installed inside the limiting box, and an mounting plate fixedly installed on the top of the threaded sleeve. The mounting plate has a sliding groove inside. Compared with traditional devices, this invention, through the cooperation between the threaded sleeve and the threaded rod, facilitates the slow upward movement of the telescopic arm, greatly improving operational flexibility. It allows the robot to easily cope with different working conditions and positional requirements, expands the working range, reduces adjustment time due to height mismatch, optimizes the work process, significantly enhances work efficiency, and ensures a safe distance between the robot and the mixed-iron workshop through precise height adjustment, reducing operational risks and improving the stability of the telescopic arm during operation, effectively ensuring operational safety.

The invention provides a GIS terminal cable withstand voltage testing device, which relates to the technical field of cable withstand voltage testing and comprises a supporting mechanism, a positioning mechanism A, a positioning mechanism B, a mounting mechanism and a warning mechanism. The number of the positioning mechanisms A is two, and the two positioning mechanisms A are installed on the supporting mechanism. The number of the positioning mechanisms B is two, and the two positioning mechanisms B are installed on the supporting mechanism. The mounting mechanism is mounted at the top of the supporting mechanism; the warning mechanism is mounted on the supporting mechanism and the mounting mechanism; when a to-be-supported cable is long, a worker can slide the two rectangular movable seats outwards, and the device is suitable for being used in different withstand voltage test sites; the problems that a plurality of insulating supports are generally needed to support a cable, a long cable cannot be rapidly supported, the labor intensity of workers is increased, and the cable supporting efficiency is reduced are solved.

A method for installing a hydraulic pump station using a combination of tools: S1. The hydraulic pump station is lifted using claw jacks. Three pallet jacks are placed at the bottom of the hydraulic pump station, one of which is a main pallet jack with electric power and remote steering function, and the other two are follow-up auxiliary pallet jacks. The hydraulic pump station is lowered to support it on the three pallet jacks. S2. The hydraulic pump station is moved horizontally by the electric power of the main pallet jack. The direction of the rollers of the main pallet jack is controlled by a remote control to achieve steering. The two auxiliary pallet jacks follow the movement, moving the hydraulic pump station to the vicinity of the installation foundation. S3. The hydraulic pump station is lifted again using claw jacks, all pallet jacks are removed, and the hydraulic pump station is lowered onto the installation base. S4. The level of the hydraulic pump station is adjusted, the anchor bolts are tightened, and the connection between the hydraulic pump station and the external hydraulic pipeline is completed. This method solves the technical problems of existing installation methods, which make it difficult to lift, steer, and accurately position equipment in narrow spaces.

The invention discloses a mooring method suitable for a cylindrical FPSO (Floating Production Storage and Offloading) wharf containing a sawtooth-shaped damping plate. The mooring method suitable for the cylindrical FPSO wharf containing the sawtooth-shaped damping plate comprises the following steps: S1, designing and prefabricating an isolation barge; s2, arranging a corresponding number of mooring points on the isolation barge; s3, arranging a corresponding number of rubber fenders; s4, hanging a mooring short cable on a mooring point outside the cylinder body in advance; s5, marking a matching position and a cable connecting position; s6, the cylindrical FPSO containing the sawtooth-shaped damping plate and the isolation barge form a whole; s7, two winches are arranged on the mooring wharf; s8, the whole is pulled to a wharf mooring position through a winch; and S9, one end of the mooring rope is connected with a mooring short cable pre-hung on the ship body, and the other end of the mooring rope is connected with a mooring bollard on the mooring wharf. According to the mooring method suitable for the cylindrical FPSO wharf containing the sawtooth-shaped damping plate, the mooring difficulty of the cylindrical FPSO containing the sawtooth-shaped damping plate is reduced, and the stability is improved.

This utility model discloses a conductor support rod, including an insulating connecting rod; each end of the insulating connecting rod is provided with a connector; the connector is provided with a conductor through groove, and the top of the conductor through groove is provided with a detachable fixing member. By providing a connector at each end of the insulating connecting rod, and the connector being provided with a conductor through groove and a fixing member that cooperates with the conductor through groove, the conductor through groove on the connector at both ends is brought into contact with the transmission conductor, and then the fixing member limits the transmission conductor within the conductor through groove, so that the conductor support rod is supported by the transmission conductor; at the same time, under the action of the insulating connecting rod, adjacent transmission conductors are isolated by the insulating connecting rod, ensuring that the transmission conductors maintain a safe distance, realizing the rapid installation of the conductor support rod and ensuring operational safety, thereby improving the efficiency of conductor operation.

The present application relates to a kind of pet vehicle restraint device, including fixed plate and first bandage;The fixed plate can be installed on car seat;One end of the first bandage is fixed on the fixed plate to form fixed end, the other end of the first bandage is free end, and the free end can be connected to pet;The first bandage has an anchor point on the fixed plate, the distance between the anchor point and the fixed end is first length, the distance between the anchor point and the free end is second length, and the anchor point can be displaced relative to the fixed plate, with the displacement of the anchor point, the first length increases, and the second length correspondingly decreases, or the first length decreases, and the second length correspondingly increases.Compared with prior art, the pet vehicle restraint device of the present application can improve the comfort of pet when being restrained in the vehicle body.

The present invention relates to a domain controller system for autonomous cooperative navigation of a mother-and-child ship, belonging to the technical field of multi-ship cooperative autonomous navigation, the system comprising: a first Orin chip, used to determine the environmental perception information of the waters around the mother ship and the child ship based on data collected by a first sensor and a second sensor; a second Orin chip, used to determine the posture information of the mother ship and the posture information of the child ship based on the environmental perception information, and determine the motor control instructions based on the posture information of the child ship; an MCU, used to control the cooperative navigation between the mother ship and the child ship based on the motor control instructions. The domain controller system for autonomous cooperative navigation of a mother-and-child ship provided by the present invention realizes the highly autonomous navigation capability of the mother ship and the child ship by utilizing the computing power and sensor data processing capability of the Orin chip, effectively adjusts the motor control instructions through accurate calculation of environmental perception and posture information, and ensures a safe distance between the ships and effective cooperative navigation.

The present invention discloses a test device and method for detecting a smoke alarm, comprising a telescopic rod and a smoke generating part located at the front end of the telescopic rod, the interior of the telescopic rod is a hollow cavity, the smoke generating part is composed of a bearing seat, a tray and a smoke source, a pit is arranged on the upper end surface of the tray, and a smoke source is arranged in the pit; a plurality of through holes are arranged on the side of the bearing seat, the through holes are connected with the cavity of the telescopic rod, and a hollow guide rod is also arranged in the through hole; a vacuum suction cup is arranged at the top of the hollow guide rod, and a pull rope passes through the hollow guide rod, the through hole and the cavity in sequence and extends to the end of the telescopic rod for fixing. The device simulates the smoke source, and the smoke alarm is tested more accurately through the structure of the tray lifting, which can be close to the actual simulation requirements. At the same time, the vacuum suction cup is used to increase the stability of the device, and the problem of irregular flow direction of the simulated smoke source is solved. The overall structure adopts insulating material to ensure the safety of human body and live equipment. It is a time-saving, labor-saving and efficient test device for detecting smoke alarms.

The arc extinguishing system comprises an arc isolating cover and at least one pair of arc extinguishing magnets, a magnetic field space is reserved in each pair of arc extinguishing magnets in a first direction, a contact mechanism is arranged in the magnetic field space, the contact mechanism comprises a moving contact bridge and two static contacts, and the moving contact bridge is connected with the static contacts. The moving contact bridge is arranged along a second direction and moves in a third direction, so that two moving contact parts of the moving contact bridge are respectively matched with the two static contacts, the first direction, the second direction and the third direction are mutually perpendicular, two ends of each arc extinguishing magnet are respectively two magnetic poles, and the two magnetic poles are mutually perpendicular to each other. The connecting line between the two magnetic poles of the same arc extinguishing magnet is parallel to the second direction, and the same magnetic poles of the same pair of arc extinguishing magnets face the same direction. The contact mechanism is located between the arc extinguishing magnets arranged in pairs, and the magnetic poles of the arc extinguishing magnets are located at the end positions, so that the magnetic induction lines of the arc extinguishing magnets in the magnetic field space are parallel to the movable contact bridge, the limitation of the space on the sizes of the arc extinguishing magnets is relieved, and the arc extinguishing effect is improved.

The utility model relates to a compressor shell for fixing a motor stator and a compressor, the compressor shell is of a cylinder structure with an opening at one end, and the compressor shell is sequentially and coaxially provided with a first-stage cylinder, a second-stage cylinder and a shell cylinder inwards from the opening end of the compressor shell in the axial direction of the compressor shell. The inner diameter of the first-stage cylinder is larger than that of the second-stage cylinder, the inner diameter of the second-stage cylinder is larger than that of the shell cylinder, a first-stage segment difference is formed between the first-stage cylinder and the second-stage cylinder, a second-stage segment difference is formed between the second-stage cylinder and the shell cylinder, and the second-stage cylinder is used for fixedly installing a stator body. And the first-stage cylinder is used for avoiding the end part of the stator. According to the compressor shell used for fixing the motor stator, the first-stage segment difference and the second-stage segment difference are formed in the compressor shell, the motor stator is wrapped by the thick second-stage cylinder while the installation convenience and the safety distance of the motor stator are improved, and the noise problem of a compressor is solved.

The invention discloses a 10kV medium-voltage power generation vehicle overhead line quick interface device, which comprises a circuit breaker box, a bypass cable quick plug is arranged on the side wall of the circuit breaker box, an overhead line access pile head is arranged on the other side wall of the circuit breaker box, an arc-shaped introduction groove is arranged at the connection between the side wall of the circuit breaker box and the bypass cable quick plug, a quick socket is arranged in the arc-shaped introduction groove, a conductive rod is connected to one end of the quick socket, a moving contact piece contacts the moving contact, an arc extinguishing chamber is arranged at the side end of the conductive rod, the overhead line access pile head is connected to the pile head socket, and the connection versatility and convenience are improved; the bypass cable can be hung with the power generation vehicle, which is convenient for the all-weather access of the medium-voltage power generation vehicle, and the safe distance between the personnel plugging and unplugging the cable and the electrified part is fully guaranteed; the bypass cable can be connected by plugging into the interface only, and no additional fixation is required, so that the joint insertion process is smoother; the overhead line access pile head and the bypass cable quick plug are separately arranged in parallel, the layout is more reasonable, and the overall structure is compact.

The utility model discloses a safety remote monitoring system for a cluster type flywheel energy storage system, which belongs to the field of flywheel energy storage and comprises an upper computer, a control cabinet, a first unit terminal execution device and a second unit terminal execution device. The unit terminal execution equipment II comprises an energy storage motor system, an energy storage safety pit, a converter system, a video monitoring system and a sensor monitoring system; the sensor monitoring system obtains operation data of the energy storage motor system and the converter system and transmits the operation data to the control cabinet; the video monitoring system obtains video data of the energy storage safety pit and transmits the video data to the control cabinet through a video signal; the control cabinet processes the collected data and then transmits the data to the upper computer; and the upper computer sends out a corresponding control signal so as to finish remote monitoring. According to the utility model, the remote monitoring of the operation state can be realized, and the safety of personnel and equipment is ensured.

The present invention provides a vehicle-mounted video, CAN and GPS integrated monitoring system and equipment, the system includes: a shell, the shell includes a main body, an upper cover, a front baffle and a rear baffle; a video acquisition module; a CAN acquisition module and a 4G communication module; wherein the video acquisition module includes a video module mainboard and a hard disk, and the CAN acquisition module includes a CAN module mainboard and a 4G communication module; the video module mainboard is fixed on the main body, and the CAN module mainboard, the 4G communication module and the hard disk are fixed on the upper cover. The system integrates the video module and the CAN acquisition module together, and when arranged, the video module is arranged on the main body and the CAN module is arranged on the upper cover. While ensuring a safe distance, the heat of the lower video module is introduced into the shell body through a thermal conductive adhesive, and the heat of the upper CAN module is introduced into the upper cover through a thermal conductive adhesive, thereby solving the mutual influence caused by the heating of the modules, maximally ensuring the compactness of the overall structure of the product, and bringing convenience to the arrangement, installation and use.

The application provides a robot welding path planning and obstacle avoidance method and system for complex workpieces, which comprises the following steps: extracting all welds from the workpiece, clustering the welds to obtain a weld grouping result; sorting the welds between each weld cluster and sorting the welds in each weld cluster to generate a welding path for each weld cluster; generating a welding sequence that meets process constraints; generating a safe transition path between the initial position of the welding gun and the first welding point of the welding sequence, between adjacent welds in the welding sequence, and between the last welding point of the welding sequence and the reset position of the welding gun, to obtain a complete welding path; and searching for an optimal welding path in the welding path in the minimum welding path comprehensive cost as the target. G The application solves the welding path planning problem under the combined action of multiple factors such as obstacles, differences in weld position distribution, and multiple process constraints. G The application solves the welding path planning problem under the combined action of multiple factors such as obstacles, differences in weld position distribution, and multiple process constraints.

The utility model relates to the technical field of splitting machines, in particular to a safety protection device for an unwinding portion of a splitting machine, which comprises a material receiving structure provided with an arc-shaped plate, inclined straight rods are arranged at two ends of the inner side of the arc-shaped plate in a smooth transition manner, and the outer ends of the inclined straight rods are higher than the inner ends of the inclined straight rods; the upper ends of the two spring telescopic rods are connected to the sections, away from the arc-shaped plate, of the two inclined straight rods in a one-to-one correspondence mode, and the spring telescopic rods are used for buffering the inclined straight rods; when materials fall accidentally, the materials are borne by the outer end portions of the two inclined straight rods, at the moment, the spring telescopic rods contract, collision potential energy of the materials and the inclined straight rods is reduced, the outer end portions of the inclined straight rods are still higher than the inner end portions of the inclined straight rods, and the materials roll towards the arc-shaped plates. The bottom of the upper surface of the arc-shaped plate is gradually stopped under the action of the arc-shaped plate; in this way, the materials can be prevented from directly falling on the ground, the materials can be prevented from being damaged, and the materials can be effectively prevented from hitting workers.

The invention discloses a dynamic outdoor environment-oriented scene graph semantic navigation method, which comprises the following steps: S1, constructing a multi-level ownership graph which comprises a plurality of types of nodes associated through a hierarchical clustering relationship; s2, receiving a natural language instruction, performing hierarchical semantic retrieval and reasoning on the natural language instruction and the node description of the multi-level avatar, and determining a target node corresponding to the natural language instruction from the multi-level avatar; s3, acquiring a node of the current robot, and performing global path planning according to the target node and the node of the current robot; and S4, acquiring local real-time sensing data, performing local trajectory planning and safety control decision based on the planned global path and the local real-time sensing data, and generating a control instruction. According to the method, semantic navigation guided by natural language instructions can be realized in a large-scale dynamic outdoor environment.

The present invention proposes a non-powered tensioner, comprising a base bracket, a brake device, a flywheel, a reducer, a main transmission shaft, a secondary transmission shaft, a pay-off wheel, a transmission limiting device, and a clamping and fixing device. The brake device is movably mounted on the base bracket, the brake device can control the rotation of the flywheel, the reducer is fixedly mounted on the base bracket, the flywheel is mounted on one end of the rotating shaft of the reducer, the other end of the rotating shaft of the reducer is linked with the main transmission shaft, the main transmission shaft and the secondary transmission shaft are linked together, a pay-off wheel is respectively mounted on the main transmission shaft and the secondary transmission shaft, the ends of the main transmission shaft and the secondary transmission shaft are mounted on the transmission limiting device, the clamping and fixing device is mounted on the side of the base bracket, the clamping and fixing device can be clamped and connected with the transmission limiting device, and controlling the flywheel by the brake device is equivalent to controlling the rotation state of the pay-off wheel by the brake device, which is easy to operate.