48results about How to "No collision" patented technology

The invention discloses a humanoid robot grabbing method based on three-dimensional vision, and the method comprises the following specific steps: S1, environment modeling and perception: carrying out the three-dimensional scanning of a working environment, and constructing a three-dimensional map of the environment; s2, object identification and 6D attitude estimation: identifying a target object, and estimating the position and attitude of the object in a camera coordinate system; s3, coordinate conversion and target positioning, wherein the posture of the object is converted into a robot base coordinate system from a camera coordinate system through TF conversion; and S4, path planning and motion control are conducted, specifically, path planning is conducted through a cumotion algorithm, a grabbing path is generated, and the two arms are driven to move according to the planned track to achieve grabbing. By means of environment modeling and sensing, the robot can update environment information in real time, conduct three-dimensional scanning on the working environment and generate the three-dimensional grid model of the environment in real time, the model is used for obstacle detection and avoidance planning, and the dynamic environment adaptability of the robot to object grabbing is improved.

The invention discloses a turning trajectory optimization method for a trailer, which comprises the following steps: firstly, judging whether a vehicle needs trajectory optimization, secondly, obtaining an initial input boundary of trajectory optimization based on the current position information of the vehicle, and obtaining an input boundary after an obstacle is processed by combining the longitudinal distance of the center of the obstacle in a frenet coordinate system; based on the input boundary, the turning radius of the trailer during turning and the leftmost end face and the rightmost end face of the trailer are combined, the input boundary considering trailer movement is obtained, and the safety distance of the inner side of the trailer and the safety distance of the outer side of the trailer are obtained through calculation; searching the safe distance between the inner side and the outer side calculated in the previous step on the basis of the curvature, and adding the safe distance into an input boundary after the obstacle is processed; and according to the finally obtained boundary, inputting the boundary into a solver to obtain a final collision-free track considering the trailer motion during turning. The stability, safety and trafficability of the automatic driving system can be greatly improved.

The utility model relates to the technical field of power distribution cabinets, and discloses a power distribution cabinet with a temperature adjusting function, comprising a power distribution cabinet, the top end of the power distribution cabinet is fixedly connected with a protection box, the protection box is internally provided with a motor, and an output shaft of the motor penetrates into the power distribution cabinet and is fixedly connected with a screw rod through a coupling. A sliding block is arranged on the lead screw in a threaded sliding mode, an air cylinder is installed on the outer wall of the sliding block, and a cooling fan is installed in the air cylinder. According to the technical scheme of the utility model, the output shaft of the motor can drive the screw rod to rotate, and the rotation motion of the sliding block can be converted into linear motion when the screw rod rotates, thereby driving the heat dissipation fan to perform reciprocating lifting motion, and improving the heat dissipation range and heat dissipation effect of electronic components in the power distribution cabinet. And the heat dissipation fan and the electronic component can be separated by the partition plate, so that the heat dissipation fan does not collide with the electronic component when ascending and descending, and convenience and practicability are achieved.

The invention discloses an omni-directional robot group collaborative path planning navigation method and system and a storage medium, and the method comprises the following steps: S1, collecting data received by a main robot from a sensor of the main robot, and constructing a global planning track; s2, the current actual distance between the master robot and the slave robot is calculated, and the slave robot and the master robot are controlled to keep a preset cooperative spacing range; s3, driving the master robot and the slave robot to move synchronously according to the global planning track; s4, collecting data received by the slave robot from a sensor of the slave robot, and locally optimizing a path planning track of the slave robot; and S5, repeatedly executing the steps S1-S4 until the main robot reaches the target point. According to the method, the path is planned by locally optimizing the path, the path of each slave robot is accurately controlled, and the slave robots can conveniently pass through narrow space channels in sequence without collision, so that the processing efficiency of multi-robot coordination control is improved.

This invention discloses a method for matching rolls in the cutting hole field, belonging to the technical field of section steel rolling. It solves the technical problem that the upper and lower rolls are damaged due to collisions between the cutting edges during high-speed rotation. The method involves setting a first roll matching gap smaller than the cutting edge gap at both ends of the upper and lower rolls, and determining the diameters of both ends of the upper and lower rolls based on the first roll matching gap. The first roll matching gap is 0.5-2mm smaller than the cutting edge gap. When the upper or lower roll shifts during high-speed rotation, because the first roll matching gap is smaller than the cutting edge gap, the first roll matching gap of the upper and lower rolls will contact each other first, preventing collisions between the cutting edges and avoiding abnormal damage to critical positions such as the cutting edges.

The utility model is suitable for the technical field of gas equipment, and provides an anti-collision device for gas equipment. The utility model discloses an anti-collision device for fuel gas equipment. The anti-collision device for the fuel gas equipment comprises a supporting frame, an anti-collision rod, supporting legs and an elastic assembly, one end of the elastic component is fixedly connected with the supporting leg, and the other end of the elastic component is fixedly connected with the bottom of the supporting frame; the number of the anti-collision rods is multiple, the number of the supporting frames is multiple, and the anti-collision rods are fixedly connected with the multiple supporting frames. An elastic assembly is arranged at the bottom of the supporting frame, supporting legs are arranged below the elastic assembly, and the anti-collision rod is arranged on the supporting frame. The whole supporting frame covers the periphery of the gas equipment, the top and the two side faces are protected by the anti-collision rods, and the equipment is protected against collision; and the multiple anti-collision rods are arranged, so that the stability of the anti-collision device for the gas equipment is improved. When an object touches the anti-collision device, the elastic assembly rebounds due to extrusion, and the damping effect is achieved.

The present disclosure provides a multi-unmanned vehicle target encirclement method based on MPC-APF control, which comprises the following steps: step 1: taking a rear axle-centered single vehicle model as a kinematics model, and constructing a vehicle motion state equation; step 2: establishing an artificial potential field APF in an environment, including a road boundary line APF and an obstacle APF; the obstacle APF is constructed by fusing the artificial potential field effects of the same direction and reverse motion obstacle vehicles on the unmanned vehicle; step 3: converting the target encirclement problem into a dynamic trajectory tracking problem, adding an APF penalty term designed based on an artificial potential field in an optimization objective function, and tracking and controlling a dynamic target trajectory by using model predictive control MPC according to the vehicle motion state equation. The present application can realize the encirclement of a dynamic target in a road environment with dynamic obstacles and avoid collisions with other social vehicles.

The invention belongs to the technical field of aircraft control, and particularly relates to a simulation test system and method for an aircraft obstacle avoidance algorithm. The invention discloses a simulation test system and method for an aircraft obstacle avoidance algorithm. The system comprises a virtual environment modeling device, a dynamics resolving device, an obstacle avoidance logic processing device, a physiological feature modeling device, a stress parameter mapping device, a comprehensive evaluation feedback device and a data monitoring device. According to the method, kinematic parameters are mapped into physiological stress parameters such as gravity overload and motion sickness, and an obstacle avoidance track is fed back and corrected according to a physiological comfort threshold, so that an obstacle avoidance path conforms to the tolerance limit of a human body on the premise of ensuring safety. According to the method, deep fusion of control engineering and aeronautical medicine is realized, obstacle avoidance assessment extends to the field of physiological tolerance from physical safety, the scientificity of simulation assessment of the manned aircraft is improved, and the risk of personnel disability caused by violent maneuver in real flight is reduced.

Proposed is an intermediate lever for a variable-lift valve train of an internal combustion engine, the upper portion of which has a pivot bearing, and the longitudinal middle section of which carries a rolling mechanism, which longitudinal middle section transitions on the underside into a base, which widens the intermediate lever at least on one side in the pivot direction thereof with a base bulge, and which has on the underside thereof a slide channel track for contact with a valve opener, wherein the intermediate lever has at the base bulge an abutment for the leg of a cam return spring, wherein the intermediate lever exists in the upper portion and the longitudinal middle section as a continuous flat, one-piece plate, wherein the pivot bearing is a bearing hole in the upper portion, wherein as a rolling mechanism two discs are provided in the longitudinal middle section, which discs each extend on a common shaft extending through it at the outer wall of the longitudinal middle section, and wherein the base is joined to the transversely thickened portion of the longitudinal middle section one piece below the discs.

This invention relates to the field of insulating aluminum busbar technology, and in particular to an insulating aluminum busbar for high-voltage connection in a power battery system, its preparation method, and its application. An insulating aluminum busbar for high-voltage connection in a power battery system includes: a three-dimensionally bent aluminum alloy substrate; a ceramic insulating layer, which covers the outer surface of the three-dimensionally bent aluminum alloy substrate and is metallurgically bonded to it; and two conductive ends, which are located at both ends of the three-dimensionally bent aluminum alloy substrate, with a nickel sheet fixedly connected to each conductive end and covered with a heat-shrink tubing. This application achieves metallurgical bonding between the ceramic insulating layer and the aluminum substrate, resulting in extremely strong bonding and solving the problem of coating peeling. The two conductive ends located at both ends of the substrate ensure the conductivity of the high-voltage connection and provide secondary protection for the welded area through the heat-shrink tubing, improving connection reliability.

The invention relates to the technical field of ocean platform pipeline design, in particular to an ocean platform pipeline laying method based on reinforcement learning, and the method comprises the following steps: S1, dispersing a pipeline laying region into a three-dimensional grid matrix according to the physical size of an actual cabin of an ocean platform, and marking a pipeline starting point, a pipeline ending point and an impassable region; s2, performing Q-Learning algorithm parameter initialization configuration, defining an action space adaptive to the linear movement characteristics of the ocean platform pipeline, constructing a Q value matrix adaptive to three-dimensional space coordinates and actions, and performing initialization; s3, entering a training round, and continuously updating the value evaluation matrix by dynamically adjusting a greedy criterion, a multi-dimensional reward mechanism and a time sequence difference learning rule; and S4, after the training is completed, starting from the starting point based on the converged Q value matrix, selecting an optimal action through a greedy to generate a final pipeline path, and improving the quality and search efficiency of pipeline laying on the ocean platform.

The utility model discloses a combined chemical barrel which comprises a barrel body, a groove is formed in the top of the barrel body, a sealing cover is arranged in the groove, a handle is installed in the groove, and assembling mechanisms are fixedly installed on the four side walls of the barrel body. The assembling mechanism comprises a hollow combination box and two combination blocks which are fixedly installed on the outer wall of the can body, first round holes are formed in the two combination blocks, and second round holes are formed in the outer walls of the two sides of the hollow combination box. According to the chemical barrel assembling device, the grooves and the assembling mechanisms are arranged, two chemical barrels can be stacked up and down conveniently, meanwhile, the combined rod on one chemical barrel can be inserted into the first round hole in the combined block of the other chemical barrel by rotating the hand wheel, and therefore the two chemical barrels can be combined and connected with each other; and the two chemical barrels cannot be rubbed or collided in the transportation process, so that the service life of the two chemical barrels is guaranteed.

The utility model discloses powder packaging equipment which comprises a dynamic conveying assembly, a powder conveying assembly, a powder conveying assembly, a powder conveying assembly, a powder conveying assembly, a powder conveying assembly, a powder conveying assembly and a powder conveying assembly, and the dynamic conveying assembly comprises a movable clamping mechanism and a dynamic conveying track; the discharging equipment comprises a stock bin, a discharging pipe and a vector discharging opening formed in the end of the discharging pipe, the vector discharging opening comprises a discharging opening body, a discharging opening adjusting device and a control valve arranged in the discharging opening, and the discharging opening body can be driven by the discharging opening adjusting device to deflect relative to the axis of the discharging pipe. Through the arrangement of the material pipe adjusting assembly and the material opening adjusting device, the direction of the material opening body relative to the discharging pipe is adjusted so that the discharging direction of the material opening body can be better matched with the opening direction of the packaging bag, and meanwhile the control valve arranged in the material opening body is used for controlling the opening degree of the material opening and controlling the discharging speed of the material opening in a matched mode; the powder discharged from the vector discharging port flows in along the inner side of the packaging bag in a buffering mode, the powder does not collide with the packaging bag, and no dust is aroused and lost.

This invention discloses a force-saving damping device and a sliding door. The force-saving damping device is disposed between a first object and a second object. The second object slides relative to the first object in a first direction to close or slides in a second direction opposite to the first direction to open. It includes a blocking member, a damping member, a swinging member, and a linkage mechanism. The blocking member is pushed by the second object to slide in the same direction during the partial closing phase. The damping member buffers the second object when the blocking member slides in the first direction. The swinging member has a blocking surface and swings between a first state and a second state. In the first state, the blocking surface is adapted to be pushed in the second direction, and in the second state, the blocking surface is no longer pushed by the second object. When the swinging member slides in the second direction, it enters the second state from the first state, and vice versa. The linkage mechanism is placed between the blocking member and the swinging member, so that the blocking member and the swinging member are linked in the same direction and the stroke of the swinging member is greater than the stroke of the blocking member. This force-saving damping device makes opening the door easier.

The invention provides a distributed force transfer type rotary anchoring system and method self-adaptive to main cable inclination angle change. The system comprises an arc-shaped cable guide body which is arranged outside a steel-concrete combined platform body; the cable guide arc plate is located on the outer side of the axial bottom of the arc-shaped steel shell, and the rotating cable saddle head is installed in the rotating cable saddle seat. The end elastic balance sliding pair is in contact with the outer wall of the arc-shaped steel shell; the arc-shaped inner walls of the cable guide arc plates on the two sides of the rotating cable saddle head are in contact with the outer walls of the arc-shaped steel shells on the two sides of the rotating cable saddle base through elastic deformation sliding pairs respectively. The system is a suspension bridge steel-concrete combined distribution force transfer system with the self-adaptive angle change, the design service life of an anchorage can be prolonged, and the problems that a traditional reinforced concrete anchorage cannot adapt to the change of the angle of a main cable strand and stress at a cable saddle is excessively concentrated in the process from construction to bridge forming are solved; meanwhile, construction is simplified to a certain extent, and cost is saved.

The utility model provides an engine which comprises an air cylinder, a piston and a cylinder cover, the piston is movably arranged in the air cylinder, and a protruding part gradually protruding inwards in the radial direction is formed on the edge of the top of the piston. The cylinder cover is installed on the cylinder, a combustion chamber is defined by the cylinder cover, the cylinder and the piston, a matching part surrounding the combustion chamber is formed on the surface, facing the combustion chamber, of the cylinder cover, and the protruding part is configured to respond to the piston to move upwards to the upper dead center to be in clearance fit with the matching part.

The application discloses a kind of limited space trajectory planning method considering vehicle volume, comprising: first, construct two-dimensional occupancy grid map and adopt multiple circle surrounding rectangular frame model to parameterize the representation of vehicle;Using non-uniform B spline curve parameterization reference trajectory and constructing optimization problem;Along the trajectory, calculate minimum safety distance point by point to locate interference control point, generate curvature flat weight of Gaussian distribution with interference point as center, and negatively correlate coupling between flat weight and preset reference weight, obtain the reference weight after dynamic relaxation;Construct joint objective function including smoothing cost, weighted obstacle avoidance cost and weighted deviation cost, iteratively update trajectory control points by calling numerical solver through inner and outer double-loop architecture.The application can output collision-free, high-order smooth and dynamic feasible trajectory, improve the safety, smoothness and solution robustness of trajectory planning in limited space.

The forklift frame positioning tool comprises a drive axle mounting hole positioning assembly (2), an inclined oil cylinder positioning assembly (3) and an air cylinder positioning assembly (4) which are mounted on an operation bedplate (1). Coaxiality confirmation and open gear keeping of drive axle mounting holes in a frame are achieved through the drive axle mounting hole positioning assembly (2). The inclined oil cylinder positioning assembly (3) is used for positioning an inclined oil cylinder seat and ensuring the opening distance; the frame is fixed through the air cylinder positioning assembly (4), and follow-up demolding is facilitated. According to the forklift frame positioning tool, accurate positioning and gear opening positioning control over a drive axle mounting hole and an inclined oil cylinder mounting base can be achieved.

The present application relates to the technical field of trajectory planning of nonlinear underactuated electromechanical systems, and particularly relates to a multi-unmanned aerial vehicle cooperative hoisting system constraint space crossing trajectory planning method and system. The method comprises the following steps: based on a polyhedral volume constituted by the hoisting system and a hoisting rope tension, a hoisting system crossing formation optimization model under a constraint space is constructed to obtain an optimal formation of the hoisting system crossing the constraint space; a circumscribed sphere center and a radius under the optimal formation of the hoisting system crossing the constraint space are calculated; based on the circumscribed sphere center and the radius, a trajectory planning model of the hoisting system crossing the constraint space based on time optimization is constructed by considering dynamic constraints, driver constraints and flight path point constraints; based on the relative position relationship among the circumscribed sphere center, the unmanned aerial vehicle and the load, the trajectory planning model of the hoisting system crossing the constraint space is adopted to obtain a trajectory of the hoisting system crossing the constraint space; and under the guidance of the trajectory of the hoisting system crossing the constraint space, a load transportation task is completed.

The utility model discloses quantitative filling equipment for lucid ganoderma beverage processing, and relates to the technical field of beverage filling equipment, the quantitative filling equipment comprises a shell, a base, a storage tank, a filling pipe, a supporting table, a turntable and a filling bottle, the base is fixedly mounted at the middle end in the shell, and the storage tank is fixedly mounted in the middle of the top end of the shell; a supporting table is movably installed in the middle of the top end of the base, a rotating disc is movably installed in the middle of the top end of the supporting table, the bottom end of the rotating disc is located at the top end of the supporting table, the rotating disc is in a gear shape, and a plurality of notches are formed in the top end of the rotating disc in a surrounding mode. According to the quantitative filling equipment for processing the lucid ganoderma beverage, the multiple notches of the rotating disc are equal in length and radian and are uniformly distributed, so that the accuracy of bottle positioning in the filling process is ensured, and the filling speed and quantity can be conveniently adjusted.

The present invention discloses a multi-AGV real-time scheduling and conflict resolution method based on a graph structure, including: determining key points on a path according to map data and establishing a graph structure; establishing a global scheduling route; initializing the global scheduling route and an online scheduling route set; assigning the shortest path to an idle AGV car and adding it to the online scheduling route set; the AGV car travels according to the path P; taking the next position of the AGV car from the scheduling route, and performing conflict discrimination with the current position and the next position of other AGV car routes in the online scheduling route set one by one; performing conflict resolution; refreshing the online scheduling route set; repeating the steps until the scheduling is completed. The present invention can effectively resolve conflicts between multiple AGVs, and at the same time can also ensure the scheduling efficiency of multiple AGVs, ensuring that multiple AGVs are collision-free and operate efficiently, and can be fully applied to the real-time scheduling of multiple AGVs in unmanned ports, unmanned workshops or unmanned hatch logistics.

This invention provides a sloshing-controlled liquid tank, comprising a liquid tank body. The interior of the liquid tank body is divided into several compartments by multiple vertically intersecting sloshing-controlled chamber walls. The peripheries of the multiple sloshing-controlled chamber walls are perpendicularly fixed to the inner wall of the liquid tank body. Each longitudinal sloshing-controlled chamber wall has at least one sloshing-controlled hole. When multiple sloshing-controlled holes are provided, they are arranged vertically and alternately on the same longitudinal sloshing-controlled chamber wall. In each longitudinal compartment of the liquid tank body, there is a sloshing damper that moves horizontally within its compartment along a direction perpendicular to the longitudinal sloshing-controlled chamber wall. The sloshing damper is arranged on the same horizontal central axis as the unique sloshing-controlled hole or the uppermost sloshing-controlled hole. A damper is provided in the unique sloshing-controlled hole or the lowermost sloshing-controlled hole. The sloshing-controlled liquid tank of this invention dissipates the kinetic energy of the sloshing liquid in three stages: spatial partitioning, upper-level turbulence, and lower-level damping, thereby suppressing liquid tank sloshing and making it suitable for multi-section liquid tanks and complex working conditions.

The utility model provides an antioxidant HDPE corrugated pipe production carrying device which comprises a movable saddle, a storage box is arranged above the movable saddle and connected with the movable saddle through a lifting assembly, a box door is installed at one end of the storage box, a plurality of sets of partition plates are arranged on the inner side of the storage box, and the partition plates are connected with the movable saddle through a lifting assembly. The storage box is internally divided into a plurality of storage cavities through the partition plates, push plates are arranged on the inner sides of the storage cavities, a connecting handle is installed on the portion, on one side of each push plate, of the storage box, the connecting handles are connected with the push plates, the push plates are connected with the storage box through connecting assemblies, and positioning columns are installed on the push plates. The box type design is adopted for storing the anti-oxidation HDPE corrugated pipes, the protection effect is good, the situation that foreign matter collides with the anti-oxidation HDPE corrugated pipes in the carrying process is avoided, the space utilization rate of the carrying device is increased through the multiple sets of positioning columns, and meanwhile the situation that multiple sets of anti-oxidation HDPE corrugated pipes collide with one another is avoided.

The utility model is suitable for the technical field of gas equipment, and provides a protection device of gas equipment. The utility model discloses a protection device of gas equipment. The protection device of the gas equipment comprises a supporting frame, an anti-collision plate, supporting legs and an elastic assembly. One end of the elastic component is fixedly connected with the supporting leg, and the other end of the elastic component is fixedly connected with the bottom of the supporting frame; the anti-collision plate is arranged on the supporting frame. An elastic assembly is arranged at the bottom of the supporting frame, supporting legs are arranged below the elastic assembly, and the anti-collision plate is arranged on the supporting frame. The support frame integrally covers the periphery of the gas equipment, so that the equipment is prevented from being collided; the anti-collision plate is used for increasing the collision area, when an object touches the anti-collision plate, the elastic assembly rebounds due to extrusion, and the damping effect is achieved.

This invention discloses a stacking and encapsulation module, a stacking and encapsulation machine, and a method thereof. The stacking and encapsulation module and machine include a machine base and a feeding mechanism, a stacking mechanism, a film encapsulation mechanism, an adhesive tape application mechanism, and a transfer and positioning mechanism mounted on the machine base. The feeding mechanism automatically feeds the electrode sheets and separator and precisely positions them on all four sides. The stacking mechanism alternately stacks the positive and negative electrode sheets and separator and has a separator alignment function. The film encapsulation mechanism achieves uniform film encapsulation of the battery cell through synchronous rotation. The adhesive tape application mechanism uses constant pressure adhesive application and indexing rotation to complete multi-sided edge sealing. The transfer and positioning mechanism achieves three-sided centering positioning of the battery cell. The encapsulation method includes feeding and positioning, alternating stacking, rotating film encapsulation, constant pressure adhesive application, and transfer and positioning steps. This invention features high integration, high positioning accuracy, stable operation, and high automation, significantly improving battery cell quality and production efficiency, and is suitable for large-scale production of form-fit lithium batteries.

The utility model provides an electrode structure, an electrode butt joint device and coating equipment, the electrode structure comprises a mounting seat, a cavity is formed in the mounting seat, a first opening communicated with the cavity is formed in one side of the mounting seat, and a second opening communicated with the cavity is formed in the other side of the mounting seat; the first electrode rod comprises a first connecting end and a first free end, the first connecting end is connected with an external power supply, and the first free end can movably penetrate through the first opening in the axis direction of the first electrode rod and extends into the cavity; the second electrode rod comprises a second connecting end and a second free end, the second connecting end is electrically connected with the electrode holder, the second free end can movably penetrate through the second opening in the axis direction of the second electrode rod and extends into the cavity, and a gap is formed between the first free end and the second free end; the conductive assembly is electrically connected with the first free end and the second free end. According to the electrode structure provided by the invention, the high-frequency phenomenon generated during film coating can be effectively reduced, and the film coating quality is improved.

The invention discloses a method for threading inner and outer stators of a large steam turbine generator, and mainly relates to the technical field of steam turbine generator installation. The method comprises the following steps: S1, placing the outer stator in place; S2, arranging a slide plate at the inner bottom and left and right sides of the center of the outer stator; S3, installing a guide tool at the front end of the outer stator; S4, arranging an outer cushion block; S5, lifting the inner stator to the rear of the outer stator; S6, installing a traction tool at the lower part of the front end of the inner stator, installing an inner cushion block at the bottom of the inner stator, and installing a ball-limiting slider at the left and right sides of the center of the inner stator; S7, lifting the inner stator, and threading the front end of the inner stator into the outer stator; S8, lifting the inner stator upward, and hanging a traction steel wire rope on the traction tool via a guide tool bolt; S9, threading the inner stator to the installation position by using the traction steel wire rope; S10, removing each tool. The invention is safe and reliable, and is easy to implement on site, and can quickly and efficiently complete the threading of the inner and outer stators.