39results about How to "No risk of collision" patented technology

The invention discloses a route planning method and device for an unmanned aerial vehicle, and electronic equipment, and relates to the technical field of unmanned aerial vehicles. When multi-machinetasks are executed, the collision risk of the unmanned aerial vehicle can be reduced and the working efficiency of the unmanned aerial vehicle can be improved. The method comprises the following stepsof acquiring land parcel information of a to-be-operated land parcel and position information of a current take-off point of the unmanned aerial vehicle; analyzing the land parcel information to obtain track point attribute information; dividing a task needing to be executed in the to-be-operated land parcel of the unmanned aerial vehicle into at least one subtask according to the track point attribute information, the position information of the take-off point and the flight mileage of one flight of the unmanned aerial vehicle at the current electric quantity; and respectively planning routeinformation of the unmanned aerial vehicle for executing each subtask to come and go the to-be-operated land parcel correspondingly according to the position information of the take-off point. The route planning method and device for the unmanned aerial vehicle, and the electronic equipment are suitable for route planning of the unmanned aerial vehicle.

An irradiation device provides a free volume around the longitudinal axis of the body ( 13 ) around the body to be irradiated. The supporting parts of a gantry ( 1, 2 ) are situated substantially radially with respect to the longitudinal axis. The gantry includes an inner gantry part ( 1 ) with at least two supporting locations (S) to an outer gantry portion ( 2 ).The support locations (S) are situated at each side of a treatment volume ( 12 ). A radiation head ( 8 ), mechanically attached to the inner gantry part ( 1 ) and arranged to direct radiation to the treatment volume ( 12 ) is movable around the treatment volume ( 12 ). In preferred embodiments, the parts ( 20, 21, 22, 23 ) of the gantry are formed as rings, leaving a free space along the rotational axis ( 9 ). A body-supporting couch ( 10 ) is arranged along the rotational axis extending through the hollow parts ( 20, 21, 22, 23 ). The radiation head ( 8 ) is preferably movable in a path also perpendicular to the rotation axis ( 9 ).

The invention provides a downdraft range hood integrated with an induction cooker. The downdraft range hood comprises an induction cooker part, a tabletop air inlet part, a smoke collecting and filtering part and a suction smoke pipe part, the induction cooker part comprises a tabletop-type shell and the induction cooker, wherein the tabletop-type shell is provided with a mounting opening, the tabletop air inlet part comprises a tabletop air inlet grid seat and a tabletop air inlet grid, the smoke collecting and filtering part comprises an air collecting box, a water collecting tank, an oil filter screen, a carbon box and an air outlet, and the suction smoke pipe part comprises a connecting smoke pipe, a fan and a public flue connecting pipe. Due to the fact that the induction cooker and the range hood are integrated together and are arranged in a kitchen cabinet, and the range hood is in a downdraft mode and is used for sucking oil smoke through the mounting opening of the induction cooker part, so that the smoke suction effect is good, the occupied kitchen space is saved, the collision risk is avoided, and the kitchen space is greatly optimized and beautified; and non-renewable energy sources such as natural gas can be replaced by electric energy which belongs to renewable energy sources, so that energy conservation is realized.

The invention discloses a robot TCP calibration method based on vertical reflection. A binocular vision system, a robot and a working tool are combined for working; a plane mirror is used as an auxiliary tool; the multiple metering is performed on a space fixed point by utilizing the relationship between robot kinematics and space coordinate transformation; the relationship between hands and eyesis determined; a circular target spot at the tail end of the working tool is detected; and the calibration of the TCP is completed through the coordinate transformation relationship and the characteristic of the imaging symmetry of the plane mirror. The TCP calibration method completes the fast and accurate calibration of TCP.

The invention discloses an automatic running control method for an electric car. The method includes a cruise mode entry mode stage, a radar detection stage and a cruise mode exit stage, wherein according to the cruise mode entry mode stage, the gear of a cruise mode is switched on by rotating a cruise rotary knob; according to the radar detection stage, the space ahead the car is detected by a radar, and a car control unit carries out corresponding measures according to preset levels of danger; and according to the cruise mode exit stage, the car exits from the cruise mode according to the levels of danger or by rotating the cruise rotary knob. The current constant car speed cruise, low-speed cruise, high-speed cruise and cruise mode exit are achieved through the cruise rotary knob, the possibility of constant speed running at a low speed is increased, and the security for constant-speed cruise is enhanced, so that the collision danger is avoided when a driver relaxes vigilance, and the practicability of a cruise system is greatly improved; and besides, as the car control unit of prior equipment is used, cost is saved.

The invention provides a novel aerator. The novel aerator comprises an aeration system and a flow pushing system, the aeration system comprises an air blower arranged outside water and an aeration pipe arranged in the water, an air inlet of the air blower is communicated with air through an air inlet pipeline, an air outlet of the air blower is communicated with an air inlet of the aeration pipe through an air outlet pipeline, and the flow pushing system comprises a submersible water impeller arranged above the aeration pipe. The invention further provides a circulating aeration system which comprises a plurality of water channels which are adjacently arranged in parallel, aerators are arranged at the water inlet ends of the water channels, the water outlet ends of the water channels are provided with water flow filtering devices, air is discharged out of micro holes of the aeration pipe and is fully combined with the water, and the effect of performing aeration on the water is achieved. Under pushing of the submersible water impeller, bubbles are diffused to a larger range along with the water flow, the aeration effect of the water is better, the water generates flow circulation, and the effect of purifying the water is achieved.

The invention discloses a running type underwater drilling template of a drilling ship in a marginal oil-gas field, which comprises a main body framework and an accessory of the drilling template, wherein the main body framework is a rectangular framework body consisting of horizontal rods and vertical rods which are fixed together; the main body framework is provided with a vertical well hole sleeve two sides of which are fixed with pile pipe sleeves; and slanting knightheads are arranged in the rectangular frameworks which are formed between the horizontal rods and between the horizontal rods and the vertical rods. A method for manufacturing and mounting the underwater drilling template comprises the following steps: (1) manufacturing the underwater drilling template from both the upper part and the lower part simultaneously, and then welding the upper part and the lower part together; and (2) using a hoisting device to be connected with a cutting sleeve device on the top of the underwater drilling template and a lifting lug so as to hoist the underwater drilling template into water, wherein the convergence points of a hoisting rope in the hoisting device after the hoisting rope is straightened up are always positioned on the plumb line of the underwater drilling template so that the underwater drilling template is always kept in a horizontal state to get to the preset place on the sea floor. The underwater drilling template has the advantages of stable structure, reasonable stress, and lightened weight; the method for manufacturing the underwater drilling template can shorten the construction period; and the method for mounting the underwater drilling template is safe, smooth and convenient, requires fewer resources, and has low cost.

The invention discloses a method of lorentz force multi-star formation configuration based on a quasi-periodic orbit, and belongs to the field of aerospace. According to the method of lorentz force multi-star formation configuration based on the quasi-periodic orbit, the implementation method includes the steps that motion equations of charged slave stars under an artificial magnetic field of a host star are established, the motion equations are subjected to dimensionless simplification treatment, an equilibrium point of the dimensionless motion equations is determined, periodic orbits near the equilibrium point are obtained by using a differential correction method and a numerical continuation method, the quasi-periodic orbit on the central manifolds of the periodic orbits is calculated,and by deploying a plurality of charged satellites on invariant curves under stroboscopic mapping of the quasi-periodic orbit, lorentz force multi-star formation configuration without working medium consumption is realized. According to the method of lorentz force multi-star formation configuration based on the quasi-periodic orbit, chemical fuel is not required to be consumed, chemical pollutionis avoided, and application prospects are achieved in close distance space formation, in-orbit operation and long time space observation tasks. The method of lorentz force multi-star formation configuration based on the quasi-periodic orbitis is suitable for the charged satellites to conduct close distance formation around a spacecraft with a self-spinned magnetic field on an earth high orbit.

The invention relates to an elevator system in tall buildings, said system comprising at least one first elevator shaft (13), which houses an elevator arranged to stop at floors called transfer levels (8, 8a), and at least one second elevator shaft (14), which houses elevators whose elevator cars (22) are disposed one above the other in the elevator shaft, which elevator cars are designed to stop during their travel at any floor to which or from which a call has been issued. The second elevator shaft (14) is divided vertically into local shafts (17, 18, 19) situated one above the other, the number of which is at least one for each zone between transfer levels (8, 8a).

The invention relates to an autonomous formation flight control method for networking satellites, in particular to an autonomous formation flight control method for networking satellites in batch at the initial orbit injection stage, which is suitable for formation flight of networking satellites in batch at the initial orbit injection stage. According to the method, a GPS+GNSS+laser radar fusionpositioning scheme is adopted, and absolute orbit determination and relative collision safety determination are achieved; and a decentralized regional self-organized communication network is adopted for information exchange, and self-organized initial orbit correction and mutual orbit phase adjustment are achieved through a networking satellite cluster formation control algorithm based on artificial intelligence. Due to the adoption of the technical scheme, the control method disclosed by the invention can ensure that the dense satellite groups are not collided at the initial stage of orbit injection. The star group automatically corrects the initial orbit deviation and gets close to the standard orbit. Self-organized orbit phase adjustment is carried out to change into a sequential and ordered flight queue, so that ground measurement and control tracking control is facilitated.

The invention discloses a quasi-static test method of a dynamic index of a gravity unloading device. The method includes the following steps of firstly, calculating a transfer function matrix; secondly, dividing the structure of a gravity unloading control system, and reserving a signal port w; thirdly, calculating H(s); fourthly, discretizing the H(2) to obtain H(z), compiling a program, obtaining the H(z), and assigning the H(z) to uc; fifthly, compiling a test signal generator with an input function di; sixthly, connecting with the gravity unloading device for testing; seventhly, setting vto be equal to 0, setting a parameter tensile force instruction r to be working tensile force, and making the gravity unloading device enter a force constant working state; eighthly, sending out an instruction and exciting the system to operate; ninthly, processing data to obtain a to-be-estimated system performance index; tenthly, evaluating errors. No special movement generating device is used,and the dynamic index can be tested under the quasi-static conditions.

The invention discloses a robot TCP calibration system based on vertical reflection. A binocular vision system, a robot and an operation tool are combined for operation, a plane mirror serves as an auxiliary tool, the robot kinematics and space coordinate conversion relation is utilized for conducting repeated measurement on space fixed points, the hand and eye relation is determined, the tail endcircular target point of the operation tool is detected, and through the coordinate conversion relation and the plane mirror imaging symmetry characteristic, TCP calibration is finished. According tothe TCP calibration system, the system is different from a contact type calibration system, collision risks do not exist, and the safety coefficient is high.

The invention relates to the technical field of towels, and particularly discloses towel production equipment and a production process thereof. The towel production equipment comprises a sand washingtank body; a heating rod is fixedly installed at the top of an inner cavity of the sand washing tank body; the heating rod is electrically connected with a control power source; and a feeding pipe, awater inlet pipe, a pair of supporting plates and two pairs of supporting sliding rods are fixedly installed at the top of the sand washing tank body. By starting a driving motor and an air cylinder,a rotating shaft and stirring blades can move up and down while rotating in the inner cavity of the sand washing tank body, towels and mixed liquid can move up and down while being stirred, the contact surface of the towels and the mixed liquid is more uniform, the stirring time can be effectively shortened, and energy consumption is reduced; and the towels are made of pure cotton and are high instrength and toughness, do not deform after being washed with water for multiple times, can be used for early education of pattern colors for development of sensory recognition capacity of 0-6-year-old children, do not mildew or rot after being used even if the towels are not dried in the sun, and do not turn yellow or hard after being used for multiple times, and the service life of the towels isremarkably prolonged.

The invention provides an intelligent rail car merging point scheduling method and an intelligent rail control system. The intelligent rail car merging point scheduling method comprises the followingscheduling steps that 1, a first merging point controller receives application information sent by a rail car on a controlled rail, whereinthe rail car is arranged on a rail controlled by the first merging point controller, the application information comprises request information that the rail car requests to pass through a first merging point, a rail number of the rail car and request time for sending the application information by the rail car; 2, the first merging point controller makes a rail scheduling strategy according to the received application information of the rail car; and 3, thefirst merging point controller controls the rail car to pass through the first merging point according to the scheduling strategy. According to the intelligent rail car merging point scheduling method and system, the rail car can be ensured to safely pass through the merging point under any condition.

The invention discloses a full-automatic cover film laminating device for a flexible circuit board, which comprises a workbench, a cabinet and an outer cover. The workbench is provided with a cover film rolling-out and rolling-up mechanism, a film stripping mechanism, a cover film transferring mechanism, a film laminating mechanism, a copper substrate feeding mechanism, a product transferring mechanism, a product discharging mechanism and a visual positioning assembly, the covering film rolling-out and rolling-up mechanism is used for guiding a covering film onto the film stripping mechanism and rolling and collecting stripped release paper, the film stripping mechanism is used for separating the covering film from the release paper below the covering film, and the covering film transferring mechanism is used for sucking, rotating and transferring the covering film and attaching the covering film to a copper substrate. The product transferring mechanism is used for transferring the copper substrate to the pasting table and transferring the pasted product to the product discharging mechanism. The visual positioning assemblies comprise the first visual positioning assembly and the second visual positioning assembly. The device has the advantages that the working efficiency can be improved, the equipment failure rate can be reduced, centralized operation can be achieved, operation is easy, and the service life is long.

The invention discloses a robot TCP calibration method based on vertical reflection, which combines a binocular vision system, a robot and an operation tool, uses a plane mirror as an auxiliary tool, and utilizes the relationship between robot kinematics and space coordinate transformation to perform calibration on a fixed point in space. Multiple measurements are taken to establish the hand-eye relationship, and the circular target point at the end of the working tool is detected. Through the coordinate transformation relationship and the characteristics of the imaging symmetry of the plane mirror, the calibration of the TCP is completed. The TCP calibration method of the invention completes the fast and accurate calibration of TCP.

The invention discloses an automatic running control method for an electric car. The method includes a cruise mode entry mode stage, a radar detection stage and a cruise mode exit stage, wherein according to the cruise mode entry mode stage, the gear of a cruise mode is switched on by rotating a cruise rotary knob; according to the radar detection stage, the space ahead the car is detected by a radar, and a car control unit carries out corresponding measures according to preset levels of danger; and according to the cruise mode exit stage, the car exits from the cruise mode according to the levels of danger or by rotating the cruise rotary knob. The current constant car speed cruise, low-speed cruise, high-speed cruise and cruise mode exit are achieved through the cruise rotary knob, the possibility of constant speed running at a low speed is increased, and the security for constant-speed cruise is enhanced, so that the collision danger is avoided when a driver relaxes vigilance, and the practicability of a cruise system is greatly improved; and besides, as the car control unit of prior equipment is used, cost is saved.

The invention discloses an alarm and automatic search and rescue system for personnel falling into water on an offshore platform, and belongs to the technical field of offshore automatic rescue. The system comprises a self-patrol life buoy, wearable personnel equipment, height measurement reference equipment, a personnel falling-into-water identification base station, a communication base station and a server, wherein the server measures and calculates the real-time position of an operator on an offshore platform according to distance measurement data sent back by the wearable personnel equipment; the occurrence of a person falling into water event is judged by comparing air pressure data sent back by the height measurement reference device and the wearable person device. Once the server judges that the person falling into water event occurs, the server gives an alarm and prompts the rescuer of the position of the falling into water event. And the rescue worker throws the self-patrolling life buoy into water according to the prompt, the server automatically commands the self-patrolling life buoy to go to rescue the person falling into water, and the self-patrolling life buoy brings the person falling into water back to the offshore platform. According to the invention, rapid alarm, positioning and rescue after the offshore platform personnel fall into water can be realized, and the survival probability of the personnel falling into water is improved.

The invention discloses a space attack and defense method based on the solar eclipse effect, which is used for performing shielding control on sunlight received by a target spacecraft, and comprises the following steps: determining spot hover orbit configurations of a task spacecraft and the target spacecraft; calculating an ideal relative position of the task spacecraft and the target spacecraft based on the fixed-point hover orbit configuration according to the operation orbit of the target spacecraft and the sun position, and controlling the task spacecraft to maneuver to the ideal relative position so as to form a solar eclipse effect on the target spacecraft; calculating and updating the ideal relative position of the task spacecraft and the target spacecraft at a preset time interval, and judging whether the actual relative position of the task spacecraft and the target spacecraft is within the range of a preset trajectory tracking error ball of the ideal relative position or not; and if not, controlling the task spacecraft to maneuver to the ideal relative position at the corresponding moment. According to the method, normal work of the target spacecraft can be interfered, irreversible damage to the target spacecraft cannot be caused, the concealment is high, and the collision risk does not exist.

The invention provides a method for cutting a turbine blade. In the method for cutting a turbine blade (1) on a multi-axis machine tool, the turbine blade (1) is held by a rotatable blade root clamping device and a rotatable blade tip clamping device (2), and the The tool clamped in the tool spindle is machined. First the first contour section ( 4 ) adjacent to the blade tip is machined by the tool, and then the tool is removed. The tool spindle then grips the already horizontal additional clamping device (5), which has jaws (6.1, 6.2) adapted to the first contour section (4). The additional clamping device (5) is positioned on the blade tip clamping device (2) in such a way that the clamping jaws (6.1, 6.2) are seated in the first contour section (4). The tool spindle then grips the tool and uses it to machine the remaining contour section.

In a robotic system (10) comprising multiple robots (20, 40) having overlapping work areas (60) there is a collision between the robots (20, 40) if they are allowed to operate simultaneously within the overlapping work area (60) risks of. A method for avoiding a collision between two robots (20, 40) in such a robotic system (10) comprises the steps of: providing (320) an First move information (240) about the first robot move (190); obtain (340) the first move information (240); determine (350) for the plurality of second robot moves (210) whether they involve the first and The risk of collision between the second robot (20, 40); and performing (360) one of the second robot moves (210). In a robotic system (10) configured to perform pick-and-place tasks, each robot (20, 40) often has a pick-and-place task that can be performed depending on the item (140) to be picked or the empty place (160) to place the item (140) (360) of the available robot moves. Information about the movement of one robot (20, 40) enables the robot controller (70, 80) of another robot (20, 40) with an overlapping work area (60) to choose among the available robot movements that do not involve An appropriate one for the collision risk between two robots (20, 40).

The invention relates to a method and a spinning machine for inserting a false twist into a thread (7), wherein a thread running plane (20) is formed by the course of the thread (7) directly through adrafting device (3) to a large extent in plan view up to the spinning machine and the thread (7) exits the drafting device (3) at an output clamping point (6) formed by an upper roller (4) and / or a lower roller (5). The thread (7) is operated between the output clamping position (6) and the spinning position by means of a roller (8) which rotates about an axis of rotation (15) that is oblique tothe thread running plane (20). The thread (7) is rotated about its longitudinal axis at the same time and a first false twist is inserted into the thread (7). The thread (7) is moved laterally out ofthe thread running plane (20) by means of the roller (8), and the thread (7) is brought into contact with the upper roller (4) and / or the lower roller (5) after the output clamping position (6) in such a way that the upper roller (4) and / or the lower roller (5) inserts a second false twist into the thread (7). The device for inserting a false twist into a thread (7) on a spinning machine comprisesa device support (21) for fastening a roller to the structure of the spinning machine.

The invention discloses a quasi-static test method of a dynamic index of a gravity unloading device. The method includes the following steps of firstly, calculating a transfer function matrix; secondly, dividing the structure of a gravity unloading control system, and reserving a signal port w; thirdly, calculating H(s); fourthly, discretizing the H(2) to obtain H(z), compiling a program, obtaining the H(z), and assigning the H(z) to uc; fifthly, compiling a test signal generator with an input function di; sixthly, connecting with the gravity unloading device for testing; seventhly, setting vto be equal to 0, setting a parameter tensile force instruction r to be working tensile force, and making the gravity unloading device enter a force constant working state; eighthly, sending out an instruction and exciting the system to operate; ninthly, processing data to obtain a to-be-estimated system performance index; tenthly, evaluating errors. No special movement generating device is used,and the dynamic index can be tested under the quasi-static conditions.

The present invention provides a scheduling method and an intelligent track control system for an intelligent track vehicle merging point. The scheduling steps are as follows: step 1, the first merging point controller receives the application information sent by the track vehicle on the controlled track; On the track controlled by the first merging point controller; the application information includes the request information that the rail car requests to pass through the first merging point, the track number where the rail car is located and the request time when the rail car sends the application information; step 2, the first merging The point controller makes a track scheduling strategy according to the received application information of the rail cars; step 3, the first merging point controller controls the rail cars to pass the first merging point according to the scheduling strategy. The dispatching method and system of the intelligent rail vehicle merging point of the present invention can ensure that rail cars can safely pass through the merging point under any circumstances.

The invention relates to the technical field of electroplating processing equipment, in particular to an efficient electroplating safety placement rack. The technical scheme adopted in the present invention is: comprising a cylindrical main body whose central axis is in the left-right direction to stably fit and connect to the safety seat, and the center of the right end face of the main body to stably fit and connect the safety seat is provided with an integrally formed cylindrical main body to fasten and fit to connect. A stabilizing column, the outer cylindrical surface of the main body is stably connected to the safety seat with a cylindrical reinforcement and durable safety protection connecting column with the same central axis, and the center of the left end face of the main body stably connected to the safety seat is provided with a cylindrical Body plating stabilizes the connection groove. The invention has the advantages that the convenience in use can be greatly improved, the cost in the later maintenance process is lower, the overall quality in the electroplating process is ensured, and the influence of impurities in the electroplating solution on the electroplating product can be effectively reduced.

The present invention belongs to the field of unmanned driving path planning. In order to meet the kinematic constraints and actual traffic restrictions of the car, the present invention, based on the equal-step sampling A* algorithm, the unmanned driving local path planning method, the specific steps are as follows: Step 1: Definition search Step size and search security area; Step 2: Determine the starting point and target point of path search in the local grid graph; Step 3: Establish the Open list and Closed list; Step 4: Solve the cost function of the grid points in the Open list; Step 5: Select the grid point with the smallest cost function value from the Open list; Step 6: Investigate all safe adjacent nodes of the current node; Step 7: Process that the current node has no child nodes during the search process; Step 8: Repeat Step 5 ‑7 process, until the condition is met, a feasible path is returned, or a search failure is returned. The present invention is mainly applied to unmanned driving road occasions.

The invention relates to an elevator system in tall buildings, said system comprising at least one first elevator shaft (13), which houses an elevator arranged to stop at floors called transfer levels (8, 8a), and at least one second elevator shaft (14), which houses elevators whose elevator cars (22) are disposed one above the other in the elevator shaft, which elevator cars are designed to stop during their travel at any floor to which or from which a call has been issued. The second elevator shaft (14) is divided vertically into local shafts (17, 18, 19) situated one above the other, the number of which is at least one for each zone between transfer levels (8, 8a).