138results about How to "Optimization path" patented technology

The invention provides a path planning method and system for an automatic driving trolley, and relates to the technical field of path planning, and the method comprises the steps: obtaining the data of an acoustic sensor of an underwater environment, and obtaining the contour of the underwater terrain and the position information of an obstacle; carrying out dynamic environment modeling processing; the Euclidean distance is used as a heuristic function to calculate the dynamic model of the underwater environment, and a second optimized path conforming to kinematics and dynamics constraints of the automatic driving trolley is obtained; carrying out smoothing processing on the second optimization path through a dynamic motion primitive technology; constructing a three-dimensional map for path planning and obstacle avoidance; predicting an action track of the robot in a period of time in the future; and through real-time adjustment processing of the self-adaptive control system, path planning of the automatic driving trolley is completed. According to the method, the dynamic characteristics of the underwater environment and the motion constraint of the automatic driving trolley can be comprehensively considered, the three-dimensional map containing the obstacle and topographic information can be constructed in real time, and the future motion trail of the obstacle can be predicted.

The invention discloses a robot intelligent scheduling and management and control system and method for hospital delivery services, and relates to the technical field of realizing material delivery services by using robots. The scheduling platform determines the execution category according to the attribute of the transport work order, and when the execution category is robot execution, the scheduling platform assigns the transport work order to the robot according to an order insertion, sequential and / or proximity strategy; a shortest-time-consumption planning strategy is adopted, and the path of the robot assigned to convey the work order is planned; and when executing the work order, the robot interacts with the scheduling platform in real time and reports the task completion condition. The scheduling strategy of the transport work order is further optimized, the transport efficiency and the load rate of the transport robot are improved, and the scheduling platform can master the information of each node in the transport path in real time, so that reference is provided for subsequent planning of the transport path, and the transport efficiency of the transport robot is further improved.

The invention relates to the technical field of tractor path planning, in particular to an intelligent tractor path planning system based on dynamic environment perception, which comprises a data acquisition module, a data processing module and an adjustment module. By introducing a risk grid marking mechanism and a path evasion algorithm, the system can sense and analyze various factors in a dynamic environment in real time, such as unfavorable conditions of rainfall, ground depression, water accumulation and the like, so that the driving path of the tractor is flexibly adjusted, and the system is particularly suitable for path planning requirements in complex terrains or severe weather; the system not only can automatically generate an optimal avoidance path, but also can monitor the change of the length of the traction path in real time through a path correction function, and dynamically adjust the grid spacing, thereby ensuring the continuity and accuracy of path planning, and improving the path planning efficiency. The problems of inaccurate path planning and low efficiency caused by high delay of processing real-time environment information and poor adaptive capacity are effectively solved.

The invention provides a fracture reduction path auxiliary planning method and system based on an augmented reality technology, and relates to the technical field of intelligent medical systems. The method comprises the following steps: acquiring fracture image data for a fracture area of a patient, wherein the fracture image data comprises CT data and X-ray data; reconstructing a fracture part three-dimensional model based on the fracture part image data; matching and calibrating the three-dimensional model of the fracture part and the fracture area of the patient in the actual scene; the calibrated three-dimensional model of the fracture part and the corresponding fracture type and fracture operation requirements are input into a fracture reduction path planning model to determine at least one corresponding optimized fracture reduction path, and the fracture reduction path planning model comprises a reinforcement learning module and a multi-physics field simulation optimization module which are cascaded; and rendering each fracture reduction path, and determining a target fracture reduction path according to the detected interaction instruction. Therefore, the augmented reality technology is applied to the fracture reduction scene, and the success rate of the operation and the postoperative rehabilitation effect of the patient can be improved.

The driving box comprises an outer shell and an inner shell, the outer wall of the inner shell is in threaded connection with the inner wall of the outer shell, and a containing groove for containing a flexible instrument is formed between the outer wall of the inner shell and the inner wall of the outer shell; the pipeline channel is located in the containing space of the inner shell, is of a bent structure and is used for allowing the driving wire to penetrate through, and one end of the pipeline channel communicates with the containing groove. The driving moving device is located in the containing space and used for driving the driving wire to move in the axial direction; and the driving rotating device is positioned in the accommodating space and is used for driving the driving wire to rotate relative to the axial direction. By arranging the pipeline channel and enabling the driving wire to penetrate through the pipeline channel, under the guiding effect of the pipeline channel, the path of the driving wire can be optimized, the winding curvature radius of the driving wire can be increased, meanwhile, the trend of the driving wire can be limited and guided, and the situation that the position of the driving wire deviates in the driving process is avoided; and the resistance of the driving wire in the moving and rotating processes is reduced.

The invention discloses a vehicle and unmanned aerial vehicle cooperative path planning method considering three-dimensional loading constraint. The method comprises the following steps: respectively adopting two unloading modes of first-in and second-out and unloading and then loading. Wherein the cargo first-in and second-out mode means that only cargos located on the outermost layer of the vehicle can be distributed every time, and the cargo unloading allowing and then loading mode means that cargos located on the inner layer of the vehicle are allowed to be distributed; constructing a mixed integer linear programming model including decision variables, auxiliary variables, optimization targets and constraint conditions; and designing a mixed meta-heuristic solving method with high solving efficiency, and solving a loading scheme and a distribution scheme. The method is applied to the field of collaborative path planning, the loading and distribution processes of goods are considered at the same time, the common modes of first-in and second-out and unloading and then loading in the logistics distribution process are adopted, the main path of the distribution vehicle and the path of the unmanned aerial vehicle are optimized, the logistics distribution efficiency is remarkably improved, and meanwhile the requirements of customers are met.

The invention discloses a power grid planning method, system and equipment and a computer readable storage medium, and aims to greatly reduce manual operation and improve data processing accuracy and efficiency by automatically collecting and processing GIS map data, a power grid operation state and load prediction data. And path planning is performed by combining an A algorithm with a GIS technology, so that the path is optimal and feasible, and the planning period is remarkably shortened. The system comprises a data acquisition module, a problem definition module, a path planning module, a cost calculation module, a path optimization module, a scheme generation module, a visual display module and the like, all the modules work cooperatively, and systematization and standardization of the planning process are achieved. Through an intelligent optimization algorithm, the planning scheme quality is improved, multiple factors are comprehensively considered, and it is ensured that the scheme is scientific, reasonable and economical. The modular design enables the system to be easy to expand and optimize, adapts to power grid planning problems of different scales and complexities, improves the adaptability and flexibility of planning, and provides a comprehensive and efficient solution for power grid planning.

The invention relates to the technical field of machine control, in particular to a robot operation control method and system and a robot. The method comprises the following steps: acquiring spatial data of a breeding work ship; performing multi-source sensor network deployment according to the spatial data of the cultivation work ship to generate a multi-source sensor network; performing sensor data integration on the multi-source sensor network to generate cultivation work ship environment sensing integrated data; performing real-time environment updating on the cultivation work ship environment sensing integrated data to generate cultivation work ship real-time environment monitoring data; performing spatio-temporal data synchronization on the real-time environment monitoring data of the breeding work ship to generate environment synchronization data of the breeding work ship; and according to the cultivation work ship environment synchronization data, environment model construction is carried out to generate a comprehensive cultivation environment model. Through real-time environment sensing, dynamic path planning, intelligent feeding control and anomaly detection, the stability and the intelligent level of robot operation control are improved.

The invention provides a multi-constraint robot joint space path planning method. The multi-constraint robot joint space path planning method comprises the following steps: randomly sampling in a robot joint configuration space by adopting heuristic node search to generate new nodes, and adding the new nodes into a path tree; dynamically adjusting a neighbor radius threshold according to the number of nodes; the connection cost between the generated new nodes and existing nodes in the path tree is calculated according to the node path cost, the connection with the minimum cost is selected, and the node path cost comprises the distance cost, the collision risk cost and the joint mutation cost; executing path rewriting and reconnecting operations in the path tree; and when the generated nodes reach a target point or meet a specific stop condition, backtracking from the target point to the starting point, and forming an initial path PA according to a connection relationship among the nodes. According to the multi-constraint robot joint space path planning method, the initial path which is free of collision risk, low in energy consumption, small in joint mutation and high in operation speed can be rapidly generated.

The invention relates to an unmanned ship path optimization method based on reward and punishment double gradient factors of reinforcement learning, and the method comprises the following steps: obtaining a rudder angle # imgabs0 # randomly selected in a set rudder angle motion space ACTIONS, and carrying out the conversion between the rudder angle # imgabs1 # and a course angle # imgabs2 # through a first-order nomoto model; obtaining the linear velocity v at the moment, calculating and updating new horizontal and vertical coordinates x and y after the action is adopted based on the linear velocity v at the moment and the course angle # imgabs3 #, and updating a new state s = (x, y, # imgabs4 #); updating the minimum distance r between the ship intelligent body and the obstacle based on the new state s = (x, y, # imgabs5 #); based on the new state s = (x, y, # imgabs6 #) and the minimum distance r, a reward feedback value reward at the moment is calculated through a pre-constructed unmanned ship reward function; judging whether an obstacle is encountered or not based on the reward feedback value reward; and judging whether to arrive at the destination or not based on the reward feedback value reward. A reward function is optimized through the reward and punishment double-gradient factors, and the path of the unmanned ship intelligent body reaching the destination is optimized through the double factors of the reward gradient and the punishment gradient.

The invention provides a method and system for producing false teeth by using 3D printing, and relates to the field of digital design and manufacturing, and the method comprises the following steps: obtaining a 3D false tooth model of the oral cavity of a patient, generating an optimal printing path through a 3D false tooth model path optimization algorithm, automatically generating a support structure according to the 3D false tooth model, the printing path and the structural characteristics of the 3D false tooth model, and carrying out 3D printing on the 3D false tooth model. A simulation model is established, temperature distribution, mechanical properties, a supporting effect and a printing path in the 3D printing process are simulated and analyzed, according to a simulation result, possible problems are predicted, the printing technology is optimized and adjusted to obtain optimized path planning data and adjusted printing parameters, and a machining scheme is formed. Therefore, precision improvement and performance optimization of false tooth production and automatic control of the production process are realized. In combination with closed-loop control of an intelligent feedback mechanism, not only is the product quality improved, but also the production efficiency is enhanced, the cost is reduced, and a new solution is provided for technical upgrading and industrial application in the false tooth production field.

The invention relates to a wide-angle linear lighting optical structure which comprises a linear lens body and a linear anti-dazzle cover body detachably connected to the linear lens body, the linear lens body comprises a platform and a plurality of lenses which are linearly distributed and arranged on the platform at intervals, and the linear anti-dazzle cover body comprises a plurality of anti-dazzle covers which are linearly distributed. The number of the anti-dazzle covers is consistent with that of the lenses, the anti-dazzle covers and the lenses are in one-to-one correspondence, the anti-dazzle covers cover the lenses corresponding to the anti-dazzle covers in position, and the lenses are of a semi-lattice type Fresnel semi-convex lens structure on the whole. The large-angle grating linear illumination device has the advantages that large-angle grating linear illumination can meet the requirements of good light spots, good anti-dazzle performance and high efficiency at the same time.

The invention provides a self-adjusting air cooling structure of a motor rotor. The self-adjusting air cooling structure comprises a rotating shaft, a rotor bracket, a rotor iron core, a permanent magnet and a permanent magnet sheath which are sequentially sleeved and fixed from inside to outside, the interior of the rotor support is of a hollow structure, and the rotor support comprises an air cooling adjusting part, a flow guide structure, a flow blocking ring and a supporting structure. At least one air cooling adjusting component which is uniformly distributed in the circumferential direction is arranged on the inner side of the outer ring of the rotor bracket, and each air cooling adjusting component comprises at least one radiating fin and a self-adjusting structure; the self-adjusting structure can automatically adjust the inclination angle of the heat dissipation fins according to the temperature and the rotating speed of the rotor, and then the air flow is controlled. The operation efficiency and the heat dissipation efficiency of the motor are remarkably improved, and the overall performance and the reliability of the motor are improved.

The invention relates to the technical field of numerical control machine tool control, in particular to a numerical control machine tool machining path optimization method and system.The method comprises the steps that the detection position and the detection direction of a detection camera are obtained firstly, and then an idle stroke path and a machining stroke path are analyzed based on the detection position and the detection direction; and the target idle stroke path and the corresponding target machining stroke path are obtained, the target idle stroke path is optimized based on the detection position and the detection direction, and the target machining stroke path corresponding to the target idle stroke path is optimized according to the wear detection result of the target idle stroke path. Compared with the prior art, the non-contact detection characteristic of the detection camera is used for reducing the shutdown condition, meanwhile, the clearance of the idle stroke of the tool during machining is used for carrying out abrasion detection on the tool, and the path of the machining stroke is optimized in real time based on the detection result; the problems that in the prior art, tool abrasion detection and machining path optimization of a numerical control machine tool need to be executed in a shutdown mode, and production efficiency and machining quality cannot be considered at the same time are solved.

The invention relates to an electrical deepening design platform and design method based on Revit secondary development, and the method comprises the steps: arranging an electrical system data table according to an electrical system diagram, and importing the electrical system diagram and the electrical system data table into the platform; generating a power distribution equipment model according to the imported file, and automatically checking electrical key parameters and cable type selection in the power distribution equipment model; unconnected electrical systems in the model are connected to perfect the bridge model; taking each electrical component in the model as a starting end and a terminal end of each cable loop, and finding all bridges passing through from the starting end to the terminal end; a single bridge serves as a main body, all corresponding cable loops are checked circularly, and the filling rate of the bridge is calculated according to all the cable loops passing through the bridge; and finally, optimizing and determining a cable loop laying scheme according to the filling rate of each bridge. According to the invention, optimization and verification of cable type selection, bridge size and cable routing are realized, and the efficiency and accuracy of deepening the process are improved.

The invention discloses an unmanned aerial vehicle path planning method based on a batch processing prior knowledge tree, and the method comprises the steps: adding a sampling point range control parameter in a resultant force function of an artificial potential field method, dynamically adjusting the generation range of sampling points according to the dense degree of obstacles, defining a threshold value, and when the resultant force function of the sampling points is smaller than the threshold value, determining the path of the unmanned aerial vehicle; if not, the point is removed. According to the process, the waste of redundant sampling and computing resources caused by a random sampling point generation strategy is greatly reduced; in the path optimization process, one elliptical sampling set is converted into two local subset elliptical sampling sets, the sampling area is reduced, and the sampling efficiency is improved; the area of a second ellipse is increased by updating the path cost from the starting point to the beacon point, so that the probability of a passable area between obstacles in the ellipse is increased; meanwhile, an obstacle density factor is introduced, the probability that beacon points are generated beside obstacles and the possibility that paths pass through complex obstacles are increased, and the paths are optimized.

The application discloses a kind of based on task partition's shipborne unmanned aerial vehicle navigation beacon group path planning method, belong to offshore navigation beacon inspection technical field.The method first obtains navigation beacon, mother ship, obstacle and unmanned aerial vehicle constraint parameter, is divided into navigation beacon by recursion K-means and is checked by threefold verification of operation radius, load, endurance, and is recursively subdivided if unqualified;Second generation mother ship candidate residence point and correct to safe water area, use A* algorithm to plan the global transfer path of mother ship, model as closed loop traveling salesman problem in cluster inspection, to improve self-organizing mapping neural network is solved unmanned aerial vehicle path in combination with tabu search.The system contains data input, task partition and the like module.The scheme makes mother ship only stay near task cluster, greatly shortens voyage, reduces risk, improves inspection efficiency and engineering feasibility.

The invention belongs to the technical field of powder spraying, and particularly relates to an anti-explosion dust removal recovery device for powder spraying equipment. Comprising a cyclone separator, the cyclone separator, a filter element filter and a spraying room are connected through a dust discharging pipe set, a conveying line is arranged above the spraying room, a spraying piece is hung on the conveying line, the spraying device further comprises at least one spraying bin arranged in the spraying room, the spraying bin is provided with a moving channel in a penetrating mode in the direction of the conveying line, and the spraying piece can penetrate through the moving channel. A working opening is formed in one side of the spraying bin, a dust outlet is formed in the opposite side of the working opening, the dust outlet is connected with the dust discharging pipe set, and a flow guiding device is arranged on the inner side of the spraying bin and can guide redundant powder coating to leave from the dust outlet to be collected; and by conducting spraying work in the collecting bin and arranging a flow guiding device in the collecting bin, redundant powder coating can be efficiently collected, and the situation that a large amount of spraying powder is dissociated in a spraying room, and consequently the working environment is poor is avoided.

The invention provides a complexity learning-driven unmanned electric card collection and distribution path optimization method, which comprises the steps of comprehensively considering static road attributes, dynamic traffic flow, weather factors and traffic flow and road network interaction characteristics, and constructing a natural driving data set according to n road scene samples; calculating the objective weight of each feature of the road scene sample by adopting an independence weight method MCC, and representing the difference of the contribution of different features to the complexity; carrying out quantitative scoring on the complexity of the road scene sample by using a TOPSIS (approximation ideal solution); building a neural network model to adaptively learn the internal law of a road scene sample, and estimating the complexity of a dynamic uncertain scene; training a neural network model by using the natural driving data set; and introducing an ODD boundary and a vehicle endurance constraint, and constructing a complex constraint vehicle path optimization model to realize path optimization.

The utility model discloses a dry-type evaporator which is provided with a baffle plate assembly, so that water flowing in from a shell pass water inlet sequentially flows through a first baffling area, a first baffling notch, a second baffling area, a second baffling notch, a third baffling area, a third baffling notch and a fourth baffling area, and then enters a spiral channel in a spiral baffle plate assembly; the structure optimizes the path of water flowing near the tube plate, increases the flow rate of water flowing through the inner surface of the tube plate, avoids the problem of low-temperature freezing of the area near the inner surface of the tube plate, effectively avoids the conditions of bulging and frost cracking of the heat exchange tube in the area, enhances the use reliability of the dry evaporator, and improves the service life of the dry evaporator. Meanwhile, the heat exchange tubes in the area nearby the tube plate can fully participate in heat exchange, the heat exchange efficiency of the area nearby the tube plate is improved, and the performance of the evaporator and the unit is optimized.

The utility model relates to the technical field of roll forming, in particular to a distortion correction seat group for roll forming of an automobile seat slide rail, which comprises a frame body, a support frame and a connecting frame, two ends of the connecting frame are respectively abutted against the surface of the support frame, the support frame is mounted in the middle of the frame body, and the surface of the connecting frame is connected with a correction component. The correcting assembly comprises a rotating shaft and a correcting pressing block, and a cooling structure is arranged in the correcting pressing block. The cooling structure comprises a cooling flow channel and a connecting block used for being installed with the connecting hole in a paired mode. The cooling structure is arranged in the correction pressing block, so that the cooling medium smoothly circulates in the cooling structure, and heat generated by friction of the correction pressing block in the rolling process in the machining process is reduced through the cooling medium in the cooling structure, so that the physical influence caused by expansion caused by heat and contraction caused by cold is avoided; the precision and the size of a rolled product are influenced, or the hardness is changed due to the annealing of the correction pressing block, or other adverse effects are caused.

The utility model relates to the technical field of thermal power generation, and discloses a loop system for automatically controlling steam temperature, which comprises a main pipeline, a return pipeline and an automatic control component arranged on the outer surface of the return pipeline. The side face of the main pipeline is sleeved with two backflow pipelines which communicate with each other, the inner sides of the two backflow pipelines are both connected with flange plates, the opposite sides of the two flange plates are sleeved with control valve bodies, and valve wheels are arranged at the tops of the control valve bodies; the automatic control component comprises an automatic support which is movably installed on the top of the control valve body, and the automatic support is connected with the valve wheel. According to the loop system for automatically controlling the steam temperature, through the connection design of the main pipeline and the backflow pipeline shaped like the Chinese character'yue ', the steam flowing path is effectively optimized, fluid resistance is reduced, the overall performance of the system is improved, and automatic and accurate control over the steam flow is achieved through cooperation of the electric control sliding block, the valve wheel and the limiting supporting rod.

The invention discloses an Internet of Things signal adjusting system, belongs to the technical field of Internet of Things, and aims to solve the problems that data reliability and accuracy are reduced due to loss of logistics data transmission and overlarge errors, and bottleneck and blockage are caused due to the fact that logistics transportation paths and modes are often influenced by signals. By testing and optimizing the signal adjusting system, the reliability and stability of the system can be improved, the system can be popularized and applied, the application range of the Internet of Things in logistics and supply chain management is expanded, and the operation efficiency and speed of the whole supply chain are improved; all the modules of the system are comprehensively tested, so that the stability and reliability of the system are ensured, and the system is optimized and improved according to the test result.

The invention provides a ship berthing and unberthing method and device for a wharf and relates to the technical field of wharfs, and the ship berthing and unberthing method for the wharf comprises the steps that when a ship berths in the first direction, whether the first distance between the bow of the ship and a second trestle meets the preset safety distance or not is judged, and if yes, the first trestle is stopped; controlling the ship to enter a berth water area between the first trestle and the second trestle through a reverse cable for connecting the ship with the first abutment and a ship adjusting device; when the ship leaves the berth, the bow is connected with the second abutment through a reverse cable, and the ship is controlled to retreat; and when the ship is driven out of the berth water area by a preset second distance, the stern of the ship is connected with the first abutment through an inverted cable, and the ship is controlled to rotate out of the berth water area through a ship adjusting device. The ship berthing and unberthing efficiency of a wharf can be effectively improved, and the safety risk of berthing and unberthing of a large ship in a harbor basin with a narrow space is reduced.

The present application relates to the technical field of industrial unmanned aerial vehicle application and intelligent scheduling, and particularly discloses an unmanned aerial vehicle highway inspection task intelligent planning management system, which comprises a task input module, an intelligent planning engine, a task execution management module, a data hub and a feedback optimization module; the task input module receives and checks and analyzes inspection task requirements and highway basic information; the intelligent planning engine decomposes task priorities based on highway multi-dimensional attributes, dynamically allocates unmanned aerial vehicle resources and generates an optimal path meeting multiple constraints; the task execution management module issues adaptive instructions, monitors unmanned aerial vehicle states and processes inspection data; the data hub uniformly stores whole-process data; and the feedback optimization module optimizes a decision model based on historical data. The present application improves inspection planning accuracy and resource utilization, guarantees data quality, realizes self-evolution and ensures efficient and reliable highway inspection.

The present invention discloses a vehicle dispatching system based on consumer goods logistics, comprising a current logistics parameter acquisition unit, which is used to acquire the real-time inventory level of consumer goods at the vehicle's starting delivery point, the last delivery demand at the delivery point, the current weather classification label and geographic coordinates of the delivery point, and input them into a demand prediction model; a demand prediction unit, which is used to output the predicted demand for consumer goods at the delivery point according to the input; a vehicle delivery path dispatching unit, which is used to input the predicted demand, the current weather classification label and geographic coordinates of the delivery point into the dispatching model, and output an optimized delivery path; the present invention further optimizes the delivery path through a graph structure model, fully considers the spatial distribution of the delivery point and the dynamic demand changes, and at the same time, the total time loss of the path improves the timeliness of the logistics response by quantifying factors such as traffic congestion.

The invention discloses a self-adaptive adjustment system for precision machining equipment. The self-adaptive adjustment system comprises a real-time monitoring module, a cutting optimization module, a self-adaptive adjustment module, an intelligent electrode wear compensation module and a prediction maintenance module. An electrode wire path is optimized through an intelligent algorithm, machining parameters are adjusted in real time, the machining efficiency and precision are improved, the intelligent electrode abrasion compensation module prolongs the service life of the electrode wire by monitoring and automatically compensating abrasion, the prediction maintenance module reduces the non-planned shutdown time by predicting equipment faults and automatically arranging a maintenance plan, and the production efficiency is improved. The machining efficiency is improved, the downtime is shortened, the service life of the electrode wire is prolonged, the overall production cost is reduced, the equipment failure rate is reduced through predictive maintenance, and the reliability and the utilization rate of equipment are improved.

This invention discloses a composite current collector, its preparation method, an electrode, and a battery, belonging to the field of lithium-ion battery technology. The composite current collector provided by this invention includes: a porous conductive matrix comprising a polymer and a first conductive filler dispersed in the polymer, prepared by differential roller stretching; a conductive layer disposed on at least one surface of the porous conductive matrix; and the conductive layer comprising a second conductive filler and a binder. The composite current collector of this invention achieves a significant reduction in electrode resistivity while maintaining excellent mechanical properties, effectively resolving the performance contradiction between lightweight and conductivity in traditional composite current collectors. The assembled lithium-ion battery exhibits high energy density, high cycle stability, and high safety.

The utility model relates to the related field of medical instruments, in particular to an epidural anesthesia catheter fixing device which comprises an adhesive tape, a fixing seat, a rotating ball, a connecting rod, a guide cylinder, a first bolt, an arc-shaped clamping plate, a first silica gel sheet, a second silica gel sheet, an arc-shaped protrusion, a spring, a groove, an arc-shaped plate, a second bolt, a rubber pad and the like. The rotating ball and the fixing seat are arranged, and the rotator rotates in the fixing seat to drive the connecting rod and the guide cylinder to rotate, so that the path angle of placement of the anesthesia catheter is adjusted, the path of the catheter is optimized, unnecessary bending or twisting of the catheter is avoided, stable flowing of liquid medicine in the catheter is kept, and the anesthesia catheter is convenient to use. Stable liquid medicine conveying is facilitated, and the practicability of the fixing device is improved.

The invention provides a multi-source sensor obstacle recognition and obstacle avoidance method for low-altitude logistics, and relates to the technical field of low-altitude logistics. The method comprises the following steps: S1, synchronously acquiring data through a laser radar and a binocular camera, respectively performing distortion correction, exposure control and depth map generation on binocular vision data, and performing segmentation denoising and Kalman-particle hybrid filtering denoising on point cloud data; s2, adopting a YOLOv5s network to extract a barrier feature vector; s3, carrying out obstacle fusion association; S4, fusing historical features and laser radar coordinates based on an LSTM model, and predicting a future trajectory of a dynamic obstacle; and S5, generating an obstacle avoidance path in combination with an A * algorithm and an artificial potential field method, and correcting the obstacle avoidance path in real time. The problems of missing detection or misjudgment of low-texture obstacles, sensor data fault, dynamic obstacle prediction deviation and path oscillation are solved, and the obstacle recognition precision and the obstacle avoidance reliability are improved. The method is high in real-time performance and adapts to low-altitude logistics complex scenes.