30results about How to "Prevent yaw" patented technology

A truck bed cargo barrier for use with a truck bed for stabilizing cargo items longitudinally and laterally. The cargo barrier is slidable relative to the front and back of the truck bed along a track system. The cargo barrier may be locked in a user specified position along the track system to accommodate the size of the load being carried forming a divider, or may be flipped up into a temporary storage position for linear cargo exceeding the length of the bed. Tie down brackets for bungee cords are adjustably attached to the barrier frame to secure cargo laterally. A barrier panel is connected to laterally adjustable, rigid side plates, each including two spaced apart wheels that ride on a pair of longitudinal tracks on the side walls of the truck bed. The spaced apart wheels firmly secure the barrier panel in a vertical position. A manual actuator permits manual positioning of the barrier panel along the bed frame front to back.

The invention relates to a vehicle-mounted inertial navigation system. According to the system, GPS / DR / MM technologies are combined for vehicle-mounted inertial navigation, vehicle speed pulse signals do not need to be collected, information is directly read through a CAN bus of a vehicle sound port, and vehicle refitting is avoided. The system comprises a main processor MCU, a gyroscope, a GPS and a map, dynamic compensation is adopted for gyroscope zero offset errors, an HDR algorithm is adopted for random drift errors for compensation, the system does not only depend on data basis that inertial navigation is achieved by reading vehicle body information, GPS positioning information and DR system positioning information are further corrected through the map matching technology, and therefore overall vehicle safety and navigation positioning reliability are improved.

The invention provides a full-automatic cruising batch feeding ship for a prawn pond. The ship comprises a ship body, a fodder box, a batch feeding controller, a distance detector and a solar cell panel. The ship body is of a double-body three-propeller structure. An engineering plastic mould is used for injection moulding. Good corrosion resistance, stability and wind wave resistance are achieved. A GPS locating instrument is arranged in the ship body and can effectively prevent the ship from yawing during traveling. A wind turbine and a feeding locking device are arranged in the batch feeding device, feeding amount can be controlled according to needs, and prawn fodder is evenly and accurately thrown to feeding points of prawns. The ship is suitable for carrying out batch feeding in ponds with different shapes and different sizes, batch feeding effect is good, the solar cell panel is used as a driving energy source, environment pollution is lowered, and energy is saved. The ship has the advantages that batch feeding is automatic, manual operation is of no need, energy loss is reduced, and labor cost is lowered.

The invention relates to a wheel-type robot self-adaptive navigation method based on an on-line learning mechanism. Firstly, a wheel-type robot is controlled to learn an appointed path, through a SICK laser range finder, accurate distance information between the surrounding environment and the wheel-type robot is obtained, and an incremental layering discrimination regression algorithm IHDR is employed to store a mapping relation of the distance information and movement control information into a tree structure knowledge base. the wheel-type robot after learning retrieves the knowledge base continuously, obtains motion control quantity through regression, carries out navigation, and carries out background obstacle avoidance based on an obstacle avoidance algorithm of an autonomous fleeing obstacle area, once obstacle avoidance is started, a new mapping relation of the environmental distance information and movement control information is established, and the mapping relation is updated in the knowledge base in real time. The intelligent level of the wheel-type robot is raised, and thus the wheel-type robot has a self-adaptive capability to a complex dynamic environment, and the navigation efficiency is raised under double closed loop combined action of the on-line learning algorithm and the obstacle avoidance algorithm.

The invention discloses an adaptive control method of an autopilot of a ship and relates to the technical field of automatic control of the ship. The method comprises the steps of: firstly, carrying out wave model identification; updating the upper limit and the lower limit of a controller pipeline so as to calculate controlled quantity; further judging that if the wave model is in a still water area, the model validation is not passed; then, carrying out ship model identification; updating a controller; and carrying out the next control. According to the invention, the self-setting function of the autopilot is automatically finished without personnel to participate and can automatically identify the sea state grade, so that adaptive heading control under wave interference is achieved, and the control performance of the heading of the ship is improved.

A walking assistance device having a seating member (1) on which a user (P) can sit astride, and support members (2L, 2R) which support the seating member (1). The seating member (1) has a backward movement prevention section (1b) for preventing the seating member (1) from being displaced backward relative to the user (P) sitting on the seating member (1). The backward movement prevention section (1b) is constructed so as to be in contact with an inguinal part (Q) of the user (P). The arrangement restrains backward dislocation of the seating member (1) relative to the user (P), thus permitting improved stability when the user is seated.

A walking assistance device having a seating member (1) on which a user (P) can sit astride, and support members (2L, 2R) which support the seating member (1). The seating member (1) has a backward movement prevention section (1b) for preventing the seating member (1) from being displaced backward relative to the user (P) sitting on the seating member (1). The backward movement prevention section (1b) is constructed so as to be in contact with an inguinal part (Q) of the user (P). The arrangement restrains backward dislocation of the seating member (1) relative to the user (P), thus permitting improved stability when the user is seated.

A travel control device executes an acquisition function to acquire object information including the position of an avoidance object which a subject vehicle should avoid, a planning function to plan a target route for the subject vehicle in accordance with the position of the avoidance object, and a control function to output command information for driving the subject vehicle on the target route. The planning function is used to specify a plurality of avoidance objects that are located within a predetermined distance from the subject vehicle and exist in the same lane adjacent to a lane in which the subject vehicle travels and to set a lateral position of the target route along the width direction of a road on which the subject vehicle is traveling. The lateral position of the target route is planned so as to avoid the avoidance objects.

The invention relates to a universal driven wheel for an AGV. The universal driven wheel comprises a rotating system, a caster system and a wheel stand. The caster system is connected with the wheel stand, and the rotating system is located above the wheel stand and connected with the wheel stand. The rotating system comprises a first rotating bearing and a second rotating bearing, the first rotating bearing is connected with the second rotating bearing, the second rotating bearing is connected with the wheel stand, and the centers of the first rotating bearing and the second rotating bearing do not coincide. Compared with the prior art, the universal driven wheel has the advantages of being small in rotation radius, not prone to course deviation, simple, practical and the like.

The invention relates to an automatic fishing vessel and a working method thereof. The automatic fishing vessel comprises two unit hulls, a water wheel transverse telescopic rod and two groups of netcover assemblies capable of transversely and longitudinally expanding and retracting; a detachable fish cabin is arranged at the middle part of each unit hull; the water wheel transverse telescopic rod is erected between the middle parts of the two unit hulls and is driven by a water wheel driving machine to rotate along its axial direction; the two groups of net cover assemblies are symmetricallyarranged on the water wheel transverse telescopic rod with the water wheel transverse telescopic rod as the symmetric axis; a telescopic fish body slip groove is formed in one side, close to the water wheel transverse telescopic rod, of each group of net cover assembly; and one end of each telescopic fish body slip groove is arranged to be inclined towards the detachable fish cabin. Compared withthe prior art, the automatic fishing vessel has the advantages of ingenious design, high feasibility and automatic, simple, convenient and user-friendly use. The automatic fishing vessel has the advantages that the structure is special, the labor intensity of fishers is effectively reduced, the fishing efficiency is enhanced, and fish bodies are prevented from being injured so that lives get humanistic care and fishes can be fresher and live longer.

The invention discloses a photovoltaic panel hot spot positioning method based on an unmanned aerial vehicle and thermal imaging. The method comprises the following steps of: measuring the position information of a photovoltaic module through a GPS positioning instrument, and storing the position information into a database; calculating the total row number of photovoltaic panels in the photovoltaic module according to the collected position information of the photovoltaic module; controlling the flight of the unmanned aerial vehicle, and correcting the flight path of the unmanned aerial vehicle by using the position information of the four corner points of the photovoltaic module in the flight process; identifying and segmenting a single photovoltaic panel in an aerial image by using an image algorithm, and positioning the column number of the photovoltaic panels in the photovoltaic module; and performing judgement through a signal receiving device on the unmanned aerial vehicle so as to start an infrared camera, and detecting hot spots in real time, and processing the hot spots to obtain the position information of the hot spots. According to the method, automatic inspection of the unmanned aerial vehicle is fully utilized, automatic positioning of the hot spots is achieved, correction of the flight path of the unmanned aerial vehicle is achieved, calculation is convenient, the detection efficiency is high, and a photovoltaic power station can operate more efficiently and intelligently.

The invention discloses a logistics unmanned aerial vehicle with an anti-collision function, and relates to the technical field of unmanned aerial vehicles. The logistics unmanned aerial vehicle with the anti-collision function comprises an unmanned aerial vehicle body, a storage rack is arranged at the bottom of the unmanned aerial vehicle body, a telescopic sleeve is fixed to the left side of the storage rack, a positioning rod is arranged in the telescopic sleeve in a sleeved mode, and a positioning buckle device is fixed to the top of the left end of the telescopic sleeve. According to the logistics unmanned aerial vehicle with the anti-collision function, goods can be stored by arranging the storage rack, when the unmanned aerial vehicle body is located on the ground, the insertion blocks are separated from the positioning grooves, and the storage rack can freely rotate, so that the gravity center position can be adjusted according to weight distribution of the goods; the gravity center of the whole unmanned aerial vehicle is located on the central axis of the unmanned aerial vehicle body, yawing of the unmanned aerial vehicle body in the flying process is avoided, and when the unmanned aerial vehicle body flies away from the ground, the storage rack is fixed through the positioning grooves by the insertion blocks and prevented from swinging.

The invention provides a course guiding device based on Internet of Things, which comprises a fixed base, a fixed column is fixedly connected to the surface of the fixed base, a connecting assembly is arranged at the bottom of the surface of the fixed column, the connecting assembly comprises a connecting seat, a placing box is fixedly connected to one side of the connecting seat, and a whistling device is arranged in the placing box. A pressing device is arranged on the left side of the inner wall of the containing box, and a control device is arranged on the top of the inner wall of the placing box. According to the course guiding device based on the Internet of Things, when a ship travels on the sea surface with visibility, direction guiding can be conducted through sound transmission through cooperation between the whistling device and the pressing device, an operator can conveniently distinguish the direction through long sound transmission and high penetrating power by using a whistle, the danger that the ship yaws or touches a submerged reef can be prevented, the whistling device can be controlled through the control device, and the device can be in an automatic working state.

The invention relates to the technical field of floating breakwater layout, in particular to an ultra-long modular floating breakwater rapid erecting system and a method thereof.The ultra-long modular floating breakwater rapid erecting system comprises a mother ship, a son ship, an auxiliary tugboat, a floating breakwater body, an anchor cable system and an anchorage block, and the floating breakwater body is composed of a plurality of floating breakwater units; the plurality of floating breakwater units are loaded on the deck of the mother ship, the plurality of floating breakwater units are connected with one another, and the plurality of anchorage blocks are loaded on the deck of the son ship. According to the rapid erecting system and method for the ultra-long modular floating breakwater, multiple installation ships are used for simultaneous operation, the maximum construction efficiency is exerted, the technical route is clear, the scheme is practical, the installation speed of the floating breakwater can be increased to 500 m / h from traditional 80 m / h, and the construction period is shortened. The method has incomparable advantages compared with a traditional erection method.

The present invention relates to a bullet. More particularly, the present invention relates to a bullet including concentric and sequentially ordered cylindrical fore, intermediate and aft portions. The aft portion comprises a cross-sectional diameter about equal to the diameter measured across the rifle landings of the riffled barrel operatively to create a gas pressure build up there-behind while the rifling grooves and lands deform and / or cut the aft portion thereby to impart spin to the bullet about the central axial axis thereof. The intermediate portion comprises a cross-sectional diameter smaller than that of the aft portion, which acts as a bearing surface for operatively riding along the rifling lands thereby to inhibit yawing of the bullet while operatively travelling through the rifled barrel. The fore portion comprises a cross-sectional diameter smaller than that of the intermediate portion with an annular stamping surface, for operatively providing a clean cut circular hunting wound, located at or near an interface between the fore and intermediate portions.

A tracked vehicle for preparing a ski track is provided. A tracked vehicle (1) comprises: a frame (2); a winch (12) mounted on the frame (2) for selectively deploying and winding a rope (13) that can be anchored to a point (14) outside the tracked vehicle (1); an arm (16) mounted to rotate relative to the frame (2) about a defined axis (A2) and configured to guide the rope (13); an actuation system (17) of the arm (16) around a defined axis (A2); control means (18) of an actuation system (17) of the arm (16) for selectively setting, when the rope (13) is under tension, one of the following operating modes: allowing the arm (16) to rotate freely about a determined axis (A2); rotating the arm (16) about a defined axis (A2); the position of the arm (16) relative to the frame (2) is locked.

The present invention relates to the field of floor treatment machines for scrubbing, polishing, sanding or burnishing floors, and in particular machines in which one or more driven rotatable work heads (such as scrubbing brushes) are provided for agitating the floor surface. In one aspect there is provided a walk-behind floor treatment machine comprising: a base portion provided with and supported by at least one rotatable work head for treating the floor, a handle portion for steering or guiding the machine along a working direction of travel and adapted to be pivotable with respect to the base portion, drive means for rotating the work head with respect to the base portion, floor-engaging wheel means for supporting the handle portion, the wheel means having a substantially transverse axis of rotation so as to permit travel in the working direction, the wheel means being coupled to the base portion by a linkage which permits vertical travel of the base portion and associated work head or heads with respect to the wheel means, but which provides transverse constraint to limit or prevent yawing of the base portion with respect to the wheel means, wherein a lower region of the handle portion is pivotably connected to the wheel means via an articulated joint, the arrangement being such that the handle portion may be manipulated to act on the wheel means so as to yaw steer the wheel means about a yaw axis defined by the floor-engaging contact of the wheel means, the yawing of the wheel means causing the base portion to yaw in response to yaw steering. The wheel means may comprise a wheel, roller or ball, preferably a single wheel, roller or ball, disposed at a lower region of the handle portion. The wheel means preferably has a fixed transverse axis of rotation.

The embodiment of the invention discloses a voice navigation method, electronic equipment and a computer program product. The method comprises the following steps: acquiring a navigation route and voice navigation content; the voice navigation content comprises voice content and voice broadcast time; broadcasting the voice content on the basis of the voice broadcasting opportunity in the driving process of the navigated object on the basis of the navigation route; and after the voice content is broadcasted, dynamically adjusting the voice content of the next voice broadcasting time based on the behavior feedback information of the navigated object. According to the technical scheme, the problem that the user is likely to yaw when the existing fixed voice broadcasting time and the fixed voice content are adopted under the condition that the user is inattention in the driving process can be avoided, the yaw rate of the user can be reduced, and the navigation experience of the user is improved.

The invention relates to an adaptive navigation method for a wheeled robot based on an online learning mechanism. First, the wheeled robot is controlled to learn the specified path, and the precise distance information between the surrounding environment and the wheeled robot is obtained through the SICK laser range finder. The mapping relationship is stored in a tree-structured knowledge base. After learning, the wheeled robot will continuously retrieve the constructed knowledge base and return to the motion control for navigation. At the same time, it implements background obstacle avoidance based on the obstacle avoidance algorithm of autonomously escaping from the obstacle area. Once obstacle avoidance is turned on, new environmental distance information and The mapping relationship of motion control information is updated to the knowledge base in real time. The invention improves the intelligence level of the wheeled robot, so that it has the self-adaptive ability to the complex dynamic environment, and the double closed loop of the online learning algorithm and the obstacle avoidance algorithm jointly improves the navigation efficiency.

The invention relates to the technical field of vehicles, in particular to a control system and method for an automatic driving vehicle and the vehicle, the control system is provided with a processing part used for generating main sensing data through collected environment data and a control part used for generating an automatic driving instruction through the main sensing data, wherein the control part comprises a processor for generating secondary sensing data according to environment data; a judging device which is used for judging whether the control piece receives the main sensing data sent by the processing piece or not, and judging that the processing piece is in a failure state when judging that the main sensing data is not received; and a controller which is used for generating an automatic driving instruction according to the secondary sensing data when the judgment device judges that the processing part is in the failure state, and controlling the automatic driving vehicle to execute an automatic driving action by utilizing the automatic driving instruction. Therefore, the problems that in the related technology, when the second industrial personal computer is in the failure state, the automatic driving vehicle is prone to yawing and cannot avoid obstacles, the reliability and safety of automatic driving are low, and the user experience is poor are solved.

The embodiment of the invention discloses a draught fan yawing method and device, a computer device and a readable storage medium, all of which are used for filtering the meaningless wind direction, avoiding draught fan yawing caused by the meaningless wind direction and achieving the purpose of draught fan yawing optimization. According to the embodiment, the method comprises the steps that the average wind direction of a wind power field within the current preset period is determined; whether the deviation angle of the average wind direction and the axis direction of a wind wheel of a wind power generator of the wind power field is located in the preset angle range or not is detected; if the deviation angle of the average wind direction and the axis direction of the wind wheel of the wind power generator of the wind power field is located in the preset angle range, whether the deviation angle is smaller than the preset angle or not is detected; and if the deviation angle of the average wind direction and the axis direction of the wind wheel of the wind power generator of the wind power field is not located in the preset angle range, yawing adjustment is conducted on the wind power generator according to the preset rule.

The invention discloses an intelligent unmanned aerial vehicle cluster control system for wide-area forest protection, and the system comprises a ground general control module, an acquisition module, a receiving display module, a line control module, and a cluster association module. The collection module collects forest data through a collection device, and the receiving display module receives the data collected by the unmanned aerial vehicles and displays the data content. Through grouping association of a plurality of unmanned aerial vehicles, setting of a specified navigation range and management of starting and stopping of the collection device, collection and distribution of the unmanned aerial vehicles are reasonable, and the unmanned aerial vehicles fly in a certain range; through the mutual monitoring of the associated unmanned aerial vehicles, the abnormal condition of the unmanned aerial vehicle is found in time, the abnormal unmanned aerial vehicle can be monitored and searched in time, data damage is avoided, the collection mode is replaced, the completion of the collection task is ensured, and the collection efficiency of the unmanned aerial vehicle is higher.

In order to feed back position and state information of a fishing boat in real time to enable a remote controller to conveniently position and control the fishing boat, the wireless remote control fishing boat related to the invention comprises the remote controller and a fishing boat control circuit arranged in the fishing boat, wherein the fishing boat control circuit comprises a central control unit, a radio signal transceiver, a first electronic compass, a GPS signal receiver, a motor driving circuit and a bait cabin door control circuit; and the remote controller comprises a central controller, a wireless transceiver, a travelling operator, a second electronic compass and a liquid crystal display screen. An operator can control the working states (including: signal intensity, batterypower, opening display of a bait cabin and a hook and travelling state display) of the fishing boat in traveling at any time through the liquid crystal display of the remote controller.

The present invention relates to a bullet. More particularly, the present invention relates to a bullet including concentric and sequentially ordered cylindrical fore, intermediate and aft portions. The aft portion comprises a cross-sectional diameter about equal to the diameter measured across the rifle landings of the riffled barrel operatively to create a gas pressure build up there-behind while the rifling grooves and lands deform and / or cut the aft portion thereby to impart spin to the bullet about the central axial axis thereof. The intermediate portion comprises a cross-sectional diameter smaller than that of the aft portion, which acts as a bearing surface for operatively riding along the rifling lands thereby to inhibit yawing of the bullet while operatively travelling through the rifled barrel. The fore portion comprises a cross-sectional diameter smaller than that of the intermediate portion with an annular stamping surface, for operatively providing a clean cut circular hunting wound, located at or near an interface between the fore and intermediate portions.

The invention relates to the technical field of robot systems, and discloses an intelligent inspection robot system which comprises a robot, a holder control end arranged on the robot, a robot control system and a client, wherein the robot comprises a driving part, a data acquisition part, a positioning part and a wireless transceiver which are arranged on a robot body; the input ends of the driving part and the data acquisition part are in communication connection with the holder control end, and the output ends of the positioning part and the data acquisition part are connected with the wireless transceiver; the robot control system is controlled at the background, so that the robot can effectively and instantly measure all on-site parameters, manual inspection is replaced, and automatic inspection is comprehensively achieved.

The invention discloses an adaptive control method of an autopilot of a ship and relates to the technical field of automatic control of the ship. The method comprises the steps of: firstly, carrying out wave model identification; updating the upper limit and the lower limit of a controller pipeline so as to calculate controlled quantity; further judging that if the wave model is in a still water area, the model validation is not passed; then, carrying out ship model identification; updating a controller; and carrying out the next control. According to the invention, the self-setting function of the autopilot is automatically finished without personnel to participate and can automatically identify the sea state grade, so that adaptive heading control under wave interference is achieved, and the control performance of the heading of the ship is improved.

The invention discloses unpowered ship auxiliary driving equipment based on a steering river channel and a driving method thereof. The unpowered ship auxiliary driving equipment comprises a plurality of tug sets arranged on the two sides of an unpowered ship; each tug set comprises two main tugs symmetrically arranged on the front portion of the unpowered ship and main tugs symmetrically arranged on the rear portion of the unpowered ship; a front end retractor, a middle retractor and a tail retractor are arranged in each main tug; the front end retractors are connected with the side face of the unpowered ship through reverse cables, the middle retractors are connected with the side face of the unpowered ship through first towing cables, and the tail retractors are connected with the side face of the unpowered ship through second towing cables; and a detection unmanned aerial vehicle is arranged at the position 50-100 m in front of the unpowered ship and used for detecting the wind speed and the water flow speed. According to the transverse stress angle alpha, the total driving force of the multiple main tugs is flexibly adjusted, and meanwhile, the included angle beta between the main tugs on the two sides of the unpowered ship and the virtual symmetric line is adjusted, so that wind power interference is accurately overcome, and it is ensured that the unpowered ship can advance in the set direction.

The invention discloses a mechanical structure of a three-dimensional human-simulate biped walking robot. The mechanical structure comprises a trunk, two hip joints arranged in symmetry, an angle bisection mechanism, an arm-thigh coupling mechanism, and leg mechanisms arranged in symmetry in sequence from top to bottom, wherein the leg mechanism at each side comprises a thigh, a knee joint, a shank, an ankle joint, and a vola in sequence from top to bottom, and the trunk is provided with a master control chip. According to the mechanical structure, based on related principle of passive mechanics, the human-simulation degree is high, the problems of low energy efficiency and stiff gait of the conventional robot are effectively solved, the robot can serve as exoskeleton to help the disabled to realize walking and serve as walking equipment in future wars, and the individual combat ability is improved. The invention also discloses a waking method for the mechanical structure of the three-dimensional human-simulated biped walking robot.

The invention discloses a framed traction linear motor-centered suspension frame and a maglev train. The suspension frame comprises a traction linear motor, a pair of suspension modules and a pair of cross beams, wherein the traction linear motor is arranged between the pair of suspension modules in parallel; the pair of cross beams is arranged at the two ends of the suspension modules; each cross beam is connected between the pair of suspension modules; the traction linear motor is connected to the pair of cross beams through spherical hinge bearings; at least one set of anti-rolling decoupling mechanisms is respectively arranged at the two sides of the traction linear motor; and one ends of the anti-rolling decoupling mechanisms are hinged to the traction linear motor, and the other ends are hinged to the suspension modules. The maglev train comprises multiple train bodies and multiple framed traction linear motor-centered suspension frames; and the train bodies are mounted on the suspension frames. The framed traction linear motor-centered suspension frame and the maglev train have the advantages of simple structure, convenience for installation and maintenance, high traction efficiency and strong turning capacity.

The invention discloses an emergency yawing circuit and method for out-of-control rotation speed of a wind turbine generator. The circuit comprises a first speed relay, a first non-time-delay relay, acontactor and a first time-delay relay. A first normally open contact of the first non-time-delay relay, a normally closed contact of the first time-delay relay and a coil of the contactor are connected in series to form a series branch; the series branch is connected with a power supply; a normally open contact of the contactor is connected with a yawing device; a first contact of the first speed relay and a second normally open contact of the first non-delay relay are connected in parallel to form a first parallel branch; a second contact of the first speed relay is connected with a coil ofthe first non-delay relay in series and then connected with a coil of the first delay relay in parallel to form a second parallel branch; and the first parallel branch and the second parallel branchare connected in series and then connected with the series branch in parallel. By the adoption of the circuit and method, yaw processing can be conducted on out-of-control with the rotating speed larger than the rated rotating speed, and the wind turbine generator is prevented from yawing excessively.