74results about How to "Realize automatic obstacle avoidance" patented technology

The present invention discloses a method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision. Binocular camera devices are uniformly distributed around an unmanned plane and are configured to shoot in real time. The method comprises: respectively extracting left images and right images collected by each binocular camera device at present; identifying whether there are barriers at the orientation corresponding to each binocular camera or not according to the extracted left images and right images; if there are barriers, determining the distance between the barriers and the unmanned plane according to a binocular vision distance measurement algorithm; determining whether the distance between the barriers and the unmanned plane is smaller than a preset safe distance or not; and if the distance between the barriers and the unmanned plane is smaller than the preset safe distance, and regulating the current movement direction of the unmanned plane to allow the unmanned plane to move far away from the direction of the barriers. The method and system of unmanned plane omnibearing obstacle avoidance based on binocular vision realize the omnibearing automatic obstacle of an unmanned plane based on binocular vision, and are higher in timeliness and lower in power consumption.

The invention discloses an obstacle avoidance method and system for an unmanned aerial vehicle. The method comprises the following steps: after a front barrier is detected by virtue of a millimeter wave radar, photographing a video image of the barrier by virtue of a front-facing camera of the unmanned aerial vehicle; analyzing the type of the barrier according to the video image of the barrier, and comprehensively analyzing the shape of the barrier and the distance from the barrier to the unmanned aerial vehicle according to the video image of the barrier and a detection result of the millimeter wave radar; drawing a raster map according to the shape of the barrier and the distance from the barrier to the unmanned aerial vehicle, planning a flight path on the raster map by virtue of an A-Star algorithm, and adjusting the flight path according to a safe radius; and enabling the unmanned aerial vehicle to fly according to the flight path, and avoiding or traversing the barrier. The obstacle avoidance method has the beneficial effects that the shape and type of the barrier and the distance from the barrier to the unmanned aerial vehicle are acquired by virtue of the front-facing camera and the millimeter wave radar, so that the detection of the barrier is relatively accurate and comprehensive, the obstacle avoidance accuracy of the unmanned aerial vehicle is high, the automatic obstacle avoidance of the unmanned aerial vehicle can be realized, and the intelligent obstacle avoidance level is high.

The invention discloses a wire-control coalmine rescue detection robot and a cable extension and retraction method thereof. The wire-control coalmine rescue detection robot comprises a robot body and a cable extension and retraction box arranged at the top of the robot body. A cable extension and retraction device is arranged in the cable extension and retraction box. The robot body comprise a robot body cabinet, two travelling track assemblies and four swinging arm track assemblies. The robot body cabinet comprises a lower cabinet cavity, an upper cabinet cavity, a sensor cavity, three gear cavities and two supporting wheel cavities. The cable extension and retraction device comprises a cable extension and retraction motor, a synchronous belt transmission mechanism connected with an output shaft of the cable extension and retraction motor, and a cable winding mechanism and a cable arranging mechanism which are both connected with the synchronous belt transmission mechanism. The cable extension and retraction method of the wire-control coalmine rescue detection robot comprises the steps of cable connection and cable extension and retraction. By adoption of the wire-control coalmine rescue detection robot and the cable extension and retraction method thereof, cables are extended and retracted in order and are appropriate in degree of tightness, cable entanglement and breaking are reduced, and stable transmission of control signals, relevant sensor information and a power supply can be guaranteed.

The invention discloses a six-caterpillar-band and four-swinging-arm rescue robot, which comprises a robot body, two walking caterpillar band components and four swinging arm caterpillar band assemblies, wherein the robot body comprises a lower box cavity, an upper box cavity, a sensor cavity, three gear cavities and two support wheel cavities; the three gear cavities are respectively a front gear cavity, a left back gear cavity and a right back gear cavity; the two support wheel cavities are respectively a left support wheel cavity and a right support wheel cavity; the two walking caterpillar band assemblies are respectively a left walking caterpillar band assembly and a right walking caterpillar band assembly; the four swinging arm caterpillar band assemblies are respectively a left front swinging arm caterpillar band component, a left back swinging arm caterpillar band component, a right front swinging arm caterpillar band component and a right back swinging arm caterpillar band component. The invention discloses an automatic walking control method of the six-caterpillar-band and four-swinging-arm rescue robot. The six-caterpillar-band and four-swinging-arm rescue robot has the advantages that the structure is compact; the design is novel and reasonable; the intelligent degree is high; the work stability and the reliability are high; the practicability is high; the use effect is good; the popularization and the use are convenient.

The invention discloses an autonomous obstacle surmounting and avoiding walking control method for a six-track and four-swing-arm rescue robot. The six-track and four-swing-arm rescue robot comprises a robot control system, two walking track assemblies and four swing arm track assemblies, wherein the two walking track assemblies comprise a left walking track assembly and a right walking track assembly; the left walking track assembly and the right walking track assembly are identical in structure and both comprise driving walking wheels positioned at the front end of the rescue robot and driven walking wheels positioned at the rear end of the rescue robot; the four swing arm track assemblies comprise a left-front swing arm track assembly, a left-rear swing arm track assembly, a right-front swing arm track assembly and a right-rear swing arm track assembly. The autonomous obstacle surmounting and avoiding walking control method comprises the following steps: firstly, acquiring and transmitting data; secondly, analyzing and processing the data; thirdly, controlling operation of the robot. The method disclosed by the invention has the advantages of simple steps, novel and reasonable design, high working reliability, high practicality and convenience in popularization and application; smooth passing on a plurality of terrains can be realized.

The invention discloses a hybrid power water surface cleaning robot. The hybrid power water surface cleaning robot comprises an electric boat. The electric boat is provided with a propeller, an anchorage device, a navigation system, an electronic compass and a central control cabinet, solar cell panels are flat laid on the outer surfaces of the two sides of the electric boat, a semicircular supporting frame is fixedly arranged at the upper end of the electronic boat, a wind-driven generator is hung below the semicircular supporting frame, and an obstacle avoidance detection device and a transmission antenna are fixedly arranged at the top end of the semicircular supporting frame. A gasoline engine generator is fixedly arranged in a cabin of the electric boat. The output ends of the solar cell panels, the output end of the wind-driven generator and the output end of the gasoline engine generator are all connected with a lithium battery through a hybrid power controller, and the output end of the lithium battery is connected with the propeller through a multi-way switch power source. A water surface waste collecting and conveying device is arranged at the front end of the electric boat, and a waste storage box is connected to the rear end of the electric boat in a hung mode. Wind energy, solar energy and gasoline power generation hybrid powder is adopted for providing energy for the hybrid power water surface cleaning robot, so that the hybrid power water surface cleaning robot is not influenced by rainy days or large workloads, efficiency is improved, and labor cost is reduced.

The invention discloses a mobile multi-functional operation robot for polishing and spraying of indoor walls. The robot comprises a carrying platform; a mechanical arm is connected onto the carrying platform through a lifting device; spraying heads or polishing heads are driven by the mechanical arm to move in the spatial range; the spraying heads and the polishing heads are switched through a quick-switching device; a depth camera for acquiring construction surface characteristics is mounted on the mechanical arm; an air compressor, a tool platform, laser radar, a coating storage tank and a control console provided with a display screen are further arranged on the carrying platform; the air compressor provides high-pressure air which is delivered to the spraying heads or the polishing heads; the tool platform is used for storing the different spraying heads or the polishing heads; the laser radar is used for indoor map building and positioning navigation; the coating storage tank is used for providing a coating required by the spraying heads; the control console performs centralized management and control and adjusts the action positions of the carrying platform and the mechanicalarm; and the robot is monitored by the display screen in real time. By the aid of the robot, high-efficiency, high-quality, safe and automatic wall decoration construction can be realized, and the robot can adapt to multiple working objects.

The invention discloses a mobile spraying robot for indoor wall bodies. The mobile spraying robot comprises a carrying platform capable of moving horizontally, wherein the carrying platform is connected with a mechanical arm by virtue of a lifting apparatus; a spray head is arranged at the tail end of the mechanical arm; the mechanical arm drives the spray head to move in a space range to realizethe posture change; the carrying platform is provided with an air compressor, a first laser radar, a paint storage tank and a console with a display screen; the mechanical arm is provided with a second laser radar; the high-pressure gas provide by that air compressor is delivered to the spray head by virtue of a high-pressure spraying pipe, the laser radar is used for indoor map establishment, navigation and three-dimensional reconstruction of wall body characteristics, the console carries out the centralized management and control to adjust the action positions of the carrying platform and the mechanical arm, and the spray head is opened after being arranged in place to perform a spraying function, so that the high-pressure gas pressurizes and atomizes the paint; the display screen is used for displaying a working state of the robot and simulation displaying a spraying track. By adopting the mobile spraying robot for the indoor wall bodies, different spraying tasks can be carried outaccording to the wall bodies, and high efficiency, high quality and automatic spraying can be achieved.

The invention discloses a design method of a patrol robot full-coverage traversal path planning algorithm. The method includes the following steps that: a one-dimensional Chebychev mapping is selectedas a chaotic dynamic equation, and inverse sine transformation is utilized to improve the chaotic characteristic and uniform characteristic of the chaotic dynamic equation; two inverse sine-improvedone-dimensional Chebychev mapping equations are adopted to construct a two-dimensional chaotic path planner; the patrol area of a robot is decomposed into traversable sub-regions and obstacle regions;transition sub-regions re established, and a transition algorithm is designed; the traversable sub-regions in the patrol area are connected to form a traversal sequence diagram; the patrol robot full-coverage traversal path planning algorithm is designed according to the traversal sequence diagram and the transition algorithm, and the patrol robot full-coverage traversal path planning algorithm can be used for completing a patrol task. The algorithm of the invention has the advantages of simplicity, low repetition rate and high coverage rate, and can ensure the randomness and unpredictabilityof the patrol task while ensuring full coverage of the patrol area.

The invention discloses a driverless automobile obstacle avoidance method and system. The system comprises an information acquisition module, an information processing module and a driving control module. The information acquisition module is used for carrying out stereo scene information acquisition in the heading direction of a driverless automobile by adopting a laser ranging array; an information processing module is used for carrying out obstacle detection on the heading direction of the driverless automobile according to the collected stereo scene information to determine an obstacle avoidance path; and the driving control module is used for controlling the driverless automobile to drive according to the obstacle avoidance path. The driverless automobile obstacle avoidance method and system enable the driverless automobile to avoid obstacles automatically; the avoidance mode is more diversified; and the driving route can be adjusted automatically to finish specified driving tasks. The system is simple in structure and convenient to use and has a large practical value.

The present invention discloses a flexible cable path intelligent planning method considering gravity constraint rules. The method comprises the following steps: carrying out modeling on the three-dimensional environment of the wiring space, and using the partitioned space division method to carry out partition division on the overall space of the product so as to obtain a to-be-wired space area that needs to be wired and a non-wiring space area; carrying out grid processing on the divided to-be-wired space area, establishing an obstacle bounding box model, and establishing a wiring space grid model and an abstract model of the wiring path point; and finally, carrying out intelligent search and optimization on the flexible cable path by using the ant colony optimization algorithm and by considering the gravity constraint rules. According to the method disclosed by the present invention, automatic obstacle avoidance can be realized, the wiring route satisfying certain engineering rules is generated, and the wiring efficiency of the flexible cable and the final overall performance and reliability of the product are improved.

The invention discloses a laser obstacle-avoidance system for unmanned aerial vehicle, and the system comprises a laser assembly. The laser assembly is movably disposed on the unmanned aerial vehicle,and the unmanned aerial vehicle is also provided with a drive assembly. The drive assembly drives the laser assembly to rotate on the unmanned aerial vehicle, and the laser assembly comprises a lasertransmitter and a laser receiver. The laser transmitter transmits laser to the outside, and the laser receiver receives the laser reflected by an external obstacle and enables a laser signal to be transmitted to a control module of the unmanned aerial vehicle. The control module controls the unmanned aerial vehicle to avoid the external obstacle to fly. Through the above mode, the system can judge the obstacle through receiving the laser signal reflected by the outside, achieves the automatic avoiding of the obstacle for the unmanned aerial vehicle, is high in automation degree, is safe and reliable, and is convenient to use.

The invention discloses an intelligent nursing robot and belongs to the technical field of machine manufacturing and automation thereof. The technical aim that a virus spreading route is cut off from an infection source is achieved. The intelligent nursing robot is shaped like a human body structure and comprises a head part, a neck part, a trunk and foot parts, wherein the head part is connected with the trunk through the neck part; the trunk is fixedly connected with the foot parts. The intelligent nursing robot replaces nurses to complete related work, direct contact between the nurses and patients is avoided, and disease spreading is blocked off from the source and controlled effectively.

The embodiment of the invention provides a mobile device control method and a mobile device. The control method comprises the steps that during a process of executing a command sent by a remote control device to move, a first mobile device detects a distance between the first mobile device and an obstacle; and when the distance between the first mobile device and the obstacle is less than or equal to a first distance, if the first mobile device receives a first command, which is used for instructing the first mobile device to continue to move in a first direction close to the obstacle, sent by the remote control device, the first mobile device stops executing the first command. According to the method provided by the embodiment of the invention, when the distance between the mobile device and the obstacle is less than or equal to the preset distance, if the mobile device receives the command, which is used for instructing the first mobile device to continue to move in the direction close to the obstacle, sent by the remote control device, the mobile device stops executing the command, and thus the mobile device is prevented from colliding with the obstacle, and automatic obstacle avoidance is achieved.

The invention discloses a multifunctional movable intelligent storage Rubik's Cube refrigerator chair, which belongs to the technical field of intelligent refrigerators. There is also a temperature control module, an intelligent mobile module, a wireless voice receiver, a touch display screen and a weighing sensor connected to the built-in computer, so that the present invention can classify and store various kinds of ingredients, and can select the most suitable food according to the different selection of the stored ingredients. Appropriate storage temperature solves the problem that the traditional refrigerator can not achieve "according to material conditions" and easy to breed bacteria; it can move intelligently, automatically avoid obstacles, and automatically charge; it also has other functions such as weighing and multi-function display. In addition, on the basis of the ingenious structure, the single cube refrigerator chair has three application states, which can be used as a bed body, a back chair or a child care chair, realizing the multi-functionality of one thing, and can also be used as other furniture items.

A table tennis ball picking robot comprises a cart storing table tennis balls, a walking mechanism, a ball picking mechanism and a power supply system. The walking mechanism is supported by three wheels, namely two identical driving wheels are symmetrically distributed on the two sides of the cart and a driven wheel is located on the rear side of the cart. The ball picking mechanism comprises a ball picking claw, a cam pushing rod mechanism, a rocker sliding block mechanism and a spring. A motor drives a cam to rotate, so that a pushing rod moves in a linear reciprocating mode, and finally a sliding block is used for driving a rocker to enable the ball picking claw to be opened and closed. The cam pushing rod mechanism and the rocker sliding block mechanism are matched to achieve the ball picking function, the overall structure is simple, and cost is low.

The invention discloses an intelligent naval ship automatic cruise simulation method. The intelligent naval ship automatic cruise simulation method is characterized by regarding a ship as a mass pointand placing the ship into a virtual force field, setting a cruise target position to be a lowest potential energy point in the virtual force field, setting an obstacle position to be a highest potential energy point, calculating a gradient of a gravitational potential function of the ship position, regarding the gradient as an input signal of a ship control system, calculating an obstacle repulsive force potential energy field gradient to obtain an obstacle repulsive force applied to the ship, utilizing a resultant force of gravitation and the repulsive force to calculate acceleration of theship in the virtual force field, and mapping the acceleration into a virtual environment as an input signal of the ship control system, thereby realizing cruise of the ship in the virtual environment.The intelligent naval ship automatic cruise simulation method realizes automatic obstacle avoidance of the ship by adopting an artificial potential energy field method, enables the ship to sail to the target position quickly and precisely while avoiding the obstacle, makes the entire simulation process in line with th physical law without specifying a route in advance, thereby realizing the single-ship or multi-ship automatic cruise in the virtual environment.

The invention discloses an unmanned obstacle avoidance driving method and terminal based on a laser radar and a UWB array. According to the method, the laser radar is started, and real-time positioning information is acquired according to the regional positioning coordinate system established based on the preset UWB array, so that the vehicle is controlled to run along the pre-acquired path track; according to point cloud data of a laser radar, obstacle identification is carried out, three-dimensional data of an obstacle and coordinates of the laser radar of the obstacle are acquired, UWB coordinates of the obstacle are calculated, whether obstacle avoidance is needed or not is judged, and if yes, an obstacle avoidance route is generated according to a preset obstacle avoidance algorithm when a vehicle is away from the obstacle by a preset distance, and the vehicle runs along the obstacle avoidance route until bypassing the obstacle and returning to the pre-acquired path track; according to the invention, automatic obstacle avoidance of unmanned tracking driving of the vehicle can be realized, judgment is carried out according to the position and height of the obstacle, unnecessary avoidance can be reduced, the obstacle avoidance efficiency is improved, and the system can run without a GPS and is more stable.

The invention discloses an intelligent roving vehicle and an intelligent roving method. The intelligent roving vehicle comprises a vehicle body which is provided with a left wheel and a right wheel, a barrier detection module, a motor control module and a camera head module, wherein the left wheel is controlled by a left motor, the right wheel is controlled by a right motor, and a control module is mounted on the vehicle body; the barrier detection module comprises an infrared pair transistor which is used for sending and receiving an infrared signal, judges whether a barrier exists in the front or not according to the situation whether the signal is returned or not, and transmits the signal to the control module to be processed so as to form a turning signal; the motor control module controls the left motor or the right motor to rotate in positive and negative manners according to the turning signal; the camera head module is mounted at the front end of the vehicle body and transmits the real-time image information outwards through a wireless transmission module. The roving vehicle can be used for replacing rescue personnel to explore dangerous regions so as to bring convenience for operations of scientific research, exploring, rescue and the like, the rescue efficiency is high, and the casualties are reduced.

The invention relates to a vehicle. The vehicle comprises a chassis, wheels, a control device and an obstacle detection device connected with the control device in a signal mode, wherein the wheels onthe same side of the chassis at least are adjustable wheels with adjustable positions in the width direction of the vehicle; the adjustable wheels positioned at the frontmost and / or rearmost are steering wheels; the adjustable wheels are connected with wheel distance adjusting devices for adjusting the position in the width direction of the vehicle; and the steering wheels are connected with steering driving devices. Data detected in real time in front of the vehicle are transmitted to the control device through the obstacle detection device, so that the control device issues an instruction to a steering control unit and a wheel track control unit according to the received data information, so that the steering control unit and the wheel track control unit control corresponding devices toact to realize automatic obstacle avoidance in the running process of the vehicle and improve the safety and riding comfort of the vehicle.

The invention provides a multifunctional brasenia schreberi unmanned workboat and a navigation control method thereof. The multifunctional brasenia schreberi unmanned workboat comprises a visual sensor, a laser radar, integrated navigation equipment, a control system, an operation execution mechanism mounting platform, a floating device, a power supply system and a power system; after an electrical control system is started, an autonomous navigation mode is adopted and entered, wherein the autonomous navigation mode comprises a water bank boundary detection mode, a working mode and an autonomous obstacle avoidance mode; the working mode comprises a pesticide application mode, a fertilization mode, a weeding mode and a picking mode; the water bank boundary detection mode generates a water bank boundary map; the working mode is operated on the basis of the map; and the electrical control system controls the working mode to be switched to the autonomous obstacle avoidance mode when encountering an obstacle, and returns to the previous mode to work after obstacle avoidance is completed. The efficiency of brasenia schreberi fertilization, pesticide application, picking and weeding operation can be remarkably improved, and development of the brasenia schreberi planting industry is promoted.

The invention discloses a robot for measuring the interior of a foundation pit. The rotor comprises a robot body installed at the top part of a flange plate and a sensing acquisition terminal in threaded connection to the bottom end of a telescopic arm rod through a clamping control structure, wherein the middle of the flange plate is connected with a sleeve screw head for external connection through an output end, the outer surface of the sleeve screw head is sleeved with a screw hole disc used for balancing the tripod, and the outer surface of the sleeve screw head is in threaded connection with an adjustable telescopic arm rod, so that the robot body is adjusted up and down through a data line in the telescopic arm rod. According to the robot for measuring the interior of the foundation pit, through the arrangement of the telescopic arm rod, the sensing acquisition terminal, a laser radar instrument and the robot body, only APP measurement is needed in the whole process, measurement data are accurate, manual measurement can be completely replaced, the precision and safety are effectively improved, the trial scene is rich, and the robot can be widely applied to electric power deep foundation pit detection, foundation pit measurement in capital construction real estate, hidden engineering measurement and three-dimensional modeling work, so that the summarized functions are realized.

The invention discloses an unmanned obstacle avoidance method and terminal based on a laser radar and a GPS. The method comprises the following steps: starting a laser radar, and controlling a vehicle to run along a pre-collected path track according to current GPS information; carrying out obstacle identification according to point cloud data of a laser radar, obtaining three-dimensional data of an obstacle and a laser radar coordinate of the obstacle, calculating a GPS coordinate of the obstacle, judging whether obstacle avoidance needs to be carried out according to the GPS coordinate of the obstacle and the three-dimensional data, and if the obstacle avoidance needs to be carried out, when a vehicle is away from the obstacle by a preset distance, generating an obstacle avoidance route according to a preset obstacle avoidance algorithm, and the robot travelling along the obstacle avoidance route until the robot bypasses an obstacle and returning to the pre-collected path track. According to the invention, automatic obstacle avoidance of unmanned tracking driving of the vehicle can be realized, judgment is carried out based on GPS coordinates and three-dimensional data, whether the vehicle will be damaged is judged according to the position and height of the obstacle, unnecessary avoidance can be reduced, and the obstacle avoidance efficiency is improved.

The invention discloses a community cruise robot based on the quadrotor unmanned aerial vehicle structure, which comprises a rack main body. The rack main body comprises a center plate and an arm of force, and four arms of force are integrally formed around the center plate, the outer ends of the arms of force are fixedly connected with driving motors, and the driving motors are connected with wings through output shafts; the upper end face of the center plate is fixedly connected with a sensor integration device, and the lower end face of the center plate is fixedly connected with a camera through a rotating support rod; the lower end faces of the arms of forces are connected with a tripod through a movable joint; the sensor integration device comprises a gyroscope, an acceleration sensor, an ultrasonic sensor, a GPS locator, a GPRS communicator, and a main controller; and the gyroscope, the acceleration sensor, the ultrasonic sensor, the GPS locator, and the GPRS communicator are allin line connection with a main controller.

The invention discloses an intelligent material box transporting vehicle based on a 3D camera. The intelligent material box transporting vehicle comprises a transporting vehicle body and a nitrogen cabinet arranged on the transporting vehicle. The transporting vehicle is further provided with a driving control module, the 3D camera, a vision analysis module, a wireless transmission module and a controller. The controller is connected with the driving control module, the 3D camera, the vision analysis module and the wireless transmission module.

The invention belongs to the technical field of robots, and discloses a big data-based robot path planning data management system, which comprises a preset map and a robot. A plurality of path pointsare stored in the preset map; the robot comprises a robot body, and an information acquisition module, a calculation module, a control module and a moving module which are mounted on the robot body; the information acquisition module comprises a position information acquisition unit and a path point acquisition unit; and the calculation module comprises a first driving direction calculation unit and a second driving direction calculation unit. In the present invention, based on setting of the information acquisition module and the calculation module, the long path planning from the starting point to the terminal point is converted into the short path planning between the adjacent path points, so that the calculation difficulty and calculation amount of the robot in the real-time path planning process can be effectively reduced, the path planning and moving efficiency and accuracy of the robot are improved, and meanwhile, the planned path is effectively ensured to be the optimal path.

The invention relates to a wheelchair, in particular to an intelligent wheelchair based on a Mecanum wheel mechanism, which can complete rotation in all directions or angles, is flexible in operation and large in degree of freedom, and is characterized in that four Mecanum wheels are arranged below a base and are independently driven by four motors respectively, a controller and a seat are arranged on the upper side of the base, the seat comprises armrests, a seat body and a seat back, an operation panel connected with the controller is arranged on the armrests, and a motor control circuit used for controlling the working states of the four motors is arranged in the controller. In the working process of the intelligent wheelchair, the rotating directions and the rotating speeds of the four independent stepping motors are controlled through one controller, then the four Mecanum wheels on the base are controlled to move and steer, translation of the base and a wheelchair on the base in all directions such as advancing and retreating can be achieved, and in-situ clockwise or anticlockwise rotation can be completed.

A table tennis ball picking robot comprises a cart storing table tennis balls, a walking mechanism, a ball picking mechanism and a power supply system. The walking mechanism is supported by three wheels, namely two identical driving wheels are symmetrically distributed on the two sides of the cart and a driven wheel is located on the rear side of the cart. The ball picking mechanism comprises a ball picking claw, a cam pushing rod mechanism, a rocker sliding block mechanism and a spring. A motor drives a cam to rotate, so that a pushing rod moves in a linear reciprocating mode, and finally a sliding block is used for driving a rocker to enable the ball picking claw to be opened and closed. The cam pushing rod mechanism and the rocker sliding block mechanism are matched to achieve the ball picking function, the overall structure is simple, and cost is low.

The invention provides a variable-amplitude movable deep sea sampling drilling machine. The variable-amplitude movable deep sea sampling drilling machine comprises a variable-amplitude device, a visual device, a hydraulic device, a control device and a walking vehicle, wherein the visual device is installed on the walking vehicle and comprises a light source, a camera and a lens; the variable-amplitude device is installed at the front end of the walking vehicle and comprises a drilling machine body, a pitching mechanism, a rotary disc and a power head b; the drilling machine body comprises a power head a, a sliding frame, a drilling frame, a drilling rod, a feeding oil cylinder, an oil cylinder fixing cavity and a drilling rod supporting base; and the pitching mechanism comprises a connecting rod a, a fixed hinged support, a movable arm oil cylinder, a drilling frame oil cylinder, a movable arm and a connecting rod b. Drilling sampling with the pitching angle ranging from 0 degree to 90 degrees and drilling sampling with the azimuth angle ranging from 0 degree to 180 degrees can be achieved, and the drilling range of the sampling drilling machine is enlarged; the visual device is introduced, and automatic obstacle avoidance and path planning of the sampling drilling machine on the seabed can be achieved; and the drilling frame can deflect left and right, the drilling angle is adjusted, and the variable-amplitude movable deep sea sampling drilling machine adapts to the severe environment with the uneven seabed bottom.

The invention discloses a low-cost structurally-detachable foot type robot based on the central pattern generator and the control method, a robot body is manufactured through 3d printing, and the manufacturing cost is low. The robot motion gait is based on the principle of a bionic central pattern generator, and stable and phase-locked rhythm control signals can be generated; and the relative position of the steering engine mounting seat can be freely changed according to requirements through the orthogonal sliding rail connecting plate. The four bent legs and four steering engine mounting bases of the robot are detachably mounted, the legs with different lengths and shapes can be replaced according to needs so as to complete various action tasks; meanwhile, a sound pickup device and an ultrasonic sensor are mounted on the body of the robot and used for interaction between the robot and the environment, and specific functions are achieved.