55results about How to "Realize the obstacle avoidance function" patented technology

The invention relates to a method for planning the quadruped robot foot end swinging track. The method includes designing the curve end point state parameter in the foot end swinging process according to the swinging span and the swinging phase duration of the foot ends; and fitting the foot end swinging track. The method for planning the foot end swinging track achieves the barrier avoidance function when the leg lifting sage has the backward and upward motion trend; can better realize the barrier avoidance function when the walking direction has the backward and upward motion trend; and moreover, the foot end swinging track parameter can be adjusted in real time to be flexibly adapted to the landform, so that the passing capability of the quadruped robot on the complex rough landform is improved.

The invention provides a power distribution inspection robot. The robot comprises a walking mechanism used for moving the robot, a lifting mechanism used for controlling lifting of a detection mechanism and a mechanical arm, the mechanical arm used for controlling the displacement of the detection mechanism, and the detection mechanism used for detecting instruments and meters in a power distribution cabinet, and a control unit used for controlling movement and rotation of the robot, wherein rotary movement of the mechanical arm drives the detection mechanism to move to a preset angle, moreover, the lifting mechanism moves up and down to enable the detection mechanism to move to a preset height, the instruments and the meters in the power distribution cabinet can be inspected, a walking mechanism is provided with non-equidistant springs so that vibration of the robot in the operation process is effectively reduced, the mechanical arm is adopted to be combined with a scissor frame lifting platform to improve a detection range of the robot, impact on the bottom of a scissor frame is reduced to the maximum extent, and reliability of the robot is improved. The robot is advantaged in that real-time management of the power distribution inspection robot can be achieved through a mobile phone or a PC terminal, and the effects of personnel reduction and efficiency improvement are achieved.

The invention relates to the technical field of computer vision and specifically relates to a vision obstacle avoiding method and device. The method comprises the following steps: a first image and a second image of an obstacle object in a preset area are collected in real time; the first image and the corresponding second image are subjected to vision analyzing and processing operation, a processed depth image is obtained and is then subjected to automatic focusing optimization operation, an optimized depth image is obtained, obstacle information corresponding to the obstacle object in the optimized depth image is determined, and therefore the obstacle can be avoided according to the obstacle information; the depth image which is obtained via binocular vision calculation is subjected to optimization operation through automatic focusing, the depth image which is generated is high in accuracy, and excellent obstacle avoiding performance can be enabled according to the obstacle information corresponding to the depth image.

The invention relates to a hybrid path planning method for a mobile robot. A global map is constructed, and on the basis of the global map, hybrid path planning is conducted through a combination of arapid exploring random tree algorithm and a time elastic band algorithm. The hybrid path planning method for the mobile robot combines global path planning and local path planning to achieve mutual compensation under a constraint condition and improve quality and efficiency of a path planning solution; and compared with a single planning method, the hybrid path planning method for the mobile robot has the characteristics that a global path can be quickly planned, dynamic planning and obstacle avoidance functions are realized, and real-time capability and safety of a mobile robot in motion areensured.

The invention discloses an invasive four-legged wheel type robot. The robot comprises a supporting plate, a circuit board and four supporting legs, and is characterized in that each supporting leg consists of a rotary steering engine, a swinging steering engine, a direct-current motor and a wheel; an output shaft of each rotary steering engine is fixed on the supporting plate along the vertical direction; a shell of each swinging steering engine and the shell of each rotary steering engine are fixed together; the output shaft of each swinging steering engine is arranged along the longitudinal direction of the supporting plate; the output shaft of each direct-current motor is arranged along the horizontal direction of the supporting plate; each direct-current motor and the output shaft of each swinging steering engine are fixed by a U-shaped bracket; each wheel is fixed on the output shaft of each direct-current motor; the supporting plate is provided with an electromagnetic gun and a power supply capacitor. The robot disclosed by the invention is capable of quickly moving forwards, moving backwards, making a turn or rotating in situ by controlling the direct-current motor; the robot can walk by the four legs by controlling the swing steering engines and the rotary steering engines; therefore, the robot realizes the functions of crossing barriers and keeping away from the barriers, so the robot is applicable for walking in complicated environment; by the electromagnetic gun, the robot is capable of attacking a target.

The invention discloses a robot with an early warning function and an early warning system thereof. The robot comprises a bottom plate, wherein four corners of the bottom of the bottom plate are movably connected with supporting rods; the bottoms of the supporting rods are movably connected with universal wheels; the top of the bottom plate is fixedly connected with a box body; a vertical rod penetrates through the bottom of the box body, the top of the vertical rod penetrates through the box body and the bottom plate in sequence and extends to the bottom of the bottom plate; a movable mechanism is arranged at the bottom of the vertical rod; a camera is arranged at the top of the vertical rod; and an electric cabinet is fixedly connected to the left side of the top of the box body. The robot has the advantages that the temperature, the humidity and whether the smoke exists or not in the environment can be detected, so that whether a fire lamp emergency occurs or not can be judged, andthe alarm can be given in time; and the problems that a traditional monitoring robot can only check the environment only through image collection and cannot judge emergencies and give an alarm in time, and the use of the robot is limited can be solved.

The invention relates to a control method and device of a walking stick with a millimeter-wave radar and an intelligent walking stick, and belongs to the technical field of smart houses. The control method comprises the steps: obtaining point cloud data within a preset range based on received echo signals of the millimeter-wave radar; analyzing the point cloud data to obtain motion information andfeature information of each detection object in a preset range; determining a classification result of each detection object according to the feature information of each detection object and a pre-trained classification model, and determining a target tracking object and a target obstacle according to the classification result of each detection object; and if the operation information of the target tracking object and the motion information of the target obstacle meet preset conditions, carrying out obstacle avoidance processing. According to the control method, automatic obstacle avoidance can be realized, and the safety of a user is improved.

The invention discloses a household intelligent robot cleaning control system. The device comprises a main controller, a voltage stabilizing module, a signal receiving module, a driving module, a sterilization module, a dust collection module and a sweeping module, wherein the main controller is connected with one end of the voltage stabilizing module, one end of the signal receiving module, one end of the driving module, one end of the sterilization module, one end of the dust collection module and one end of the sweeping module. The other end of the voltage stabilizing module is connected with one end of the power supply module; the other end of the power module is connected with one end of the automatic charging system; the other end of the signal receiving module is connected with oneend of the sensor module; the sensor module comprises an ultrasonic sensor, a collision sensor, an infrared sensor and a camera signal sensor; the other end of the sensor module is connected with oneend of the ultrasonic sensor, one end of the collision sensor, one end of the infrared sensor and one end of the camera signal sensor, and the driving module comprises a driving motor, a steering motor and a lifting motor.

The invention provides a domestic safety protection robot and method based on deep enhanced learning. The domestic safety protection robot based on deep enhanced learning comprises: a robot body, wherein a camera is installed on the robot body; the camera is used for collecting behavior state information of a target person and transmitting the behavior state information to a processor; the processor is also connected with a sensor module, and the sensor module is used for sensing the position of the target person and an obstacle position of an environment in which the target person is located;the processor is configured to: receive the behavior state information of the target person, the position of the target person, and the obstacle position of the environment in which the target personis located; lock the target person, avoid the obstacle and track the motion track of the target person; and an obstacle avoidance strategy is output by double high and low BP neural networks, the lower layer output is robot motion, and the high layer output is a terrain obstacle state.

The invention discloses a forklift positioning method, a forklift and a computer readable storage medium. The method comprises steps that left laser radar data and right laser radar data are acquiredrespectively; Scan Match processing is carried out on the left laser radar data and the right laser radar data to obtain state estimation between frames, and error estimation and variance of the stateestimation are obtained at the same time; state estimation of a wheel disc encoder odometer is obtained through the wheel disc encoder odometer; time synchronization of the obtained laser radar dataand the odometer data of a wheel disc encoder are carried out; and Kalman filtering on the data subjected to time synchronization is carried out to obtain optimal state estimation. The method is advantaged in that the pose and the state of a forklift can be estimated more accurately, navigation precision is improved, the obstacle avoidance function is realized, meanwhile, a model selection range of the two-dimensional laser radar can be increased, and cost is reduced.

The invention relates to a three-dimensional laser scanning device and a robot. The three-dimensional laser scanning device comprises a support assembly, a rotation driving assembly arranged above thesupport assembly, a laser sensor rotation assembly, a GPS positioning assembly arranged above the support assembly, a laser sensor arranged on the laser sensor rotation assembly and a control box assembly arranged below the support assembly, and is characterized in that the rotation driving assembly is used for driving the laser sensor rotation assembly to rotate, and the control box assembly isconnected with the rotation driving assembly and the laser sensor through a cable. According to the three-dimensional laser scanning device, scanning and imaging for a three-dimensional complex environment can be realized, and functions of robot navigation, obstacle avoidance and positioning in the complex environment are realized. In addition, the three-dimensional laser scanning device is compact in overall structure and reasonable in layout; and the support assembly, the rotation driving assembly, the laser sensor rotation assembly, the GPS positioning assembly, the laser sensor and the control box assembly can adopt the modular design.

The cable duct bank dredging robot comprises a front cabin and a rear cabin, multiple sets of first walking wheels capable of rotating in one direction are arranged on the periphery of the rear cabin, the multiple first walking wheels in the same set are arranged along a spiral line, and the axis of each first walking wheel and the axis of the rear cabin form a set acute angle; the end, close to the front cabin, of the rear cabin is fixed to a first thrust washer of a thrust bearing, a second thrust washer of the thrust bearing is fixed to a connecting piece, the connecting piece is connected with an output shaft of a walking driving piece located in the front cabin, a shell of the walking driving piece is fixed to the front cabin, the connecting piece is in universal connection with the front cabin, and a cleaning mechanism is installed in the front cabin. The robot is high in adaptability to the shape of the pipeline.

The invention relates to a remote-control obstacle avoidance device suitable for an electric monorail conveyor, and the obstacle avoidance device is connected with the conveyor and moves on a track; the obstacle avoidance device comprises a control box, a communication antenna, a diffuse reflection sensor, a distance sensor, a connecting part, a tightness adjusting part, a movement mechanism and a clamping mechanism; the control box is installed on the movement mechanism, the movement mechanism is connected with the track, the clamping mechanism is connected with the track, and the clamping mechanism is connected with the movement mechanism; the connecting part is connected with the end of the moving mechanism, and the tightness adjusting part is installed on the clamping mechanism. The diffuse reflection sensor is installed in the control box, and the distance sensor is installed in the control box, located at the bottom of the control box and arranged towards the ground. The communication antenna is connected with the control box, and the control box is electrically connected with the conveyor. The invention also relates to a transport vehicle. The robot is high in obstacle avoidance capacity and capable of achieving remote control and belongs to the technical field of hillside orchard transportation equipment.

The invention discloses a caged chicken house inspection robot and an inspection method, the robot comprises a crawler-type mobile platform and an electric lifting platform, the electric lifting platform is arranged on the crawler-type mobile platform, and an environment monitoring sensor group is arranged along the height direction of the electric lifting platform; the left side and the right side of the electric lifting platform are each provided with a row of monitoring cameras and pickup microphone sensors in the height direction of the electric lifting platform, and the electric lifting platform enables the monitoring cameras and the pickup microphone sensors to be aligned with chickens in an inspected coop. An inertial navigation sensor with a vibration isolation device, an ultrasonic sensor array and a touch sensor are carried on the crawler-type mobile platform. The inspection robot is based on a crawler-type mobile platform, an electric lifting platform, a monitoring camera and an environment monitoring sensor group. By combining the structural design and the environment and collecting the advantages of the audio and video multi-source information monitoring technology, the functions of automatic routing inspection of the multi-layer caged poultry, accurate monitoring of the individual growth condition of the livestock and poultry and dynamic monitoring of the spatial distribution of environmental parameters are realized.

The invention discloses an obstacle avoiding snow blower. The obstacle avoiding snow blower comprises a box body, a twist drill, a fan and a throwing cylinder; the twist drill is arranged within the box body and connected with the corresponding side end surface of the box body; the fan is arranged on the rear end surface of the box body and opposite to the twist drill; the throwing cylinder is arranged on the upper end surface of the box body; the obstacle avoiding snow blower further comprises an obstacle avoiding device; the obstacle avoiding device is arranged at the bottom end of the box body and right under the twist drill; the cross section of the obstacle avoiding device is similar to C shape; one end of the obstacle avoiding device is connected with the bottom end of the box body;and the other end of the obstacle avoiding device is upturned. The obstacle avoiding snow blower has the advantages that the structure is simple; the making and maintenance are convenient; the reliability is high; the twist drill can be effectively protected and the obstacle avoiding function can be realized.

The invention relates to a transformer robotic fish obstacle avoidance system and method based on generalized cross-correlation. The system comprises a robotic fish ultrasonic transmitting unit, an ultrasonic receiving unit, an ultrasonic propagation delay estimation unit, a distance calculation unit and a motion unit. The ultrasonic transmitting unit transmits ultrasonic signals to the front direction, the rear direction, the left direction, the right direction, the upper direction and the lower direction of the robotic fish; the ultrasonic receiving unit receives echo signals reflected in six directions; an ultrasonic propagation time delay estimation unit calculates time delay between the ultrasonic emission signals and the reflection echo signals in six directions. The distance calculation unit calculates the distances between the six directions of the robotic fish and the obstacle; the motion unit controls left-right steering, upward floating and sinking of the robotic fish so asto avoid obstacles. According to the method, the exponential adjustment factor in the PHAT-beta generalized cross-correlation algorithm is flexibly adjusted according to the complex condition of the internal noise of the transformer, so that the accurate time delay estimation performance can be obtained, and the function that the robotic fish avoids obstacles in the transformer oil is realized.

The invention discloses an intelligent operation video acquisition system. According to the invention, a position-adjustable display and a lifting stand column are designed on a base; a mechanical arm with three horizontally-rotating joints is installed at the top end of the lifting stand column; a video acquisition camera is mounted on the mechanical arm; and the video acquisition camera is provided with a target identification camera. Meanwhile, a handheld target is designed, a laser designator is installed in the target, and the laser designator emits laser to irradiate an operation area through an opening in the bottom end of the target in the axial direction of the target; and infrared LEDs are installed on the top face of the target in a circumferential direction. Therefore, the infrared LED is identified through the target identification camera, the spatial position and posture information of the target is obtained, all the joints of the horizontal mechanical arm are controlled to rotate according to the information, and the video acquisition camera is made to reach a designated posture, so the video acquisition camera is made to face a surgical site all the time in a shooting period. The problems that an existing operation video acquisition system is time-consuming and labor-consuming in installation and deployment, not ideal in shooting visual angle, poor in video quality, low in intelligent degree and the like are solved.

The warmer comprises a warmer body, a base, a main control module, an infrared camera, a voltage regulating module, an ultrasonic array and a moving mechanism. The infrared camera collects real-time temperature data of the heating area; the main control module controls the voltage regulating module to regulate the power of the warmer body according to the difference value between the real-time temperature data and the target temperature; the ultrasonic arrays are mounted in different directions of the base and are used for measuring the distance between the heater body and surrounding obstacles; the moving mechanism is installed under the base. The main control module judges whether the target body is located in the heating area or not according to temperature data changes collected by the infrared camera, and when the target body moves, the moving mechanism and the target body are controlled to move synchronously. Autonomous temperature adjustment and autonomous movement can be carried out according to the environment temperature and the distance of a user, and the intelligent degree is high.