119results about How to "Realize unmanned driving" patented technology

The invention relates to a fish streaming based non-signal intersection vehicle-vehicle cooperation control system and belongs to the field of vehicle control. A sensing positioning module of the system comprises an environment sensing portion and a navigation positioning portion and specifically comprises a DGPS positioning device, an inertial navigation system, a radar device and a sensor. A motion control module comprises a motion controller, a driver, an actuator, a transmission part and a controlled part. A wireless communication module consists of a transmitting-receiving device. A human-computer interaction interface comprises a processor, a display unit, an input unit, a communication interface and a data storage unit. A power management and control module comprises a storage battery and a level conversion unit. A route planning module adopts global route planning and is provided with an electronic map. A decision control module comprises a central processing unit, an information processing unit and a storage unit. Compared with the prior art, the fish streaming based non-signal intersection vehicle-vehicle cooperation control system has the advantages of being used for an unmanned vehicle, being provided with a wireless communication module and being high in active safety and road utilization rate.

The invention discloses a vehicle monitoring system based on Beidou system. The invention is characterized in that the system is composed of a Beidou ground monitoring centre, a Beidou navigating and locating satellite and a Beidou vehicle-mounted system, wherein the Beidou navigating and locating satellite is dependent on current satellite system built by Beidou network system. The Beidou vehicle-mounted system comprises a Beidou terminal and a train network. The train network is a current TCMS system, wherein the TCMS system comprises a vehicle dragging sub-system, a vehicle braking sub-system, a vehicle signal sub-system and a vehicle broadcasting sub-system. The TCMS system is communicated with a Beidou terminal via an RS232 interface to provide vehicle state information to the Beidou terminal on one hand, and to receive Beidou navigating and locating information, time service information and control instruction from the ground monitoring centre on the other hand so as to control the operation of the vehicle. The Beidou terminal is communicated with the locating satellite. The locating satellite is used for transmitting the locating information and vehicle state information to the ground monitoring centre. The centre is used for transmitting the information to all ground monitoring terminals so that the operated vehicle can be monitored and all operated vehicles can be monitored and controlled.

The utility model discloses a self-steering control mode and system for the large-sized engineering truck. The tag line is made as the vehicle moving track along the road; the vehicle is equipped with a kinetic control system and a camera chain; the kinetic control system controls the moving forward of the vehicle. In the course of moving forward, the tag line is shot by the video camera in the camera chain, so that the computer in the camera chain can make the analysis according to the tag line-related real time video image, so as to work out the vehicle bias data which are transferred to the kinetic control system. As per the bias data, the kinetic control system can follow the existing moving direction or correct the moving direction. The method achieves the self-steering and the automatic guide of the large-sized engineering truck, so as to improve the work efficiency for the large-sized cargo transportation and the reliability in the transportation process.

The invention relates to a longitudinal-transverse-vertical force cooperative control method of a distributed electrically driven vehicle. The method is implemented by a vehicle control system: 1) formulation of expected resultant force and moment; 2) optimal distribution of longitudinal, transverse and vertical forces of four wheels; 3) specific execution of the forces. The expected values of the resultant force and the moment of the whole vehicle are obtained by utilizing various information of the vehicle, an integrated tyre force optimization problem is formed by establishing a constraint condition and an objective function, and an optimization solution algorithm is designed for the problem, wherein the optimization algorithm comprises a constraint optimization method which adopts a barrier function method and a Newton method, and a feasible region planning method based on vehicle state continuity. The method does not need to implement different control strategies according to different work conditions of tyres, realizes unified optimal distribution and control of the longitudinal, transverse and vertical forces of the tyres, comprehensively improves the operation stability and the driving posture of the vehicle, and can be applied to driverless operation of vehicles in the future.

The invention relates to an electrical system for a controller with a distribution type architecture and a power supply redundancy electric intelligent vehicle. The electrical system comprises a power supply unit, a key switch (16), a whole vehicle controller unit, a line control power-assisted unit and a vehicle part controller which are mutually connected through a power supply line, wherein the power supply unit is composed of a main storage battery (12) and an auxiliary storage battery (11); the power supply line is composed of a main constant electric line, an auxiliary constant electric line, a main ACC line, an auxiliary ACC line, an ON line and a START line which are respectively connected with the key switch (16); the whole vehicle controller unit is composed of a whole vehicle controller (18) and a redundancy whole vehicle controller (20); the line control power-assisted unit is composed of a line control power-assisted device and a redundancy line control power-assisted machine; and the vehicle part controller is connected with the main ACC line and the auxiliary ACC line through a single-pole double-throw relay. Compared with the prior art, the electrical system solves the requirement of an electric intelligent vehicle for redundancy and improves the running safety of the vehicle.

An down-hole mobile broadband streaming media network facing an unmanned locomotive is disclosed. In the invention, traditional down-hole operation is combined with a broadband streaming media network. A camera installed on the locomotive is used to collect video data in real time. Simultaneously, locomotive state data and positional information data are acquired. Through a vehicle-mounted communication terminal, a trackside AP is connected into. A mobile locomotive access network is connected into in a real-time and dynamic mode. The mobile locomotive access network transmits data into a transportation scheduling local area network through an optical fiber. A ground locomotive operation server, a video server and a remote control operation bench are used to carry out remote control driving. A scheduling instruction issued by ground scheduling personnel and a road condition analyzer are used to identify a road condition and carry out autonomous driving. By using the network, cross-AP real-time transmission of multipath streaming media is realized; the remote control operation bench controls an instruction to carry out real-time response so that unmanned driving and autonomous driving modes are realized; safety of down-hole operation is increased; and exploratory work is performed for wireless communication network innovation and development of mine track transport.

The invention relates to an automatic driving system and method based on a monocular camera and the raspberry pie. The automatic driving system comprises a data collecting unit, a data preprocessing unit, a deep convolutional neural network and a control unit connected in sequence. The data collecting unit is used for collecting a data set. The data preprocessing unit is used for preprocessing thecollected data set. The deep convolutional neural network is used for training the preprocessed data set to obtain a mature model. The control unit is used for training the obtained mature model to enable the model vehicle to run automatically on a model lane. According to the invention, the expensive hardware like the complicated deep network model and radar are abandoned; automatic driving under conditions of low computing power and poor hardware condition is realized; and thus the unmanned driving is realized by using an end-to-end neural network and relying on the pure visual recognitionwith low costs while only the monocular camera and the raspberry pie are used.

The invention relates to an unmanned driving system which comprises a traditional unmanned driving system 1, a virtual reality system 2, a remote driving system 3 and Internet 4. The traditional unmanned driving system 1, the virtual reality system 2 and the remote driving system 3 are connected through the Internet 4. The traditional unmanned driving system 1 comprises a radar module 7, a first central processing unit 8, a high-precision navigation unit 9, a first communication unit 10 and panoramic photographing equipment 11. The virtual reality system 2 comprises a panoramic acquisition end 5, image transmission equipment 12, a second central processing unit 13, a panoramic display end 14 and a second communication unit 15. The panoramic acquisition end 5 comprises panoramic photographing equipment 16 and sound acquisition equipment 23. The unmanned driving system settles a problem that an existing unmanned vehicle cannot drive on complicated road conditions such as nonstructural road and furthermore has advantages of realizing all-road-condition unmanned driving of the unmanned vehicle, freeing people from a driving cab and realizing unmanned driving in a real sense.

The invention provides an unmanned operation system of a sanitation vehicle. The unmanned operation system of the sanitation vehicle comprises a management platform, an unmanned driving system, a dataacquisition system, a loading control system, an overfilling recognition system and a vehicle-mounted terminal, wherein the management platform is connected with the vehicle-mounted terminal and theoverfilling recognition system through a communication network respectively; the data acquisition system is connected with the vehicle-mounted terminal through a bus; the loading control system is connected with the unmanned driving system through a bus / net line; the loading control system and the unmanned driving system are connected with the vehicle-mounted terminal through buses / net lines respectively; the management platform monitors the real-time state of the sanitation vehicle through the management platform and issues a control instruction through the vehicle-mounted terminal to controlthe running state of the vehicle. Through the unmanned operation system of the sanitation vehicle, the sanitation vehicle really achieves unmanned operation, so that the labor intensity of workers iseffectively reduced, a working environment is improved, and waste of resources is reduced; the automation degree and the intelligence degree of a sanitation operation mode are improved.

The invention discloses a driving control system of an unmanned electric locomotive based on video recognition. The driving control system comprises a driving controller and external equipment. The driving control system is characterized in that the driving controller is computer equipment used for controlling operation of the locomotive and comprises a traffic analyzer, a vehicle-mounted controller body, vehicle-mounted communication equipment, an input channel and an output channel. The external equipment comprises a variable-frequency control cabinet, a sensor and relative equipment. The sensor transmits information to the driving controller through the input channel. The driving controller transmits control commands to the variable-frequency control cabinet through the output channel and then controls the locomotive and relative equipment. By means of the control system, the locomotive can have access to an underground mobile network dynamically in real time during driving, communicates with a ground locomotive operation server, uploads and stores front video images and locomotive state information, and gives dispatching instructions, and unmanned driving of the underground electric locomotive is achieved. The driving control system has the characteristics of safety and reliability.

The invention relates to a passenger guiding system and method for a station of urban rail transit. The system comprises a ticket card provided with an electronic label, a terminal station information obtaining device, a get-on reading device, an information transmission system, a data management center and a passenger flow guiding device; the terminal station information obtaining device is provided with a man-machine interaction panel which displays station information of the urban rail transit, terminal station information is obtained by input or selection by a passenger, the get-on reading device reads ticket card information of the passenger, and the terminal station information obtaining device, the get-on reading device and the passenger flow guiding device are connected with the data management center via the information transmission system. According to the system and method, passenger flow information of compartments of a train which is approaching can be counted effective and displayed, so that passengers in the platform can select proper waiting positions, the carrying capacities of the compartments matches the amount of waiting passengers reasonably, and the operation safety of the train is improved.

The invention discloses a single-person all-terrain crawler-type moving carrier. The single-person all-terrain crawler-type moving carrier comprises a chassis, crawler wheel sets, a driving seat and a power transmission system, wherein the crawler wheel sets are arranged on both sides of the chassis respectively; the driving seat and the power transmission system are arranged on the chassis; a suspension damping system is arranged in each crawler wheel set; the power transmission system comprises an engine; a belt type continuously variable transmission is connected to an output shaft of the engine; a helical conical tooth differential mechanism is embedded into a driven disk of the belt type continuously variable transmission; the two output ends of the helical conical tooth differential mechanism are connected with a rear axle left half shaft and a rear axle right half shaft respectively; the rear axle left half shaft and the rear axle right half shaft are used for driving the crawler wheel sets on corresponding sides respectively. The single-person all-terrain crawler-type moving carrier has the advantages of simple and compact structure, convenience in operation and small size, and can be moved conveniently and rapidly on special terrains such as sand, mud, marsh, ice and snow by a single person.

The invention provides an electro-hydraulic proportional control system of a working device of a loader. The system comprises a controller, wherein the controller is connected with an electric control handle, a movable arm position sensor, a bucket position sensor and an electro-hydraulic proportional pilot valve block, and a movable arm oil cylinder and a bucket oil cylinder are connected with the electro-hydraulic proportional pilot valve block by a KM300-2 multiway valve. The invention further provides a control method of the electro-hydraulic proportional control system of the working device of the loader. The control method comprises the steps of controlling output of the electro-hydraulic proportional pilot valve block according to an electrical signal generated by the electric control handle and position feedback of the movable arm position sensor and the bucket position sensor, controlling a valve core of the KM300-2 multiway valve to move, further controlling the extension of the movable arm oil cylinder and the bucket oil cylinder, and therefore realizing the motion control of a movable arm and a bucket. The system overcomes defects in the prior art, improves the control performance of the loader, reduces the labor intensity of an operator, improves the precision of operation control, increases the production rate, and has the characteristics of simple layout, small occupied space and pipeline saving.

The invention discloses an intelligent tour guiding system for a tour guiding vehicle. The system comprises a master controller, and a CMOS (Complementary Metal-Oxide-Semiconductor) camera, a GPS (Global Position System) vehicle-mounted locator and a motor driver, which are respectively connected with the master controller, wherein an output end of the motor driver is electrically connected with a step motor; the system further comprises a Buck converter connected with the master controller and the motor driver, and a solar module connected with the Buck converter. The intelligent tour guiding system has machine vision and GPS navigation function, and plays a very important role in blind guiding, military affairs, exploration and rescue and relief work, so that, with the intelligent tour guiding system, a conception that tourists travel independently and an intelligent vehicle assists the tour guiding work is realized.

The invention relates to the unmanned driving technology field and particularly relates to an unmanned vehicle driving system and method capable of carrying out identity verification of passengers. The method comprises steps that the identity information of to-get-on passengers is acquired; whether the acquired passenger identity information corresponds to a pre-stored passenger list is determined; if yes and all the passengers get on a vehicle, the vehicle is controlled for driving along the planned route to a terminal point; after the vehicle reaches the terminal point, whether all the passengers get off the vehicle is determined, if yes, a one-way delivery task is ended. The system is advantaged in that whether the designated passengers timely get on or off the vehicle can be detected,the vehicle traveling route can be automatically planned by the system, the vehicle can be further controlled for travelling along the planned route, unmanned vehicle driving is realized, the video information of the on-board passengers can be acquired by the system timely and is transmitted to a remote control unit, the indication information of the remote control unit can be received, and the indication is further responded to.

The invention provides a small-sized rapid transit system, which comprises a guide rail and a locomotive running on the guide rail. An active radio frequency identification device (RFID) is arranged along the line of the guide rail from space to space. The code of each active RFID at least comprises the information as follows: the number of a guide rail line and the identification (ID) number of the active RFID, wherein the number of the guide rail line is used for representing the type number of the running characteristic of the current road segment. The locomotive comprises a control system used for controlling the running of the locomotive. The control system also comprises a data base. The coded information of partial or all active RFIDs along the line of the guide rail is prestored in the data base; the locomotive is provided with an RFID card reader; the RFID card reader is used for reading the information of the active RFID in the advance direction of the locomotive and feeding back the information to the control system. The invention also provides an advance route control method. According to the small-sized rapid transit system and the advance route control method provided by the invention, safe unmanned driving under a quasi-moving block mode can be realized.

The invention discloses an expressway intelligent operation system through coordination of automobiles and pathways and a using method. The system comprises two pathways which are arranged at the ascending side and the descending side of an expressway in the same direction, and at least one veering rail is connected between the pathways at the two sides, the veering rail is communicated with the pathways, and the system further comprises transportation carts which can load automobiles and run on the pathways, control panels, control chips, locating devices, and a central running system, wherein the control panels, control chips, and locating devices are arranged on the corresponding transportation carts, and the central running system is used for regulating and controlling all the transportation carts. Through the method of combining the automobiles with the pathways, the purpose of conducting door-to-door transportation can be achieved, and the transportation time is saved; the central running system is utilized to intelligently regulate and control all the transportation carts, and thus unmanned driving is achieved; after getting rest in one transportation cart and getting off the transportation cart, a driver keeps a better mental state to drive on a common expressway, and thus an car accident caused by fatigue driving is avoided; it is guaranteed that green-hand drivers can be helped to safely drive on the expressway.

The invention relates to the technical field of vehicle and traffic facility engineering, in particular to a multi-travel-device vehicle, characterized in that a travel portion (2) includes at least two types of upper rail travel devices (7), lower rail travel devices (8), side rail travel devices (9), and road travel devices (10), or wheeltrack travel devices (11), maglev travel devices (12) and air-suspended travel devices (13), or at least two types of single-rail rack system (14), a double-rail rack system (15) and a multi-rail rack system (16); a multi-rail traffic facility is characterized in that a rail line (20) includes at least two types of a single-rail line (21), a double-rail line (22), a multi-rail line (23), or at least two types of an upper rail line (24), a lower rail line (25) and side rail lines (26), or at least two types of wheel rail lines (27), maglev rail lines (28), air-suspended rail lines (29), and conveyer belt surface rail lines (30). The multi-travel-device vehicle and the multi-rail traffic facility allow one vehicle to be multifunctional and one line to be multifunctional; vehicles, traffic facilities, and the cost and time consumption for 'whole trip range' are greatly reduced.

The invention relates to the technical field of aircrafts and particularly relates to a water spraying aircraft which comprises an aircraft shell, a driving mechanism, a water supply mechanism and water spraying mechanisms, wherein the water supply mechanism is connected with the water spraying mechanisms, and the water spraying mechanisms are mounted on the aircraft shell in a deflectable way along the vertical direction; and the driving mechanism comprises a plurality of driving assemblies, and each of the driving assemblies is respectively connected with a water spraying mechanism so as to supply acting forces in multiple directions for the water spraying mechanisms. During use, the plurality of driving assemblies apply acting forces in different directions and sizes to the water spraying mechanisms, the water spraying mechanisms can deflect in different directions under the effect of multiple acting forces, the water sprayed from the water spraying mechanisms supplies a reverse thrust to an aircraft body, the magnitude of the thrust is adjusted according to the water supply quantity, the control on the flight attitude of the aircraft can be realized by virtue of the effects of the driving mechanism and the water supply mechanism, and the attitude of the aircraft does not need to be adjusted by adjusting the center of gravity according to the attitude of a person, so that unmanned driving can be realized, and the operation is simple.

The invention discloses a self-balancing unmanned bicycle and a control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a vehiclebody middle control module and a vehicle body rear control module. The control method comprises self-balancing control and unmanned control. Realization of self-balancing comprises simulation modeling, automatic modeling and intelligent modeling; the step of unmanned control comprises the content of selecting a desired bicycle variable according to the target motion state, and unmanned driving ofthe bicycle is achieved. According to the unmanned bicycle, a self-balancing function can be achieved in various motion states with a coupled control method, an indirect driving method is adopted, further refitting of the ordinary bicycle is not needed, and self-balancing and unmanned driving of the bicycle can be achieved by only mounting three controller modules on the ordinary bicycle.

The invention relates to an intelligentized and multi-functional robot for plant protection. The intelligentized and multi-functional robot for plant protection comprises a control member and a vehicle frame body. The control component is used for realizing selection and automatic control of working modes of the robot for plant protection. The vehicle frame body can be connected with multiple groups of working members. A quick coupling device is arranged among all the working members and the vehicle frame body and used for realizing quick replacement among all the working members and the vehicle frame body. The intelligentized and multi-functional robot for plant protection has following beneficial effects: the intelligentized and multi-functional robot for plant protection can be used for multiple purposes and has integrated functions of fertilizer application, sowing, spraying, emasculation by topping; the intelligentized and multi-functional robot is high in intelligent degree and has functions of remote control, image monitoring, wireless transmission and acquisition of field data; manless driving can be realized; labor cost is greatly decreased; and high operation comfortable and high working precision and 99.9% accuracy are obtained.

The invention discloses a mining roadway repair robot, and belongs to the technical field of mine way repair. The mining roadway repair robot comprises a work platform base, a main machine arm, a machine drill arm, a walking driving device, and a bulldozing device are further included, the main machine arm is provided with a steering base, a three-section work arm, and a machine arm part, the three-section work arm is provided with an auxiliary arm part, the machine drill arm is arranged on the work platform base, the machine drill arm is connected with a drill rod, the main machine arm adoptsa structure manner of a three-section arm, according to the roadway size, the operation state can be changed, the telescopic amplitude of the machine arm part can be adjusted, facilities like an anchor cable, an anchor rod, a roadway roof and the like in the roadway can be prevented from being collided, the robot can carry out flexible work in sections with different heights, the auxiliary arm part 7 can achieve 360-degree rotation through an auxiliary arm oil cylinder 8, 360-degree barrier-free grabbing, breaking, excavating and the like can be met, a wireless remote control programming unitis arranged, and remote-distance operation can be achieved.

The invention relates to an unmanned hedgerow pruning machine and a control method therefor, and belongs to the technical field of green belt pruning equipment. The unmanned hedgerow pruning machine comprises an electric vehicle, a GPS positioning device, a multiline laser radar, a pruning device and a control system; a horizontal frame is fixedly arranged at the front part of the electric vehicle; a horizontal ball screw is rotatably installed in the horizontal frame; a horizontal motor is fixedly arranged at the outer side of one end of the horizontal frame; the horizontal motor is connectedwith one end of the horizontal ball screw; the lower end of a vertical frame is installed on the horizontal ball screw through a horizontal ball screw pair; a vertical ball screw is rotatably installed in a vertical frame; a vertical motor is fixedly installed at the top part of the outer side of one end of the vertical frame; the vertical motor is connected with the top part of the vertical ballscrew; a saw web frame is arranged vertically; and a plurality of circular saw webs are rotatably installed on the saw blade frame. The unmanned hedgerow pruning machine can perform unmanned drivingand unmanned pruning, and is high in working efficiency and safety.

The invention discloses a rescue flying automobile. The rescue flying automobile comprises an automobile body and a control system which is used for controlling the automobile body to move; the control system is mounted in the automobile body; the control system comprises a controller, a camera, a distance sensor, a positioning system, a first driver, a second driver, a third driver, an obstacle avoiding sensor and a power supply device; the controller is wirelessly connected with a ground control end; the automobile body comprises a body, a folding wing, a folding ducted fan and an extensionladder, wherein the folding ducted fan is used for providing a lift force; the extension ladder is used for rescuing; the folding wing and the folding ducted fan are both electrically connected with the power supply device; the folding wing is electrically connected with the first driver; the folding ducted fan is electrically connected with the second driver; the extension ladder is electricallyconnected with the third driver; wheels are connected to the bottom of the body; sliding automobile doors are arranged on both sides of the body; and a light-control automobile lamp is arranged at thefront end of the body. The rescue flying automobile has the advantages that the rescue flying automobile is safe and reliable and the rescue time can be reduced.

The invention provides a docking type rail transit system and an operation method thereof. The docking type rail transit system comprises a main train body, a moving train body and a track, wherein the main train body and the moving train body are both track type train sets and move on the track; the main train body is connected with the moving train body through a connecting ring; the main train body and the moving train body can be electrically controlled to realize hard connection or disconnection; and doors for passengers to get on and off the trains are arranged on both left and right sides of the main train body and the moving train body in an advancing direction. According to the invention, the passengers can get on and off the train through the moving train body without stopping the main train body so that the time is saved for the passengers; and meanwhile, the train braking opportunity is reduced so that energy waste is reduced and the utilization rate of the energy is increased. According to the invention, the number of small stations of the train running route can be integrally reduced, economic expenditures of the passengers are reduced, the local economic benefits are increased, the traditional transportation cost is reduced, and the transportation time is also reduced. The docking type rail transit system provided by the invention has the advantages of immeasurable economic values and wide application range; and a technical problem of high cost is solved from the perspective of low cost.

The invention discloses a PRT (Personal Rapid Transit) system and a travelling method for a quasi-moving block PRT system. The PRT system comprises a locomotive positioning sub-system, a vehicle-mounted sub-system which is arranged in each locomotive and is used for acquiring the position information of each locomotive according to positioning bar code information, a road condition information acquiring sub-system for acquiring the road condition information on a guide rail, and a central control sub-system for calculating a travelling route ranging from a starting place to a destination according to starting place information, destination information, road condition information and the position information of the locomotive, and transmitting the travelling route to the locomotive. The vehicle-mounted sub-system is further used for controlling the advance of the locomotive according to the traveling route. By calculating the travelling route through the central control sub-system, each locomotive runs on the guide rail according to a given travelling route, thereby truly realizing unmanned driving and achieving extremely high safety.

The invention provides a split electric rail car which is a novel vehicle. A chassis and a carriage of the electric rail car are designed in a relatively independent split structure, the chassis can be separated from and combined with the carriage, so that the carriage can be moved to a special platform when the rail car stops, the carriage can be moved to the chassis of a previous rail car when a later car needs to pass, passage of the later car is not affected by stopping of the previous rail ca, and miniaturization and intelligentization of rail transit cars can be realized; the rail car travels on special rails and is high in passing efficiency, and unmanned driving can be realized.

The invention provides an STM32F429-based dual-motor-driven unmanned ship control system comprising a control module, a data transmission module, a steering engine, an electronic speed controller, a rudder angle sensor, a photoelectric encoder, a GPS module and an unmanned ship ground station. The rudder angle sensor detects the attitude and motion of the unmanned ship rudder; the photoelectric encoder detects the rotation speed and steering of a power motor; and an unmanned ship route and a cruising speed value are stored in the unmanned ship ground station. When sailing, the unmanned ship works according to a remote control instruction of the unmanned ship ground station and the steering engine controls the unmanned ship rudder; the control module is connected to the unmanned ship groundstation by a data transmission module and returns current working data of the unmanned ship; the unmanned ship ground station controls the control module of the unmanned ship remotely to adjust the power motor and the rudder of the unmanned ship according to the current work data of the unmanned ship, so that the unmanned ship sails based on a preset route. Therefore, unmanned driving of the shipin a complicated hydrological environment is realized.

The invention discloses a small rotor flying robot for medical assistance and belongs to the technical field of robots. The small rotor flying robot for medical assistance is used for transportation of medical assistance medicine and medical instruments in heavy-traffic cities or remote mountainous areas. The small rotor flying robot for medical assistance comprises a machine body, an autopilot system and a medical assistance system, wherein the autopilot system comprises a sensor subsystem, a flight control computer and a servo power system, the flight control computer is connected with the sensor subsystem and is used for processing data obtained by the sensor subsystem, and the flight control computer is connected with the servo power system and is used for controlling work of the servo power system and adjusting the flight speed and flight attitude. The small rotor flying robot for medical assistance has the advantages of being low in cost, fast and accurate in positioning.