67results about How to "Reduce the number of collisions" patented technology

The invention provides a sweeping control method and device for floor sweeping robot, a floor sweeping robot, an electronic device, and a non-temporary computer readable storage medium. the method comprises the following steps of: controlling the floor sweeping robot to travel, and triggering a collision detector on the floor sweeping robot to send out a triggering signal; controlling the sweepingrobot to retreat a first distance according to the trigger signal; controlling the floor sweeping robot to rotate in situ so that the traveling direction of the floor sweeping robot is parallel to the contour line or the tangent line of the contour line of the obstacle; the floor sweeping robot is controlled to travel in the travel direction, and the distance between the floor sweeping robot andthe obstacle is controlled to be maintained within a set distance range during travel. In the implementation of the sweeping control method and device for floor sweeping robot, and floor sweeping robot, the number of times of collision between the sweeping robot and the obstacle object in the working process is reduced, the efficient and autonomous edge sweeping function of the floor sweeping robot is realized, and the sweeping control method of the floor sweeping robot is optimized.

The invention relates to a food processing method of a motor under-set-type food processing machine and the food processing machine, and belongs to the field of food processing. The food processing method at least comprises a heating stage, a first cooking stage and a wall-breaking and grinding stage, wherein in the heating stage, food in a stirring cup is heated to be boiling by virtue of a heating device; in the first cooking stage, the food in the stirring cup is cooked for a duration of t1 by virtue of the heating device until the food is completely cooked, and during cooking, a grinding cutter is driven to do intermittent rotation at a first rotating speed by virtue of a motor; and in the wall-breaking and grinding stage, the grinding cutter is driven to rotate at a second rotating speed by virtue of the motor so as to grind the cooked food in the stirring cup, and the second rotating speed, which ranges from 20000r / min to 40000r / min, is greater than the first rotating speed, wherein the power of the heating device in the first cooking stage is less than that in the heating stage. The food processing machine using the food processing method provided by the invention can uniformly heat the food, and the phenomenon of over-burnt bottom and spillover cannot occur easily.

The invention discloses a preparation method of a high hardness zirconium nitride hard coat and relates to a preparation method of a hard coat, which comprises the following steps: matrix pretreatment: hard alloy matrix is washed and dried after being ground and polished; and the sputter deposition is carried out after the pre-sputtering is performed. A method by adopting magnetic control sputtering method to control the process conditions such as the atmosphere, the matrix temperature, the matrix bias and the like of the sputter deposition so as to prepare the zirconium nitride hard coat on the surface of the hard alloy matrix is adopted to improve the hardness of the zirconium nitride coat. DC power is adopted to perform the magnetic control sputter deposition on the surface of the hard alloy matrix which is mechanically polished, washed by ultrasonic and washed and processed by ion source, the total pressure is controlled at 0.3 to 0.5 Pa, the flow rate of the nitrogen is 15 to 20 percent, DC power of the Zr target is 250 to 300W, the matrix temperature is 300 to 450 DEG C, the matrix bias voltage is minus 50 to 100V, the deposition time is 90 to 120 minutes, and the coat has high hardness of more than 30 GPa.

The invention provides a robot, an automatic recharging method and system thereof, electronic equipment and a storage medium. The automatic recharging method of the robot includes the steps that the robot moves to a butt joint position from an initial position, and the butt joint position is opposite to a charging interface of a charging pile; the robot is driven according to a first path from thebutt joint position to the charging position so that the robot can be in butt joint with the charging pile at the charging position, the first path is a straight line or a straight line-like path, and when driven according to the first path, the robot is kept in a butt joint posture and the charging pile is always recognized in images collected by the robot in real time. Automatic recharging of the robot can be realized without an active light source, in this way, the cost for the robot is lowered, and meanwhile equipment flexibility is high.

Methods of communication in a wireless communication network having a plurality of connected objects, a gateway and a central server. These elements communicate with one another via messages sent and received on frequency channels. A channel is reserved for the periodic transmission of tag messages by the gateways, thereby allowing the organization and optimization of the network usage and communication time.

The invention provides a data grading transmission method. The method includes the steps that wireless sensor nodes in a network are used for collecting data, the collected data are graded, and the graded data and the collected data are packaged into a data message to be transmitted; the wireless sensor nodes are used for recording sending state information of the transmitted data message; an intermediate node is used for receiving the data message, the graded data are extracted, and the data message is forwarded in different modes according to different grades by combining the communication condition of the current network and the state of the intermediate node itself; information recording is conducted on the forwarded data message by the intermediate node; all the nodes in the network are used for sending the data message, collecting and forwarding the data message through a data transmission protocol of the network where the nodes are placed until the network stops working.

The invention relates to rolling and fitting equipment for solving the problems of poor processing effect and low efficiency of traditional rolling and fitting equipment. The rolling and fitting equipment comprises a stand and a crane which is arranged at the upper part of the stand and provided with a main driving mechanism and a horizontal clamping mechanism, the horizontal clamping mechanism comprises a main shaft box and a top frame which are arranged on the crane, the main shaft box is provided with a main shaft, the top frame is provided with a top which is arranged on the same horizontal line as the main shaft, and an abrasive box is arranged below the crane and makes reciprocating motion along an arc locus. The invention changes the motion locus of an abrasive so as to increase the acceleration of the abrasive, improve the finishing effect and save the processing time.

The invention relates to the field of smart home, and discloses a cleaning method, a device and a cleaning robot. The cleaning method is applied to the cleaning robot, which includes: updating a voltage threshold of edge cleaning of the robot when determining that the robot collides with a wall; controlling the robot to enter into the edge cleaning mode according to the voltage threshold of the edge cleaning after the update and the detected voltage value corresponding to the light reflected by the wall. The cleaning method, the device and the cleaning robot can improve the cleaning effect ofthe cleaning robot on the sidewall ground of different color walls when the cleaning robot is cleaning the sidewall ground of different color walls.

The invention discloses a test simulation system and a test simulation method of a safety air bag controller. The system comprises a user operation platform, automobile data recording equipment, a processing host, a signal conversion device and an air bag controller. The method comprises the steps as follows: reading and recording an accelerated speed recording file; converting the file into an acceleration curve and an auxiliary curve and displaying the acceleration curve and the auxiliary curve; modifying the curves; transmitting the modified data and each signal output parameter to the signal conversion device by the processing host; transmitting the converted signal into the air bag controller by the signal conversion device; and collecting data by a signal collecting device and analyzing the data. The test simulation system and the test simulation method of the safety air bag controller have the benefits that the test accuracy of the system is improved, so that the system and the method are closer to actual situation; and the acceleration curve under any travelling condition can be generated, so that the manufacturing cost is reduced, the test period is shortened, the reliability of the safety air bag controller is improved, times of a full scale vehicle crash test are reduced, and the test cost is reduced.

The invention provides a neighborhood rasterizing method and device. The neighborhood rasterizing method includes the steps that an object region is evenly divided into a plurality of grids, and grid values are initialized; each grid value is an identifying of a grid belonging to a neighborhood; according to transmitted power of each base station and a path loss model of each base station, covering radiuses of grids of each base station are calculated, the minimum value of covering radius is selected from the covering radiuses of all base stations, and the ratio of each covering radius of the corresponding base station to the minimum value of covering radius is calculated; each grid administered by the corresponding base station and the corresponding grid value are determined according to the ratio of each covering radius of the corresponding base station to the minimum value of covering radius. On the premise of the precision is met by the technical scheme, the calculation complexity of a neighborhood rasterizing process is reduced, the calculation time is reduced, and the operating speed is improved. Accordingly, delicacy management of neighborhood network resources is achieved in a unit of the grid, equitable distribution of the resources is achieved, and the internet experience of users in the neighborhood is improved.

The invention discloses a threshing and separation device. The device comprises a feeding protection cover, a threshing roller, a top cover, a separation concave plate, a threshing concave plate and racks; the threshing roller is rotatably mounted on the rear rack, the feeding protection cover is mounted on the front rack and located in front of the threshing roller, the top cover is mounted abovethe threshing roller, the threshing concave plate and the separation concave plate are mounted below the threshing roller separately, and the distance between the threshing concave plate and the feeding protection cover is smaller than that between the separation concave plate and the feeding protection cover. The threshing and separation device can ensure that the corn threshing process under high water content is completed, and reduce the grain breakage rate or even ensure that no grains are broken.

The invention relates to a fan noise reduction method and a low-noise fan. The fan noise reduction method comprises the steps that a volute is arranged; a plurality of independent air flues are arranged in the volute, and each air flue communicates with an air inlet and an air outlet; and air enters the volute from the air inlet and forms air flow under driving of blades, and the air flow is exhausted from the air outlet through the different air flues. The low-noise fan comprises the volute and a plurality of the blades, the blades are arranged at the air inlet in a surrounding mode, the multiple air flues extend to the air outlet on the basis of the air inlet, and the two ends of the air flues communicate with the air inlet and the air outlet. According to the fan noise reduction methodand the low-noise fan, a plurality of the independent air flues are arranged in the volute, the air flow in the different air flues does not collide with one another and has no interference, the collision frequency of the air flow in the fan is decreased, resonance is avoided, noise of the fan is reduced, the air speed of the air flow can not be decreased or the air flow can not be detained due tocollision, therefore, the air outlet speed at the air outlet is increased, and the using performance of the fan is optimized.

The invention discloses a glass bracelet surface polishing and cleaning device which comprises a tank. A first motor is fixed to the top of the tank; an isolation tank is fixed to the inner bottom part of the tank; a second motor is fixed into the isolation tank; an annular slot and an installation slot are formed in the side wall of the tank; the annular slot is located above the installation slot; a rotary plate is fixed onto an output shaft of the second motor; the side edge of the rotary plate is located in the annular slot; support wheels are fixed to the bottom of the rotary plate; the bottoms of the support wheels make contact with the annular slot; and an isolation cylinder is fixed to the bottom of the rotary plate, and is located right above the isolation tank. According to the glass bracelet surface polishing and cleaning device provided by the invention, various glass beads can be separately isolated during polishing and cleaning, so that the collision times of the glass beads is reduced; and in addition, the glass beads roll when being polished, so that the surfaces of the glass beads are evenly polished, the polishing effect of the glass beads is improved, and the glass bracelet surface polishing and cleaning device has favorable practicability.

The invention relates to the field of dust removal, and particularly discloses a spray dust removal device. The spray dust removal device comprises a water mist generator and a spray head; the spray head is internally provided with an injection channel and an arc-shaped cavity with an arc surface, wherein the spray channel communicates with the arc cavity; a cleaning ball with a diameter smaller than the diameter of the arc cavity is contained in the arc cavity; the cleaning ball comprises a spherical central body and a plurality of flexible parts fixed on the outer wall of the central body; a plurality of ventilating channels are formed in the central body; and the spray head is provided with a main channel for communicating the arc cavity with the water mist generator. When the spray dust removal device is used, dust inside the spray head can be automatically cleaned, so that the dust is prevented from blocking the spray head.

The invention discloses a small celestial body detector multi-node flexible connection method, and belongs to the field of aerospace. The implementation method comprises the following steps: acquiringscene information including the gravitational acceleration of an asteroid, the number of nodes and the initial speed and position of the nodes; making a flexible mechanism be equivalent to a spring with damping, considering weak gravitation continuous collision of nodes in the attachment process, establishing an instant collision model based on a recovery coefficient method, obtaining a node speed value after collision, generating a multi-node motion track through a detector multi-node coupling motion model, obtaining stable attachment time and node attachment errors of the multi-node network, deleting the non-connected network by traversing all nodes of the network, and calculating residual network related indexes, and establishing an evaluation function of the multi-node connection network according to the average stable attachment time and the average maximum attachment error of the multi-node network under different network indexes, and establishing a corresponding multi-node flexible connection mode through a minimum evaluation function value to realize multi-node flexible connection of the small celestial body detector.

The invention discloses a k-bit continuous collision bit detection split tree RFID tag anti-collision algorithm, and solves the technical problem that an existing multi-way tree algorithm is poor in tag recognition capability. According to the method, the collision bit division situation is accurately obtained according to Manchester encoding, and the highest continuous collision bit k is detectedthrough the received collision situation; the collision labels are divided into the 2k subgroups, the obtained continuous collision information is utilized, and then the collision labels are dividedinto the groups with different sizes, so that the situation that a large number of collision time slots exist in a multi-way tree algorithm is eliminated, and the number of the collision time slots and the number of sent information bits can be effectively reduced. MATLAB analog simulation proves that the method has better label identification capability.

The invention discloses a kind of micro-powder for preparing a neodymium-iron-boron permanent magnet material, a target type air-current powder milling method adopted for preparing the micro-powder and the powder milled from an air-current mill. The sphericity degree of the micro-powder is greater than or equal to 90%, and the particle adhesive rate of the micro-powder is less than or equal to 10%. According to the target type air-current powder milling method, the relation of the diameter A of a target center, the diameter B of a side nozzle and the distance C between the target center and the side nozzle is A / B=m*(C / A+B), wherein the value range of m is 1-7, and the jet stream speed of the side nozzle is 320-580 m / s. The relation of the diameter F of a grading wheel and the diameter A ofthe target center is F=p*A, wherein the value range of p is 3-6. The air-current milled powder obtained through the method comprises ultrafine powder and the micro-powder, wherein the ratio of the mass of the ultrafine powder to the total mass of the air-current milled powder is less than or equal to 0.5%. The micro-powder provided by the invention is uniform in particle size distribution, narrowin range, low in nitrogen content and suitable for large-scale production of the high-quality sintered neodymium-iron-boron permanent magnet material. The milled powder obtained through the target type air-current powder milling method does not contain spit materials. The subsequent process is omitted.

A polyvinyl chloride (PVC) water pipe comprises an inner pipe, an outer pipe and a honeycomb core, wherein the inner pipe and the outer pipe are coaxially arranged, the honeycomb core is arranged in space between the inner pipe and the outer pipe, a spiral groove is formed in the inner wall of the inner pipe, the honeycomb core is composed of a series of polygonal hole grids, and the polygonal hole grids of the honeycomb core are filled with foam. The PVC water pipe is good in intensity, low in noise, and meanwhile good in heat preservation effect.

The invention discloses an automatic driving solution under a multi-target complex traffic scene based on reinforcement learning, which can process all traffic scenes by using a set of reinforcement learning automatic driving modeling method and has better universality. The reinforcement learning comprehensive modeling is based on a traditional reinforcement learning framework, and environment perception information and feature quantity extracted in combination with human knowledge are used as observation space. Model training is based on a time-varying training strategy, and the training speed and the generalization of strategy application are improved. In order to further guarantee the form safety of the vehicle, a dangerous action recognizer based on a long-short term memory (LSTM) network and a rule constraint device based on a human knowledge body are provided, the dangerous action recognizer is sampled from the environment and trained, so that the vehicle has the ability of recognizing dangerous actions and dangerous scenes, and the safety of the vehicle is improved. And rule constraints are designed for specific situations to limit output actions, so that the safety can be greatly improved, the collision frequency is reduced, and the driving safety of the vehicle is guaranteed.

The invention discloses an anti-scale type wet desulphurization device which comprises a digestion tank, wherein a water supply opening is formed above the digestion tank; an alkali supply opening isformed beside the water supply opening; an alkali liquid pump is arranged on one side of the digestion tank; the alkali liquid pump is connected with an absorber through a liquid inlet tube; a connecting tube is connected with one side close to the liquid inlet tube inside the absorber; a fixing tube is mounted below the connecting tube; one end of the fixing tube is connected with a backflow pumpthrough a backflow tube; a liquid outlet is formed in the upper part, close to a circulation liquid tank, of the absorber. Due to the adoption of an electronic generator and a radiation electrode, asignal is transmitted to an energy release device from the electronic generator, electric energy is converted into electromagnetic waves by the energy release device and is transmitted to the radiation electrode, a great amount of excited electrons are absorbed by a water body, then the dipole moment of water is enhanced, the affinity of positive and negative ions of a salt is improved, water scale on a tube wall is gradually loosened and dropped off, and an effective descaling effect is achieved.

The invention discloses a manipulator handover station calibration method and device, equipment and a storage medium. The manipulator handover station calibration method comprises the steps that aftercollision occurs, whether the collision points of two nearest previous collisions are located on the inner wall of the same side of a V-shaped groove or not is judged, if yes, a manipulator is controlled to conduct stepping in the stepping direction and the stepping distance of the previous stepping, and the manipulator is controlled to move in the collision direction till a first calibration part collides with the inner wall of the V-shaped groove; and if not, the manipulator is controlled to conduct stepping in a second stepping direction and a second stepping distance, and to move in the collision direction until the first calibration part collides with the inner wall of the V-shaped groove, whether a station calibration index is met or not is judged during each collision, and if not,collision operation is continuously executed until the station calibration index is met. On the premise that the station calibration precision is guaranteed, the collision frequency of the first calibration part and the V-shaped groove is reduced, the calibration time is shortened, and the calibration efficiency is improved.

The invention discloses a crushing mechanism capable of preventing raising dust. A feeding hopper, an air chamber, a load-bearing plate, a crushing chamber and a waste residue collecting box which areconnected in sequence are arranged on the crushing mechanism from top to bottom, a fan and a collecting device which are opposite to each other are arranged on the side face of the air chamber, and an air inlet of the fan communicates with the air chamber; and a collecting pipeline is arranged on the side face, away from the air chamber, of the collecting device, one end of the collecting pipeline is connected with the collecting device, and the other end of the collecting pipeline is connected to the waste residue collecting box. By means of the crushing mechanism capable of preventing the raising dust, the problem that the health of operators can be seriously affected due to the large amount of noise and raising dust generated by the collision between oil shale in the process of oil shale crushing in the prior art is solved, during applying, two-time waste residue treatment is conducted on the oil shale in the process of feeding and crushing of the oil shale, the number of the collision of the broken stone is reduced accordingly, meanwhile, the noise pollution and raising dust pollution are reduced, and the physical health of the operators is facilitated.

The invention discloses a noise-reduction cyclone dust collector. The noise-reduction cyclone dust collector comprises a dust-suction part, a dust-removal main part and a dust-collecting part, wherein the dust-suction part comprises a dust storage box and a hollow pipe body, the pipe body is formed on the lateral surface of the dust storage box, one end of the pipe body is sealed through a detachable cover body, at least two air inlet pipes are arranged on one side of the cover body, and one end of each air inlet pipe is communicated with the outside; the dust-removal main part comprises a shell body, a barrel body and a cyclone separator, wherein a plurality of baffles are arranged on the lateral wall of the shell body, a first air outlet is formed in the shell body, a second air outlet is formed in the barrel body, and the first air outlet and the second air outlet are communicated; the dust-collecting part comprises a dust-collecting chamber and a dust discharging pipe. The noise-reduction cyclone dust collector is simple in structure, can effectively reduce the noise and resolves the problem of unstable flow.

The invention relates to the technical field of agricultural machinery, in particular to grain material spiral conveying equipment. The equipment comprises a main body mechanism, a supporting mechanism and a screening mechanism, the main body mechanism comprises a first motor, a conveyor shell, a spiral blade, a spiral rod, a discharging opening, a first connecting block, a filter screen, a connecting rod, a bolt, an air pump, a first fixing block and a vent hole. An output shaft of the first motor is fixedly connected with the spiral rod, the surface of the spiral rod is sleeved with the spiral blade, the surface of the spiral blade is sleeved with the conveyor shell, the vent hole is formed in the surface of the spiral rod, and the right side of the spiral rod is fixedly connected with the left side of the air pump. The equipment is provided with the main body mechanism and the screening mechanism, impurities and wizened and non-full grain in the grain can be screened out through a draught fan and a filter screen, the overall quality of the grain is improved, the right side angle of the device can be adjusted through the supporting mechanism, and the equipment can be used in different areas.

The invention provides an automatic control method and an automatic control system for a direct-current micromouse which are used for solving the problems of low response speed, out-of-step, oscillation and collision of a controlled object of the micromouse. The invention discloses an automatic control method for a direct-current micromouse. The method comprises the steps of obtaining a tracking speed and a tracking acceleration according to a running target speed and obtaining an observation disturbance, an observation speed and an observation acceleration are obtained according to an actualspeed based on the acquisition of the current running target speed and the actual speed of the direct-current micromouse, obtaining a tracking speed error and a tracking acceleration error after subtraction, and obtaining a system control quantity through a nonlinear feedback link to achieve the automatic control of the direct-current micromouse. According to the invention, an ADRC algorithm is utilized to automatically control the direct-current micromouse, the speed tracking error and the acceleration and deceleration switching frequency in the operation process of the micromouse are effectively reduced, the accurate control over the direct-current micromouse is achieved, the searching time, the sprinting time and the collision frequency of the direct-current micromouse to a destinationare effectively reduced, and the success rate of search is increased.

The invention discloses an aluminum ring screening device for an automobile accessory and belongs to the field of automobile accessories. The device comprises a base and a belt. A second screening boxis fixedly mounted on the base, a first screening box is fixedly mounted on the second screening box, a feeding hopper is fixedly mounted on the top of the first screening box, a driven shaft is arranged in the first screening box, a driving shaft is arranged in the second screening box, and a plurality of mounting seats are fixedly mounted on the driven shaft and the driving shaft. The device has the beneficial effects that the device is convenient to use, can screen aluminum rings in a graded manner, and can reduce the number of times of collision among the aluminum rings compared with a conventional vibrating screening mode, so that a problem that the aluminum rings that deform cannot be used in the screening process is avoided; as a result of a rubber material of a take-off rod, a soft rubber sleeve and a sponge mat can form multiple protection for the aluminum rings, so that a condition that normal use of the aluminum rings is affected as the aluminum rings collide in the screening process to generate wear is avoided, and therefore, the protecting capacity to the aluminum rings is further improved.

The invention belongs to the technical field of a VRV (Variable Refrigerant Volume) air-conditioning system, and particularly relates to an environmentally-friendly noise reduction structure of a VRV (Variable Refrigerant Volume) air-conditioning system and a construction method thereof. The environmentally-friendly noise reduction structure comprises an indoor unit, an outdoor unit, an air hose for connection, a refrigerant pipe and a condensed water pipe, wherein the indoor unit, the air hose, the refrigerant pipe and the condensed water pipe are respectively arranged on an indoor unit suspension rod, an air hose suspension rod, a refrigerant pipe suspension rod and a condensed water pipe suspension rod; a gasket is arranged between the indoor unit suspension rod and the indoor unit; and noise reduction sole timbers are respectively arranged between the refrigerant pipe and the refrigerant pipe suspension rod and between the air hose and the air hose suspension rod. The environmentally-friendly noise reduction structure has the beneficial effects that the frequency of collision caused by vibration is reduced by arranging the gasket or a rubber mat between an indoor unit suspension rod nut and the contact surface of an indoor unit connecting plate and the sole timbers among the refrigerant pipe, the air hose and a pipeline hanging bracket; construction materials are economic and practical; the construction cost is relatively low; the noise index can be reduced; good office environments are created; and the office efficiency of office staff is improved.

The invention relates to a variable-takt operation method for simulating a two-dimensional product compact layout by using convex hulls anda rubber band. A rubber band surrounds n convex hulls to form a convex hull plus rubber band model. The method mainly comprises the following steps of: calculating the smallest diameter d of inscribed circles of n convex hulls, an area sum S of n convex hulls, time takt Tt, an initial-time model area St and a parameter as shown in the accompanying drawing; estimating initial average velocity as shown in the accompanying drawing of each convex hull according to the elastic tension of the rubber band, selecting a k value according to the number and shape of the convex hulls, wherein a product of the smaller one of d and Lt is current takt distance DTt, time is as shown in the accompanying drawing and time takt Tt is equal to delta Tt'; calculating a moving track of each convex hull to obtain a position of each convex hull at the end of the current timetakt; checking whether the layout is a compact layout, if yes, ending the process, and if not, continuing the process. According to the method, by setting the variable takt Tt with reference to DT, the number of needed takt is effectively reduced, the compact layout design efficiency is improved, and a high-efficiency method is provided for weight reduction and refining in mechanical product design.