145results about How to "Resolve collision" patented technology

The invention provides a control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance. The control algorithm comprises steps of (1) when an unmanned aerial vehicle formation executes a flight task, detecting positions and speed information of the unmanned aerial vehicles and airspace obstacles through an airborne sensor, and abstracting obstacles in a flight space into ball bodies; (2) according to position information of each unmanned aerial vehicle, constructing an unmanned aerial vehicle formation communication topology, and using a distributed transmission method, achieving information interaction between neighborhood unmanned aerial vehicles in the formation; (3) constructing an unmanned aerial vehicle dynamics model; and (4) when detecting an obstacle, determining a safe distance of obstacle avoidance of the unmanned aerial vehicles, judging whether the distance between any unmanned aerial vehicle and the obstacle in the unmanned aerial vehicleformation meets requirements of the safe distance, and if not, adjusting the formation pattern and carrying out obstacle avoidance through a virtual force strategy. The control algorithm is operable and simple; cooperation formation of multiple unmanned aerial vehicles can be achieved; obstacles can be avoided quite flexibly; and the control algorithm is very important for multi-cooperative combats.

The invention discloses a control method for a robot automatic spraying system. The control method of the robot automatic spraying system comprises the following steps of (1) acquiring feature data of a workpiece to be sprayed; (2) processing acquired data by using an image processing system; (3) automatically generating a track; (4) simulating; (5) controlling a user interface; (6) determining a spraying parameter; and (7) performing spraying. The control method of the robot automatic spraying system has the advantages of high automation degree, high machining precision, wide application range and the like. Different workpiece spraying tracks can be generated automatically, the operation difficulty of a user is reduced, the traditional manual programming on single different-model workpieces to be sprayed is replaced, consumed time on spraying is shortened, and the production efficiency is improved.

The invention relates to a multiple-laser radar raster map merging system based on a pilotless automobile. The multiple-laser radar raster map merging system based on the pilotless automobile comprises a one-line laser radar and a four-line laser radar, the two of which are mounted in front of the pilotless automobile, an eight-line laser radar mounted at the roof of the automobile, and a one-line laser radar mounted at the tail of the automobile; the laser radars are connected with a first industrial personal computer by use of a switch and by virtue of Ethernet; the data of the laser radar are transmitted to the first industrial personal computer by use of the switch and by virtue of the Ethernet, and the first industrial personal computer is used for analyzing and preprocessing the data; data are processed for different laser radars, respectively, and rasterization coding is performed on valid data and the coded values are transmitted to the first industrial personal computer in charge of data fusion by virtue of the Ethernet; next, data fusion is carried out by use of a raster map merging method and the rasterization coding is performed on the data, and finally, the coded values are transmitted to a second industrial personal computer by virtue of the Ethernet. The multiple-laser radar raster map merging system is used for solving the problem that the pilotless automobile and an assistant-driving automobile collide with a barrier, and therefore, the safety of the automobile in the driving process is improved.

The invention relates to the field of transmission control and discloses a 485 bus system and an asynchronous half-duplex communication method thereof. 485-bus half-duplex communication is realized by fewest cables, all devices with mutual data transmission are connected equivalently without principal and subordinate relation, and any device can send data to any other device. The 485 bus system comprises a plurality of devices connected by 485 buses, wherein each device is provided with three signal interfaces, two signal interfaces are a pair of 485-bus data transmission differential signal interfaces, the other signal interface is a collision detection signal interface, and the same signal interfaces of all the devices are mutually connected by wires; the asynchronous half-duplex communication method comprises the following steps of: when the devices need to send data, detecting the state of collision detection signals; if detecting to be in a busy state, waiting till to be in an idle state; if detecting to be in the idle state, sending data after setting the collision detection signals in the self collision detection signal interfaces of the devices to be in a busy state.

The invention provides a CSI-RS configuration method and a method, a base station and a terminal for measuring a channel. The method comprises the steps that the base station configures a plurality of CSI-RSs for the terminal through high-level signaling; the base station sends multiple sets of CSI-RS resources to the terminal, the multiple sets of CSI-RS resources are configured with at least one limiting cluster, and the limiting cluster is used for indicating that a terminal side cannot receive radio frames and / or subframes of the CSI-RSs. Accordingly, collision problems or untrue collision problems between the CSI-RS subframes and Paging can be resolved.

The invention discloses a low-power Bluetooth intelligent asset management apparatus with an identity recognition function. The apparatus comprises electronic tags, an APP loading body and a server, wherein the electronic tags actively send out signals used for the APP loading body to receive, and the single APP loading body receives the signals sent by the electronic tags at the same time; an APP loaded on the APP loading body performs asset check through identity authentication, system updating, data downloading, tag configuration, tag locating and asset management; and during asset management, tag broadcasts are scanned through a Bluetooth module of the APP loading body, then identification and classification processing is performed through a fast addressing algorithm, and the asset management and statistics are finished. The deficiencies of low asset management efficiency, poor timeliness and high error rate caused by existing electronic tag collision and environment interference are overcome; and the apparatus has the characteristics of real-time asset management, high efficiency, no errors, localizability, rechargeability, reusability and the like.

The invention discloses an unmanned aerial vehicle formation reconstruction system and method based on an ant colony algorithm and an artificial potential field method. The system comprises a target distribution module, a path planning module and a ground station module. A swarm intelligence optimization algorithm is adopted to improve a selection strategy of a standard ant colony algorithm, and the global search capability and search precision of the algorithm are improved; and when the scale of an unmanned aerial vehicle group is large, a global optimal solution can be searched with higher probability. An improved artificial potential field method is adopted in the path planning process, a problem that collision is possibly caused because a gravitational field is too large in the initialmoving stage of the unmanned aerial vehicle is solved through improvement of a gravitational field formula, and a problem that a target cannot be reached in the process that the unmanned aerial vehicle gets close to the target point is solved through improvement of a repulsion field. If the unmanned aerial vehicle sinks into the local minimum point, an escape force is additionally applied to thecurrent unmanned aerial vehicle to help the current unmanned aerial vehicle get rid of the local minimum point, and a problem that the artificial potential field method sinks into local optimum easilyis effectively solved by adopting a local minimum point escape strategy. The system and method are high in calculation speed.

The invention discloses a method for contending channels under network coexistence, a reader and an RFID system. The method comprises the following steps: detecting whether an available channel is present in a network; if so, scanning whether the available channel is occupied by other system signals; performing channel contention if the available channel is occupied by the other system signals; occupying the selected available channel, and beginning to read a tag. Therefore, when a plurality of networks are present, the channels can be contended and coordinated with each other so as to avoid collision as possible.

The invention discloses a clutch relay device which comprises a driving shaft. A gear is arranged on the driving shaft, a spring box is arranged on the lateral side of the gear, a plane volute spring is arranged between the driving shaft and the spring box, the inner end of the plane volute spring is wound on the driving shaft, and the outer end of the plane volute spring is connected with the spring box. The clutch relay device uses the change of a relative angle between the driving shaft and the gear to achieve the double-clutch effects, solves the problem that a gear and a rack are meshed and demeshsed, solves the problem of collision and interference caused by desynchrony of double motors and guarantees stability of a relay process. The plane volute can achieve overrunning in a certain range, provides a certain range overrunning space, can keep pre-tightening force in an unloaded state and can restore the gear to the normal position.

The invention relates to a two-stage double-spring direct relief valve and a control method thereof. The two-stage double-spring direct relief valve comprises a valve body internally provided with an oil inlet and an oil outlet. A valve seat is sleeved with the valve body in a sliding manner. A valve element is sleeved with the valve seat in a sliding manner. The width of the upper portion of the valve element is smaller than that of the middle of the valve element. The lower portion of the valve element is conical, the conical lower portion of the valve element is in matching connection with a conical hole penetrating the bottom of the valve seat, and the conical hole is communicated with the oil inlet. A second damping hole and a first damping hole are sequentially and vertically formed in the two sides of the valve seat in a transverse penetrating manner respectively. A pressure adjusting screw is further included and arranged at the top end of the valve body and is in threaded fit with the inner side of the valve body. An outer pressure adjusting spring is arranged in a rod portion of the pressure adjusting screw in the length direction, an inner pressure adjusting spring is coaxially sleeved with the outer pressure adjusting spring, and one end of the inner pressure adjusting spring is connected with the top end of the valve element. The two-stage double-spring direct relief valve has the beneficial effects that collisions between the valve body and the valve seat can be reduced, and the service life of the valve can be prolonged.

A horizontal centrifugal spiral machine comprises the spiral cylinder with over one leaking holes on the wall and the spiral vane, feeding mouth of the centrifugal corresponding to the spiral cylinder having at least two symmetrical material outlet, each connected to an independent channel and formed into the spiral feeding cavity structure, each channel connected with the said cavity, with outlet of the independent channel having bigger arc angle, the radius being one third or one half of the spiral cylinder diameter, with reduced friction and collision, and damage to the separation, being able to extend the durability of the machine, improved in working efficiency and reduced in maintenance cost.

The invention relates to a method for reading electronic tag data under the condition of multiple reader-writers. The method for reading electronic tag data under the condition of the multiple reader-writers includes the following steps: carrying out detection of signal strength on a signal channel which is used for sending an echo signal after an electronic tag is activated, judging whether interference or collision exists in the signal channel or not in the present moment, and executing a next step if the interference or the collision exists in the signal channel, otherwise, starting to acquire electronic tag data; confirming a current threshold value according to a signal strength value and acquiring a time delay value which corresponds with the current threshold value; enabling the reader-writers to be in a waiting state and carrying out delay timekeeping; and judging whether the timekeeping reaches the time delay value, and enabling the reader-writers to start to send exciting signals in a set read-write time and acquire the electronic tag data if the timekeeping reaches the time delay value. The invention further relates to a device for achieving the method. The method and the device for reading the electronic tag data under the condition of the multiple reader-writers have the advantages of being simple to achieve and low in cost.

The invention discloses a two-phase passing method for a level crossing. According to the method, three functional areas, namely an exit left turn area, an entrance buffer area and a crossing diversion area, are provided, wherein each functional area has signal control and signals of the functional areas are associated with each other. An inner left turn lane at the middle and an outer left turn lane at the left side of the road are parallel to define the exit left turn area; an entrance is provided with two parking lines, a parking buffer area is arranged between the two lines, wherein a parking area is arranged at the front part and a turning area is arranged at the rear part, and a left turn/turning to-be-driven lane is arranged on the outer side behind the main parking line; and the crossing diversion area is divided into a central straight crossing are, a corner left turn and right turn cross lane and a concave safety island. When passing is started, a left turn vehicle waiting atthe inner left turn lane is controlled to carry out parallel left shift to the outer left turn lane preferentially and quickly, and then straight, left turn and right turn motor vehicles in the opposite direction can pass without conflict; and when passing is prohibited, a turning vehicle can turn round from a turning area, and a left turn bus can preferentially enter the buffer area.

The invention relates to a dynamic cooperative transmission method in OFDM mobile relay network and a reuse greedy resource allocation algorithm adopted in the method. The cooperative transmission can realize the parallel transmission of a plurality of BS/RS in an OFDM signal synchronous and realize the resource reuse between BS and RS. By adopting the reuse greedy resource allocation algorithm, the resource is reused in the maximum degree on one hand, and the problem of pilot frequency collision is solved on the other hand, thus avoiding unusable and vacant resource caused by the pilot frequency collision and realizing high efficient utilization of the resource.

The invention relates to an automatic paper feeding device which comprises a paper fetching mechanism, a paper sheet transmission mechanism, a power source and a clutch. The power transmission mechanism is used for transmitting paper sheets grabbed in the paper fetching mechanism in a channel. The power source used for driving the paper fetching mechanism comprises a power output shaft and a first transmission gear, thereby respectively outputting and transferring power. The clutch comprises a second transmission gear and a power connection component. The second transmission gear and the first transmission gear are coaxially arranged. The power connection component is coaxially arranged between the first transmission gear and the second transmission gear and further connected with the first transmission gear. The power connection component carries out reciprocating movement along the axial direction, thereby selectively connecting and driving the second transmission gear. The second transmission gear is connected with the paper fetching mechanism, and the power source selectively drives the paper fetching mechanism through the clutch.

The invention discloses a space-time correlation airway collision solving method based on airspace splitting, and aims to solve the problem of airway collision warning in a large-scale air traffic control system. A region splitting algorithm is adopted to reduce the ultra-large calculated amount of the whole airspace; a space is divided into several grids, the airway collision possibility betweenadjacent grids is calculated, an airway collision factor based on airway intersection, an airway collision factor based on minimum time, an airway collision factor based on minimum distance and a collision factor based on height are calculated, an airway collision model based on space-time correlation is established, and an airway collision index is calculated. According to the method, calculationcomplexity of airway collision for airplanes in the whole airspace is overcome, and multiple collision factors are introduced to rapidly and effectively solve problems of airway collision in the airtraffic control system.

The invention provides a data broadcasting method and device, a storage medium and an electronic device. The method comprises the steps: when it is determined that a target host receives first data broadcasted by other hosts except the target host in a target channel, determining first time when the other hosts broadcast the first data; adjusting time slots between other host broadcast data and the target host broadcast data by using a first time difference between the first time and the current time; and adjusting the time when the target host broadcasts the data in the target channel based on the time slot, so that the time when the target host broadcasts the data is not overlapped with the time when other hosts broadcast the data. According to the method and the device, the problem of collision of broadcast data in the same channel in related technologies is solved, and the effect of improving the data sending efficiency is achieved.

The invention discloses an improved full-automatic financial binding machine which comprises a rack, an ejecting pin mechanism mounted under a binding table, a lever and a transmission rack of a transmission mechanism connected to the upper portion of the binding machine in a transmission mode. The first end of the lever is in transmission fitting with the ejecting pin mechanism. A lifting control arm is mounted under the binding table. The middle of the lifting control arm is pivoted to the rack. The first end of the lifting control arm is in transmission fitting with the transmission rack. The second end of the lifting control arm is in transmission fitting with the second end of the lever. The improved full-automatic financial binding machine is simple in structure and low in cost; and the problem that impacting, vibration and collision exist during operation of a lever mechanism is solved, the problem of jumping and jamming during rising and falling of a rotating arm is also solved, the lever mechanism and the rotating arm operate stably, and nearly no noise is generated during operation of the lever and the relevant transmission mechanism.

The invention discloses cleaning equipment for new material production. The cleaning equipment comprises a base, wherein a first sliding groove is formed in the top of the base; first sliders are in sliding connection with the two sides of an inner cavity of the base; a movable rod is fixedly connected with the top of each first slider, and one end, away from the first slider, of the movable rod penetrates through the first sliding groove and extends to the outside of the first sliding groove. According to the cleaning equipment for the new material production, with the arrangement of the first sliding groove and the first sliders, the effect that the first sliders slide back and forth in the first sliding groove is achieved; with the arrangement of a motor and a gear, an output shaft of the motor rotates to drive the gear to rotate; with the arrangement of the gear and teeth, the gear rotates to drive the teeth to move, and meanwhile, a cleaning table is driven to move; finally, with the adoption of spray nozzles, the cleaning table is sprayed and cleaned by the spray nozzles, and the problems that time is wasted and work efficiency is reduced due to repeated manual wall brushing with a brush are solved.

The invention provides a rotating shaft bearing structure and a motor. The rotating shaft bearing structure comprises a rotating shaft (1), a magnetic suspension radial bearing (2) and a static pressure bearing (3); the magnetic suspension radial bearing (2) sleeves the rotating shaft (1); the static pressure bearing (3) sleeves the rotating shaft (1), and the static pressure bearing (3) and the magnetic suspension radial bearing (2) are located at different positions in the axial direction of the rotating shaft (1); and the static pressure bearing (3) is provided with vent holes (31), one ends of the vent holes (31) are in communication with the radial inner wall of the static pressure bearing, the other ends of the vent holes (31) are in communication with the radial outer wall of the static pressure bearing (3), so that gas with certain pressure is introduced into a gap between the radial inner wall of the static pressure bearing (3) and the rotating shaft (1) from the outside of the static pressure bearing (3). According to the rotating shaft bearing structure, the side, close to the static pressure bearing, of the rotating shaft can bear larger gas pressure, so that the rotating shaft is pressed back into a designed gas gap, so that the rotating shaft is prevented from deviating from the designed gas gap, and the operation reliability of the motor is improved.

The invention discloses an underwater detection robot with an auxiliary side sucker stabilizer, comprising an underwater detection robot and a side sucker stabilizer; the side sucker stabilizer is disposed on the side of the underwater detection robot; a zooming camera and its detector are carried on the underwater detection robot. The problems are solved by using the robot that collision and path and observation distance instability due to the various factors such as control or external disturbances (stormy waves, ships and robot movement disturbances) when the underwater detection robot observes the vertical face or slant (slope) of an underground building; the problem is also solved that water surface control is difficult since equipment is unable to vertically run due to different slope angles of dams or buildings. The robot is applicable to observation in other water fields, such as bridge piers and ports, and an efficient and scientific assist is provided for detecting vertical faces of different underwater buildings.

The invention discloses a handling method for preventing a stair cleaning robot from falling off and collision during moving on a step. A robot car body is equipped with a distance measurement sensor, a proximity sensor and a contact-type sensor, wherein the proximity sensor at the front part inclines downward to detect whether the robot is shielded or judging whether the front of the driving direction of the robot is empty or not, so as to prevent the robot from falling off from two ends of the step; when the robot turns round on the step, the proximity sensor is used for judging whether a position below is empty or not, so as to prevent the rear wheel of the universal wheel of the robot from missing one step from the current step and prevent the robot from dropping off; the distance measurement sensor ensures that one side of the robot is basically parallel to the raking riser of an upper step and positioned around the safe distance X; the contact-type sensor detects whether the front of the robot is in contact with a barrier or not through a contact plate, is used for judging whether the front of the robot in the walking direction runs into a wall or a guard rail and handling correctly. The handling method provided by the invention can effectively solve the problems of falling off and collision of the stair cleaning robot, the method is reliable, and the universality is high.

The invention discloses a method for lifting a Fischer-Tropsch reactor by a 6400t hydraulic combined crane. The 6400t hydraulic combined crane consists of a steel frame structure, an electro-hydraulic power system and a computer control system, and is characterized in that the steel frame structure comprises four tower frames, a main beam, connecting beams and a sliding bearing beam, wherein each tower frame comprises a base, standard sections and a top section device; a plurality of superimposed standard sections are arranged between the base and the top section; the sliding bearing beam is arranged on the top section device; the main beam is connected onto the sliding bearing beam by a flexible hinge; the connecting beams are connected with the tower frames. The method disclosed by the invention has the advantages that the problem that a pipe opening collides with a lifting tool of a crane in the lifting process is solved, and the phenomenon that steel stranded wires of main lifting lugs deviate from a safety angle in the pulling and sliding process is avoided.

The invention relates to an anti-collision device for a machine tool operation walking platform, and belongs to the field of machine tools. The device is provided with an anti-collision bracket. The device is characterized in that: the anti-collision bracket is fixed together with one end of a washer; the other end of the washer is hinged with an operation walking platform through screws; the end of the washer provided with a notch is in contact with a support roller bearing; the support roller bearing is fixed at one end of a guide rod through a pin shaft; a pressure spring is sleeved on the guide rail; the guide rod and the pressure spring are arranged in a guide shaft sleeve; and the other end of the guide rod is positioned at the switch control part of a stroke switch. The device not only can protect personnel safety of operators, but also solves the problem of walking platform collision; and meanwhile, the device has simple structure and is safe and reliable.

The invention discloses a sliding block and oblique ejector combination mould for forming grooves in the inner sidewalls of a product. The sliding block and oblique ejector combination mould is characterized in that first oblique ejectors (14) and second oblique ejectors (17) are arranged on an ejection pin plate (9); the forming parts of the first oblique ejectors (14) and the second oblique ejectors (17) are mutually locked with sliding block mould cores (26) arranged on sliding blocks (19); forming positions for the grooves of the inner sidewalls of the product (5) are formed after the first oblique ejectors (14) and the second oblique ejectors (17) are mutually contacted and locked tightly with the sliding block mould cores (26); during mould disassembly, the sliding block mould cores (26) slide toward the inner sides of the mould; the pushing-out force of the first oblique ejectors (14) and the second oblique ejectors (17) is small, and meanwhile, a very large moving space is provided; during pushing-out, the first oblique ejectors (14) and the second oblique ejectors (17) do not collide with one another.