33results about How to "Small turning angle" patented technology

The invention discloses an automatic spraying homocentric-squares-shaped path planning method, which comprises the steps that S101, a crop protection unmanned aerial vehicle position coordinates of four vertices of a farmland one by one and determines a height value in operation; S102, an angular bisector of each interior angle is calculated, and position coordinates of four new points whose distances to four sides equal to a preset spraying interval are respectively determined on each angular bisector; S103, iterative calculation is performed, the four points are determined to be four vertices of a new square, four new points are worked out according to the rule in the step S102 until the length of a certain side and an opposite side thereof of a new acquired square equals to two times of the spraying interval, and position coordinates of a midpoint of the side and position coordinates of a midpoint of the opposite side are acquired; and S104, the position coordinates are successively connected according to a preset rule so as to form a homocentric-squares-shaped path, and path planning is completed. The work intensity of a pilot can be reduced through performing drug spraying according to the path, and the spraying efficiency of the crop protection unmanned aerial vehicle can also be improved.

The invention relates to a cable support node connecting device. The device comprises a cable body and a connecting device, wherein the connecting device comprises a node main plate, node upper plates, a vertical connecting plate, a node lower cover plate, clamping plates and a lug plate; the node upper plates, the vertical connecting plate and the node lower cover plate are connected into a cavity through a centre shaft; a bearing is sleeved on the centre shaft; both ends of the node main plate are provided with the node upper plates; both sides of the node lower cover plate are provided with the clamping plates; the cable body passes through the internal space of the connecting device and is tangent to the bearing; the centre shaft fixes the bearing and the cable body inside the connecting device through pre-tightening force of bolts; and the clamping plates are fixedly connected with the node upper plates through the bolts and are used for clamping or fixing the cable body passing through from the middle part. The node connecting device has the characteristics of simple structure, clear force transmission, reasonable stress, strong bearing capacity and the like. The device can fully exert material strength, effectively transmit steel cable force, reduce stress amplitudes, reduce prestress loss caused by friction and improve integral bearing capacity and stability of the structure.

The invention discloses a fuel battery and a new energy automobile. The fuel battery comprises an electric pile module, an electrical control component, a hydrogen path system, a cooling loop system and an air path system, wherein the electric pile module, the electrical control component and the hydrogen path system are installed in one box body so as to form a main working module of the fuel battery, an air compressor, an air cooler and a humidifier are integrated in one first support so as to form an air path core module, a water pump, a water pump controller and a thermostat valve are integrated on a second support so as to form a cooling loop core module, the main working module of the fuel battery is separated from the cooling loop core module and the air path core module in space, and is connected with the cooling loop core module and the air path core module through pipelines, so that connecting pipelines of air and cooling liquid have small turning angles, the air path and thecooling liquid path have small flow resistance, power of the air compressor and water pump of the system is lowered, the efficiency is improved, and installation and integration are flexible.

The invention discloses a path planning method based on an improved A* algorithm, and belongs to the field of unmanned driving path planning. An existing path planning method cannot deal with various conditions and cannot accurately perform global path planning due to temporary dynamic obstacles. The path planning method based on the improved A* algorithm comprises the steps: processing a collected road condition map through a grid method, and obtaining a grid map; then, optimizing and improving the A* algorithm by using an ant colony algorithm; then, carrying out local path planning by an artificial potential field method, and carrying out improvement and optimization aiming at the defect that a local minimum value and a target of the artificial potential field method are unreachable; afterwards, combining the improved A* algorithm and the artificial potential field method to design a mixed path planning algorithm, and providing a proper control algorithm for subsequent vehicle path planning; and afterwards, adopting a proper path planning algorithm, automatically planning a feasible path by the system, and enabling the vehicle to avoid an obstacle according to the path, so as to enable the vehicle to accurately and quickly reach the target position.

The invention discloses a manual rapid construction railway transport armored vehicle unloading temporary platform for armored forces. The manual rapid construction railway transport armored vehicle unloading temporary platform comprises a guide platform and a slope track. The guide platform is composed of a 45 degrees right triangle platform plate and a plurality of vertical supporting legs withadjustable height. In order to reduce the weight of a single piece to be transported, the platform plate is divided into at least two or more small triangles which are connected with each other through buckling-closing type connecting pieces; and the slope type track is composed of two sections or more track single bodies with a dip angle of 16 degrees-25 degrees with the ground, and the track single bodies are connected to each other by adopting claw type hinges. The manual rapid construction railway transport armored vehicle unloading temporary platform is light in the whole weight and shortin construction time compared with a platform made by foreign military and a temporary platform constructed by an army manually; and less personnel is required, the disassembling and evacuation are fast, no power is required, and the bearing capacity is not reduced. The manual rapid construction railway transport armored vehicle unloading temporary platform can be arranged in multiple directionson the left and right sides of a train flat car, the direction of the unloading vehicle is changed easily, and no restrictions on unloading site space and terrain is achieved; and it is not necessaryto regroup the army to deal with any complex situation in the field conditions.

The invention discloses a unidirectional ratchet wheel, which is characterized in that a through hole with double circle centers (A, B) is arranged on a plane of even thickness at one end of a handle; the intersection point of the extended line of the connecting line between the circle centers A and B on a hole wall of the through hole near the handle is arranged as the center; one to twenty internal teeth are arranged along the radial direction on the left and the right sides of the hole wall; a ratchet wheel is positioned within the through hole; the ratchet wheel can be moved along the connecting line of circle centers A and B and meshed with the internal teeth; the ratchet wheel and the internal teeth can be rotated unnidirectionally together or separately; the centerline of the handle is intersected with the extended line of the connecting line of the circle centers A and B, or joint with the extended line as one line, or parallel with the extended line; the ratchet wheel is provided with a square hole or connected with a plurality of mechanical pieces; each tooth of the ratchet wheel is provided with an arc addendum face C, with the side length D larger than the side length E; and the side length T of the of the internal teeth larger than the side length L. The unidirectional ratchet wheel has the advantages of high performance, high torque, good intensity, light weight, no elastic pressure on the ratchet wheel, no lag in rotation, stable operation, reliability and convenient usage.

The invention provides an optimal heading control method of an ocean observation platform. The method comprises the steps of 1, inputting a desired position [xd yd] of the ocean observation platform;2, considering a derivative of the position information of the ocean observation platform as the input of an extended state observer, and judging the quadrant to which an ocean current force directionbeta-e belongs, and the formula is shown in the description; 3, selecting a circle center according to the quadrant of the ocean current force direction which is obtained in the step 2; 4, controlling the optimal heading position when the ocean observation platform moves around the circle center p-rho by using a radius rho, and ensuring that during movement, the heading of the ocean observation platform faces the selected circle center p-rho all the time. The optimal heading control method of the ocean observation platform can enable power positioning of the ocean observation platform to usepropellers as few as possible, accordingly, the observation platform reaches the optical heading in a minimum heading angle, the control is simpler and more efficient, and energy is conserved.

The invention discloses a skiing device and in particular relates to a ski-bob which can be used by sitting and is suitable for the beginners. The ski-bob is characterized in that a supporting tube is arranged below a saddle, an arc base is arranged at the lower end of the supporting tube, the lower end of the arc base is connected with a connection plate, the connection plate is connected with a fixing plate below the connection plate by springs, foot pedals are connected at both sides of the fixing plate and a ski is arranged below the fixing plate. The ski-bob is especially suitable for the children, the old and the beginners and is small in volume, convenient and flexible to use, easy to be controlled in operation, safe, good in stability and convenient to carry. The ski-bob has small angle of turn, simple structure and low cost, is comfortable for the user to ski by sitting, can not only be used on the ice but also be used on the snow field, is suitable for the ordinary consumers to buy and is beneficial to implementation.

The invention discloses an unmanned aerial vehicle dynamic obstacle avoidance method based on an improved mutual speed obstacle method, which improves a mutual speed obstacle method, reselects a new flight speed direction after judging that an unmanned aerial vehicle collides with an obstacle, and reselects the optimal flight speed and flight direction according to a current position of the unmanned aerial vehicle and a target point after obstacle avoidance is finished. According to the unmanned aerial vehicle dynamic obstacle avoidance method, factors such as time, place and distance of collision between the unmanned aerial vehicle and the dynamic obstacle are comprehensively considered, and particularly, speed selection is performed after the collision is judged, so that a smooth track and a collision-free flight path of the unmanned aerial vehicle are ensured, and therefore, the unmanned aerial vehicle can select the velocity vector according to the size of the unmanned aerial vehicle and the radius and distance of the dynamic obstacle to reduce unnecessary jitter and shorten collision avoidance time.

The invention discloses a ratchet batch, aiming at providing a ratchet batch, in which a loosening screw can be normally used even without a positive and negative adjusting button and the screw can be randomly unloaded tightly positively and negatively by a single hand with a small screwing angle. The ratchet batch has advantages of large torsion force, small size, simple structure and easy processing and manufacturing. The ratchet batch comprises a rod, gearwheels, annular gears and a spring. The working principle of the ratchet batch is that: the method is applied in the ratchet batch that the gearwheels and the annular gears, both of which have the same number of teeth, are adopted to mesh each tooth of the two gearwheels and the meshed teeth of the two gearwheels are separated axially; with this method, the work performance of the ratchet batch is improved. The invention is applicable for fast unloading tightly the screws on various machineries, electronic equipment and apparatuses.

The invention relates to the ship technology field, in particular to a ship used as a fast boat, a yacht, a passenger ship, a cargo ship or a warship, which mainly comprises a ship body and a cabin, and is characterized in that the bottom of the ship body is the combination of arc and plane, the front part of the bottom of the ship body is arc shaped, the rear part is a plane, both sides of the rear part of the ship body protrude; a set of engines is arranged at the rear part of the ship body and the engines can rotate in 120 DEG. The ship has the advantages that the bottom of the ship body is the combination of arc and plane and both sides of the rear part of the ship body protrude, the engines can rotate, the ship buoyancy is high, the turning angle is small, the contact with the water surface is light, and the energy consumption low. Small ships can leave the water surface when traveling with a high speed.

The invention discloses a mobile robot path planning method for optimizing a turning angle. The method comprises the steps of establishing a grid map and a right-hand rectangular coordinate system based on the environment where a mobile robot is located; calculating the movable angle of each node in the grid map and the difference between the angle of a newly added node and the angle of a previous path, and calculating the turning cost of the mobile robot in real time; and adding the cost function of the turning cost into a total cost function of an A* algorithm to obtain an optimized A* algorithm cost function, and performing path planning on an environment with an obstacle by using the A* algorithm cost function. According to the invention, path planning is carried out on an environment with obstacles, a smooth path with fewer unnecessary turns and a smaller turning angle can be obtained, and the time complexity of an algorithm is greatly reduced.

The invention discloses an energy-saving airtight washdown type water seal floor drain, and relates to a drainage part for a building, in particular to a toilet odor prevention floor drain. The energy-saving airtight washdown type water seal floor drain comprises an upper cover drainage grate, a filter screen and a floor drain shell. The filter screen is arranged in the floor drain shell, and the upper cover drainage grate covers a water inlet of the floor drain shell. The energy-saving airtight washdown type water seal floor drain is characterized in that on one side of the bottom of the floor drain shell is machined into an arc bottom corner, and a side lower drainage port is machined in the other side of the bottom of the floor drain shell; an N-shaped drainage channel is formed in the floor drain shell. The energy-saving airtight washdown type water seal floor drain has the advantages of being novel in structure, thoroughly preventing invasion of odors, viruses, bacteria and pests, protecting the environment and human health and the like, so that economy and practicability are integrated in the novel energy-saving airtight washdown type water seal floor drain.

The invention discloses a self-balanced robot, comprising a control module, a self-balanced mechanism, a walking mechanism, a tracker and an outside terminal; the self-balanced mechanism and the walking mechanism are in communication connection with the control module; the tracker and the control module are in communication connection for tracking and positioning the outside terminal; and the distance between the tracker and the outside terminal is kept to be smaller than a preset value by the control of the control module on the walking mechanism. The self-balanced robot disclosed by the invention can automatically follow a user to walk and has the characteristics of flexibility, stability and convenience in use.

The invention relates to a smoke dust suction device applied to laser surface decontamination. The smoke dust suction device comprises a shell and a rotating shaft, wherein a circular cavity is formed in the shell, and a first flow guide groove, a second flow guide groove and an air outlet are formed in the middle of the top, the middle of the front side and the middle of the bottom of the shell correspondingly; a plurality of first tangential air inlets and second tangential air inlets are formed in the air outlet ends of the first flow guide groove and the second flow guide groove at intervals correspondingly, the first tangential air inlets and the second tangential air inlets deviate from the axis part of the cavity, the rotating shaft is arranged in the cavity, and the two ends of the rotating shaft are rotationally connected with the shell correspondingly; and a first spiral brush and a second spiral brush are arranged at the two sides of the rotating shaft respectively, and the rotating directions of the first spiral brush and the second spiral brush are opposite. According to the smoke dust suction device, through the cooperative design of the shell and the rotating shaft, the problems that because dust in an existing adsorption pipe cannot be effectively removed, the suction capacity is reduced and the dust collection effect is affected are effectively solved.

The invention discloses a flexible framework used for a railway vehicle bogie and provided with slewing bearings, the whole framework is H-shaped and is composed of two T-shaped beams and two sets of slewing bearings connecting the two T-shaped beams, each T-shaped beam is composed of a beam extending in the longitudinal direction and a cross beam extending towards the middle in the transverse direction, and the two T-shaped beams are connected through the two sets of slewing bearings. The two sets of slewing bearings are coaxially arranged in the mode that the axes are parallel to cross beams of the T-shaped beams, the cross beams of the two T-shaped beams are hinged along a transverse shaft, the two T-shaped beams can freely rotate around the axes of the two slewing bearings through connection of the two sets of slewing bearings, and meanwhile the two T-shaped beams are connected in an approximately rigid mode in other directions. The bogie adopting the flexible framework has extremely low torsional rigidity, so that the bogie can adapt to line irregularity to the greatest extent and ensure the stability, the cross beams of the two T-shaped beams of the framework are each of an upper-side opening structure, and a center traction device between the cross beams and a vehicle body can be arranged, so that the bogie adapts to a short wheelbase and is beneficial to installation of a driving device; and the compact and light-weight design of the bogie is realized.

The invention discloses an inner axle box bogie adopting a novel flexible framework and a permanent magnet direct drive motor, the framework is generally H-shaped and consists of two T-shaped beams and two sets of slewing bearings for connecting the two T-shaped beams, only the degree of freedom of transverse rotation is released, and meanwhile, the two T-shaped beams are in approximately rigid connection in other directions; by means of the characteristic, the axle box suspension device can adopt a splayed rubber pad which can meet reasonable horizontal positioning and large vertical suspension rigidity between the wheel pair and the framework and is compact in structure and economical in cost, and bearings are arranged on the inner sides of the two side beams, so that the bogie is simple in structure and low in cost. And the purpose of light weight is achieved. The driving device is directly driven by a permanent magnet synchronous motor and is mounted on the left and right inner axle box bodies, a motor shaft suspension and direct drive mode is adopted, a gearbox structure can be avoided, the structure is simple, the axle distance of the bogie can be obviously reduced, and the self weight of the bogie can be reduced.

The invention discloses a dynamic obstacle avoidance method for an unmanned aerial vehicle based on an improved mutual velocity obstacle method, which improves the mutual velocity obstacle method. After obstacle avoidance, select the best flight speed and flight direction according to the current position of the drone and the target point. The method of the invention comprehensively considers factors such as the time, location and distance of the collision between the UAV and the dynamic obstacle, and in particular, selects the speed after judging that the collision occurs, so as to ensure the smooth trajectory and the collision-free flight path of the UAV. It enables the UAV to select the speed vector according to its own size and the radius and distance of dynamic obstacles to reduce unnecessary shaking and shorten the collision avoidance time.

The invention belongs to the technical field of dedusting in production workshops, in particular to an intelligent dedusting device in a production workshop, comprising a bottom plate, a support plate connected to the top of the bottom plate, a rotary motor connected to the bottom of the bottom plate, and the output of the rotary motor The shaft is connected with a runner, the bottom of the base plate is connected with a universal wheel, the top of the base plate is connected with a steering motor, the output shaft of the steering motor is connected with a fixed support frame, and the bottom of the fixed support frame is connected There are hub motors with tires attached to their surfaces. The two front motors in the two front air cylinders and the side motor in the side air cylinder drive the fan blades to rotate, so that the surrounding dust enters the dust collection box through the air suction port for filtration, which can better collect the surrounding dust Cleaning, at the same time, the bottom motor in the bottom fan cylinder drives the fan blades to rotate, so that the bottom suction port can clean the dust on the ground, so that the cleaning effect is better.

The invention provides an optimal heading control method of an ocean observation platform. The method comprises the steps of 1, inputting a desired position [xd yd] of the ocean observation platform;2, considering a derivative of the position information of the ocean observation platform as the input of an extended state observer, and judging the quadrant to which an ocean current force directionbeta-e belongs, and the formula is shown in the description; 3, selecting a circle center according to the quadrant of the ocean current force direction which is obtained in the step 2; 4, controlling the optimal heading position when the ocean observation platform moves around the circle center p-rho by using a radius rho, and ensuring that during movement, the heading of the ocean observation platform faces the selected circle center p-rho all the time. The optimal heading control method of the ocean observation platform can enable power positioning of the ocean observation platform to usepropellers as few as possible, accordingly, the observation platform reaches the optical heading in a minimum heading angle, the control is simpler and more efficient, and energy is conserved.

The invention discloses a coverage path planning method based on Theta* backtracking, and belongs to the technical field of path planning algorithms and coverage path planning algorithms, wherein the method comprises the steps: rasterizing an environment map, enabling a single unmanned ship to start roundabout scanning measurement according to the priority of the south-east-north-west direction, returning to the original path to continue scanning measurement if the single unmanned ship enters a Credial point until reaching the east side of the environment map; and calculating an optimal backtracking point, searching an optimal backtracking path by using a Theta* algorithm, and carrying out backtracking coverage on a missing region until all regions are covered. According to the invention, the backtracking path of the single unmanned ship is smoother, and the steering frequency is less.

The invention relates to a cigarette packaging production line. The cigarette packaging production line comprises an environment-friendly paper fixing and folding device, an aluminum-foil paper short edge fixing and folding device, an aluminum-foil paper synchronous conveying belt, an inner frame paper pneumatic clamping device, an aluminum alloy channel and a channel corner gearbox which are sequentially arranged from front to back, wherein the environment-friendly paper fixing and folding device comprises a second wheel die box, paper supporting protruding blocks and a working face; the paper supporting protruding blocks are arranged at the upper end and lower end of the outer edge of the working face of the second wheel die box; the aluminum-foil paper short edge fixing and folding device is installed on a transition channel plate between a second wheel and a third wheel; the aluminum-foil paper synchronous conveying belt comprises air suction paper guide plates, air suction holes, air suction grooves and air suction bases; the inner frame paper pneumatic clamping device comprises a cylinder body, tensioning blocks, a wheel core and springs; and the aluminum alloy channel comprises a high-level runway, a low-level runway, a descending runway and the channel corner gearbox. According to the cigarette packaging production line, the maintenance time is saved, and the production efficiency is improved.

The invention discloses a two-stage steering support carrying vehicle. A vehicle head part comprises a cab body and a vehicle head case which are fixedly connected; two front wheels are mounted at the bottoms of the cab body and the headstock case; the hinging part comprises a mounting block, a connecting frame, a steering hydraulic cylinder, a hinging frame and a rear connecting plate; two middle wheels are mounted on the two sides of the bottom of the connecting frame; the two rear frames are detachably connected with the two supporting frames symmetrically arranged at the rear end of the rear connecting plate respectively. The fastening mechanism is connected with the support frame and the rear frame; two hoisting mechanisms are sequentially fixed on the top surface of the rear frame; and rear wheels are mounted at the bottoms of the two rear frames. According to the support carrying vehicle, two-stage hinge joint is achieved through the hinge joint part, steering is controlled through the steering hydraulic cylinder, the turning angle can be controlled to be minimum, turning is more flexible, rotation of the rear frame and the hinge joint frame can be achieved on a bumpy road due to the arrangement of the hinge joint frame, breakage caused by rigid connection is prevented, and the use effect is better.

The invention discloses an electric tractor driven by a single-motor front and rear axles, including a car body, a control device, a steering wheel, a battery pack, front and rear axles, front and rear wheels, and a traction object connection device. It is characterized in that: the front axle and There is a power-adjustable motor at both ends of the shaft between the rear axles. The front end of the motor shaft is connected to the differential drive shaft of the front axle through a "cross" shaft; the rear end of the motor shaft is connected to the worm gear through a coupling. The worm is connected to drive, and the worm wheel of the worm gear is fixed to the shaft of the rear axle; the upper walls of both ends of the front axle are provided with "T" shaped sliders, and the corresponding positions of the "T" shaped sliders are equipped with horizontal electromagnetic push-pull devices; A clutch is provided at the connecting part of the gear and the worm of the worm gear. The tractor, on the basis of maintaining the automatic control of steering, forward and reverse in the existing technology, realizes the front and rear wheel drive through a motor, and can adjust the power according to no-load, light-load and heavy-load, so that the body can be shortened. , small turning radius, power saving, low noise.

The invention discloses a ratchet spanner, aiming at providing a ratchet spanner, in which a loosening screw can be normally used even without a positive and negative adjusting button and the screw can be randomly unloaded tightly positively and negatively by a single hand with a small screwing angle. The ratchet spanner has advantages of large torsion force, small size, simple structure and easy processing and manufacturing. The ratchet spanner comprises a round shaft, gearwheels, annular gears and a spring. The working principle of the ratchet spanner is that: the method is applied in the ratchet spanner that the gearwheels and the annular gears, both of which have the same number of teeth, are adopted to mesh each tooth of the two gearwheels and the meshed teeth of the two gearwheels are separated axially; with this method, the work performance of the ratchet spanner is improved. The invention is applicable for fast unloading tightly the screws on various machineries, electronic equipment and apparatuses.

The invention discloses an electric tractor provided with a single motor and driven through a front axle and a rear axle. The electric tractor comprises a tractor body, a control device, a steering wheel, a battery pack, the front axle, the rear axle, a front wheel, a rear wheel and a traction object connection device. The electric tractor is characterized in that the power adjustable motor is arranged between the front axle and the rear axle, the two ends of a shaft of the motor conduct acting, the front end of the shaft of the motor is connected with a drive shaft of a differential mechanism of the front axle through a cross-shaped shaft, the rear end of the shaft of the motor is in transmission connection with a worm body of a worm wheel worm through a coupling, and a worm wheel of the worm wheel worm is fixed to a shaft of the rear axle; the upper walls of the two ends of the front axle are provided with T-shaped slide blocks, and horizontal electromagnetic pushing-pulling devices are arranged at the positions corresponding to the T-shaped slide blocks. The connection portion of the coupling and the worm wheel worm is provided with a clutch. According to the tractor, on the basis of maintaining automatic control over steering, advancing, retreating and the like in the prior art, driving of the front wheel and the rear wheel is achieved through one motor, the power can be regulated according to the state of no-load, light load and heavy load, a tractor body is shortened, the steering radius is small, electric consumption is saved, and noise is low.