97results about How to "Smooth path" patented technology

A product that includes a compressor, a housing and a vibration isolation mount located between the compressor and the housing. The compressor includes an impeller, a first inlet located upstream of the impeller, a first outlet located downstream of the impeller, a second inlet located downstream of the first outlet, and a second outlet located downstream of the second inlet. During operation, fluid enters the compressor via the first inlet and exits the compressor via the first outlet. The mount creates a restriction between the compressor and the housing that causes fluid exiting the first outlet to re-enter the compressor via the second inlet.

A walking/jogging exercise machine includes a machine frame supported upon a generally horizontally extending floor. A shaft is mounted for rotation on the machine frame, and a pair of cams is mounted for rotation on the shaft. A pair of movable track assemblies has rear portions with rear ends pivotally connected to the machine frame, and front portions with movable front ends. A pair of articulated cam follower assemblies extend between the machine frame and the front ends of the track assembly front portions. The cam follower assemblies include cam rollers operably engaged upon peripheries of the cams, and the cam follower assemblies move in response to rotation of the cams. A pair of foot assemblies is mounted for sliding movement on the track assemblies. A linkage arrangement between the cams and the foot assemblies is provided for transferring movement of the foot assemblies to the cams such that the articulated cam follower assemblies enable a leveraged range of up and down movement of the track assemblies to product an increase in bending of a user's knees resulting in a enhanced natural stepping motion.

The invention relates to a feedback fuzzy inference-based unmanned plane real-time route planning method. The method comprises the following steps of: 1, updating a mode of the unmanned plane route; 2, establishing a fuzzy rule base; 3, acquiring a fuzzy antecedent; 4, designing a feedback fuzzy inference method; 5, defuzzifying; 6, determining other parameters; 7, determining the next position of the unmanned plane; and 8, completing the design. Compared with the conventional unmanned plane real-time route planning method, the method ensures that the unmanned plane has primary independent studying capability by applying the feedback fuzzy inference method so as to improve the route planning effect. The real-time route planning method designed according to the method has the advantages of short route, smooth path, global astringency and easy implementation, and is a more practical and reliable unmanned plane real-time route planning method for engineering application.

The invention discloses an underwater robot path optimization method based on Smooth-RRT algorithm, which belongs to the field of optimization. By aiming at the characteristics of complex working environment and high real-time requirement of an underwater robot, for satisfying path programming requirements, based on a classic rapidly-exploring random tree (RRT) algorithm, the method provides the Smooth-RRT algorithm path optimization method. According to the method, a convergence factor and an angle factor are added for improving selection of a growing point and an exploration point of exploring random tree, and algorithm speed and practicality are increased. For considering the special requirements of shortest distance and control performance of the underwater robot, and a greedy algorithm is used for smoothly processing the programmed path. The experiment result shows that the method can rapidly complete route searching, search efficiency is increased, the programmed distance is shortened, the optimized path is suitable for robot tracking, and the requirement of a programming system of the underwater robot can be satisfied.

A device for manipulating a tarpaulin so as to selectively cover and uncover a top aperture of a container. The top aperture defines an aperture peripheral edge, the aperture peripheral edge including two substantially opposed substantially longitudinal segments. The tarpaulin is configurable between an extended configuration and a retracted configuration. In the extended configuration, the tarpaulin substantially covers the top aperture. In the retracted configuration, the tarpaulin is substantially retracted from the top aperture. The device includes an elongated guiding component defining a guiding component longitudinal axis. The guiding component is securable to the container so as to extend at least partially along at least one of the longitudinal segments. A tarpaulin mounting component is usable for attaching the tarpaulin thereto. A link, mechanically coupled to the guiding component, is longitudinally movable therealong between a link proximal position and a link distal position. The tarpaulin mounting component is operatively coupled to the link in a manner such that when the link is in the link proximal position, and the tarpaulin is attached to the tarpaulin mounting component, the tarpaulin is in the retracted configuration. When the link is in the link distal position and the tarpaulin is attached to the tarpaulin mounting component, the tarpaulin is in the extended configuration.

The invention discloses a mobile robot path planning method in an unknown dynamic environment. The method enables each position to be converted into a nerve cell, employs the activity values of nerve cells to represent environment changes, and ingeniously employs a biological motivation nerve network model to simulate a dynamic environment. The biological motivation nerve network model guarantees that the activity values of positive nerve cells can be transmitted outside to affect the whole state space, and the activity values of negative nerve cells just act on a local part. A decision at the next position point comprises a maximum nerve cell activity value and minimum robot corner factor, and an obtained path is the shortest one or about the shortest one. Moreover, the path is smooth, and the number of corners is smaller. The method does not have a problem of local minimum points, is small in calculation amount, is simple in implementation, and is good in adaptability in the unknown dynamic environment.

The invention relates to an intelligent robot obstacle avoiding method based on flow field. It includes the following steps: building the center of robot as point resource, and target point as points converging, and the flow field of obstacle or building a paralleling flow from original point to target point, and adding flow field of obstacle; building the basic formula group and boundary condition that the flow satisfied; solving the flow formula to gain speed and direction of each point in flow field; selecting the speed and direction of one flow line as the input of controlling robot.

The invention discloses a path planning method based on an improved A * algorithm. For a problem that a path is not optimal due to the fact that many turning points exist in the path obtained throughthe A * algorithm, firstly, key inflection points in the path are combined on the basis of the A * algorithm, therefore, the turning points in the path are reduced, cubic spline interpolation points are reduced, interpolation efficiency is improved, secondly, a purpose of smoothing the path is achieved through cubic spline interpolation according to path nodes after inflection point combination, by means of the improved algorithm, the path length is shorter, the whole path is smoother, and the incomplete robot motion is better met.

The invention discloses a path planning method under a mobile robot multi-constraint condition, and belongs to the technical field of the mobile robots. The method comprises the following steps: firstly setting controls points of multiple groups of B spline curves, and then obtaining a plurality of B spline curves composed of discrete points, and representing the plurality of initial robot paths by using the curves; initializing a glowworm swarm through a random point in the control points, computing an initial comprehensive cost value of each glowworm according to a cost function by comprehensively considering the time efficiency, an environmental map and the multi-constraint condition of the robot body motion curvature radius; and then minimizing the glowworm comprehensive cost value according to the glowworm algorithm standard flow so as to obtain a final glowworm swarm and a comprehensive cost value thereof; and selecting the glowworm with the minimum comprehensive cost value as the optimal glowworm, thereby obtaining one group of optimal B spline curve control points, and generating the optimal robot path. The problem that the path is unsmooth and hard to track through the existing path planning method of the mobile robot is solved.

A method for controlling a path of a rotary-wing drone wherein said method comprises:

• • Establishing a first-order temporal relation between flight control parameters and flight dynamics for said rotary-wing drone comprising:
    • An Explicit Discrete Time-Variant State-Space Representation of a translation control of said rotary-wing drone;
    • An Explicit Discrete Time-Variant State-Space Representation of a course control of said rotary-wing drone;
  • Controlling the path of said rotary-wing drone by:
    • Estimating a course of said rotary-wing drone on the basis of said Explicit Discrete Time-Variant State-Space Representation of a course control of said rotary-wing drone;
    • Estimating a position of said rotary-wing drone on the basis of said Explicit Discrete Time-Variant State-Space Representation of a translation control of said rotary-wing drone;
  • said steps of estimating being performed independently.

The invention proposes a method for planning the real-time motion of a mobile robot based on human behavior simulation, and the main contents of the method comprise a multilayer personification behavior path planning frame: simulating the functions of a human brain, human eyes and human legs based on the behavior mode of human planning, correspondingly setting a global layer path planning, sensinglayer path planning, and execution layer path planning; a completeness adjustability path planning algorithm which guarantees the completeness and is high in efficiency, wherein a track planned through the algorithm can meet the kinetics kinetic constraint and environment constraint conditions of the robot; and a dynamic monitoring and recovery behavior strategy: carrying out the real-time dynamic monitoring of a safety distance range in front of the robot, and taking a recovery behavior strategy during emergency, thereby effectively guaranteeing the safety and improving the robustness. The method can achieve the real-time motion planning of the mobile robot in large-scale, dynamic and unstructured indoor environments with an unknown part.

A refuse chute for a building assembled from a plurality of tubular chute sections, the chute sections being stackable in an end-to-end or end-wise nesting relationship and securable to provide an enclosed refuse disposal shaft, at least some of the chute sections having one or more openings in a side wall of the chute section, characterised in that a baffle each is associated with one or more of the openings, the baffle extending from the side wall into the disposal shaft and being preferably inclined such that there is an obtuse angle between the baffle and the opening with which the baffle is associated. A refuse chute section is also claimed.

The invention discloses a microgrid power supply system and a control method thereof. The system comprises a generator, a rectification circuit, a DC (Direct Current)/DC circuit, a charging circuit, a battery pack working mode control circuit, a battery pack, an inversion circuit, a power distribution bus bar and a controller and further comprises a monitoring protection and metering circuit I, a monitoring protection and metering circuit II, a power factor compensation circuit and a battery pack monitoring protection circuit. The microgrid power supply system can work in a grid-connected state, also can realize off-grid power supply, and can be used for effectively combining a solar generator, a stand-by generator and a battery pack to realize reliable and continuous power supply.

A sprinkler is disclosed for improved flow characteristics. The sprinkler has a sprinkler head rotatably supported for distributing water and defining a flow channel for directing water flow therethrough with reduced head loss. The flow channel has a smoothly tapered portion for receiving water and channeling the water towards an outlet in communication with a first nozzle for distributing the water. The flow channel with reduced head loss produces a greater throw distance at a lower trajectory with a lower flow rate and pressure. The flow channel may be formed within a flow channel member positioned within the sprinkler head. The flow channel member may cooperate with the sprinkler head to define a cavity allowing water to pass through the cavity from the flow channel for emission from a plurality of other nozzles.

The invention belongs to the technical field of modern intelligent manufacturing, and relates to a method for resolving the minimum spatial turning path of joints of a mechanical arm in the field of industrial robots. The method comprises the steps that an iteration origin set which can be converged to all inverse kinematics solutions corresponding to a single pose of the mechanical arm is constructed in combination with the chaos phenomenon, iteration origins are sequentially substituted into an LM iterative algorithm to resolve the inverse kinematics solutions; repeated results and results beyond the movement range of the joints of the mechanical arm are eliminated to obtain all feasible inverse kinematics solutions corresponding to the single pose; then, all the feasible inverse kinematics solutions are solved sequentially to obtain all feasible spatial moving path solutions of the joints; and finally, a search algorithm is established to calculate the minimum spatial turning path of the joints of the mechanical arm. By the adoption of the method, the problems of sudden changes of spatial path positions of the joints and large displacement of the joints are effectively solved; and the method has the advantages of high calculation precision and smooth paths and can better meet actual operating requirements of the mechanical arm.

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.

An insert for a die casting assembly. The insert comprises a cast iron insert having a first end, a second end and a body disposed between the first end and the second end, the body having a pour aperture in communication with a pour hole of a shot sleeve. The insert is removeably positioned within a groove of the shot sleeve wherein the molten material that is dispensed from the pour hole and into the pour aperture initially contacts the cast iron insert when the molten material flows into the cast iron insert such that the cast iron insert withstands heat erosion effects applied by the molten material to provide a smooth path for the plunger as the plunger reciprocates within a sleeve bore of the shot sleeve and pushes the molten material into a mold cavity.

The invention provides an RRT unmanned aerial vehicle path planning method based on driver visual perception imitation, and belongs to the technical field of unmanned aerial vehicle control. A plurality of driver visual guide points are arranged in a state space to serve as nodes which must be passed in an unmanned aerial vehicle path, and the driver visual guide points divide the unmanned aerialvehicle path between a starting point and a target point into a plurality of track segments; the path planning is carried out on each track segment by applying an improved RRT algorithm; the improvedRRT algorithm introduces a target deflection thought in a traditional RRT algorithm; a constraint caused by the physical performance of an unmanned aerial vehicle is considered, and a track distance constraint is added; and the path planning of the unmanned aerial vehicle is obtained in combination with planning results of all the track segments. According to the method, the problems that an existing unmanned aerial vehicle is low in search speed and sometimes has search failure during the path planning in a complex blocked environment are solved. The method can be used for the path planning of the unmanned aerial vehicle in the complex environment.

The present invention relates to a path planning method through collaboration of multiple underwater robots. The method comprises the steps of: employing a discretization method in a rotating coordinate system to perform modeling of a planning space; giving a target function and constraint conditions to perform optimal modeling of the path planning of each underwater robot; obtaining the optimal path of each underwater robot according to the planning space model and the optimal model of path planning of an underwater robot; and according to the optimal path of each underwater robot, determining the optimal index function of the multiple underwater robots in the collaborative constraint conditions to obtain the optimal path of the multiple underwater robots. The navigation path of each underwater robot is primarily planned based on the improved consistency theory to re-plan the path of each underwater robot on this basis to meet the collaborative constraint conditions, and therefore, the path planning method through collaboration of multiple underwater robots is simple and feasible, smooth in path, short in optimization time and high in efficiency.

The invention is applicable to the technical field of robots, and particularly relates to a path planning method and device, a robot and a storage medium method and device. The method comprises the steps of determining a first control point and a target point, and obtaining an original map of the robot from the first control point to the target point; processing the original map by using an artificial potential field method to obtain a potential field map; according to the first control point, the target point, a control point calculation formula and a control point screening rule, calculatingand selecting J control points located between the first control point and the target point in the potential field map; determining K spline curves passing through the first control point, the J control points and the target point; and planning a walking path of the robot according to the K spline curves. According to the invention, the problems of strong randomness and poor controllability of the path planning algorithm of the existing mobile robot can be solved, so that the planned path is smooth, the motion characteristics of the robot are met, better obstacle avoidance capability can be achieved, and smoother sensory experience is provided for people.