68results about How to "Strong obstacle avoidance ability" patented technology

The invention discloses a central air conditioner intelligent control system based on a wireless sensor network and a method, and belongs to the technical field of central air conditioner control. The central air conditioner intelligent control system comprises an intelligent information management center, wireless communication devices, a central air conditioner information monitoring and control module, a room information monitoring and control module and the like. The invention adopts the method that the central air conditioner intelligent control system is used to monitor information, build a data base, calculate current load of the system, and realize advance, accurate and optimized control of a central air conditioner system by combining a short-term loading forecasting method based on similar dates and fuzzy control technology, as well as taking the temperature variation of supply/return chilled/cooling water of a central air conditioner as the manipulated variable. The central air conditioner intelligent control system has the characteristics of great communication capacity, guaranteed communication quality, powerful network functions, wide monitoring range and extensive control quantity of the central air conditioner system, optimized control, high control accuracy, good energy saving effect and the like, and can be widely used in energy-saving optimizing control of various buildings, and is particularly suitable for energy-saving optimizing control of central air conditioners of intelligent buildings.

The invention provides a multi-joint service robot arm which can achieve translational decoupling along the Z direction; the structure of the arm uses a U RR+R type which consists of a shoulder joint which has two swing pairs, an elbow joint which has a swing pair, a wrist joint which has a rotation pair and a swing pair, a large arm which is connected between the shoulder joint and the elbow joint, a small arm which is connected between the elbow joint and the wrist joint, and paws which are connected with the wrist joint; the shoulder joint comprises a parallelogram mechanism and a shoulder connecting body; the driving arm of the shoulder joint is connected with a motor connecting shaft sleeve which is connected with the motor output shaft; the shoulder connecting body is arranged on the connecting arm of the parallelogram mechanism; the shoulder connecting body comprises a bracket which consists of a supporting plate and a supporting angle aluminium; the bracket is connected with a shoulder actuator and a transmission plate; the actuator is fixed on the bracket; the shoulder transmission plate is connected with the bracket; the actuator output shaft is connected with the transmission plate; the transmission plate is connected with one end of the large arm.

The invention discloses a rope-driven multi-joint flexible mechanical arm. The rope-driven multi-joint flexible mechanical arm comprises a plurality of joint rod units connected in series in the axialdirection, wherein in any two adjacent joint rod units, the bottom end part of one joint rod unit is sleeved with the top end of the other joint rod unit, the top end of one joint rod unit is flexibly connected with the top end of the other joint rod unit through a spring assembly, the bottom end of one joint rod unit is flexibly connected with the top end of the other joint rod unit through a spring assembly, and a plurality of rope penetrating holes are formed in each joint rod unit. External contact or collision force of the mechanical arm can be rapidly dispersed through a load path formed by the joint rod units and the spring assemblies, so that rigid collision impact between the mechanical arm and a target is avoided, and the mechanical arm is suitable for non-cooperative target capture; and by elastically deforming the spring assemblies, relative rotation between the joint rod units is driven, so that bending deformation of the mechanical arm is controlled.

The invention relates to a spider-like glass facade cleaning robot. The spider-like glass facade cleaning robot comprises a robot shell, a control device, a motion mechanism, a water flow channel anda cleaning mechanism, wherein rods transversely and longitudinally penetrating through the shell are arranged on the robot shell, a carrying platform is arranged on the robot shell, a motor, a singlechip microcontroller unit and a sensor are arranged on the carrying platform, and the motor and the sensor are connected with the single chip microcontroller unit; the motion mechanism comprises a crank-link mechanism, a rack and pinion mechanism and suction discs, and the suction discs are installed at the tail ends on the inner sides of the crank-link mechanism and the rack and pinion mechanismrespectively, the robot moves up and down through the advance and return movement of the crank-link mechanism, and the robot translates left and right through the rack and pinion mechanism; the cleaning mechanisms are symmetrically arranged at the two ends of the robot shell. The spider-like glass facade cleaning robot has a high obstacle crossing performance, the robot can automatically cross a certain obstacle without assisting, and trackless cleaning can be achieved, so that the cost is reduced; the robot can be suitable for glass facades of different buildings.

The invention discloses a wheel and crawler composite type pipeline robot. The wheel and crawler composite type pipeline robot comprises a crawler type traveling drive device, two driven wheel deviceand a controller; two L-type supports are arranged on the traveling drive device in a bilateral symmetry mode; one ends of the two L-type supports are fixed to the traveling drive device, and the other ends of the two L-type supports are vertically downward; the two driven wheel devices are installed on the two L-type supports; the driven wheel devices comprise driven wheels, lifting mechanisms for driving the driven wheels to lift and steering mechanisms for driving the driven wheels to turn; the lifting mechanisms comprise first motors, first drive gears, first driven gears, lead screws andguide rods; the steering mechanisms comprise second motors, second drive gears, second driven gears and rotary shafts; the driven wheels are provided with pressure sensors; and the controller is connected with the traveling drive device, the first motors, the second motors and the pressure sensors. The wheel and crawler composite type pipeline robot has the excellent pipe diameter adaption ability, obstacle climbing ability and traction ability.

The invention discloses a remote sensing surveying and mapping unmanned aerial vehicle with high safety, which comprises a vehicle body, wings are arranged on the two sides of the vehicle body, a front propeller is arranged in the front of the vehicle body, and a tail vane is arranged at the tail of the vehicle body; wherein a fixed rod parallel to the aircraft body is symmetrically fixed in each of the two wings, vertical propellers are rotatably arranged at the two ends of each fixed rod, and each vertical propeller can be driven by a vertical motor fixed in the corresponding fixed rod to rotate; a plurality of arc-shaped protection blocking pieces are distributed at the bottom of the vertical propeller in the circumferential direction of the vertical propeller, the protection blocking pieces are connected with the fixing rod through protection rods, and the protection rods can adjust the distance between the protection blocking pieces and the center of the vertical propeller; compared with the prior art, the unmanned aerial vehicle can be in a vertical lifting mode and a fixed wing mode and is good in maneuverability, high in surveying and mapping efficiency and large in activity range. And the protection blocking pieces can be opened and closed, a protection net is formed between the protection blocking pieces and the protection ropes, safety is high when the device is close to the ground, and air resistance is small when the unmanned aerial vehicle is high.

The invention discloses a hydraulic drive type foot type bionic humanoid robot and relates to the field of fluid transmission and control innovation. The robot comprises leg mechanical structures andhydraulic systems; the leg mechanical structures are used for being installed on an upper limb connecting frame of the robot in pairs, and each leg mechanical structure comprises a hip joint, a thighplate, a knee joint, a shank plate, an ankle joint and a foot plate which are sequentially connected from top to bottom; under the control of the hydraulic systems, the hip joints can achieve rotation, side swing and/or pitching actions, the knee joints can achieve pitching actions, and the ankle joints can achieve front-back pitching and/or left-right side swing actions. The robot is higher in movement flexibility, higher in obstacle avoidance capacity, higher in whole machine integration power-to-weight ratio, stable in work, small in reversing impact, quick in response, large in thrust andhigher in load capacity, overall components of the pump station system are vertically and integrally installed and arranged, the size of a robot pump station is effectively reduced, connecting pipes are conveniently connected with an oil way of a lower limb mechanism, and practicability is higher.

The invention discloses a four-degree-of-freedom multi-eye visual rotary flight type picking robot and a picking method thereof. The picking robot comprises an unmanned aerial vehicle, a picking mechanism and a multi-eye visual device, wherein the picking mechanism comprises a telescopic rod and a picking mechanical hand, and the picking mechanism and the multi-eye visual device are mounted on theunmanned aerial vehicle; and the unmanned aerial vehicle communicates with an industrial control computer and a computer through a cable or wireless manner for data transmission and system control. Integrated design of the unmanned aerial vehicle and the picking mechanism is realized, the four-degree-of-freedom multi-eye visual rotary flight type picking robot is a four-degree-of-freedom pickingrobot, multiple-oriented picking can be realized, the picking range is extended, and the picking efficiency is improved; and the designed picking mechanical hand can dynamically change free expandingand contracting of middle finger joints of three fingers according to the size of fruits, the holding capacity of the mechanical hand on the fruits is improved, and the applicability is high.

The invention provides a zero backward thrust composite wing aircraft with ducted fan composite ailerons. The zero backward thrust composite wing aircraft with the ducted fan composite ailerons comprises an aircraft body and composite lift wings which are fixedly mounted on the two sides of the aircraft body, wherein the aircraft body is arranged as a deck platform; self-sealing ducted fans are embedded in the composite lift wings; wing hinges are designed on the external sides of the composite lift wings; ducted fan propellers are arranged at the front ends of ducted fan thrust self-energizedcomposite ailerons; the self-sealing ducted fans are arranged in the ducted fan thrust self-energized composite ailerons; electricity, liquid and gas ports and the wing hinges are arranged on one sides or two sides of the ducted fan thrust self-energized composite ailerons; and the ducted fan thrust self-energized composite ailerons are movably connected with the composite lift wings through thewing hinges. The zero backward thrust composite wing aircraft with the ducted fan composite ailerons has the characteristics that the taking-off and landing distance is short, the flying speed is high, the structural strength of the wings is high, the wings can store energy, the flying energy consumption is low, the hang time is long, the safety is high and so on; and the ailerons adopt compositelift forces to guarantee appropriate power.

The invention provides a foldable composite wing aircraft with twin-propeller thrust composite ailerons. The foldable composite wing aircraft with the twin-propeller thrust composite ailerons comprises an aircraft body and composite lift wings, wherein the composite lift wings are mounted on the two sides of the aircraft body in a foldable manner; the aircraft body is arranged as a deck platform;self-sealing ducted fans are embedded in the composite lift wings; wing hinges are designed on the external sides of the composite lift wings; propellers are arranged at the front ends of propeller thrust self-energized composite ailerons; self-sealing ducted fans are arranged in the propeller thrust self-energized composite ailerons; electricity, liquid and gas ports and wing hinges are arrangedon one side or two sides of the propeller thrust self-energized composite ailerons; and the propeller thrust self-energized composite ailerons are movably connected with the composite lift wings through the wing hinges. The foldable composite wing aircraft with the twin-propeller thrust composite ailerons has the advantages that the take-off and landing distance is short, the flying speed is high,the structural intensity of the wings is high, the wings can store energy, the flying energy consumption is low, the hang time is long, the safety is high and so on; the ailerons adopt composite lifts so that the adaption range of the power is guaranteed.

The invention provides a rear single-duct fan type combined wing manned aircraft which is composed of a rear single-duct fan type combined wing aircraft and a manned cabin. The rear single-duct fan type combined wing aircraft comprises an aircraft body, combined lift force wings fixedly installed on the two sides of the aircraft body and a ducted fan propeller. The aircraft body is arranged to bea deck platform. Self-closed ducted fans are arranged in the combined lift force wings, and wing hinges are designed on the outer sides of the combined lift force wings. The manned cabin is installedbelow the aircraft body. The rear single-duct fan type combined wing manned aircraft has the beneficial effects of being short in take-off and landing distance, high in flight speed, high in wing structural strength, capable of storing energy through the wings, low in flight energy consumption, long in hang time, high in safety and the like.

The unmanned robot comprises a vehicle body, a movement mechanism and a mechanical gripper, a controller and a first detector are arranged on the vehicle body, a driving mechanism is arranged at the bottom of the vehicle body, the mechanical gripper comprises a fixed rod, a rotating rod and a gripper, a first driver is arranged on the fixed rod, and a second driver is arranged on the rotating rod. The first driver controls the rotating rod to rotate, the gripper is installed at the end of the rotating rod, a second driver is arranged in the rotating rod to control opening and closing of the gripper, a second detector is installed on the fixed rod, and the detection area of the second detector is located in front of the gripper. A collecting box used for storing fruits is installed on the vehicle body, and lossless fruit picking can be achieved.

The invention relates to a rear single ducted fan type composite wing aircraft with double ducted fan composite ailerons. The rear single ducted fan type composite wing aircraft with the double ductedfan composite ailerons comprises a rear single ducted fan type composite wing aircraft and ducted fan thrust self-energized composite ailerons which are assembled on the two sides of the rear singleducted fan type composite wing aircraft, wherein the rear single ducted fan type composite wing aircraft comprises an aircraft body, composite lift wings and a propeller, wherein the composite lift wings are fixedly mounted on the two sides of the aircraft body; the aircraft body is a deck platform; self-sealed ducted fans are placed in the composite lift wings; wing hinges are designed on the external sides of the composite lift wings; self-sealed ducted fans are arranged in the ducted fan thrust self-energized composite ailerons; electric, liquid and gas interfaces and wing hinges are arranged on one sides or two sides of the ducted fan thrust self-energized composite ailerons; and the ducted fan thrust self-energized composite ailerons are movably connected with the composite lift wingsthrough the wing hinges. The rear single ducted fan type composite wing aircraft with the double ducted fan composite ailerons has the advantages of short takeoff and landing distance, high flying speed, high wing structural strength, energy storage ability of the wing, low flying energy consumption, long hang time and so on; and the large-area composite lift wings can have effects of gliders inan emergency case, the safety of the aircraft is greatly enhanced, and safeties of personnel and materials are guaranteed.

The invention discloses a composite lift force aircraft with a development platform. The composite lift force aircraft consist of a rear single-propeller type composite wing aircraft, thrust-free self-powered composite auxiliary wings assembled at the two sides of the rear single-propeller type composite wing aircraft and an manned bin, wherein the rear single-propeller type composite wing aircraft comprises a machine body, composite lift force wings which are mounted at the two sides of the machine body in a foldable mode, and a propeller; the machine body is a deck platform; self-sealing ducted fans are arranged in the composite lift force wings; wing hinges are designed at the outer sides of the composite lift force wings; self-sealing ducted fans are arranged in the thrust-free self-powered composite auxiliary wings; an electric-liquid gas interface and a wing hinge are arranged at one side or the two sides of each propeller thrust self-powered composite auxiliary wing, and are movably connected with the composite lift force wings through the wing hinges; and the manned bin 112 is mounted below the machine body. The composite lift force aircraft has the characteristics of beingshort in takeoff and landing distance, high in flying speed, high in wing structural strength, capable of storing energy by wings, low in flying energy consumption, long in hang time, high in safetyand the like.

The invention relates to a rear single screw foldable composite wing manned craft with an additional wing. The rear single screw foldable composite wing manned craft comprises a craft body, the composite lift force wings mounted at the two sides of the craft body in a foldable manner and a propeller, wherein the craft body is arranged as a deck platform, the self-sealing ducted fans are arranged in the composite lift force wings, and the wing hinges are designed at the outer sides of the composite lift force wings; a manned cabin is arranged below the craft body, a magnetic type automatic interlocking interface male connector and a magnetic type automatic interlocking interface female connector are respectively arranged in front of and behind the composite lift force wings, and the magnetic type automatic interlocking interface male connector and the magnetic type automatic interlocking interface female connector have the same size. A wing hinge and an electric-hydraulic-gas interfaceare arranged on one side, facing the craft body, of the additional wing, and the additional wings are installed at the outer sides of the composite lift force wings in a foldable manner through the wing hinges. The craft has the characteristics of short take-off and landing distances, high flight speed, high structural strength of the wings, energy storage wings, low flight energy consumption, long hang time, high safety and the like.