35results about How to "With obstacle avoidance function" patented technology

The invention relates to an intersection identification and intersection trajectory planning method for an intelligent vehicle in an urban road running process. The method is actual application of an automatic driving technology and an auxiliary driving technology on the basis of intelligent traffic. The method is characterized in that intersections are divided into four types of typical intersection bodies, intersection identification is conducted through a multisensory infusion mode and a four-layer early warning template matching method, road edge disappearing points are determined as intersection entry points, template center points matched with the intersections are determined as intersection exit points, trajectory planning is conducted through a double-RRT method as so to achieve intersection identification and tracking. The intersection identification and intersection trajectory planning method has the advantages that the intelligent vehicle can cope with the complex environment of urban traffic intersections through intersection identification and planning, the intelligent driving problems that the intelligent vehicle is lost at the intersections and can pass through the intersections only through accurate navigation are solved, the adaptive capacity to the environment of the intelligent vehicle is improved, and important technological support is provided for intelligent driving under the complex urban environment.

The invention discloses an unmanned operational intelligent ship apparatus which comprises an intelligent ship body. The intelligent ship body is provided with a main control module. The main control module is connected with a navigation system, a water quality detection system and a data transmission module. The water quality detection system comprises a sensor module arranged at the lower part of the intelligent ship body. The navigation system comprises a Beidou and GPS dual-mode positioning module and a compass module. The main control module is further connected with an execution mechanism, a range finding module, and an electricity amount detection system. The data transmission module communicates data with an intelligent terminal. The intelligent terminal is provided therein with a control system APP used to control the intelligent ship. The apparatus and the control system of the invention are able to realize self-cruise, to automatically avoid barriers, to automatically back charge, to communicate data with the intelligent terminal and to control an unmanned operational intelligent ship according to the data acquired on the site. And at the same time, the monitoring and managing of the intelligent ship and the water areas become more convenient by providing checkable intelligent ship's travel trajectory at any time, the ship power amount state, the water quality parameters of a culturing area to control the working of the intelligent ship.

The invention relates to an unmanned aerial vehicle indoor positioning system and method with an obstacle avoidance function, and belongs to the technical field of unmanned aerial vehicle positioning.According to the unmanned aerial vehicle indoor positioning system and method with the obstacle avoidance function, an indoor 3D point cloud image is collected in real time through a laser radar system, and a plane of the 3D point cloud image and the distance between the plane and the position of the unmanned aerial vehicle are detected to obtain the distance between the current position of the unmanned aerial vehicle and an obstacle; the distance from an UWB tag on the unmanned aerial vehicle to a positioning base station is acquired in real time through a UWB system, the coordinates of theUWB tag on the unmanned aerial vehicle are calculated and corrected, and the horizontal translation amount of the target position of the unmanned aerial vehicle and the current position of the unmanned aerial vehicle is calculated; and a central control module is used for receiving signals of the laser radar system and the UWB system and sending out control instructions to control the precise flight of the unmanned aerial vehicle.

The invention relates to a front fork and rear rack transfer robot which comprises a self-propelled chassis. The front fork and rear rack transfer robot is characterized in that a rack and a fork lifting mechanism are arranged on the self-propelled chassis, and the self-propelled chassis, the rack and the fork lifting mechanism are fixedly connected together. One side of the self-propelled chassisadjacent to the fork lifting mechanism is connected with a self-balancing supporting leg. The outer side of the fork lifting mechanism is connected with a flat plate, a rotating disk capable of rotating by 90 degrees is arranged on the flat plate, and a telescopic fork capable of bidirectionally extending and retracting is arranged on the rotating disk. By the aid of the front fork and rear racktransfer robot, a dealer does not need to upgrade or rebuild warehouse racks, does not need to enlarge the distance and the walkway between the racks and does not need to invest heavily, economic benefits are greatly improved, and the front fork and rear rack transfer robot avoids the embarrassment that a backpack transfer robot transfers a whole rack once and only can finish sorting commodities with one specification, and transfer efficiency is greatly improved.

The invention relates to a curtain wall unmanned cleaning host control system, which comprises an unmanned cleaning host, a safety fixed end and a control center; the control system is characterized in that the unmanned cleaning host comprises a vision module, a curtain wall cleaning system, a flight control system and a wireless communication module; the safety fixed end comprises a wireless communication module, a power supply module, a cleaning liquid supply module and a rope length control system; and the control center comprises a wireless communication module, a display module and a calculating and processing module. According to the system, through three-dimensional vision localization, a three-dimensional model of curtain wall surface is constituted; and the system, on the basis ofrecognition of the profile of a to-be-cleaned region, is fixed and stopped in the to-be-cleaned region in a suspending mode, so that cleaning treatment can be conveniently conducted on the surface byvirtue of the cleaning system.

The invention discloses a power distribution network operation robot and a working method thereof. The robot comprises an electric pole climbing device and a grounding wire clamp hanging device. The electric pole climbing device comprises an upper support and a lower support which are arranged in the axial direction of an electric pole, and a telescopic assembly is arranged between the upper support and the lower support. The upper support and the lower support are each provided with an overturning assembly, and each overturning assembly is provided with two holding assemblies which move synchronously. The holding assemblies act and are used for holding or loosening an electric pole. A torsion assembly is further arranged between the upper support and the lower support, and the torsion assembly acts and is used for selectively driving the upper support or the lower support to rotate around the electric pole. The grounding wire clamp hanging device comprises an extension seat, the extension seat is suitable for being installed on the electric pole climbing device and extends in the direction away from an electric pole, a first driving assembly is arranged on the extension seat, a placement seat is arranged at the upper end of the first driving assembly, and a plurality of grounding wire clamps are sequentially placed in the placement seat. The robot can climb an electric pole and hang a grounding wire clamp on a high-voltage cable.

The invention provides a pose control method and an optical navigation system and a surgical robot system applicable to the pose control method. The pose control method comprises the following steps of acquiring at least one monitoring image of a monitoring area between an optical tracking system and a surgical area; determining the surgical area based on the position of at least one optical marker; and when it is determined that a shielding object exists in the monitoring area according to the monitoring image, adjusting the position and / or posture of the optical tracking system so as to enable the shielding object to be located outside a new monitoring area formed between the adjusted optical tracking system and the operation area. The pose control method can solve the problem that in the prior art, a marker in an optical surgical navigation system is shielded, so that the surgical efficiency and smoothness are affected.

The invention provides an automatic vending trolley for a train, and particularly relates to the field of vending trolley equipment. The automatic vending trolley for the train comprises a trolley body; the interior of the trolley body is hollow and the upper end of the trolley body is provided with an opening; the two sides of the front end and the two sides of the rear end of the bottom of the trolley body are rotatably provided with front walking wheels and rear walking wheels; and a driving device corresponding to the rear walking wheels is arranged in the trolley body. The automatic vending trolley further comprises a track positioning system, a controller and a payment system, wherein a partition plate is arranged in the trolley body; the partition plate divides the interior of the trolley body into a first cavity and a second cavity which are independent in an up-down manner; commodities are placed in the second cavity; the track positioning system and the payment system are arranged on the trolley body; and the controller is arranged in the first cavity and is electrically connected with the driving device, the track positioning system and the payment system.

The invention relates to the technical field of bridge inspection, in particular to an arched bridge video inspection vehicle comprising: a main vehicle body provided with a camera mechanism; a walking mechanism that walks along the bridge top of the arched bridge and is used for driving the main vehicle body to move; a leveling mechanism installed between the walking mechanism and the main vehicle body and movably connected with the main vehicle body. In the moving process of the walking mechanism, the main vehicle body is adjusted in real time by the leveling mechanism, so that the main vehicle body is kept vertical. The invention further provides a matching structure of the arched bridge video inspection vehicle and a track. The arched bridge video inspection vehicle provided by the invention can be remotely operated, and is high in safety, high in automation degree, simple to operate, low in labor intensity and wide in application range.

The invention relates to a double-track ultrasonic flaw detection vehicle unmanned driving system and a remote monitoring system. The double-track ultrasonic flaw detection vehicle unmanned driving system comprises a vehicle body controller, an environment sensing module, a detection device, a behavior decision module, an information processing platform and a remote monitoring platform; the vehicle body controller is respectively connected and communicated with the environment sensing module, the detection device and the behavior decision module; and one end of the information processing platform is in bidirectional connection communication with the vehicle body controller, and the other end of the information processing platform is in bidirectional connection communication with the remotemonitoring platform. The remote monitoring system comprises an operation parameter module, a flaw detection working condition module, a file storage module, a parameter setting module and an information transmission module. The double-track ultrasonic flaw detection vehicle unmanned driving system and the remote monitoring system utilize a large interconnection platform of all things, take the research of the unmanned intelligent small car as an entry point, adopt various sensors and wireless communication networks, and have the advantages of high precision, self-walking, obstacle avoidance function, GPS positioning and navigation, environment perception, path planning, GPRS wireless data transmission and remote control.

The invention discloses a snow shovel and belongs to the field of engineering machinery. The snow shovel comprises a pushing plate assembly, a front support and a hinging frame, a horizontally-arranged connecting shaft is fixedly arranged on the front support, and the pushing plate assembly is movably connected to the front support through a connecting shaft. A spring is connected between the backof the pushing plate assembly and the front support, and the front support is hinged to the hinging frame through a vertically-arranged pin shaft. According to the snow shovel, the angles in the up-down and left-right directions can be adjusted, the snow removal requirement of roads of different road conditions is better met, the obstacle avoidance function is achieved, and a pushing plate is downwards overturned after encountering an obstacle and can be automatically recovered to the original position after avoiding the obstacle.

The invention belongs to the technical field of automation, and relates to a falling forest fruit pickup robot. The robot comprises a combined power supply device, a self-propelled moving chassis anda manipulation control device, and is characterized by further comprising pickup units, a fruit collector, a conveying mechanism and horizontal swinging mechanisms; the fruit collector is arranged onthe self-propelled moving chassis in a rolling manner; the conveying mechanism is arranged on the fruit collector; the combined power supply device and the pickup units are all arranged on the conveying mechanism; ends of the horizontal swinging mechanism are symmetrically arranged on the self-propelled moving chassis, and the other ends of the horizontal swinging mechanisms are hinged with the conveying mechanism; and the manipulation control device is in a control connection with the self-propelled moving chassis, the conveying mechanism and the horizontal swinging mechanisms. The robot hasthe advantages of being scientific and reasonable in structural design, automatically moving and avoiding obstacles, performing picking and impurity removal synchronously, adapting to complex and diverse topographic conditions of orchards, being high in picking efficiency and less in damage, having a good effect and a wide application range, and the like, and is a falling forest fruit pickup robotwith a relatively high innovation.

The invention discloses an underground high-radiation space source item surveying robot. The underground high-radiation space source item surveying robot comprises a bearing car body, wherein a lifting device is mounted on the bearing car body; up-down traction force is provided for the lifting device by a traction device; a mechanical arm is mounted at the tail end of the lifting device; a detector clamp is mounted at the tail end of the mechanical arm; and detecting equipment is clamped on the detector clamp.

The invention discloses a wall-climbing robot with an obstacle crossing function. The wall-climbing robot comprises a chassis mechanism and an upper-layer obstacle crossing mechanism mounted above the chassis mechanism. The invention discloses an obstacle crossing method of a wall-climbing robot with an obstacle crossing function. The method comprises the following steps: sucking a sucking disc on a wall surface; loosening the vacuum cavity from the wall surface; enabling the screw rod motor to rotate to lift the chassis mechanism to a set height; enabling the large air cylinder to contract to push the chassis mechanism out of the obstacle, and achieving the obstacle crossing. The two vacuum cavities are combined with the two sets of suction cup parts, suction cup adsorption is used for providing adsorption for obstacle crossing, vacuum adsorption can be used for guaranteeing that the robot does not fall off in the movement process; gas pumping is conducted through the micro vacuum pump, so the complexity caused by pipeline arrangement is prevented, and the problem that the height of the robot is limited due to the length of the air pipe is solved; and the safety of the robot is further improved by adopting a specific number of suckers and vacuum cavities.

The invention provides a novel infrared temperature detection device. A first rotating motor of an ascending and descending mechanism is located and mounted below a support. A rotating shaft of the first rotating motor is connected with a screw and is used for driving the screw to rotate in the axial direction through the first rotating motor. A limiting nut is arranged on the screw, and a slidingblock on the limiting nut achieves up-and-down limiting motion in a limiting sliding groove of the support. A rotating shaft of a second rotating motor of an axial rotating mechanism is connected with the support and is used for achieving axial rotating of the ascending and descending mechanism. Multiple adjusting rods of an adjusting mechanism are hinged in sequence to form a foldable locating and adjusting structure. Adjusting nuts are arranged on the adjusting rods. Mounting holes of infrared temperature detection sensors are formed in the adjusting nuts. Through the ascending and descending mechanism, the axial rotating mechanism and the adjusting mechanism, the infrared temperature detection sensors on the device can be located and arranged in surrounding space in multiple directions, the structure is relatively simple, and the device is economical and practical.

The invention discloses a shot blasting robot for a ship deck and an operation method. The shot blasting robot comprises a remote controller, a shot blasting device and a dust removal device; The shot blasting device is used for executing rust and paint removal operation on the ship deck, the dust removal device is used for recycling dust generated during cleaning of the shot blasting device, the shot blasting device and the dust removal device are connected through a hose, a cable and a network cable, and the remote controller is used for controlling the shot blasting device and the dust removal device to cooperate with each other to complete shot blasting operation; and the operation method comprises a remote control operation method and a guidance planning operation method. The problems of wide construction range, low efficiency, serious environmental pollution and the like in paint and rust removal operation are solved, obstacles can be detected and avoided, maintenance is convenient, and operation is easy.

The invention discloses a multifunctional portable single-person electric trolley. The trolley comprises a frame, a handlebar, a rotating shaft, a bearing seat, a bearing, a front wheel, a pair of rear wheels, a seat and a support rod, the trolley also comprises a hub motor, a hub motor controller and a power supply, a cover piece is arranged on the upper end surface of the frame, the edge of thecover piece extends to the edge of the frame, the contour of the edge of the cover piece adapts to a frame edge contour, the upper portion of the rotating shaft is provided with a first folding hingewith a locking mechanism, the rotating shaft can be folded in the direction close to the cover piece around the first folding hinge, the lower end of the support rod is connected with the frame through a second folding hinge with a locking mechanism, the front wheel is rotationally connected with the lower end of the rotating shaft through a shock absorber, the hub motor is arranged in the front wheel and is electrically connected with the hub motor controller, the power supply is fixed on the frame below the cover piece and is electrically connected with the hub motor controller through a wire, a control button is further arranged on the wire connected between the power supply and the hub motor controller, and the scheme is reliable in implementation and flexible in use.

The invention discloses a power cable hosting robot, which includes a main frame, a support arm, side wings and a control box. Two anti-skid tires are installed on the bottom of the main frame, wherein a wheel hub motor is installed inside the anti-skid tire at the back, and the main frame The side wings are installed on both sides of the side wing, and two rows of rollers are installed on the side wings, and a secondary wheel is installed at the bottom of each of the rollers, and a battery pack is installed on the top of the main frame, and the front of the battery pack is set There is a spring strut, the support arm is installed on the top of the spring strut through a rotating shaft, a support wheel is installed in the middle of the rotating shaft connected between the support arm and the spring strut, and the other end of the support arm passes through The hinge is fixed above the main frame. The beneficial effect is that the traction line can be automatically dragged from one end of the pipeline to the other end, saving time and labor, and has the function of avoiding obstacles, so that the pipeline to be threaded can be lengthened and turned.

The invention discloses an intelligent community fire-fighting lifesaving device, and relates to the technical field of fire fighting. The problem that an existing device needs auxiliary equipment tomove is solved. The device specifically comprises a machine body, four vertical frames are fixedly connected to the outer wall of the top of the machine body, four moving mechanisms are fixedly connected to the outer wall of one side of the vertical frames, and a manned assembly is fixedly connected to the outer wall of the top of the machine body. The moving mechanisms are arranged, wherein moving assemblies are in charge of main driving and provide moving capacity for the whole device; direction assemblies can change the moving direction of the moving assemblies and facilitate shuttling in complex roads of a community, and then rotating arm assemblies can control the position of the moving assemblies, so that the device still has the traffic capacity on the narrow ground; finally, adjusting assemblies are started, the height of the machine body relative to the moving assemblies can be adjusted, then the machine body has an obstacle avoidance function, and the device can adapt to various complex road conditions of a community.

The invention belongs to the technical field of unmanned aerial vehicles, particularly relates to an unmanned aerial vehicle with a radar terrain exploration function, and provides the following scheme for solving the problem that radar installation is inconvenient: the unmanned aerial vehicle comprises a main body, a ferrule is arranged on the outer side of the main body, a connecting rod is welded to the outer side of the ferrule, a shell is welded to the top end of the connecting rod, a distance sensor is embedded in the outer wall of the shell, a fixing plate is welded to the middle of the bottom of the main body, a mounting plate is arranged below the fixing plate, a sliding groove is formed in the fixing plate, a strip-shaped sliding block is arranged in the sliding groove, L-shaped inserting rods are welded to the two sides of the middle of the top of the mounting plate, a damping rod is welded between one end of the sliding groove and one ends of the strip-shaped sliding block, a bolt penetrates through one side of the exterior of a fixing plate, fixing grooves are formed in the bottom of the strip-shaped sliding block, and slopes are arranged on the inner walls of one sides of the two fixing grooves. The radar is simple in mounting and dismounting steps, convenient and fast to operate, time-saving and labor-saving, can repel birds, and has an obstacle avoidance function.

The invention discloses a greening comprehensive maintenance truck with front obstacle avoiding, mowing and anti-collision functions. The greening comprehensive maintenance truck comprises a frame assembly, a driving control room and a displayer, a hydraulic driving machine is fixedly arranged at the top of the frame assembly, an obstacle-avoiding mowing mechanism is arranged at the bottom of the front side of the driving control room, an anti-collision mechanism is arranged at the top of the rear side of the frame assembly, and a trimming mechanism is arranged at the top of the frame assembly. When the greening comprehensive maintenance truck encounters an obstacle in front, a cutterhead horizontally rotates at the bottom of a rotating seat through a shaft rod to avoid the obstacle, and after the obstacle is completely avoided, the cutterhead automatically rotates to the initial position for use under the action of a tension spring; a first buffering bag, a second buffering bag and an arc-shaped connecting piece assist in buffering the frame assembly; and the greening comprehensive maintenance truck is provided with the obstacle-avoiding mowing mechanism, manual mowing is not needed, the obstacle-avoiding function is achieved in the mowing process, the mowing area is wide, the anti-collision mechanism is arranged behind the maintenance truck, and the safety performance is good.

The intelligent backpack comprises an electronic lock, a Bluetooth module, a processor module, a camera module, a loudspeaker module, a power module, a weather module, a memo module and a sensing module, the electronic lock is used for locking an opening of the backpack, and the Bluetooth module is used for being wirelessly connected with mobile equipment. The processor module is used for carrying out data information exchange with mobile equipment, the camera module is used for collecting character head portraits and determining whether the character head portraits are people, the weather module is used for reading weather conditions in the mobile equipment and sending information to the processor module, and the memorandum module is used for reading memorandum information in the mobile equipment and sending the memorandum information to the processor module. The sensing module is used for sensing whether the knapsack is lifted or not and sending a signal to the processor module when the knapsack is lifted, and the processor module plays weather information and memo information through the loudspeaker module. A user can be reminded of articles needing to be carried, travel weather is informed, and travel is more comfortable.

The invention discloses a method for planning an obstacle avoidance path of an aircraft, and relates to the technical field of path planning. The method comprises the following steps: generating path trajectory data under a barrier-free condition according to a defined range, a rotation angle and a row spacing; obstacles are added in the delineated land parcels, and tracks are correspondingly adjusted; initial track points are input, the track points are cyclically traversed, and whether the track points intersect with the obstacles or not is judged in a pairwise mode; if not, the intersection situation is repeatedly judged; if so, respectively calculating the intersection point of the connecting line of the two current points and each side of the obstacle, recording, and correcting the obstacle avoidance route according to the route direction; and ending traversal, re-rendering the route map according to the corrected route, and ending logic. In the process of realizing path planning and setting, one or more obstacles can be set, the path can be planned to bypass the obstacles, the obstacle avoidance function is achieved, and the application prospect is wide.

The invention relates to the technical field of radiation measurement, and discloses a mobile nuclear radiation measuring instrument with an obstacle avoidance function, which comprises a self-driven vehicle body, the top of the self-driven vehicle body is fixedly connected with a stable steel frame, the top of the stable steel frame is fixedly connected with a bearing plate, the top of the self-driven vehicle body is fixedly connected with a side plate, the left side of the side plate is fixedly connected with a pressure bearing plate, the right side of the side plate is fixedly connected with an ultrasonic obstacle avoidance sensor, the right side of the side plate is fixedly connected with an infrared obstacle avoidance sensor, the top of the self-driven vehicle body is fixedly connected with a radiation measuring instrument body, the top of the self-driven vehicle body is fixedly connected with a cross stabilizing support, the top of the cross stabilizing support is fixedly connected with the bearing plate, the left side of the stabilizing steel frame is fixedly connected with a fixing plate, and the left side of the fixing plate is fixedly connected with a protective cover. The mobile nuclear radiation measuring instrument with the obstacle avoidance function integrally achieves the purpose of effective obstacle avoidance.