524 results about "Mecanum wheel" patented technology

The present invention discloses an intelligent mobile artificial fish nest experimental platform for fish with sticky and sinking eggs, including an artificial fish nest bed and an intelligent mobile base, wherein the artificial fish nest bed is a field-shaped structure, buoyancy cylinders are loaded on four sides, an experimental observation camera is arranged in the middle, a group of Mecanum wheels are respectively installed at four corners of the intelligent mobile base, and an omnidirectional mobile motor, a stable support motor, an intelligent control console, a magnetic plate, an underwater camera system and a telescopic hinge are loaded on the intelligent mobile base. The present invention makes up for the lack of protection measures for fish with sticky and sinking eggs at present, provides a suitable spawning place for fish with sticky and sinking eggs, weakens the influence of underwater terrain changes caused by changes in river and lake water levels and dam flood discharge on the growth and development of sticky and sinking fish eggs, optimizes the protective effect of artificial fish nests on sticky and sinking fish eggs, and provides more technical basis for the protection of spawning grounds of fish with sticky and sinking eggs.

According to the mass center self-balancing chassis system for U-rib weld defect detection and the control method, the problem that when detection equipment moves on a U-rib curved surface, the precision is reduced due to mass center deviation and view field inclination can be solved. The system integrates a Mecanum wheel omni-directional moving unit, four groups of electric telescopic supporting legs, a two-axis holder and an ECU (electronic control unit), and has the innovation point that dynamic mass center balance and posture self-correction are realized through rigid-flexible combined supporting leg design and multi-modal sensing fusion. The ECU adopts an improved Canny algorithm to process the image, extracts a U rib edge point set and fits a reference center; in combination with pressure and tilt angle sensor data, a real-time mass center is solved through a moment balance formula, and then an improved self-adaptive PID algorithm is used for driving the supporting legs to stretch out and draw back, so that the mass center returns to a reference center; the two-axis holder compensates the view field angle according to the inclination angle data to ensure that the view field angle is perpendicular to the weld joint. Through cooperation of a mechanical structure and an algorithm, the system can control centroid offset to be smaller than or equal to 5 mm and view field inclination to be smaller than or equal to 1 degree, the detection stability and precision are remarkably improved, and the algorithm is easy to deploy.

The invention discloses a wind tower body derusting magnetic adsorption wall-climbing robot, which belongs to the technical field of robots and comprises a moving trolley, an adsorption mechanism, a polishing mechanism and a walking motor. The moving trolley comprises a chassis frame and four Mecanum wheels installed on the chassis frame. The adsorption mechanism comprises two adsorption assemblies which are symmetrically arranged front and back. Each adsorption assembly comprises a magnet device and a gap adjusting device used for driving the magnet device to move up and down. An ultrasonic sensor used for detecting the size of a gap between the magnet device and the wall face of the wind tower body is arranged on the bottom face of the magnet device. The grinding mechanism comprises a base, a sliding table, a supporting arm, a grinding lifting device, a grinding rotating motor, a grinding disc and a camera. The grinding disc can move left and right and move up and down, and the rust removal efficiency is improved. The problems that in the wall-climbing process of an existing wind tower wall-climbing robot, due to the fact that the preset safety adsorption force is too large and the structure of the robot is poor, flexibility is poor, and operation efficiency is low are solved.

The invention discloses a mobile robot control method and system, and relates to the technical field of mobile robot intelligent motion control, and the method comprises the steps: collecting environment feature data and motion state data; performing preprocessing and feature fusion to generate standardized state data; constructing a reinforcement learning training environment in an offline simulation environment, and obtaining a convergent reinforcement learning strategy model; inputting the current robot standardized state data into the reinforcement learning strategy model, and obtaining and outputting a preliminary motion control instruction and a reference trajectory; a prediction control model MPC is established, current robot standardized state data are input, short-time motion prediction and optimization are carried out, and a final control instruction meeting constraint conditions is obtained through solving; instructions are distributed to the four Mecanum wheel drivers, and the rotating speed and the direction of each wheel are adjusted. According to the invention, high-precision trajectory tracking, adaptive obstacle avoidance and energy efficiency optimization of the mobile robot in a complex dynamic environment are realized, and the system stability and the intelligent level are improved.

The invention provides a wind generating set blade interior inspection robot, and relates to the technical field of wind power generation, the wind generating set blade interior inspection robot comprises a robot body, the robot body is composed of a Mecanum wheel chassis, a robot tower bottom cabinet and a robot cabin cabinet, and the robot tower bottom cabinet is arranged at the top end of the Mecanum wheel chassis; a robot cabin cabinet is arranged at the top end of the robot tower bottom cabinet, and a monitoring sensing device is arranged on the outer side of the robot cabin cabinet. According to the invention, the monitoring sensing device is arranged, and the interior of the cabin of the generator set is effectively monitored by monitoring the operation of a sensor, so that the problems that the existing wind turbine generator inspection robot is mainly an unmanned aerial vehicle, and the appearance and blades of the wind turbine generator are monitored in the prior art are effectively improved; the problems that the interiors of the wind turbine generator blades cannot be continuously monitored in real time, and meanwhile, the interiors and important positions of the wind turbine generator blades cannot be monitored and daily maintenance requirements cannot be met are solved.

The invention discloses a Mecanum wheel omnidirectional robot anti-interference control method and system, and relates to the technical field of robot anti-interference control, and the method comprises the steps: collecting multi-source original data, and carrying out the preprocessing; multi-source data fusion is carried out, a current operation condition is identified based on a fusion result, and an augmented state is generated; calculating a baseline control instruction; inputting to the reinforcement learning agent, and outputting a corresponding compensation instruction; adding the baseline control instruction and the compensation instruction to obtain a candidate control instruction; inputting to the security constraint projector, and correcting to obtain a final control instruction; issuing to a motor driver of the Mecanum wheel for execution; and actual state data of the executed robot is collected as execution feedback data, and the execution feedback data and a new target instruction are used for generating standardized observation data at the next moment. According to the invention, cross-working-condition high-precision, fast-recovery, low-energy-consumption and compliant-constraint omnidirectional chassis anti-interference control is realized, and the tail robustness and the system safety and reliability are improved.

The invention provides a wall-climbing type detection robot of a vertical storage tank and an ultrasonic detection system, and relates to the technical field of storage tank detection.The wall-climbing type detection robot comprises a bottom plate, two permanent magnet adsorption bodies are installed above the bottom plate in parallel, yoke magnets are arranged on one sides of the two permanent magnet adsorption bodies, motors are fixed to the four corners of the lower portion of the bottom plate, and the motors are fixed to the bottom of the bottom plate; mecanum wheels are fixed to the output ends of the four motors correspondingly. On the basis of storage tank structure analysis, it is determined that the loading capacity of the detection robot is 10 kg, the maximum moving speed is 2 m / min, the adaptive minimum curvature radius is 10 m, and it can be achieved that no detection omission exists on the tank wall of the storage tank, and the robot moves autonomously; the robot body adopts the scheme of permanent magnet adsorption and Mecanum wheel movement, kinematics analysis, statics analysis and dynamics analysis are conducted on the wall-climbing detection robot according to the structural characteristics and the movement mode of Mecanum wheels, and a driving motor is selected according to the analysis result.

The invention discloses a positioning control strategy for an automatic charging process of a Mecanum wheel mobile chassis based on an IMU and a camera, and belongs to the field of automatic control. The method comprises the following steps: firstly, marking a visual mark on a charging pile, adjusting a chassis to a specified angle by reading angle information of an inertial measurement unit (IMU), and adjusting the transverse displacement of the chassis to a specified position by reading a pixel coordinate of a central point of the visual mark (such as a color block) marked in a camera; and establishing a local coordinate system and a global coordinate system of the chassis according to the adjusted pose, further solving a local pose and a global pose by combining an IMU (Inertial Measurement Unit), then solving a chassis target speed according to the local pose and the global pose of the chassis and a chassis speed set value, and finally solving the rotating speed of each wheel according to a mobile chassis inverse kinematics model. Therefore, the vehicle is driven to move towards the target charging pile. The invention provides an automatic charging positioning control strategy based on the IMU and the camera, and the vehicle can be accurately moved to the position of the charging pile, so that the automatic charging function of the vehicle is realized.

The utility model relates to the technical field of robots, and provides an omni-directional mobile intelligent robot comprising a multi-axis mechanical arm so as to improve the education popularization range of the omni-directional mobile robot comprising the mechanical arm. The three groups of steering wheels are mounted at the bottom of the mainframe box, the control panel and the battery are arranged at the top of the mainframe box, the mechanical arm is mounted at the front end of the mainframe box, and the storage device is arranged between the battery and the mechanical arm. A groove is formed in the front end of the main machine box, the bottom of the mechanical arm is installed in the groove, the mechanical arm comprises a plurality of steering engines, a lower arm connecting rod, an upper arm connecting rod and a lifting mechanism, multi-degree-of-freedom movement of the mechanical arm can be achieved, the coverage range of the tail end of the mechanical arm is enlarged, and meanwhile the tail end of the mechanical arm is provided with a clamping device to complete object grabbing operation. Mecanum wheels are adopted as the three sets of steering wheels, the steering wheels are arranged at equal intervals of 120 degrees, 360-degree steering and movement of the robot can be achieved, various sensors are integrated, and the obstacle avoidance and tracking functions can be achieved; the method is suitable for large-scale popularization education.

The invention provides a motion control method of a coupled output limited Mecanum wheel trolley based on a neural network and event triggering, a storage medium, equipment and a computer program product. The motion control method comprises the following steps: adopting a conversion matrix of Mecanum wheels; establishing a dynamic model of the Mecanum wheel trolley; decoupling the coupling output limitation, and converting the coupling output limitation into time-varying non-coupling limitation; improving the design of a sliding mode surface by adopting an error conversion function and a barrier function, and constructing a sliding mode controller of a trolley with limited coupling output; constructing a neural network controller; introducing an event triggering mechanism, and constructing a neural network sliding mode controller for the coupled output limited trolley based on the neural network and sliding mode control; and verifying the stability of the designed controller. According to the invention, the trajectory tracking problem of the Mecanum wheel trolley with limited coupling output based on the neural network and event triggering is solved.

A wheel of the present disclosure includes a barrel holder, barrel support shafts, barrels, and bearings. The barrel holder is rotationally driven. The barrel support shafts arranged on the circumference of the barrel holder at an angle to a rotation axis of the barrel holder. The barrels are barrel-shaped rotating bodies. The barrels are rotatably supported on the corresponding barrel support shafts, and outer surfaces of the barrels contact a surface on which the wheel travels as the barrel holder rotates. The bearing supports the retainer. A groove is formed at least in a region of the outer circumferential surface of the barrel support shaft extending in the axial direction and including a radially inner projected area of the retainer.

The invention discloses a new energy automobile logistics transfer robot based on visual navigation and an implementation method, relates to the field of logistics automation and intelligent equipment, and solves the problems that traditional equipment is low in navigation precision, difficult in data fusion and weak in obstacle avoidance capability. The transferring robot body comprises Mecanum wheels, supporting legs, an intelligent temperature control battery bin, a visual navigation system, a core control center, an interactive touch screen and a mechanical arm. The core control center comprises an image acquisition module, a data processing module, a path planning module and a transfer control module; all the modules work cooperatively, the automation and intelligence level of logistics transfer is remarkably improved, and powerful support is provided for the new energy automobile logistics industry.

The utility model belongs to the technical field of automatic movement, and provides a Mecanum wheel anti-deviation device which is arranged on the edge of a Mecanum wheel platform and comprises a plurality of blocking mechanisms, a plurality of moving mechanisms, a plurality of moving mechanisms, a plurality of moving mechanisms and a plurality of moving mechanisms, and at least one blocking mechanism is arranged on each side of the Mecanum wheel platform. The blocking mechanism comprises a blocking piece, a base and a lifting assembly. The base is fixedly connected with one side of the Mecanum wheel platform, the lifting assembly is connected with the base, and the driving end of the lifting assembly is connected with the blocking piece. The blocking mechanisms are arranged on the periphery of the Mecanum wheel platform, the blocking mechanisms are controlled to rise, the upper surfaces of the blocking pieces are made to be higher than the upper surface of the Mecanum wheel platform, loads generated in the surface operation process of the Mecanum wheel platform are blocked, and therefore the phenomenon that the loads possibly deviate in the operation process is avoided.

The invention relates to a bimorphic self-adaptive driving device of a legged robot, and belongs to the technical field of driving devices.The bimorphic self-adaptive driving device comprises a bottom plate, a connecting disc used for mounting the robot is fixedly mounted at the top of the bottom plate, a jacking mechanism used for jacking the bottom plate is arranged in the bottom plate, and mounting frames are symmetrically arranged at the bottom of the bottom plate; a connecting frame is fixedly mounted at the bottom of the mounting frame, a concave frame is arranged in the mounting frame, and a turnover mechanism used for adjusting the angle of the concave frame is arranged in the connecting frame; when walking on a flat road surface, the robot can move in any direction in a plane through the assembled Mecanum wheels, when the road surface condition is bad, the turnover mechanism turns over and turns into another mode, the five-section type module driving design is adopted to simulate the movement of a snake, each section is provided with an independent driving device and an independent control system, and therefore the driving efficiency of the snake is greatly improved. The robot can flexibly control the motion posture of each module, so that different motion modes are realized, and the flexibility is improved.

The invention discloses a robot environment sensing and positioning system based on an ROS. Effective data of multiple sensors can be efficiently processed, and the timestamps are unified for data fusion. According to the invention, an NUC11 industrial personal computer receives sensor data of an inertial sensor, a laser radar and an industrial camera and transmits the sensor data to a corresponding algorithm module for processing; a grid map is established after the surrounding environment is sensed; the speed and the direction are sent to the STM32 single-chip microcomputer through serial port communication, the STM32 single-chip microcomputer calculates the speed and the direction and then converts the speed and the direction into current values, current value data are sent to the motor through CAN communication, the Mecanum wheels are driven to move in all directions, and the navigation robot capable of achieving self-positioning and omni-directional movement is achieved. According to the omni-directional moving efficient wheeled robot, Mecanum wheels are innovatively combined to achieve omni-directional moving, a universal positioning and navigation robot chassis frame system is constructed, and the omni-directional moving efficient wheeled robot can become a universal solution for a cleaning robot, a meal delivery robot, an express delivery robot and the like in combination with different application scenes.

The invention belongs to the technical field of mobile platforms, and discloses a control method and device of a mobile platform. The method comprises the steps that the axle distance and the wheel distance of a mobile platform, the radar distance between a first laser radar and a second laser radar, the radius of Mecanum wheels and the angular speed of each Mecanum wheel of the mobile platform are acquired; determining a spin angle deviation according to the radar distance and a predetermined average value of distance measurement difference values of the first laser radar and the second laser radar; according to the half length of the wheel base, the half length of the wheel track, the theoretical spinning angle and the spinning angle deviation, the actual equivalent spinning radius of the mobile platform is determined; and according to the actual equivalent spinning radius, the radius of the Mecanum wheel and the angular velocity of each Mecanum wheel, the actual spinning angular velocity of the mobile platform is determined by substituting the actual equivalent spinning radius, the radius of the Mecanum wheel and the angular velocity of each Mecanum wheel into a positive operational formula of the mobile platform, and the mobile platform is controlled to move according to the actual spinning angular velocity. According to the invention, the motion precision of rotation of the mobile platform around the z direction can be improved.

The invention relates to the technical field of photovoltaic cleaning, in particular to a photovoltaic cleaning robot which comprises a vehicle body assembly which comprises a vehicle body part and a gravity center distribution part. The vehicle body part comprises a vehicle frame; the functional assembly comprises a supporting part, an adjusting part and an action part; the supporting part comprises side arms which are installed on the two sides of the head end of the frame and the two sides of the tail end of the frame respectively, and cleat supporting frames are arranged at the far ends of the side arms. The cleat supporting frames located on the two sides of the head end of the vehicle straightly extend in the front direction of the vehicle, and the cleat supporting frames are bent outwards by 90 degrees at the far ends of the cleat supporting frames. By changing the direction of the main shaft, the Mecanum wheels are located at the angle where the Mecanum wheels can work normally, so that the overall length of the robot is increased, the interval spanning capacity is naturally improved, the situation that manual back-and-forth carrying is needed can be avoided, time and labor are saved, and the Mecanum wheels are suitable for the large-range operation situation.

The invention relates to the technical field of transfer robots, and discloses a transfer robot which comprises at least two sets of transportation units arranged in the second direction, each transportation unit comprises a telescopic assembly and at least two transportation modules, and the two ends of each telescopic assembly are slidably connected to the two adjacent transportation modules. Every two adjacent transportation modules can relatively move in the first direction through the corresponding telescopic assembly, and each transportation module comprises a Mecanum wheel, a bearing plate, a mounting base and a control assembly. The number of the Mecanum wheels is at least two, the at least two Mecanum wheels are mounted at the bottom of the mounting base, the bearing plate is fixedly connected to the top of the mounting base, and the control assembly is arranged on the mounting base; the control assembly is electrically connected with the Mecanum wheels. According to the scheme, the robot is connected with the transportation module through the telescopic assembly and can expand or contract to adapt to different cargo sizes, the carrying efficiency is improved, and high flexibility and adaptability are achieved. After transportation is completed, the robot can reduce the occupied area through the telescopic assembly, and the space is fully utilized.

The invention discloses a climbing type branch pruning robot based on Mecanum wheels, and relates to the technical field of forestry machinery and intelligent robots, and the climbing type branch pruning robot specifically comprises a rotating platform, a climbing mechanism, a mechanical arm, a pruning mechanism, a clamping mechanism, a crushing mechanism and a multi-mode sensing module. The rotating platform drives a gear and an annular rack to rotate through a stepping motor so as to drive mechanisms such as a mechanical arm to move around a trunk in the circumferential direction; the climbing mechanism adopts a Mecanum wheel form, and realizes omni-directional movement of the surface of a trunk through differential control so as to complete work such as climbing and obstacle avoidance; the pruning mechanism is used for pruning branches by utilizing a clamp shear, and the branches are conveyed into the crushing box through a conveying belt and cleaned by the crushing mechanism; the multi-mode sensing module can identify obstacles and branches to be trimmed; according to the invention, through the integration of omni-directional movement and intelligent sensing technologies, the technical problems of omni-directional obstacle avoidance, accurate branch shearing, synchronous chipping processing and the like of existing forestry machinery are effectively solved, and automatic pruning of high-altitude branches is facilitated.

A mecanum wheel includes a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference. There is a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference. There are a plurality of roller units, each having a roller surface and a hollow center cavity. There is an axle disposed in the hollow center cavity of each roller, and a first end of the axle is connected a first mounting mechanisms and the second end of each axle is connected to the second mounting mechanism. The second end of each axle includes a notched portion.

The Mecanum wheel with the damping function comprises a rim used for installing a double-layer roller set, the rim is installed on a hub, and the rim comprises an inner-layer roller installation frame, a middle-layer roller installation frame and an outer-layer roller installation frame which are arranged in parallel; a plurality of rollers are uniformly distributed and mounted between the inner-layer roller mounting frame and the middle-layer roller mounting frame in the circumferential direction to form an inner-layer roller group, a plurality of rollers are uniformly distributed and mounted between the middle-layer roller mounting frame and the outer-layer roller mounting frame in the circumferential direction to form an outer-layer roller group, and an elastic body layer is arranged on the periphery of each roller. According to the Mecanum wheel, vibration caused by the structure problem of the Mecanum wheel can be eliminated.

According to the technical scheme, the mobile carrying robot is characterized by comprising a chassis, Mecanum wheel sets arranged on the periphery of the chassis, a six-axis mechanical arm arranged at the upper end of the chassis and a power supply mechanism; an adsorption mechanism is arranged at the movable end of the six-axis mechanical arm; lifting and forward-extending mechanisms are symmetrically arranged on the chassis and located on the two sides of the six-axis mechanical arm. The power supply mechanism is electrically connected with the Mecanum wheel set, the six-axis mechanical arm and the lifting and forward stretching mechanism. Through the movable chassis design and the mechanical arm tail end adsorption design, the robot can be suitable for different working scenes and has the advantage that the diversified requirements of material carrying can be met.

The utility model discloses a bionic snakelike driving structure, and relates to the technical field of robots, the bionic snakelike driving structure comprises a snakelike robot, the snakelike robot comprises a snakelike head, a snakelike body and a snakelike tail, the snakelike body comprises a plurality of driving mechanisms connected end to end, and each driving mechanism comprises a joint assembly, a connecting assembly and Mecanum wheels arranged at the two ends of the joint assembly; the joint assembly comprises a second connecting seat, a first connecting seat, a third connecting seat, a first steering engine and a second steering engine, third hinge plates are symmetrically and fixedly mounted at one end of the second connecting seat in the longitudinal direction, and fourth hinge plates are symmetrically and fixedly mounted at one end of the third connecting seat in the vertical direction; a first hinge plate and a second hinge plate are symmetrically and fixedly mounted at the two ends of the first connecting base correspondingly. According to the bionic snakelike driving structure, angle adjustment between the joint assemblies can be achieved, so that the overall shape and the moving mode of the robot are changed, and the robot can adapt to different road conditions and complex environments through the multi-mode driving system.

The invention discloses an autonomous mobile robot path planning obstacle avoidance method and system, relates to the technical field of autonomous mobile robot path planning and obstacle avoidance, and is used for solving the problems that in a deep mine multi-layer roadway, multiple environmental risks are difficult to quantify, and once a key bottleneck channel is blocked, task failure is easily caused, and the reliability of path planning is insufficient. After an autonomous mobile machine is powered on, sensor calibration parameters are loaded, pose fusion is completed through extended Kalman filtering based on a multi-source odometer, an inertia sensor and a laser vision sensor, and an occupation grid map with static obstacles, dynamic candidates and passable marks is constructed. The method comprises the following steps: constructing a simultaneous multi-cause environmental risk feature vector to obtain an environmental comprehensive risk cost, performing layered screening and comprehensive cost sorting on search nodes in combination with task blocking sensitivity of off-line calculation on a mine laneway traffic map, and then generating a time parameterized speed reference trajectory; the Mecanum wheel omni-directional drive mechanism is guided to pass through the high-risk area along the safe and smooth path.

The invention relates to an adjustable new energy automobile battery pack safe storage support, and belongs to the technical field of new energy automobile battery pack storage equipment. Comprising a platform car, a static dissipation platform, an extension platform and an operation system, the platform car is provided with Mecanum wheels connected with a driving motor, a storage platform is connected with the platform car through a lifting driving mechanism, the static dissipation platform is used for storing a battery pack, the extension platform is installed on the storage platform, and the extension platform is adjustable and used for storing the battery pack after the battery pack on the storage platform is fully loaded. The storage space of the battery pack is increased through adjustment so as to adapt to special conditions, and the operation system is installed on the platform car, is in butt joint with the storage platform and is used for operating the specified battery pack on the storage platform. The adjustable new energy automobile battery pack safe storage support has the advantages that the storage safety of the battery pack is improved, the storage space is flexibly adjusted, the electrostatic protection capacity is enhanced, the operation positioning precision is improved, and the adjustable new energy automobile battery pack safe storage support adapts to sudden storage requirements.

A mecanum wheel includes a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference. There is a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference. There are a plurality of roller units, each having a roller surface and a hollow center cavity. There is an axle disposed in the hollow center cavity of each roller, and a first end of the axle is connected a first mounting mechanisms and the second end of each axle is connected to the second mounting mechanism. The first end of each axle includes an angled tip portion with a substantially flat surface.

The invention provides a reducing pipeline robot based on Mecanum wheels. The reducing pipeline robot comprises a double-shaft steering engine, brushless motors arranged on the two sides of the double-shaft steering engine; the reducing Mecanum wheel comprises an outer hub disc, a guide rail optical axis, a middle hub disc, an inner hub disc, a lead screw and a stepping motor which are coaxially and sequentially connected. The reducing Mecanum wheel further comprises a hub composed of five reducing units of the same structure. The reducing unit is connected with the middle hub disc and the inner hub disc at the same time; the five variable-diameter units are unfolded or contracted to the same size at the same time to form hubs with different diameters, and the variable-diameter pipeline robot can work in pipelines with different diameters. Through the structure innovation and intelligent technology, full-scene efficient maintenance of the pipeline is achieved, and industry transformation and upgrading are promoted.

The invention discloses a double-AGV (Automatic Guided Vehicle) linkage omnidirectional dynamic path planning method based on a dynamic window method, and the method designs a real-time dynamic path planning scheme based on an omnidirectional differential composite motion model by utilizing the omnidirectional movement characteristic of Mecanum wheels. The method comprises the following steps: firstly, introducing a Y-direction linear velocity in a velocity sampling stage, and constructing an omnidirectional motion model to improve the omnidirectional motion capability; and meanwhile, by combining angular velocity sampling, dynamic adjustment of the attitude of the AGV is realized, an omnidirectional differential composite motion model is constructed, and the omnidirectional motion flexibility is enhanced. And secondly, fusing an artificial potential field method, designing an omnidirectional motion evaluation sub-function, carrying out multi-dimensional comprehensive evaluation on candidate trajectories, screening out an optimal trajectory facing a target point, and effectively improving the efficiency and safety of path planning. And finally, in combination with the contour parameters of the double-AGV linkage system, ensuring that the pilot AGV and the following AGV can be prevented from colliding with obstacles in the environment in the navigation process. According to the method, the transportation efficiency and the system stability are remarkably improved.

The utility model relates to the technical field of hay mowers, and discloses an electric standing type zero-steering hay mower which comprises a hay mower body, the upper surface of the hay mower body is in threaded connection with a hay mower cover plate through a first fixing bolt, a battery bin is arranged on the upper surface of the hay mower cover plate, a motor cavity is formed in the hay mower cover plate, and a motor is arranged in the motor cavity. And a driving motor is fixedly installed on the inner bottom wall of the motor cavity, a transmission rod is connected to the output end of the driving motor through a spline, a mower blade is fixedly installed at one end of the transmission rod, and four Mecanum wheels are arranged at the bottom of the mower body. According to the electric standing type zero-steering mower, through the cooperative arrangement of the mower body, the first fixing bolts and the mower cover plate, a worker can mount and dismount the mower cover plate through the first fixing bolts, and the effect that the worker can mount, dismount and maintain the electric standing type zero-steering mower conveniently is achieved.

The invention belongs to the technical field of building construction flaw detection, and particularly relates to flaw detection equipment for building construction, which comprises a cabinet body, two groups of sliding rails are symmetrically distributed and fixedly connected in the cabinet body, each group of sliding rails is slidably connected with a group of sliding blocks, and the two groups of sliding blocks are fixedly connected with a power supply and a high-pressure fan respectively; an exhaust port is formed in the cabinet body and located at the exhaust end of the high-pressure fan, the air suction end of the high-pressure fan is communicated with a hose, the end, away from the high-pressure fan, of the hose is fixedly communicated with a pipe head, the pipe head is rotationally connected with a vehicle body, and the two ends of the vehicle body are fixedly connected with two first supports respectively. The high-pressure fan is used for generating low pressure to provide suction force, so that the vehicle body can be stably attached to the wall for flaw detection, the vehicle body flexibly moves on the wall surface by driving the Mecanum wheels, and the high-pressure fan and the vehicle body are arranged away from each other; therefore, the negative influence of mechanical noise and wind noise generated when the high-pressure fan provides the suction force on the signal-to-noise ratio of ultrasonic detection is avoided.