124 results about "Mountainous terrain" patented technology

The invention discloses a wind profile fitting method suitable for time sequence prediction of a complex mountain wind field, and the method comprises the steps: obtaining topographic data and meteorological data, determining a wind shear coefficient of a target region, and constructing a wind profile fitting model; target area real-time topographic data and target area real-time meteorological data are obtained, the wind profile fitting model receives the target area real-time topographic data and the target area real-time meteorological data, and a wind profile set is generated; and for the target area, dynamically adjusting the wind profile parameters in real time, and generating a wind field time sequence prediction result. According to the method, complex mountain landforms, meteorological factors and space-time change characteristics of a wind field are considered, accurate fitting of wind profiles of different terrain sub-regions is realized on the basis of a terrain and meteorological data set, and wind profile fitting better fits the actual situation; on one hand, terrain and meteorological data are updated in real time, on the other hand, a dynamic self-adaptive updating mechanism is established for wind field time sequence prediction, and calculation input reasonability is guaranteed.

The invention relates to the technical field of unmanned aerial vehicle navigation and control, in particular to an improved sparrow searching method for three-dimensional unmanned aerial vehicle path planning. According to the method, a three-dimensional mountain terrain model is constructed through a Gaussian function superposition method, obstacles and no-fly zones are defined by adopting a cylindrical geometric model, and obstacle avoidance constraints, take-off and landing safety constraints and flight height constraints are set; a comprehensive cost function with path length, threat penalty, flight safety height and path smoothness as sub-targets is constructed, an improved sparrow search algorithm is introduced, and a sine and cosine strategy is adopted in discoverer position updating to dynamically balance horizontal exploration and vertical obstacle avoidance. A Levy flight mechanism is introduced in follower position updating so as to enhance the capability of local development and jumping out of local optimum; the method comprises the steps of population initialization, role division, iterative optimization, collision detection and an elitist retention strategy. According to the method, a safe and smooth three-dimensional flight path with the optimal comprehensive cost is output, and the method is suitable for an actual unmanned aerial vehicle navigation task.

According to the light and simple crawler-type vibration harvester suitable for the steep mountain land, the triangular crawler belt is adopted for driving, the contact area with the ground is increased, the climbing performance is improved, maneuverability, flexibility and reliability are high, flexible connection is formed through the elastic coupler, and vibration transmission is stable. The device comprises a vehicle body, a suspension platform and a vibration clamping mechanism, wherein the vehicle body comprises an H-shaped bottom formed by two longitudinal beams and a cross beam; triangular driving tracks are arranged at the rear ends of the longitudinal beams; auxiliary wheels are arranged at the front ends of the longitudinal beams; the suspension platform is located above the position between the front portions of the two longitudinal beams, the rear portion of the suspension platform is fixed to the sliding frame, and the sliding frame is arranged on the guide rods in an up-down sliding mode. The lifting driving device for driving the suspension platform or the sliding frame to lift up and down relative to the guide rod is connected with the suspension platform or the sliding frame; the vibration clamping mechanism used for clamping a tree trunk and conducting excitation vibration on the tree trunk is hung on the driving hanging platform through a flexible rope.

The invention relates to the technical field of agricultural machinery, in particular to a rotary gravity center regulating crawler platform for hills and mountains, which sequentially comprises a crawler chassis assembly, a gravity center regulating assembly and a functional module mounting platform from bottom to top, the gravity center adjusting layer is installed on the chassis rack and located in the space between the crawler belts on the two sides, the gravity center adjusting layer is composed of a supporting base, a slewing bearing module, a linear lead screw module, a battery balancing weight and a machine shell, and the balancing weight is preferably a power battery pack; and the functional module mounting platform is fixed at the upper end of the gravity center adjusting assembly. By adjusting the angular and radial distribution of the counterweights, the center-of-gravity position of the whole machine under the working conditions of cross slopes, longitudinal slopes and obstacle crossing is changed, the stability and driving safety of the crawler belt platform in complex terrains of hills and mountains are improved, and the crawler belt platform can be provided with different functional modules according to operation objects. The method is suitable for various hilly and mountainous region agriculture and engineering application scenes.

The present invention provides an artificial intelligence-based digital orthophoto and DSM registration method and system. The method generates point cloud density distribution parameters based on mountain terrain complexity parameters, and combines artificial intelligence to perform gain adjustment on weak signals below a preset signal strength to obtain an adjusted signal and generate a DSM elevation dataset. The method also uses a preset affine transformation image geometric correction parameter library to match the DSM elevation dataset with the digital orthophoto, and establish an initial coordinate mapping relationship. The method then repairs the digital orthophoto based on the initial coordinate mapping relationship and the DSM elevation dataset to generate a repaired digital orthophoto. The repaired digital orthophoto is then automatically registered with the DSM based on geometric consistency constraints between the repaired digital orthophoto and the DSM elevation dataset. The method realizes automatic registration of digital orthophotos with the DSM in complex mountainous terrain, improving the repair quality of cloud-obstructed areas and the reliability of global registration.

The invention discloses an unmanned aerial vehicle control method integrating satellite navigation and inertial navigation and related equipment, and relates to the technical field of integrated navigation. According to the method, the control system collects the satellite quality intensity of the unmanned aerial vehicle at the current navigation point and predicts the satellite quality intensity of the unmanned aerial vehicle at the next navigation point, the reliability degree of satellite navigation is evaluated in advance, and the signal conversion type from the current navigation point to the next navigation point and the corresponding navigation strategy are determined accordingly. According to the self-adaptive navigation method based on prediction, preparation can be made before the satellite signal quality changes, and the problems of navigation precision abrupt change and positioning drift easily occurring when the signal abrupt change occurs in a traditional fixed weight fusion scheme are solved. Meanwhile, the control system carries out fusion calculation on satellite navigation data and inertial navigation data and flight control parameter adjustment based on deviation, it is ensured that the unmanned aerial vehicle can stably fly according to a preset route, and the unmanned aerial vehicle is particularly suitable for being used in complex urban environments and mountainous terrains with unstable satellite signals.

The invention relates to the technical field of agricultural machinery control, and discloses a hill and mountain agricultural machinery all-terrain self-adaptive walking control method and system, and the method comprises the steps: carrying out the point cloud reconstruction of multi-source fusion data of an operation environment, and obtaining an environment terrain field; performing risk situation awareness on the environmental topographic field to obtain regional attribute information; based on the regional attribute information and the dynamic state of the target equipment, performing collaborative path planning on the target equipment to obtain a dynamic obstacle avoidance path; performing soil viscosity trend analysis on the dynamic obstacle avoidance path to obtain a soil adhesion prediction state set; based on the geometric characteristics of the dynamic obstacle avoidance path and the soil attachment prediction state set, performing rolling optimization on a dynamic control strategy of the target equipment to obtain a walking control strategy; controlling advancing and steering actions of the target equipment based on the walking control strategy; according to the invention, the all-terrain self-adaptive walking control efficiency of the hill and mountain agricultural machinery can be improved.

The invention relates to the technical field of agricultural machinery operation, in particular to a field operation path planning method and system for agricultural machinery equipment in hilly and mountainous regions, and the method comprises the following steps: obtaining terrain data of the hilly and mountainous regions and operation data of the agricultural machinery equipment, so as to construct an environment equipment cooperation data set; analyzing the environment equipment collaborative data set to obtain a field operation segmentation area and a field operation priority as an agricultural machinery operation analysis result; based on the agricultural machinery operation analysis result, establishing a four-wheel steering kinematics model and an agricultural machinery trafficability constraint model as mechanical constraint conditions of agricultural machinery equipment; generating an initial agricultural machine operation path by combining the agricultural machine operation analysis result and the agricultural machine equipment mechanical constraint condition; and performing multi-target adaptive adjustment on the initial agricultural machine operation path according to an agricultural machine operation mode to obtain an optimal agricultural machine operation path. The method is combined with mechanical characteristics of agricultural machinery equipment, the accuracy of path planning is improved, and complex terrains of hills and mountains are effectively adapted.

According to the precise variable fertilization and pesticide spraying integrated collaborative method for the mountain rape unmanned aerial vehicle, heuristic function layered weighting and node gradient continuity inspection in the improved A star algorithm can generate a flight path highly adaptive to mountain topographic features, the path has the advantages of low energy consumption and full coverage, and the flight path has the advantages of being high in adaptability to the mountain topographic features. Operation hindrance caused by complex terrain can be effectively avoided; in an operation parameter calculation link, an improved weighted multiple linear regression model is constructed, a dynamic space-time weight item is utilized to optimize a characteristic variable, a residual error correction mechanism is combined to improve calculation precision, and accurate quantification of fertilization and pesticide spraying parameters is realized. On the basis, collaborative linkage of path planning and parameter calculation is established through a regional weight association mechanism, the adaptability of the path planning and the parameter calculation is remarkably enhanced, the efficiency and accuracy of unmanned aerial vehicle operation in the complex mountain environment are effectively improved, waste of resources such as fertilizer and chemicals is reduced, and the economic benefit is improved. Meanwhile, the dual adaptability to the rape operation growth dynamic state and the mountain topographic feature is enhanced.

The utility model relates to the technical field of double-track conveyors, in particular to a mountain double-track conveyor with a track adjusting function, which comprises a conveyor body, tracks used for being matched with the double-track conveyor to operate are arranged at the bottom end of the conveyor body, and racks used for being matched with the conveyor body to move are arranged between the tracks. The rack is provided with a driving piece used for moving the conveyor body. A rail adjusting assembly used for moving and running of the double-rail conveyor is arranged on the rail. Through the arrangement of the adjusting assembly, in the process that the driving piece drives the whole conveyor to move and pass through the adjusting section where the distance between the rails is changed, under the limiting effect of the limiting groove on the rotating wheel, the movable rod moves on the connecting block through the bent plate to change the position; therefore, the interval position of the idler wheels between the double rails is changed along with the change of the distance between the adjusting sections, the whole conveyor has the rail adjusting capacity, and convenience is brought to building of the whole double-rail conveying equipment.

The invention relates to the technical field of bridge construction, in particular to a cable-stayed bridge cable hoisting system, a mounting method and a construction method. Comprising a rotating rope bracket, a tower top hoisting structure, a bearing structure, a hoisting structure and a traction structure, the tower top hoisting structure is fixed to the top of the tower column and used for vertically hoisting objects. The bearing structure comprises a plurality of bearing cables arranged along the bridge direction; the two ends of the bearing cable are fixed to the anchors of the shore bases on the two sides correspondingly. The hoisting structure comprises a sports car connected to the bearing cable in a sliding mode and a hoisting pulley block driven by the sports car to vertically ascend and descend. The traction structure comprises a winch arranged on the shore side; the winch is connected with the sports car through the traction cable and used for driving the sports car to move along the bearing cable. The cable hoisting system is simple in structure, convenient to operate and use, suitable for bridge construction of complex mountainous terrains with large topographic relief, capable of effectively solving the problem of hoisting blind areas caused by tower-shore separation, easy to operate, safe and reliable.

The invention provides a hill and mountainous region posture-adjustable seeding machine which is used for solving the problems that in the prior art, the seeding posture and the vehicle body posture cannot be adjusted in real time according to the terrain, and the planting distance cannot be fixed. Comprising a vehicle body posture regulation and control mechanism, a seeding mechanism, a collecting mechanism and a monitoring mechanism, the vehicle body posture regulation and control mechanism comprises a vehicle frame, two walking modules symmetrically arranged along the vehicle frame left and right, and a gravity center regulation and control module arranged at the bottom of the vehicle frame and used for regulating and controlling the gravity center of the vehicle frame; the two groups of walking modules and the gravity center regulation and control module are matched to enable the frame to be parallel to the horizontal plane all the time; the seeding mechanism comprises two groups of suspension modules, a spacing regulation and control module, a seeding module and a soil covering module; the acquisition mechanism is used for acquiring road surface information and road surface flatness in a path track passed by the vehicle body posture regulation and control mechanism; the monitoring mechanism is used for measuring the inclination angle between the frame and the horizontal plane in the advancing direction and the left-right direction in real time. The machine not only can adjust the seeding posture and the vehicle body posture, but also can adjust the seeding spacing.

The invention discloses a complex mountain wind power plant wake flow simulation method and system based on computational fluid mechanics, and relates to the technical field of computational fluid mechanics and engineering.The complex mountain wind power plant wake flow simulation method comprises the steps that a wind power plant reference frame model is built based on digital elevation model data of the complex mountain terrain where a target wind power plant is located and basic parameters of wind power facilities; then constructing a three-dimensional unstructured grid computational domain of the target wind power plant; taking a three-dimensional unstructured grid computational domain as a basic environment, generating an inlet turbulence condition, and setting a wind turbine actuating line model by utilizing computational fluid mechanics simulation software based on wind power facility basic parameters; solving the wind turbine actuating line model to obtain a simulation data set; and verifying the simulation data set based on the actual observation information, and carrying out quantitative analysis simulation on the wake flow development condition of the target wind power plant based on the verified simulation data set. According to the invention, the technical problems of high data acquisition requirements and low flexibility and stability of traditional numerical simulation are solved.

A mountain ground crawler crane, including a vehicle body, a moving module, a hoisting arm, a cockpit, a counterweight module; wherein the moving module is provided with the vehicle body above, the vehicle body is provided with the cockpit, the vehicle body is provided with the hoisting arm in front, and the vehicle body is provided with the counterweight module behind; the counterweight module includes a first basic counterweight, a second basic counterweight, a connecting frame, an additional counterweight, an abutment table, a vertical plate, an L-shaped plate, a support, a bent plate, a connecting plate, a detection and early warning module, wherein the first basic counterweight is connected with the second basic counterweight above.

The invention discloses a mountainous terrain portable phase-to-phase spacer device which is characterized by comprising a spacer body, a length adjusting device detachably arranged on the outer side of the spacer body, a wire connecting device detachably arranged on the outer side of the length adjusting device and an external driving device. A driving device mounting structure is arranged on the outer side of the wire connecting device, the driving device is detachably connected with the wire connecting device through the driving device mounting structure, and the driving device drives the wire connecting device to lock the wire on the corresponding side. Disassembly and assembly can be achieved in the transportation process, transportation under special terrains is facilitated, and meanwhile the spacer can be assembled and disassembled in cooperation with an unmanned aerial vehicle.

The application discloses a large-size photovoltaic module hoisting path planning model construction method, and belongs to the technical field of photovoltaic module installation. The method comprises the following steps: acquiring high-precision three-dimensional point cloud data of a complex mountainous terrain, physical parameters of a large-size photovoltaic module and kinematic constraint parameters of a hoisting device; constructing a digital elevation model and superimposing the physical parameters of the module to generate a terrain passability cost map; defining a comprehensive optimization target comprising a total path duration, hoisting energy consumption, module attitude stability and spatial collision risk on the passability cost map; generating an initial collision-free path by using an improved heuristic search algorithm; establishing a multi-objective Pareto optimization model of the initial path, and jointly iteratively optimizing a spatial trajectory and a module attitude sequence in combination with the kinematic constraint parameters of the hoisting device to output an optimal hoisting path planning model.

This invention relates to the field of irrigation technology for afforestation in barren mountains, specifically a monitoring and irrigation device for afforestation in barren mountains. It includes an electric six-wheeled chassis and a side-spray water supply structure connected to the chassis. The side-spray water supply structure includes a water tank, with a telescopic water supply unit fixedly connected to the tank, and two symmetrically arranged side-spray units fixedly connected to the tank. A point-based detection irrigation structure is also connected to the chassis. This structure includes a mobile carrier unit connected to a drone, a lifting limit unit connected to the chassis, multiple independent detection units connected to the lifting limit unit, and an aerial sprinkler unit movably connected to the lifting limit unit. Through the combination of the side-spray water supply structure and the point-based detection irrigation structure, this invention is suitable for complex mountainous terrain, accurately monitoring soil moisture and performing irrigation operations, thus improving the applicability and accuracy of irrigation operations in mountainous areas.

The invention provides a mountainous terrain self-adaptive photovoltaic support convenient to adjust, which comprises two parallel main bearing beams, vertical auxiliary bearing beams are uniformly arranged on the main bearing beams, and the main bearing beams are supported by first rod supports and are synchronously clamped and fixed through synchronous fixing assemblies. The lower sides of the two ends of the main bearing beam are provided with slidable second rod supports, the outer ends of the second rod supports are hinged to supporting outer cylinders, and crank arm adjusting rods are arranged between the second rod supports and the supporting outer cylinders to adjust angles. A supporting inner rod with an anti-sinking base plate is arranged in the supporting outer cylinder in a sliding mode. An adjusting assembly is detachably installed on the supporting outer cylinder and used for driving and locking the supporting inner rod, and height adjustment and stable supporting are achieved. Through a multi-point adjustable support design and a synchronous fixing mechanism, high adaptability to mountain terrains and efficient stability of photovoltaic panel installation are realized, and the installation flexibility and reliability of a photovoltaic system in a complex environment are greatly improved.

The present invention provides a method, system, and related apparatus for evaluating the energy efficiency of photovoltaic modules in mountainous areas based on spatiotemporal heterogeneous conditions, comprising the following steps: Step 1, calculating the module power generation efficiency coefficient and the string power generation corresponding to a single inverter due to the consistency factor of photovoltaic string module installation; Step 2, obtaining the maximum effective power generation per unit installed capacity and the second-level active power of the string corresponding to the maximum power generation; Step 3, obtaining the actual power generation of the string corresponding to a single inverter for energy efficiency evaluation; Step 4, calculating the theoretical power generation of the string for energy efficiency evaluation; Step 5, calculating the ratio between the actual power generation of the string for energy efficiency evaluation and the theoretical power generation of the string for energy efficiency evaluation, and using it as the module energy efficiency evaluation index; The present invention effectively solves the problems of inconsistent module installation and uneven spatial distribution of irradiance caused by mountainous terrain, and significantly improves the accuracy and reliability of module energy efficiency evaluation.

The invention discloses a mountainous region photovoltaic support suitable for complex terrains and an installation method thereof.The mountainous region photovoltaic support comprises a fixing base, a connecting base is rotationally arranged at the top of the fixing base, a fixing assembly connected with the connecting base is arranged below the fixing base, and a supporting column is arranged at the top of the connecting base; a supporting plate is slidably connected to the top of the supporting column, an adjusting assembly used for adjusting the height of the supporting plate is arranged above the connecting base, and a mounting assembly used for fixing a photovoltaic panel is arranged on the supporting plate. According to the invention, through rotation between the connecting seat and the fixing seat, the supporting column can rotate so as to adjust the orientation of the photovoltaic panel, through the adjusting assembly, the height of the supporting plate can be adjusted so as to realize the height adjustment work of the photovoltaic panel, and finally through the effect of the mounting assembly, the adjustment work of the rotation angle of the photovoltaic panel can be carried out. The use is convenient and flexible, and the difficulty of installing the photovoltaic panel on a complex mountain land is reduced.

This utility model discloses a foundation platform for a box-type transformer for a photovoltaic power station on steep mountainous terrain, solving the problem of how to overcome the on-site environment for constructing the box-type transformer foundation platform; six pile foundation pits (2) are set at intervals on the slope of collapsible loess and gravel layer (1), and a PVC corrugated pipe (3) is set in each pile foundation pit. The top of the PVC corrugated pipe is 1000 mm above the ground. A corrugated pipe steel cage (4) and cast-in-place concrete (5) are set inside the PVC corrugated pipe. Platform connecting bolts (7) are pre-embedded on the top end of the PVC corrugated pipe; through holes (9) are set on the lower flange plate of the I-shaped steel beam (8), and an I-shaped steel beam is set between the top ends of adjacent PVC corrugated pipes. The platform connecting bolts are movably sleeved in the through holes (9); a steel plate platform (11) is welded to the top surface of the upper flange plate of the I-shaped steel beam; so that the platform can better adapt to the soft mountainous environment.

The invention provides a mountain photovoltaic single unit power abnormity diagnosis method and device, and relates to the technical field of mountain photovoltaic power generation, and the method comprises the steps: judging whether a target unit has a power abnormal reduction condition or not according to a current-day period-by-period power sequence and a historical same-period sunny day power sequence of the target unit of a mountain photovoltaic power station; and if yes, executing the subsequent process. And then power-irradiance synchronism is judged, and the fault condition of the target unit is accurately judged based on a synchronism judgment result. In the scene with high synchronism, the fault reason of the target unit is judged by combining the conditions of other units in the mountain photovoltaic power station and weather factors; and in a scene with low synchronism, based on the current-day power curve and the current-day irradiance curve, a DTW algorithm is utilized to judge a fault abnormity reason and quantify a fault degree. The method accurately adapts to the problem of asynchronous power of the mountain photovoltaic units, and can accurately and reliably diagnose the power abnormality of the single photovoltaic unit in the mountain terrain.

The present invention provides a method and system for quantitatively describing wind speed profiles at various locations in mountainous areas, determining wind speed, and including: performing flow field simulation analysis based on a rigid boundary model of the mountain to determine the dominant wind direction and wind speed sequence at the wind speed profile data extraction points; determining the wind speed profile type and corresponding wind speed profile objective function based on the relative positional relationship between the active wind direction and the selected points in the mountain; fitting the corresponding wind speed sequence and wind speed profile objective function according to each wind speed profile type to obtain the parameters in the wind speed profile objective function, thereby determining the calculation formula for each wind speed profile type; and then using the wind speed profile type calculation formula corresponding to the wind speed profile type to calculate the wind load at any point on the transmission tower. The purpose is to establish a system that can accurately reflect the influence of complex mountainous terrain changes on the wind speed distribution along the height, accurately calculate the wind load on the tower, and thus improve the safety and economy of transmission towers under complex mountainous conditions.

This invention relates to the field of flexible photovoltaic (PV) support technology, and more particularly to a flexible PV support suitable for mountainous terrain. This application provides a flexible PV support suitable for mountainous terrain, comprising a support base, a support column, a lifting cylinder, a mounting bracket, a lifting assembly, a limiting assembly, a translation assembly, a stabilizing assembly, and a transmission assembly. Compared to traditional flexible PV supports, which suffer from difficulties in achieving flexible adjustment and stable support during use, this flexible PV support allows for adjustment of the lifting cylinder by adjusting the lifting assembly, followed by limiting by the limiting assembly. After the lifting cylinder rises, the stabilizing assembly enhances the stability of the support. Furthermore, adjusting the translation assembly drives the transmission assembly, which in turn drives the support bracket to rotate, thus achieving both flexible adjustment and stable support.

This invention belongs to the field of bridge construction surveying technology, specifically a method for measuring the verticality of bridge tower piers at close range and with large inclination angles in mountainous areas. The method includes: S1, calculating the angle between the intersection hypotenuse and the vertical line of the tower pier based on the known elevation and measured slope distance of the measuring point at the top of the tower pier, then calculating the horizontal distance and solving for the first corrected coordinates of each measuring point, thus avoiding vertical angle observation errors under large inclination angles; S2, accurately measuring the actual distance between the measuring points of the two tower piers, and using this as a constraint to adjust the first corrected coordinates to obtain a high-precision second corrected coordinate for the center of the tower top; S3, calculating the verticality based on the second corrected coordinates of the tower top and the known coordinates of the tower bottom. This invention effectively overcomes the problem of low measurement accuracy caused by close-range, large-inclination angle observations in narrow mountainous terrain, eliminates the need for multi-layered control networks, improves measurement efficiency and accuracy, and reduces operational risks and costs.

The mountainous area complex terrain overlying strata separation layer grouting and filling method based on cluster directional drilling specifically comprises the steps that S1, a terrain-geology coupling model is constructed, and the position of a separation layer target area is determined; s2, determining the position of a mountain gentle slope platform based on the coupling model, setting a concentrated well site, and designing a directional hole opening dip angle, an azimuth angle and overlying strata separation target region parameters; s3, forming a grouting channel; and S4, by means of the grouting channel, grouting is conducted on the overlying strata separation layer through the low-pressure slow grouting, segmented boosting and intermittent grouting technology, and grouting is stopped when the preset stopping condition is met. According to the mountainous area complex terrain overlying strata separation layer grouting and filling method based on the cluster directional drilling, the problem that in the prior art, overlying strata separation layer grouting and filling cannot be implemented due to the complex terrain of the earth surface is solved.

The invention relates to the technical field of photovoltaic power station design, in particular to a complex mountain photovoltaic subunit division method and system based on adaptive optimization clustering. Through global dynamic adjustment, accurate matching of the number of each subunit string and a target value is achieved, the division balance is greatly improved, meanwhile, full-process automatic operation is achieved, the data processing efficiency and division consistency of a large-scale mountain photovoltaic project are remarkably improved, and through combination of density clustering and an optimization adjustment strategy, the division efficiency of the large-scale mountain photovoltaic project is improved. The method can flexibly adapt to different mountain terrains and string distribution modes, the division result meets the actual requirements of electrical design, cable laying and operation and maintenance management, line loss can be reduced, the system efficiency can be improved, the engineering cost can be reduced, and in the face of the influence of complex geographical environment factors in a complex mountain scene, through parameter self-adaptive setting, the system efficiency can be improved. Algorithm parameters can be adjusted according to specific requirements of projects, and the method is suitable for various complex mountain scenes.

The invention belongs to the field of agricultural information system management, and particularly relates to a laser weeding robot moving system for abrupt slope mountain terrain. The system is composed of a laser weeding robot main body, a robot wheel type walking system, a main body detachable device, a transverse guide rail moving system, a vertical guide rail moving system, a folding joint and a grounding chassis. The laser weeding robot main body can complete plane movement through the robot wheel type walking system and can be installed on the top of the transverse guide rail moving system through a main body detachable device. The whole system can move the laser weeding robot in the horizontal direction, the longitudinal direction and the transverse direction, can be used for walking of the laser weeding robot under the steep slope terrain and the scarp terrain, and is not prone to overturning.

The invention belongs to the technical field of meteorological data extraction and processing, and particularly provides a method and system for extracting an atmospheric fine vertical structure under a mountain complex terrain, and the method comprises the steps: collecting multi-source observation data of an atmospheric vertical profile under the mountain complex terrain, carrying out the normalization of the multi-source observation data, and obtaining the normalized multi-source observation data; performing space-time matching on the normalized multi-source observation data by using the altitude of the data acquisition point to obtain space-time groups; analyzing the normalized multi-source observation data in the space-time grouping, and constructing a multi-source profile merging system; extracting an atmospheric fine vertical structure based on the multi-source profile merging system and normalized multi-source observation data; and arranging the atmospheric fine vertical structures in different time-space groups according to a time sequence, predicting changes of the atmospheric fine vertical structures, and obtaining a prediction result. According to the technical scheme, fine observation of the vertical structure of the atmosphere is facilitated, and the method is of great significance to improvement of disastrous weather defense capability, guarantee of aviation safety and the like.

This application relates to the field of robotics technology and discloses a robot balance adjustment method, device, electronic device, and storage medium. The method includes: collecting robot posture data and leg grounding state data; calculating the height adjustment amount of each leg based on the posture data and the leg grounding state data; and adjusting the lifting and lowering of each leg according to the height adjustment amount to keep the robot's loading surface level. This application dynamically adjusts the lifting and lowering of the legs by collecting robot posture data and leg grounding state data and calculating the height adjustment amount based on this data, keeping the loading surface level. This effectively copes with the inclination and drop of hilly and mountainous terrain, ensuring that the robot maintains dynamic balance during movement, and solves the problem in related technologies where robots cannot meet the dynamic balance requirements of complex terrain.