41 results about "Narrow channel" patented technology

The invention discloses a multi-robot intelligent collaborative simulation training system based on an augmented reality technology, and relates to the technical field of intelligent warehousing and logistics automation. An AR dynamic obstacle generation technology breaks through static limitation of a traditional simulation scene, sudden interference such as container collapse, temporary forbidding and the like is simulated through a physical engine, and real-time simulation is achieved. A training strategy is directly exposed to a high-simulation risk environment; a topology potential field decision-making mechanism is introduced to quantify course conflicts and distance threats into a repulsive force field in a unified mode, a course Gaussian modulation item accurately filters non-direct collision targets, and the oscillation defect of a traditional potential field method is avoided. According to the path entropy calculation, the conflict probability is analyzed through direction density distribution, gradient adjustment is forcibly activated when the entropy of a narrow channel exceeds a threshold value, the chain reaction of high-density deadlock is restrained from the source, and the group path fluency is guaranteed.

The invention relates to the technical field of forklift loading and unloading equipment, in particular to a fork arm carrier system capable of forking goods bidirectionally. The hanging frame is arranged on the fork arm carrier in a lateral sliding manner; the sliding frame is arranged on the hanging frame in a front-back sliding manner; and the pallet fork is arranged on the sliding frame. The pallet fork is arranged at the bottom of the sliding frame in a lateral sliding mode. The driving mechanism drives the pallet fork to transversely move and slide in two directions relative to the sliding frame so as to adjust the extending position of the pallet fork relative to the sliding frame, and loading areas in different directions are formed; the fixing device is used for pressing the pallet fork after the pallet fork moves in place to prevent displacement; the sliding direction of the hanging frame is parallel to the pallet fork, and the hanging frame moves to control advancing and retreating of the pallet fork loading area. The scheme has the effects of improving the narrow channel operation efficiency and optimizing the storage space utilization rate.

The application discloses an unmanned cluster trajectory planning method based on a tangent bug algorithm and a real-time virtual pipeline, and belongs to the field of unmanned cluster cooperative control and trajectory planning. The method manages the switching of three navigation modes through a state machine. After perceiving the environment in real time, if a narrow channel is identified, the special mode is entered, the pipeline center line is aligned with the channel axis and the radius is contracted, and the cluster is guided in the direction of the center line; if the narrow channel is not identified, the switching between the border following mode and the target seeking mode is performed, the obstacle avoidance tangent direction or the direct approaching direction is calculated based on the tangent bug algorithm, and the pipeline radius remains a standard value. Finally, the virtual pipeline constructed dynamically is taken as a unified space reference, the motion trajectories of the units are solved in real time according to a preset formation configuration, and the trajectories are output. The application effectively solves the problems of fixed pipeline radius, low narrow channel passing efficiency and insufficient formation cooperation in the prior art, and realizes the safe, efficient and cooperative motion of the unmanned cluster in a complex environment.

The invention belongs to the technical field of robot obstacle avoidance, particularly relates to a mobile robot obstacle avoidance method and system for risk assessment of a narrow channel, and solves the technical problem that an existing multi-robot obstacle avoidance method is easy to cause systematic deadlock in the narrow channel due to lack of operation semantic perception. According to the method, path step-by-step screening based on narrow channel constraint, channel capacity modeling based on cleaning state perception and a conflict pre-judgment and coordination mechanism based on a cleaning window are introduced, and operation semantics such as cleaning continuity and task load are fused into a collaborative decision closed loop, so that deadlock risks are actively eliminated before conflicts occur. According to the system, the method is achieved through a cooperative control platform, and the operation continuity and the overall efficiency of the multiple robots in the complex and narrow environment can be effectively guaranteed. The method is suitable for cooperative operation of multiple environmental sanitation cleaning robots in scenes such as parks and roadways.

The application discloses an anti-explosion area autonomous inspection method and system for a robot dog, and relates to the technical field of robot intelligent inspection.A kind of anti-explosion area autonomous inspection system for robot dog, including map construction and sequencing module, global path planning module, global path smoothing module, local path optimization module and state detection and alarm module.The application carries out the optimal inspection path planning of two-dimensional space between two adjacent starting points or inspection points by improved A* algorithm, which can not only dynamically adjust the inspection path according to the width of the channel, that is, preferentially select wider channels to effectively reduce the risk of collision, and ensure that the robot dog maintains a safe distance from the channel wall in narrow channels, thereby improving the safety and reliability of the robot dog inspection, but also can improve the passability and inspection efficiency of the inspection path by combining the kinematic characteristics of the robot dog, to reduce unnecessary detours, and improve the safety of the anti-explosion area autonomous inspection method and system for the robot dog.

The invention discloses an explosion-proof area autonomous inspection method and system for a robot dog, and relates to the technical field of intelligent inspection of machines. The invention discloses an explosion-proof area autonomous inspection system for a robot dog. The explosion-proof area autonomous inspection system comprises a map building and sorting module, a global path planning module, a global path smoothing module, a local path optimization module and a state detection and alarm module. According to the method, the optimal inspection path planning of the two-dimensional space is carried out between the two adjacent starting points or inspection points through the improved A * algorithm, the inspection path can be dynamically adjusted according to the width of the channel, namely, a wider channel is preferentially selected to effectively reduce the collision risk, and it is ensured that the robot dog keeps a safe distance from the channel wall in the narrow channel; therefore, the safety and reliability of robot dog inspection are improved, the passing ability and inspection efficiency of an inspection path can be improved in combination with the kinematic characteristics of the robot dog, unnecessary detour is reduced, and the safety of the autonomous inspection method and system for the anti-explosion area of the robot dog is improved.

The invention provides a control method, self-moving equipment and a control system of the self-moving equipment, and the control method comprises the steps: responding to the situation that the self-moving equipment is located at the joint of a narrow region and a sub-region, planning to pass through the narrow region, and obtaining a working boundary of a working region according to preset map information; expanding the working boundary into the working area to obtain a map expansion boundary; determining the states of the narrow channel according to the map expansion boundary, wherein the states comprise communication and blocking; in response to the occlusion, a coverage path is generated, the coverage path connects the sub-regions, and the self-moving device passes through a narrow region corresponding to the narrow channel according to the coverage path. According to the control method provided by the invention, the coverage path is generated on the blocked narrow channel, so that the risk that the self-moving equipment goes out of the boundary or collides with obstacles outside the boundary in the narrow area is reduced, and the possibility that the self-moving equipment stops due to path searching failure is reduced.

The invention belongs to the technical field of path planning, and more specifically relates to a limited space unmanned aerial vehicle bridge simulation inspection path planning method. The method comprises the following steps: sensing and subscribing point cloud information of an environment by an unmanned aerial vehicle, wherein the point cloud information comes from a laser radar, a depth camera or a fusion point cloud; filtering: carrying out point cloud noisy point self-adaptive multi-level filtering on the point cloud information, executing nine-step self-adaptive noisy point filtering, and outputting filtered point cloud and a free space F; planning and bridge-imitating inspection path generation are carried out, an initial path is generated through a narrow channel RRT *, a safe flight inspection corridor SFIC is constructed, and a middle bridge-imitating inspection path is generated in the SFIC in an optimized mode. The problems of insufficient environmental perception precision, low safety and efficiency of path planning, lack of dynamic adaptability of path planning and low path quality during the inspection process of an existing unmanned aerial vehicle in a limited space in a bridge are solved.

The invention provides a variable body adaptive soft robot based on multi-mode perception, and relates to the technical field of robots, the variable body adaptive soft robot comprises a telescopic body, a body frame, a leg connecting piece, four flexible legs, two variable width actuators, a tactile sensor and a piezoelectric film; the telescopic body is fixedly connected with the body frame; the touch sensor is fixed at the front end of the body frame; the flexible leg and the leg connecting piece are fixedly connected through sealant; the leg connecting piece is rotationally connected with the body frame and rotationally connected with the variable-width actuator; the two ends of the variable-width actuator are connected with the two flexible legs respectively; piezoelectric films are arranged at the bottoms of the flexible legs; and when it is sensed that a low channel or a narrow channel exists in the external environment, the variable-body adaptive soft robot is deformed to pass through the low channel or the narrow channel. According to the invention, the robot can monitor and adjust the posture and action in real time, so that the movement and working state can be effectively controlled.

This invention discloses an automatic sealing system and method for circuit boards, relating to the field of printed circuit technology. The method includes: acquiring a set of device height points, extracting a centerline coordinate set, a width set, and a no-coating coordinate set; calculating the entry cutoff level based on the centerline coordinate set and the width set, calculating the drift candidate coordinate set based on the device height point set and the width set, and generating a restricted deposition partition table; generating a restricted deposition command based on the restricted deposition partition table, the entry cutoff level, and the drift candidate coordinate set; driving the nozzle along the entry barrier trajectory to form an entry barrier layer according to the restricted deposition command, forming a barrier band outside the no-coating coordinate set, and injecting deposition according to the injection and discharge sequence and the guiding airflow sequence, and suppressing the drift candidate coordinate set according to the recovery airflow sequence; and outputting sealing record data. This invention can cope with the switching of material transport mechanisms caused by narrow channel geometry, avoiding the limitations of traditional two-dimensional trajectory optimization.

The invention discloses a path planning method and device for a port yard multipoint inspection robot, and belongs to the technical field of mobile robot path planning. The method adopts a double-layer architecture of upper layer YARD-RRT * global planning and lower layer UO-MPC local rolling optimization: the upper layer introduces turning cost and an adaptive sampling strategy on the basis of a real-time laser map, and quickly generates a smooth and traceable global path; and the lower layer is based on unified obstacle perception model predictive control, superellipse, multi-layer circle nesting and capsule reachable set constraint are respectively established for the static container, the moving obstacle and the shielding area, and safe speed and course instructions are output in a rolling manner. The robot continuously updates the local map in the driving process, clears the map after arriving at each target point, and then starts the navigation of the next section, thereby achieving the multi-point inspection task of efficient passage in a narrow channel of a storage yard and safe obstacle pre-avoidance in a sheltered area. Compared with the prior art, the method has the advantages that the passing rate, the safety and the operation continuity in a complex storage yard environment are remarkably improved.

The invention relates to the technical field of mine roadway measurement, in particular to a center line calibration method based on a trigonometric function under the condition that a total station is not erected at an underground roadway intersection. According to the centerline calibration method based on the trigonometric function under the condition that the total station is not erected at the underground roadway intersection, the effect of breaking through the limitation of an underground complex environment is achieved by setting an indirect measurement and trigonometric function resolving process. Aiming at the rigid requirement that instruments and stations must be erected at cross points in a traditional method, the method adopts an indirect measurement mode, selects control points of a stable region of the side wall of a roadway, constructs a spatial triangulation network in combination with temporary observation points, and solves key parameters by utilizing the sine and cosine theorem, so that the dependence on cross point erection conditions is thoroughly eliminated; measurement personnel can complete center line calibration without entering a roof crushing area, a narrow channel or a pipeline dense area, the major technical problem that the roadway tunneling direction is out of control due to environmental limitation is solved, and basic guarantee is provided for efficient mine construction.

The invention belongs to the technical field of sliding doors, and particularly relates to a ship side opening sliding type weather tight door which comprises a tight door frame body, the tight door frame body comprises a door frame and a door leaf, the door leaf is arranged on the outer side of the door frame and can be opened on the outer side of the door frame in a sliding mode, and two sets of fixing frames are fixedly connected to the inner side of the tight door frame body. The number of the fixing frames is four, every two fixing frames are distributed up and down, a rotating shaft is rotationally arranged in each fixing frame, an L-shaped supporting rod is fixedly installed on the peripheral face of each rotating shaft, and the side, away from the corresponding rotating shaft, of each L-shaped supporting rod is connected with the side wall of the door leaf; the side-opening translation mode firstly gets rid of the door frame in parallel and then transversely translates and slides the door leaf, so that the shielding to the channel is reduced, and the side-opening translation mode is particularly suitable for narrow channels or scenes with high aesthetic requirements of luxury passenger ships; and through the design of the four rotating shafts, the door leaf opening and closing smoothness can be improved, and using is more convenient and faster.

The invention discloses a mobile mechanical arm obstacle avoidance path planning method and system based on a time slot strategy network. The method comprises the steps that a scene reference and an operation target are collected, and a candidate corridor is generated in combination with chassis / mechanical arm constraint and obstacle prediction; intersection is carried out on the corridor and the obstacle movement envelope, an interaction area is marked, and an intersection time interval and a clearance threshold value are given; time, speed and controllability characteristics are constructed, a time window and a speed band are generated by a time slot strategy network, and preemptive / yielding is judged; constructing a time sequence geometric corridor containing a forbidden period and a necessary window, and applying upper and lower boundaries of the speed and a dynamic boundary; under corridor constraints, a chassis-mechanical arm cooperative track is generated through sequential convex programming, window consistency check and parameter adjustment are carried out, and finally an online control instruction meeting clearance and dynamics is output. According to the scheme, unification of time sequence decision and geometric constraints is achieved, the safety and passing efficiency are improved, and the working efficiency is improved. The device is suitable for narrow channel operation and dynamic mixed operation environments.

The invention discloses a cart with two-way handrails capable of being folded in a staggered mode, and belongs to the technical field of carts, the cart comprises a bearing body, a plurality of connecting pieces are arranged on the bearing body, mounting grooves and limiting holes are formed in the connecting pieces, the handrails are rotationally connected into the mounting grooves through pin shafts, and the two ends of limiting rods penetrate through the limiting holes to extend out of the bearing body; one end of the damping spring is connected to the pin shaft, and the other end of the damping spring is connected to the limiting rod. When the handrails need to be folded, a user only needs to step on the limiting rods, so that the limiting rods reach the bottoms along the inclined limiting holes, the bottoms of the connecting rods on the handrails rotate along the pin shafts to be folded and abut against the limiting plates, after folding is completed, the limiting rods automatically reset, and by means of the structure, the two handrails can be folded, and storage is convenient; meanwhile, the two armrests can be pulled by two hands together when the cart is turned around or dragged in a narrow channel, the cart body is prevented from steering out of control, the push-pull requirement of the cart in a complex space is met, and arm fatigue caused by keeping a fixed posture for a long time is avoided.

The invention provides a collision-free path planning obstacle avoidance algorithm based on radar point cloud data driving, relates to a multi-level obstacle avoidance algorithm, and is suitable for autonomous navigation in a complex environment containing a narrow channel. Point cloud data are collected and processed in real time, a dynamically-updated two-dimensional local environment map is constructed, an artificial potential field method and a BUG method are fused for path planning, and strategies such as multi-stage expansion distance and dynamic parameter optimization are introduced, so that obstacles can be accurately recognized through visual detection, and the accuracy of path planning is improved. The method also can guarantee the trafficability of a narrow channel through targeted guidance and optimization of a passing path while considering the safety distance requirement of obstacle avoidance operation in a conventional scene, is suitable for path planning in a multi-scene complex environment, and solves the problems of local optimum, low path efficiency, and difficulty in consideration of safety and trafficability in a traditional algorithm.

The invention discloses an anti-explosion quadruped robot inspection system for a chemical industrial park, and relates to the technical field of chemical automation and safety monitoring, the system has strong terrain adaptability, and a bionic quadruped structure can cross obstacles with the height of 22cm, climb a 30-degree slope, pass through a narrow channel and cover more than 95% of complex industrial areas which cannot be reached by traditional inspection equipment. Detection functions are comprehensive, 10 + parameters such as temperature, images, gas, vibration and the like are synchronously detected through multi-mode sensor integration, the deep learning algorithm is combined, the equipment abnormity recognition accuracy is larger than or equal to 90%, and the omission ratio is smaller than or equal to 1%. The intelligent level is high, the autonomous navigation and dynamic obstacle avoidance functions do not need manual intervention, and the inspection efficiency is improved by more than three times compared with manual inspection; background data analysis supports equipment fault prediction, and potential risks are early warned 72 hours in advance. Safety and reliability are achieved, the IP66 protection level can be achieved, and short-term operation can be achieved in the 40 cm wading environment; the dual-redundancy communication module ensures the stability of data transmission, and the packet loss rate is less than or equal to 0.5%.

The invention provides a detonation combustion chamber air inlet duct with an energy storage cavity. The detonation combustion chamber air inlet duct comprises an air inlet duct body and the energy storage cavity. The air inlet duct body comprises an inner wall and an outer wall, and an annular expansion flow channel is formed between the inner wall and the outer wall. The energy storage cavity is a blind cavity and comprises a cavity body with a certain volume and a narrow channel communicated with the wall face. According to the air inlet duct with the energy storage cavities, the energy storage cavities are formed in the rear half parts of the inner wall and the outer wall of the expansion section of the air inlet duct, the upstream disturbance frequency of the energy storage cavities is increased under the knocking working condition, and the upstream pressure disturbance intensity of the energy storage cavities is reduced. Compared with an original scheme of an air inlet duct, the disturbance reverse propagation restraining method reduces the adverse effect of detonation waves on upstream components, and can be used for research and development of detonation engines.

The application discloses a kind of mobile robot path planning method and system considering narrow channel, including map construction module, initial path solving module and path optimization module;Map construction module: the environment including narrow channel that robot is located is modeled and described;Initial path solving module: improved RRT algorithm fuses the detection mechanism to narrow channel, from the given starting point, by searching the configuration space, generate new node, constantly expand the tree structure constructed by random sampling configuration point, find a collision-free path from initial position to target position;Path optimization module: on the basis of RRT algorithm of fusing narrow channel detection mechanism, improve path node search mode, optimize the initial path processing, find parent node and find out a asymptotically optimal optimization path;The application is high to the response efficiency of narrow channel, fast execution speed, the asymptotically optimal path obtained can guarantee the safety of robot movement.

The invention discloses a multi-degree-of-freedom motion control and attitude adaptive adjustment method for an underwater booster, relates to the technical field of underwater multi-degree-of-freedom attitude control and thrust distribution, and is used for solving the problems of attitude instability and control failure of the underwater booster in a narrow channel, thrust saturation and disturbance environment. Firstly, based on spatial isolation arrangement of a power supply and a sensing assembly, a stable posture in which the gravity center and the buoyancy center are coaxial is constructed; secondly, unlocking a gear shifting passage after water entry judgment, and analyzing a user gear and a posture state to generate a six-degree-of-freedom target; furthermore, a high-precision attitude is estimated by adopting extended Kalman filtering, and thrust offset in a saturation region is corrected through a potential energy gradient driven by a residual error, so that attitude asymptotic elimination is realized. The method has the capabilities of multi-dimensional disturbance identification, energy-phase linkage judgment and dynamic boundary obstacle avoidance, and is suitable for high-precision boosting control in a complex underwater environment.

The invention relates to a scheduling method of a robot under multiple narrow channels and a storage medium. The method comprises the following steps that the robot loads a preset map before running; in the running process of the robot, current position information is obtained in real time, and a position energy value is calculated according to geometric information of a narrow channel in a preset map; calculating the time when the robot arrives at the potential collision point of the narrow channel; comparing the collision time of each robot reaching the potential collision point; when the collision time of two or more robots is smaller than a preset time threshold value, the priority of the robots passing through the potential collision points is determined based on the position energy values of the robots; and generating a corresponding action instruction for the corresponding robot according to the determined priority. Collision of the robots at potential collision points is avoided, the operation safety of the robots is improved, the waiting time and the congestion phenomenon between the robots are reduced, and the scheduling efficiency and the overall operation speed of the multiple robots are improved.

A method for passing through a narrow channel based on the perpendicular bisector of the channel belongs to the technical field of AUV path planning. The present invention solves the problems of poor smoothness and safety of the planned path and the easy entrapment of the AUV in a concave trap in the existing methods. The present invention uses the perpendicular bisector of the narrow channel to select local target points, and then adopts a polynomial trajectory planning method to plan the path from the current position to the local target points, ensuring the smoothness and safety of the path. Moreover, the AUV can observe the environment during the navigation to the local target points, effectively preventing the AUV from falling into a concave trap. At the same time, the present invention continuously updates the position of the local target points according to the environmental information to adjust the attitude of the AUV, further improving the safety of the AUV passing through the narrow channel. The method of the present invention can be applied to the technical field of AUV path planning.

The present invention discloses a narrow channel unmanned trailer obstacle avoidance turning trajectory planning method, comprising: S1, in the time period t∈[t0,t0+Δt], using the vehicle-mounted sensor to obtain the state quantity of the unmanned trailer; S2, constructing the vehicle kinematic constraints; S3, constructing the obstacle avoidance constraints; S4, constructing the control quantity constraints; S5, constructing the two-point boundary constraints; S6, constructing the angle constraint between the tractor and the trailer; S7, constructing the optimal control problem; S8, solving and obtaining the initial trajectory; S9, constructing the vehicle jerk constraint; S10, solving the LQR by dynamic programming; S11: performing the iterative LQR solution on the optimized trajectory again until the cost function converges to 10 ‑4 , stopping the iteration and obtaining the optimal trajectory. This method cleverly handles constraints, and the iterative optimization solution can obtain the optimal trajectory quickly, improving the efficiency and driving safety of unmanned trailers in narrow passages.

The invention discloses a mechanical tower pool online dredging intelligent regulation and control system based on multi-parameter cooperation, relates to the technical field, and is used for solving the problems that when multiple robots work in the same domain, partition overlapping, boundary scrambling and narrow domain meeting are likely to occur, and the included angle between a mooring rope and a silt discharging hose and the tension risk are not sufficiently considered. The system constructs a grid map through sensing and positioning, generates an anchor corridor, and divides responsibility partitions and mutually exclusive buffer zones according to distance and angle threshold values; based on a comprehensive cost function, preferentially selecting in a strip-shaped reciprocating mode, a spiral mode or a mixed mode, and setting an arc transition at a corner; path fine adjustment and shared throat marking are carried out according to the minimum distance between the two machines and the predicted tension threshold value of the cable; time slots are divided for the shared throat according to the length and the speed, and online collision and conflict avoidance is implemented or rollback redivision is triggered by waiting for threshold exceeding. The system gives consideration to coverage integrity and cable safety under the condition of multi-machine same-area operation, and is suitable for dredging operation scenes with narrow channels and complex boundaries such as mechanical tower pools and the like.

The application discloses a kind of multi-robot intelligent cooperative simulation training system based on augmented reality technology, it is related to intelligent warehousing and logistics automation technical field, the AR dynamic obstacle generation technology of the present application breaks through the static limitation of traditional simulation scene, through physical engine simulation container collapse, temporary prohibition, etc., sudden interference, so that training strategy is directly exposed in high realistic risk environment;Introduce topological potential field decision mechanism to unify the repulsive field of heading conflict and distance threat, the non-direct collision target is accurately filtered by heading gauss modulation term, to avoid the oscillation defect of traditional potential field method;Path entropy value calculation is analyzed conflict probability by direction density distribution, when narrow channel entropy is over threshold, gradient regulation is forced to activate, to curb the chain reaction of high-density deadlock from source, guarantee group path smoothness.

The utility model provides an anti-leakage steam pressure reducing valve which comprises a main valve seat, a guide valve seat, a valve body and a valve bonnet, flanges are installed on the two sides of the valve body, the valve body is composed of an air inlet cavity and an air outlet cavity, and a valve rod is jointly arranged on the inner side of the air inlet cavity and the inner side of the air outlet cavity. Gas can be guided when the guide vanes rotate, the gas is disordered and rotates, so that fluid flows through a flow channel and is collided and turned for multiple times, energy is consumed, and the purpose of step-by-step pressure reduction is achieved; when steam enters the large cavity after passing through the narrow channel, due to the fact that the area is suddenly enlarged, airflow forms a strong vortex, in the vortex, the airflow speed is almost equal to zero, and therefore the gas pressure is further reduced, it is guaranteed that the gas pressure at the outlet and the gas pressure at the inlet are in a stable state all the time, and the sealing performance and safety of the device are improved.

A method for aligning a wire with a channel inlet includes directing a feed end of the wire toward a channel inlet of a feed channel and creating a pressure differential between the channel inlet and a channel outlet of the feed channel, thereby creating a pressure-driven gas flow around the wire toward the channel inlet. The wire is urged along the feed channel toward the channel outlet by shear forces of the gas flow created by the pressure differential. A method for preventing stiction of a wire against an inner wall of a narrow channel includes creating a pressure differential between the channel inlet and a channel outlet, thereby creating a pressure-driven gas flow around the feed end of the wire toward the channel inlet of the channel, and inducing one of fluttering or vibration in the wire at the feed end of the wire.

The invention relates to a three-way AGV forklift capable of forking goods bidirectionally. The three-way AGV forklift comprises a forklift body, a portal frame system arranged on the forklift body and a fork arm carrier system arranged on the portal frame system. The portal frame system comprises an outer portal frame with the lower end hinged to the forklift body and an inner portal frame longitudinally arranged on the outer portal frame in a sliding mode, and the fork arm carrier system is longitudinally arranged on the inner portal frame in a sliding mode and comprises a fork arm carrier connected with the portal frame, a hanging frame laterally arranged on the fork arm carrier in a sliding mode, a sliding frame arranged on the hanging frame in a front-back sliding mode and a fork arranged on the sliding frame. The pallet fork laterally slides at the bottom of the sliding frame. The driving mechanism drives the pallet forks to bidirectionally translate and slide relative to the carriage so as to adjust extending positions to form loading areas in different directions; and the fixing device is used for pressing to prevent displacement after the pallet fork moves in place. The hanging frame slides in parallel with the pallet fork and moves to control the pallet fork loading area to advance and retreat. The scheme can improve the narrow channel operation efficiency and optimize the storage space utilization rate.

The invention discloses a pallet fork assembly and a storage forklift and relates to the technical field of logistics storage, the pallet fork assembly comprises a pallet fork support, a connecting frame, a fork tooth assembly and a turnover driving part, and the front end and the rear end of the pallet fork support are open; the fork tooth assembly comprises a first pallet fork and a second pallet fork which are independently and rotationally connected to the connecting frame, the first pallet fork and the second pallet fork both have a transversely-arranged supporting state and a longitudinally-arranged storage state, and the overturning driving piece drives the fork tooth assembly to overturn relative to the connecting frame. The first pallet fork and the second pallet fork are switched between a supporting state and a storage state; when the first pallet fork is in a supporting state, the tip end of the first pallet fork points to the front end; when the second pallet fork is in the supporting state, the tip end of the second pallet fork points to the rear end, the pallet fork assembly can be matched with goods stacks in different directions in a narrow space where a forklift is inconvenient to turn, goods forking and unloading operation in the front direction and the rear direction can be completed without turning around of the whole forklift, and the operation efficiency of a narrow channel is greatly improved.

The present invention provides an autonomous through-hole method for an underwater submersible, which includes a main body of the submersible device and sensors and ranging sonars arranged on the main body of the submersible device. The sensors and the ranging sonars are signal-connected to the main body of the submersible device. The sensors are used to obtain the attitude data of the main body of the submersible device. The ranging sonar is provided with a first ranging sonar and a second ranging sonar. The autonomous through-hole method for an underwater submersible provided by the present invention uses a data fusion algorithm to adjust the attitude of the ROV so that its sailing direction is almost consistent with the axis of the narrow channel (through-hole) ahead, and by adjusting the attitude and heading in real time, the main body of the ROV submersible device can be maintained near the central axis of the narrow channel (through-hole) during the driving process, ensuring that the ROV can smoothly pass through the narrow channel (through-hole) and realizing the function of the main body of the underwater operation submersible device to autonomously pass through the hole with real-time attitude adjustment.