973 results about "Obstacle crossing" patented technology

The invention discloses a wheel-foot robot capable of crossing obstacles through joint combination wheels, and relates to the technical field of wheel-foot robots, the wheel-foot robot comprises a robot main body, driving shafts are rotatably mounted on the side walls of the two ends of the robot main body, outer arms are rotatably mounted at the ends, away from the robot main body, of the driving shafts, and driving arms are rotatably mounted at the bottom ends of the outer arms; the side wall of the driving arm is rotatably provided with a driving wheel, the bottom of the robot main body is fixedly provided with a control module, the bottom of the front end of the robot main body is provided with an obstacle crossing device, and through the arrangement of the obstacle crossing device, after the obstacle crossing wheels touch steps, the triangular arrangement of an obstacle crossing disc enables the obstacle crossing disc to rotate on the outer wall of the inner arm; therefore, the robot body can climb the stairs smoothly when facing the obstacles on the steps, the high flexibility and adaptability of the robot are shown, and the strong coping capacity of the robot in the complex environment is reflected.

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

The invention discloses an overhead transmission line wire acceptance robot and an automatic obstacle crossing method thereof. An obstacle crossing system comprises a main body self-adaptive damping device, a belt type driving mechanical leg obstacle crossing device, an obstacle crossing auxiliary moving device, a self-adaptive adjusting wheel device and the like. The angle and position of the wheels can be adjusted in real time according to different obstacle crossing forms, it is ensured that the obstacle crossing mechanism can tightly clamp the wire, a stable obstacle crossing platform is provided, the acceptance inspection robot stably crosses various obstacles such as a spacer, a shockproof hammer and a wire clamp, and the acceptance inspection efficiency of the overhead transmission line wire is greatly improved.

The invention relates to a composite deformation wheel type amphibious robot with wheel leg paddle functions. Comprising a sealed cabin, wheel-leg-paddle composite deformation wheels, a transmission structure, a settlement control structure, a visual module and a driving motor, the sealed cabin serves as a robot body support, and the four wheel-leg-paddle composite deformation wheels are symmetrically installed at the four corners of the bottom of the sealed cabin; the two transmission structures are symmetrically arranged on the two sides in the sealed cabin and are connected with the four wheel-leg-paddle composite deformation wheels through through holes in the two sides of the sealed cabin; two driving motors arranged in the sealed cabin drive two groups of wheel-leg-paddle composite deformation wheels on the same side to rotate through two groups of matched transmission structures, and each group of wheel-leg-paddle composite deformation wheels has a wheel type form, a leg type form and a paddle type form which can be switched; when entering a water area, the suspension depth is automatically adjusted through the settlement control structure. The amphibious robot realizes land rolling, obstacle crossing and underwater propelling movement, and is suitable for stable operation in a complex amphibious environment.

The invention belongs to the field of distributed system and multi-robot formation control, and provides a multi-robot elastic formation control method and system based on a state machine, and the method comprises the steps: initializing and updating an occupation grid map, and generating a Euclidean symbol distance field; on the basis of taking the updated occupied grid map as a search space, searching local path points of each robot by utilizing a heuristic search algorithm, and generating a local path; constructing an optimized objective function by taking dynamics feasibility, obstacle avoidance, avoidance between robots and formation keeping as constraint cost, and optimizing a local path to obtain an optimized path; the method comprises the following steps: periodically detecting potential collision of robots in an optimized path walking process, and carrying out mixed path planning on multiple robots on a Euclidean coincidence distance field by utilizing a cooperative mechanism of leader path offset mapping and local autonomous adjustment according to a detection result; according to the invention, system states can be dynamically switched according to environment changes, and cooperative control of formation maintenance and obstacle crossing is realized.

The invention belongs to the field of mud flat operation machinery, and particularly relates to a low-specific-pressure non-structural terrain-oriented step type walking mechanism which comprises a rack assembly, a walking assembly, a running assembly and a supporting leg assembly, the walking assembly comprises a fixing frame, a rail, an abdominal base assembly, a rotation assembly and a pulley assembly. The abdominal base part assembly comprises a frame, and an engine and two displacement oil cylinders which are fixed on the frame; the pulley assemblies are fixedly connected to the four corners of the frame, the rails are fixed to the two sides of the frame, telescopic rods of the displacement oil cylinders are fixedly connected with the fixing frames, and the two fixing frames are fixedly connected with a rack of the rack assembly. The pulley assembly is connected with the track in a sliding manner; the slewing assembly comprises a slewing bearing with an inner gear, a gear meshed with the slewing bearing, and a slewing bearing connecting frame fixedly connected with the slewing bearing; the steering motor is fixedly connected to the frame; the robot can keep high efficiency and flexibility of movement, and has high obstacle crossing ability.

The invention discloses an unmanned aerial vehicle autonomous inspection system and method based on AI identification, the system comprises an unmanned aerial vehicle body carrying a high-power optical zoom lens, an edge computing device and a function module, and the autonomous inspection of a power distribution tower is realized by fusing front-end AI identification and edge computing technologies. A Yolo structure is adopted to construct a lightweight tower recognition model, a dynamic route planning module is combined to realize single-point reference route generation and three obstacle crossing modes, and real-time coordinate correction in an RTK-free environment is supported. The edge computing device integrates a semi-supervised learning engine and a multi-sensor data fusion module, meets miniaturization design, and supports breakpoint continuous flight control and precise landing. The method covers automatic route generation, visual tracking, zoom cooperative control and self-adaptive task scheduling, solves the problems that a traditional unmanned aerial vehicle depends on manual operation, the data quality is poor and the efficiency is low, realizes whole-course automation of tower inspection in a complex environment, and is high in inspection efficiency, and the picture definition reaches the pin level.

The invention discloses a ball wheel moving device and a moving method thereof. The device comprises a machine body, a ball wheel mechanism, a leg mechanism and a control system. The spherical wheel mechanism comprises a spherical wheel and a first driving unit for driving the spherical wheel to rotate; the leg mechanism comprises a deformable connecting rod assembly and a second driving unit used for driving the connecting rod assembly to deform and rotate. The connecting rod assembly is hinged to the side face of the machine body and fixedly connected with the ball wheel mechanism. The control system is separately in electric signal connection with the ball wheel mechanism and the leg mechanism; through the rotation and deformation design of the leg mechanisms and the coordinated control of the control system on the ball wheel mechanisms and the leg mechanisms, an all-terrain self-adaptive composite transmission structure is formed, dynamic coupling of rolling driving and foot type obstacle crossing is achieved, the environmental adaptability, flexibility and operation reliability are improved, and the working efficiency is improved. And the problems of obstacle crossing instability and movement interruption of an existing device are solved, and the working efficiency under the complex terrain is remarkably improved.

The invention provides a climbing robot. The climbing robot comprises a fixing frame, a box body arranged on the fixing frame, an obstacle crossing mechanism arranged on the box body and a climbing mechanism arranged on the obstacle crossing mechanism. A movable block is installed on the rotating shaft through a first spring, threaded rods are movably installed at the two ends of the movable block, bearing seats are installed on the threaded rods on the periphery of the first bevel gear, a fixed block is installed between the two bearing seats, and a rotating block is arranged in the fixed block and fixedly connected with the second bevel gear. Clamping blocks are installed at the lower ends of the rotating shafts and matched with movable grooves in the rotating blocks. And through the obstacle crossing mechanism, a large space is formed between the device and the climbing object for obstacle crossing, after obstacle crossing is completed, the device is attached to the climbing object again, wind resistance is reduced, and the climbing stability is improved. The climbing mechanism comprises moving arms on the two sides, shells are fixedly connected to the lower ends of the moving arms, driving rollers are fixed to the shell on the driving side, auxiliary rollers are fixed to the shell on the driven side, and the climbing efficiency can be effectively improved.

The invention discloses a multi-source cooperative rocker arm-tracked robot composite mechanical structure for earthquake search and rescue, and belongs to the technical field of intelligent rescue equipment. A rocker arm-crawler belt-wheel three-dimensional motion structure system is innovatively designed, a multi-degree-of-freedom rocker arm structure driven by a steering engine is adopted in the middle of the robot, and a double-crawler belt differential driving module driven by a motor is arranged at the bottom of the robot; a swing arm balance wheel set is arranged on the front portion to assist climbing operation. According to the composite structure, a posture stability control algorithm is established through a mass center dynamic model, and intelligent switching of three motion modes of wheel type high-speed maneuvering, crawler belt obstacle crossing and rocker arm climbing can be achieved. Tests show that the structure can enable the robot to stably cross a 100 mm vertical obstacle, good posture stability is kept in unstructured terrains such as gravel and rubble, and meanwhile the environment is sensed through various sensors. Compared with a traditional single motion structure, the multi-dimensional maneuvering ability in the complex post-disaster environment is achieved through mechanical structure innovation, and the terrain adaptability of rescue equipment is effectively improved.

The invention discloses a catastrophe rescue robot digital twin control method and system, and belongs to the technical field of robot intelligent control. Comprising a virtual-real mapping module which processes the body state of a robot and catastrophe scene point cloud data in real time, and constructs and synchronously updates a digital twinborn body containing a terrain elevation map at a cloud end; the hierarchical decision-making module is used for making a decision in the digital twinborn body by utilizing a hierarchical reinforcement learning model, and outputting a wheel-leg movement mode and an excavation arm cooperation instruction by a high-level strategy network according to the terrain complexity; and the safety deduction module introduces a safety reinforcement learning mechanism, deduces and verifies the generated action instruction in the virtual environment, and restrains the dangerous action by controlling a barrier function. According to the method, the decision risk of the heavy robot in the unstructured catastrophic terrain can be reduced, the stability of motion control is improved, and a high-safety control strategy is provided for various complex obstacle crossing actions based on simulation prediction.

The invention belongs to the technical field of electrical equipment, and particularly relates to a cleaning robot and a cleaning system. A cleaning robot comprises a main body and a walking wheel assembly, the walking wheel assembly is connected with the main body, the walking wheel assembly guides movement of the main body, the walking wheel assembly comprises a main wheel, a rotating arm assembly and an auxiliary wheel, and the main wheel is connected with the main body through a first shaft and guides movement of the main body in a first state; the rotating arm assembly comprises a first end and a second end, the first end of the rotating arm assembly is connected with the second shaft arranged on the main wheel, the rotating arm assembly is connected with the second shaft, and the auxiliary wheel is connected with the second end of the rotating arm; the second end of the rotating arm assembly rotates to the position below the main wheel, the auxiliary wheel makes contact with the cleaning face and lifts the front side of the body, and the auxiliary wheel guides the body to move in the second state. The obstacle crossing ability of the cleaning robot can be improved, and the application range of the cleaning robot is wider.

The utility model relates to the technical field of spherical tank surface weld joint detection, in particular to a magnetic attraction type spherical tank weld joint detection robot which comprises a crawler crawling device, a weld joint detection device and a surface polishing device, and the crawler crawling device is used for providing walking power and adsorbing a climbing wall; the welding seam detection device is composed of a detection part and an imaging part, and the imaging part is composed of laser imaging equipment and infrared imaging equipment and used for scanning the interior and exterior of the spherical tank in the detection process and determining coordinate distribution of a welding seam; the detection part consists of a mechanical arm and flaw detection equipment and is used for detecting a welding seam; the surface grinding device is composed of a grinding wheel grinding machine and a sliding support. According to the spherical tank robot, the obstacle crossing capacity for the surface of the spherical tank is improved through the magnet, foreign matter on the welding seam and the surface of the spherical tank is removed through the grinding wheel polisher on the premise that the surface of the spherical tank is not damaged, the welding seam detection precision is improved, and nondestructive detection on the welding seam on the surface of the spherical tank is achieved through the welding seam detection device.

The invention provides an obstacle crossing mechanism, a trigger assembly, a clutch assembly, a walking module and cleaning equipment. The obstacle crossing mechanism comprises a mounting shell, a trigger assembly, a clutch assembly and an obstacle crossing piece. The trigger assembly is elastically hinged to the installation shell and comprises a trigger piece and a joint control piece, the trigger piece extends out of the lower side of the installation shell, and the joint control piece is fixedly connected to the trigger piece. The clutch assembly comprises a transmission shaft, a driving part and a clutch part, the transmission shaft is rotationally connected to the mounting shell, and the driving part is rotationally connected to the transmission shaft. The clutch piece is fixedly connected with the transmission shaft in the circumferential direction of the transmission shaft and movably connected with the transmission shaft in the circumferential direction of the transmission shaft. The obstacle crossing piece is fixedly connected to the transmission shaft. When an obstacle pushes the trigger piece, the trigger piece drives the joint control piece to rotate forwards, so that the joint control piece pushes the clutch piece to be in transmission connection with the driving piece. Therefore, the cost is reduced, and the stable obstacle crossing effect is guaranteed.

The utility model relates to the technical field of intelligent robot moving platforms, and discloses a walking mechanism with an obstacle crossing function, which comprises a base, a support rod is fixedly mounted at the bottom of the base, a sliding sleeve is slidably connected to the outer wall of the support rod, a hub motor is fixedly mounted at the bottom of the sliding sleeve, and the hub motor is connected with the base. A wheel hub motor is arranged on the base, a tire is fixedly installed on the outer wall of the wheel hub motor, a jacking mechanism facilitating obstacle crossing is arranged on the base, and a stabilizing mechanism for improving the stability of the base is arranged on the sliding sleeve. Meanwhile, a worm wheel, a rotating rod, a transverse rod, a pressing rod and a hollow rod are matched, so that the base can be jacked upwards, the gap between the base and the ground is increased, the base can directly cross over an obstacle by adjusting the height of the base, steering to avoid the obstacle is not needed, and the base is moved more smoothly.

The invention discloses a magnetic adsorption robot and a child-mother robot for bridge detection, and belongs to the technical field of bridge detection, the magnetic adsorption robot comprises two vehicle bodies arranged front and back in the advancing direction of the magnetic adsorption robot, and a connecting joint with a self-adaptive angle is connected between the two vehicle bodies; mounting parts are arranged at the bottoms of the vehicle bodies, wheel carriers are hinged to the two sides of each mounting part through hinges, and each wheel carrier is provided with a magnetic adsorption wheel; a detection device, a control device and a battery module are arranged on the vehicle body, the control device is used for controlling the magnetic adsorption robot to move on the bridge, the detection device is used for detecting the bridge, and the battery module is used for providing power support. By arranging the connecting joints and the hinges, the magnetic adsorption wheels can be tightly attached to the adsorption face all the time, the adsorption capacity and the obstacle crossing capacity are improved, and the reliable inspection capacity is achieved; and meanwhile, the two magnetic adsorption robots with different sizes are arranged to form the child-mother robot, so that the safety and the cruising ability are further enhanced.

The invention discloses an automatic takeoff control method for a large fixed-wing unmanned aerial vehicle. The takeoff stage of the unmanned aerial vehicle is divided into a takeoff running stage, a takeoff obstacle crossing stage, a first takeoff climbing stage and a second takeoff climbing stage. In the takeoff taxiing stage, controlling the unmanned aerial vehicle to accelerate to a front wheel lifting speed, controlling the unmanned aerial vehicle to keep a target roll angle, and controlling a yaw angle and a lateral offset distance of the unmanned aerial vehicle to align to a runway center line; in the takeoff obstacle crossing stage, controlling the unmanned aerial vehicle to climb to an obstacle crossing height at a target pitch angle, and controlling the unmanned aerial vehicle to keep a target course angle; in the first take-off and climbing stage, the unmanned aerial vehicle is controlled to climb to a safe height at a target pitch angle, and the unmanned aerial vehicle is controlled to keep a target side offset distance and a track angle; in the second take-off and climbing stage, the unmanned aerial vehicle is controlled to keep the target speed, and meanwhile the unmanned aerial vehicle is controlled to keep the target side offset distance and track angle. Automatic takeoff of the unmanned aerial vehicle can be accurately controlled, and the robustness and safety of automatic takeoff of the unmanned aerial vehicle are greatly improved.

The invention relates to a large-spacing obstacle crossing photovoltaic cleaning device and an obstacle crossing method.The device comprises a rack, a power source assembly, a cleaning assembly, a control assembly, a walking assembly, an obstacle crossing assembly and a positioning sensing assembly, and the walking assembly comprises a first driving wheel assembly and a second driving wheel assembly; the positioning sensing assembly comprises a first positioning sensing part and a second positioning sensing part, the positioning sensing assembly is in communication connection with the control assembly and transmits a positioning signal to the control assembly, the obstacle crossing assembly comprises a first obstacle crossing part and a second obstacle crossing part, and the first obstacle crossing part and the second obstacle crossing part each comprise a supporting seat, a driving execution part, a swing part and an obstacle crossing walking part. The supporting seat is fixedly connected with the rack, one end of the swing part is hinged to the supporting seat, the obstacle crossing walking part is arranged at the other end of the swing part, and the driving execution part is in transmission connection with the swing part and used for driving the swing part to swing in the vertical plane. Large-interval crossing can be achieved on the plane of the photovoltaic module, the design and labor cost can be saved, and the cleaning efficiency is improved.

The invention relates to the technical field of cable laying, in particular to a cable laying obstacle avoidance construction device which comprises a panel and two bottom beams fixed below the panel. A walking unit is mounted on the outer side of the bottom beam, an obstacle crossing beam is movably inserted into the bottom beam, and a driving assembly for driving the obstacle crossing beam to linearly move is mounted in the bottom beam; wherein an obstacle crossing wheel set is installed at the end of the obstacle crossing beam, and a clamping assembly for fixing a cable is further arranged above the panel. Through the design of the obstacle crossing beam capable of being stored and unfolded, in the cable laying process, if the device meets a gully and cannot cross over through the walking unit, the cable can cross over through the walking unit, and then the cable can cross over through the obstacle crossing wheel set; the obstacle crossing beams can be unfolded to enable the obstacle crossing wheel sets to stretch across the gullies, then the obstacle crossing wheel sets are matched with the walking units to complete obstacle avoidance of the gullies, the reliability and convenience of cable laying are remarkably improved, and the construction problem under the complex terrain is effectively solved.

The utility model discloses an electric power circuit detection robot, which belongs to the technical field of detection robots, solves the problem that the existing detection robot is instably connected with an electric power circuit when crossing obstacles, and comprises a detection equipment main body which moves along the direction of the electric power circuit, and a plurality of cameras are fixedly arranged on the detection equipment main body. A plurality of movable mechanical arms are slidably arranged on the upper surface of the detection equipment main body, obstacle crossing moving blocks are slidably arranged on the movable mechanical arms, the movable mechanical arms and the obstacle crossing moving blocks clamp the power line, and by installing a driving mechanism, in the obstacle crossing process of the detection robot, a second two-way lead screw controls two pulley seats to be away from each other; the first bidirectional screw rod controls the two pulley seats to be close to each other, it is guaranteed that the movable mechanical arm is stably connected with the electric power circuit during obstacle crossing, the off-line phenomenon is prevented from occurring in the obstacle crossing process, and the obstacle crossing stability of the electric power circuit detection robot is improved.

The invention relates to a magnetic adsorption walking robot with obstacle crossing and steering functions. The magnetic adsorption walking robot comprises a controller, a rack, a turntable mechanism, at least one magnetic adsorption crawler belt, at least three sets of supporting mechanisms, at least one magnetic isolation mechanism and at least one traction mechanism, supporting mechanisms are at least arranged at the front end, the rear end and the middle position of the rack, each supporting mechanism comprises a supporting driving assembly and at least two walking wheels, and the supporting driving assemblies can drive the walking wheels to stretch out of the adsorption faces of the magnetic adsorption crawler belts; the magnetism isolating mechanisms are arranged on the rack, each magnetic adsorption crawler belt corresponds to at least one magnetism isolating mechanism, and the magnetism isolating mechanisms are used for isolating the adsorption surfaces of the magnetic adsorption crawler belts from the working surfaces; the fixed part of the turntable mechanism is arranged on the rack, the traction mechanism is connected with the rotating part of the turntable mechanism and the top and the bottom of the working surface, and the traction mechanism can pull the rack to walk on the working surface. The robot has good obstacle crossing and steering capabilities, and can adapt to more complex working environments.

The invention discloses a waist steering wheel-foot composite chassis and a control method thereof.The chassis comprises a first chassis frame, the first chassis frame is hinged to a second chassis frame through a waist steering mechanism, and the waist steering mechanism drives the first chassis frame and the second chassis frame to rotate relatively through a telescopic driving mechanism; left frame plates and right frame plates are arranged on the left sides and the right sides of the first chassis frame and the second chassis frame respectively, chassis connecting frames are hinged to the middles of the left frame plates and the middles of the right frame plates through supports respectively, yaw oil cylinders for driving the chassis connecting frames to swing left and right are arranged on the inner sides of the lower half portions of the chassis connecting frames, and the wheel-foot composite assemblies are hinged to the chassis connecting frames. The chassis efficiency and the obstacle crossing performance can be remarkably improved, seamless switching between a wheel driving mode and a walking mode can be achieved according to road conditions, the passing performance is guaranteed, the steering function in the wheel driving mode is achieved through waist steering, the wheel edge structure is simplified, and the reliability of the wheel edge is improved.

The invention belongs to the technical field of outer pipeline obstacle-crossing carrying robots, aims to complete the detection task of the whole circumference of the surface of an outer pipeline in a narrow working space, and discloses an outer pipeline obstacle-crossing carrying robot in a complex environment, which comprises a self-adaptive clamping unit, a middle motor joint bending obstacle-crossing unit and a combined wheel type moving unit, the self-adaptive clamping units are connected to the front portion and the rear portion of the middle motor joint bending obstacle crossing unit, the combined wheel type moving unit is connected with the self-adaptive clamping units, a connecting rod body serves as a power source for active clamping of a single-side arm through a worm and gear, and the robot conducts inchworm type axial movement through the middle motor joint bending obstacle crossing unit. Front-back movement and directional rotation are carried out through the combined wheel type moving unit. The device can adapt to space inclined and bent pipeline structures, has the capacity of treating obstacles such as pipe diameter abrupt change, pipeline hanging brackets and bosses, and has certain load capacity.

The invention discloses a tree climbing device with axial climbing and circumferential steering functions. The tree climbing device comprises a vertically symmetrical main trunk mechanism, an upper clamping and climbing mechanism and a lower clamping and climbing mechanism, wherein the upper clamping and climbing mechanism and the lower clamping and climbing mechanism are identical and bilaterally symmetrical. The main trunk mechanism is arranged in the middle of the robot, telescopic mechanisms are placed in an upper operation platform and a lower operation platform of the main trunk mechanism to control clamping and loosening of the clamping mechanisms, the clamping and climbing mechanisms are arranged on the upper portion and the lower portion of the main trunk and each composed of two grabbing clamps of the completely same structure, and universal wheels are carried in the clamping and climbing mechanisms to serve as execution ends. The rotor wings are carried outside to serve as a power mechanism, and climbing and circumferential movement of the robot on trees are achieved through driving of the auxiliary effect of the rotor wings. A turnover mechanism is arranged in the middle of the main trunk mechanism, the robot can be controlled to turn over through steering engine driving, and conversion of the robot from the trunk to the side trunk is achieved. Under the movement action of the main trunk mechanism, the upper clamping and climbing mechanism and the lower clamping and climbing mechanism, the tree climbing device is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous changes of the diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.

The invention provides an airport clearance security situation awareness and management aided decision-making method and system, and the method comprises the steps: collecting distribution detail data, combining the distribution detail data with patrol data to obtain a clearance patrol database, and removing abnormal values according to the integrity, mathematical expectation and standard deviation; judging whether to generate an obstacle block through clustering according to the data distance of any two obstacles, and determining the range of a buffer area by combining the elevation of the obstacle block with the distance between the center of the obstacle block and the airport reference point, the flight navigation precision, the measurement precision and the elevation of the obstacle block; the final obstacle block information is combined with the clearance reference height map, the clearance limit height map and the electromagnetic height map to generate an obstacle distribution map, the final obstacle block limit height is determined, and an obstacle information list is obtained by combining the elevation output risk assessment result and the obstacle crossing height of the obstacle blocks so as to generate a clearance patrol report. And enabling the inspector to recheck and inspect according to the clearance inspection report to make a decision, and adjusting a data acquisition strategy and an analysis model according to the extracted key data.

The utility model relates to the field of cleaning equipment, and discloses an obstacle crossing mechanism, a driving device and a cleaning robot. The obstacle crossing mechanism comprises a base, a rotating piece and a driving assembly, the base is used for being connected with walking equipment, the driving assembly can drive the rotating piece to rotate in the first direction and the second direction, and obstacle crossing supporting legs are arranged on the rotating piece; when rotating in the first direction, the rotating part can drive the obstacle crossing supporting legs to rotate so as to support the walking equipment and walk through the obstacle crossing supporting legs, and when rotating in the second direction, the rotating part can jack up a chassis of the walking equipment. The driving device comprises a walking frame and the obstacle crossing device. The cleaning robot comprises the driving device. Based on the obstacle crossing mechanism provided by the utility model, the obstacle crossing mechanism can be arranged on the cleaning robot, so that the cleaning robot can be driven by the obstacle crossing mechanism to cross obstacles or walk in special scenes such as a long wool carpet, and the application range of the cleaning robot is widened.

The invention discloses a quadruped robot motion control method based on perception deep reinforcement learning, and the method comprises the steps: improving a quadruped robot speed tracking optimization target into a point-to-point distance minimization optimization target, and combining with a three-dimensional environment perception network; the three-dimensional environment sensing network uses multi-layer and multi-resolution environment scanning information as privilege information to be input into the teacher strategy network, loss is calculated according to a position-based multi-target reward mechanism, and the teacher strategy network is optimized; airborne depth information of the quadruped robot is used as input of a student network, and an adaptive module and the student network are trained in an imitation learning mode; according to the expressions of the quadruped robot in nine different parameterized terrains, a terrain completion score is calculated, and the terrain difficulty is improved or reduced according to the obtained score. The method has higher movement ability, the quadruped robot can complete parkour obstacle crossing tasks in various difficult terrains, the calculation complexity is low, and the influence of errors is small.

The invention relates to an overhead transmission line wire acceptance robot system and a control method. The overhead transmission line wire acceptance robot system has the functions of multi-dimensional adjustment, dynamic clamping, profiling obstacle crossing and visual recognition. Wire specification adaptation is achieved through self-adaptive spacing adjustment, obstacle crossing is completed based on cooperation of elastic clamping and turnover type obstacle crossing, and wire surface defect detection is implemented by adopting a multi-angle visual acquisition technology. According to the system, the motion stability is enhanced through composite driving control, the acceptance efficiency is improved by combining an intelligent control algorithm, the modular architecture design supports multi-split conductor scene application, and the characteristics of high-precision detection and full-process automatic operation are achieved.

The embodiment of the invention discloses a six-wheel-legged robot with switchable wheels and feet, and relates to the technical field of intelligent robots. According to the scheme, the robot comprises a vehicle body, a depth camera, a laser radar, a thigh unit, a shank unit, a foot switching mechanism, a wheel steering mechanism and driving wheels. The vehicle body is a carrier of the depth camera, the laser radar and the thigh unit, the laser radar is installed on the top of the vehicle body, and the depth camera is installed on the front portion of the vehicle body and can be used for collecting environment information; the shank unit is mounted on the thigh unit through a planet carrier; the wheel steering mechanism is installed on the shank unit through a steering gear connecting rod and can be used for adjusting the posture of the driving wheel. The driving wheels are installed on the wheel frame and can be used for driving the six-wheel leg type robot to move. Aiming at field complex environment detection, the robot not only has a high-speed moving wheel type movement capability, but also has a foot type movement capability with strong obstacle crossing capability.