591 results about "Omni directional" patented technology

A broadband omni-directional bicone antenna. The antenna can comprise conductive surfaces of conical voids provided within a solid dielectric structure. The outside surface of the solid structure can support a radio frequency (RF) lens geometry operable for beam forming. The beam forming can modify the elevation pattern of the electromagnetic radiation from the bicone antenna. The solid dielectric structure may be machined or molded from a single piece of material. The conical voids provided within the solid structure can be metallized to provide conductive bicone radiators. The outer surface beam shaping lenses can be zoned or continuous and can provide elevation patterns with increased gain, cosecant squared falloff, or various other patterns. The beam shaping lens may be formed from any low-loss dielectric. Alternatively, the lens may be formed from a less dense material such as dielectric foam that can support radial conductive beam forming vanes.

The invention relates to the technical field of AGV path planning, and discloses an omnidirectional AGV path planning method, device and equipment and a storage medium, and the method comprises the steps: obtaining a dynamic environment state matrix and environment change rate data in a stereo garage; performing instantaneous queue length calculation on the task arrival rate and AGV processing capacity data in the operation period of the stereo garage to obtain an instantaneous task queue parameter and queue dissipation prediction time; performing composite trigger condition judgment on the AGV position deviation and the environment variable to obtain a dynamic event trigger signal and a task priority parameter; the dynamic event trigger signals and the task priority parameters are input into the instantaneous task allocation model to be solved, an optimal task allocation scheme and a corresponding target path set are obtained, task queues formed in a short time in the stereo garage operation process can be accurately recognized and quantified, and the robustness and adaptability of path planning are improved.

The invention discloses a re-parameterization unmanned aerial vehicle target detection method based on multi-core fusion and omnidirectional connection, and the method comprises the following steps: obtaining an unmanned aerial vehicle aerial image data set, and constructing a detection model comprising a backbone network, a feature fusion network and a deformable task decoupling detection head; the backbone network extracts multi-scale and multi-direction features by six parallel paths in a training stage through a wide-branch re-parameterization convolution module, and re-parameterization is carried out in a reasoning stage to obtain single-path convolution; the feature fusion network performs down-sampling through a spatial deep convolution module and reduces spatial information loss, and realizes cross-stage omnidirectional feature interaction and double attention enhancement in combination with an omnidirectional kernel cross-stage partial connection module; and the deformable task decoupling detection head decouples the classification and regression features, optimizes feature expression, weights the classification features and then performs aggregation decoding. The model is trained to be used for a test set to output a detection result, detection precision and reasoning efficiency can be balanced, and the model adapts to a complex aerial photography scene of an unmanned aerial vehicle.

The invention belongs to the technical field of unmanned aerial vehicles, and provides an omni-directional vision positioning system and method and an unmanned aerial vehicle, the omni-directional vision positioning system is installed on a fuselage of the unmanned aerial vehicle, and the omni-directional vision positioning system comprises an image acquisition device used for acquiring a real-time scene image in an omni-directional range in the flight process of the unmanned aerial vehicle; the inertial measurement sensor is connected with the image acquisition equipment and is used for synchronously acquiring motion state data of the unmanned aerial vehicle; the navigation system is connected with the image acquisition equipment and the inertial measurement sensor and is configured to execute at least one of distortion correction processing and feature extraction processing on the real-time scene image to obtain a processed image; and according to the motion state data and the processed image, determining current pose information of the unmanned aerial vehicle in a space coordinate system constructed by taking a take-off point of the unmanned aerial vehicle as an original point. The positioning precision and robustness of the unmanned aerial vehicle in a complex environment are improved, and the requirement of high-precision autonomous flight is met.

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

The invention discloses an omnidirectional tension iterative compensation type array electronic belt scale measuring device and method. The device comprises a signal acquisition module, a signal processing module, a dynamic iterative compensation and fusion module, a redundancy check module and an integral operation module. Multi-source signal synchronous acquisition is realized through an array type weighing unit, a three-axis tension detection unit and a speed detection unit, dynamic gain amplification, anti-aliasing filtering and AD conversion are carried out, then a three-axis tension signal is adopted to carry out dynamic iteration compensation on a weighing signal, belt deformation compensation, transverse deviation correction and frequency domain vibration suppression are executed, and the weighing precision is improved. And environmental interference is eliminated in combination with redundant cross check. And finally, the real-time coal feeding amount is output through integral operation. According to the method, the limitation of traditional static compensation is broken through, errors caused by tension fluctuation, mechanical vibration and transverse deviation are effectively restrained through the multi-dimensional dynamic fusion compensation technology, the anti-interference capacity is high, and high-reliability metering support is provided for energy efficiency management of the coal-fired unit.

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

The present invention relates to a calibration method, system and calibration device for an omnidirectional ring three-dimensional scanner. The calibration method includes: setting the lens axis of the camera as the coordinate origin, taking the lens axis of the camera as the Z-axis to establish a three-dimensional coordinate system, and setting the Z-axis as the standard axis. Measuring the coordinate error from the axis of the annular structure generating device to the lens axis of the camera, and the coordinate error from the axis of the hyperbolic mirror to the lens axis of the camera, and sequentially marking the two coordinate errors as the first position error and the second position error. Measuring the angle between the axis of the annular structured light generating device and the lens axis of the camera, and the angle between the axis of the hyperbolic mirror and the lens axis of the camera, and sequentially marking the two angles as the first angle error and the second angle error, and finally calculating the installation error. The present invention obtains the installation error through manual measurement and calculation, which is beneficial to improving the installation accuracy and the measurement accuracy and range of the scanner.

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

The invention relates to the field of computer vision and image processing, and discloses an omnidirectional image super-resolution reconstruction method based on a latitude perception potential diffusion model, which comprises the following steps of: acquiring a low-resolution omnidirectional image and performing up-sampling through an interpolation method to obtain a guide image; constructing a latitude perception graph, fusing the latitude perception graph with image features, inputting the fused image features into a latitude perception network, and extracting multi-scale image features; encoding the high-resolution image and the guide image by using an image encoder to obtain a potential representation and a potential residual error; constructing a potential diffusion sequence according to the diffusion scheduling function; starting from the final diffusion representation, performing reverse sampling by using a de-noising network to recover potential representation; the input decoder decodes the image into a high-resolution image; and training optimization is carried out through a joint loss function. According to the technical scheme, the latitude graph is introduced to serve as an auxiliary regulation and control signal, and the spatial semantic features are fused through the multi-scale control module, so that the effect of adaptively adjusting the texture reduction intensity in different latitude regions is achieved.

The invention discloses an aircraft precise landing system and method based on multi-source heterogeneous data fusion. The system integrates a GNSS module, a multispectral visual sensor and an omnidirectional laser radar, and realizes high-precision landing through a layered guide strategy: a three-dimensional landing corridor is constructed based on GNSS global positioning in a high-altitude stage, poses are corrected by visual recognition Apriltag codes in middle and low altitudes, and a tail end switches infrared beacons to guide and fuse height measurement data of the laser radar. A dynamic emergency mechanism is adopted, and path backtracking and laser obstacle avoidance emergency landing are triggered when signals are lost. According to the technology, the accuracy and the safety of the aircraft in the landing stage are remarkably improved, the risk and the uncertainty are reduced, and the leading position and the practical value in the aviation field are shown.

The invention discloses a multi-frequency omnidirectional unmanned aerial vehicle active defense system and method, and the method comprises the steps: obtaining defense region parameters, and constructing a navigation signal generation task library based on the coverage requirements of GPSL1 and Beidou B1 / B2 / B3 frequency bands; resonance interference points are determined through carrier locking resonance analysis, Doppler frequency shift traps are designed, frequency shift fragility features are extracted in combination with C / A code recombination processing, and a targeted interference enhancement domain is constructed; the method comprises the following steps: respectively carrying out constellation topology reconstruction on a GPS (Global Positioning System) and a Beidou system, generating false orbit parameters through ephemeris data tampering, and forming a mixed defense signal domain by utilizing carrier phase interleaving processing; analyzing signal power to determine strong and weak interference areas, and setting graded attenuation parameters to construct a graded signal attenuation field; the attenuation field and the interference enhancement domain are fused to generate dynamic simulation parameters, false orbit parameters are adjusted in real time to generate a coordinate input mode, a high-dynamic navigation signal is reconstructed, a satellite working mode is selected, an L1 / B1 / B2 / B3 multi-band radio frequency output instruction is finally generated, and all-dimensional intelligent deception jamming of the unmanned aerial vehicle navigation system is achieved.

The invention relates to a multi-user holographic sand table collaborative resolving system and method based on 360-degree omni-directional perception gesture recognition. The method comprises the following steps: acquiring continuous multi-frame multi-view hand image data; hand instance separation and key point extraction are carried out on the multi-view hand image data of each frame, and spatial 3D coordinates of 21 key points are independently solved for each hand instance; based on the space 3D coordinate sequence of the continuous frames, space-time action features are extracted, and a gesture template library is matched to recognize gesture types and motion parameters; analyzing the gesture type, matching an interaction intention in combination with a predefined gesture-instruction mapping table, and generating an interaction control instruction according to a matching result; generating a three-dimensional holographic sand table image cooperatively operated by multiple persons in real time according to the interaction control instruction; through a multi-hand parallel processing technology, different hand instance feature extraction paths are separated, the problem of multi-hand ID jump is solved, occlusion area coordinate prediction is optimized, and interactive use experience is improved.

The invention discloses a conference sound reinforcement system based on an AI intelligent algorithm and 360-degree omni-directional noise reduction, and relates to the technical field of audio signal processing, the conference sound reinforcement system comprises a conference management center, the conference management center is in communication connection with the following modules: a multi-sound-source sensing module used for capturing 360-degree omni-directional sound field information in a conference environment and constructing a sound source space distribution model; according to the invention, the omnidirectional microphone array unit covers all directions of a conference space, synchronously collects audio data streams, eliminates the limitation of a conventional unidirectional microphone, combines the sound source positioning space mapping unit, constructs a sound source space distribution model based on the time difference of arrival and the phase difference through a deep learning model, and improves the sound source positioning accuracy. The azimuth angle, pitch angle and distance parameters of the sound source are accurately analyzed, the position of the sound source is mapped to a virtual space coordinate system, a dynamically updated 3D sound source distribution diagram is generated, the position change and intensity distribution of the sound source are reflected in real time, and the positioning precision in a complex acoustic environment is remarkably improved.

A communication method including emitting laser pulses as a signal using one or more transmitters at an atmospheric point. Plasma is generated at the atmospheric point to radiate omnidirectional light. The plasma from the atmospheric point is detected using one or more receivers. The one or more receivers have a direct line-of-sight to the atmospheric point to receive the signal from the one or more transmitters via the omnidirectional light generated by the plasma. The signal is demodulated from the transmitted plasma at each receiver, thereby transmitting information encoded on the signal.

Omni-directional, horizontally polarized antennas are provided. According to one aspect, an omni-directional, horizontally polarized antenna includes a first reflector and a second reflector separated from the first reflector. Disposed between the first and second reflectors are a planar array of radially directed horizontally polarized antenna elements and a planar feed network configured to feed the antenna elements of the planar array. A coaxial feed structure configured to communicate electrical signals to or from the feed network is provided.

The invention discloses an omni-directional high-precision inclination angle monitoring device based on a laser displacement meter and a monitoring method of the omni-directional high-precision inclination angle monitoring device. The monitoring device comprises a support assembly, a transverse gravity balancing rod is arranged on the support assembly, a longitudinal gravity balancing rod is arranged on the transverse gravity balancing rod, a plumb bob vertical rod is arranged on the longitudinal gravity balancing rod, a gravity balancing block is arranged at the short end of the lower portion of the plumb bob vertical rod, and a laser reflecting plate is arranged at the long end of the upper portion of the plumb bob vertical rod. The support assembly is further provided with a transverse laser displacement meter and a longitudinal laser displacement meter which are opposite to the laser reflecting plate. The monitoring device is adopted in the monitoring method. The inclination degree of the monitoring device after slight inclination is obtained as delta L / H, and the azimuth angle A of the angle change direction of the slope is calculated through an anti-trigonometric function # imgabs0 #. The method has the beneficial effects that the inclination condition of the surface of the landslide and the azimuth angle of the inclination angle change direction can be dynamically detected.

The invention relates to the field of mobile robots, in particular to a four-wheel omni-directional robot chassis navigation control device and method.The four-wheel omni-directional robot chassis navigation control device comprises a chassis structure and a driving system, a radar and a mechanical arm are arranged on the chassis structure, and omni-directional wheels are installed in the centers of the four side walls of the chassis structure; the axes of the omni-directional wheels are parallel to the edge of the chassis structure, the axes of the adjacent omni-directional wheels are perpendicular to each other, the diagonal direction of the chassis structure serves as the advancing direction of the robot, the advancing direction of the omni-directional wheels and the overall advancing direction of the chassis structure form an included angle of 45 degrees, and the driving system comprises four motors with Hall encoders. The four motors independently drive the independent omnidirectional wheels, the upper computer and the lower computer conduct instruction issuing and state feedback through UART serial port communication, and the problems that at the present stage, steering is conducted by depending on steering engine driving or positioning is conducted through a single sensor, the structure is complex, the anti-interference capacity is limited, and operation is complex are solved. And high precision is difficult to maintain in a dynamic environment.

The invention provides an omni-directional universal AEB method and system based on pure vision, and the method comprises the steps: obtaining the scale change information of a pixel point corresponding to a panoramic image based on the scene flow information of laser point cloud manufacturing, and generating a panoramic image scale data set; constructing a deep learning network model, training the deep learning network model through the panoramic image scale data set, and generating a panoramic image scale prediction model; and inputting the to-be-measured panoramic image data into the panoramic image scale prediction model to obtain predicted scale change information of the panoramic image scale data, and according to the predicted scale change information, based on the perspective view angle, calculating the collision time between the obstacle and the vehicle, and predicting the collision risk. According to the invention, through panoramic perception of the environment, the traveling track of the vehicle can be analyzed in real time, the potential collision risk can be predicted, the method does not depend on any specific obstacle detection algorithm and is not limited to a white list of any obstacle category, and the adaptability and robustness of the system are significantly improved.

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

A modular omnidirectional robotic system for navigating nonplanar structures including pipes, poles, chimneys, and trees. The system comprises multiple modules connected by hinges in an open C-shape configuration. Each module contains an omnidirectional drive mechanism with compliant treads, motors, batteries, and controllers. Adjustable tensioning mechanisms adapt to different structure diameters and enable both external and internal operation. The open configuration allows navigation around complex geometries including T-junctions, branches, and sharp bends by aligning the open section with obstructions. Sharp turns are negotiated using the leading edge of the drive mechanism as a pivot point. A control system coordinates module movement using sensors. The system operates on ferrous and non-ferrous materials, features an adaptable payload area for tools and sensors, and can be scaled by adding modules for larger structures.

The invention discloses a steel plate quality detection operation mobile robot platform and an operation method thereof, and the platform comprises an omnidirectional mobile robot chassis which is used for detecting walking and carrying configuration hardware on a to-be-detected thick steel plate; the quality inspection sensor module is arranged at the side part of the chassis of the omnidirectional mobile robot and is used for acquiring quality inspection data of the to-be-detected thick steel plate; the industrial personal computer module is arranged on the chassis of the omni-directional mobile robot and is used for storing and processing quality inspection data; the wireless transceiving module is arranged on the chassis of the omni-directional mobile robot and is used for transmitting and interacting quality inspection data and instructions; the navigation positioning sensor module is arranged at the upper part of the chassis of the omni-directional mobile robot and is used for scanning the surrounding environment; the safety module is arranged on the chassis of the omni-directional mobile robot and is used for anti-falling detection; and the external auxiliary device is used for assisting the detection operation of the steel plate quality detection operation mobile robot platform. The invention solves the problems of heavy manual off-line quality detection task and low efficiency and reliability in the large-scale production period of the existing thick steel plate.

The invention discloses a multi-probe omnidirectional atomic magnetometer and a magnetic induction intensity measurement method. The multi-probe omnidirectional atomic magnetometer comprises three atomic magnetometer probes, a fluxgate sensor probe, an atomic magnetometer excitation acquisition module, a fluxgate sensor excitation acquisition module and a data processing module, the atomic magnetometer excitation acquisition module excites three atomic magnetometer probes and acquires the magnetic induction intensity of the position; the fluxgate sensor excitation acquisition module excites a fluxgate sensor probe and acquires three components of magnetic induction intensity of the position; the data processing module calculates included angles between the external magnetic field and the three atomic magnetometer probes, and magnetic field signals measured by the atomic magnetometer closest to 45 degrees are selected and output; when the probes are switched, the output value of the magnetic induction intensity of the previous probe is taken as the reference for continuous output, so that the omnidirectional continuous measurement of the magnetic induction intensity is realized; the problem that in the prior art, no-blind-area measurement of the atom magnetometer cannot be achieved can be solved.

The invention relates to the technical field of wireless communication perception, in particular to a user perception method based on a multi-layer intelligent omnidirectional metasurface, and proposes to realize accurate perception of reflection and refraction user orientations by utilizing heterogeneous characteristics of propagation paths on two sides of a multi-layer intelligent omnidirectional metasurface structure. Based on the architecture, a user reflection and refraction type judgment algorithm based on uplink pilot frequency information is provided, and the user reflection and refraction types are determined based on the heterogeneous characteristics of user channels on the two sides of the multi-layer intelligent omni-directional metasurface and based on least square optimization problem solving and target function size comparison. The propagation path angle estimation algorithm specifically comprises the following steps: firstly, based on uplink pilot frequency information, designing a channel estimation algorithm comprising alternating optimization, constant-rank manifold optimization, convex relaxation and other methods to estimate and obtain a channel matrix by utilizing channel constant-rank and angular domain sparse characteristics; and finally, based on a user type determination result, obtaining user angle information based on each channel matrix by using an orthogonal matching pursuit algorithm.

The invention discloses an omnidirectional space group target detection method based on micro-nano satellite group cooperation. The method comprises the following steps: carrying out observation configuration initialization on a micro-nano satellite group; establishing an intelligent detection model, and initializing observation star and decision star detection parameters and the intelligent detection model; the observation star performs target detection through the intelligent detection model to form a single-frame detection result; the decision-making star receives the single-frame detection result of each observation star to obtain summarized single-frame detection information; the decision star performs cross-view collaborative target association according to the summarized single-frame detection information, and updates a potential target list; and the decision star performs multi-view multi-frame collaborative target detection according to a single-frame detection result and the potential target list, updates a suspicious target list, and finally obtains suspicious target information. The method has the capability of autonomous information collaboration of seven micro-nano satellites, realizes omnibearing coverage target detection of a 4pi space above 200km, and has the capability of cross-view target association and multi-angle group target distinguishing during collaborative detection.

The invention specifically discloses an omni-directional human body activity recognition method and device based on an HDMR, a computer and a medium, and relates to the technical field of radar signal processing. According to the method, an HDMR-based synthetic data generation algorithm is utilized, data expansion can be carried out on collected samples in a radar zero-degree observation angle direction and a small number of samples in other non-zero-degree observation angle directions, and high-quality training data containing all observation angle directions are generated; the objective of the invention is to solve the problem of angle sensitivity of a monostatic radar in omni-directional human body activity recognition. In addition, according to the invention, the dynamic time warping distance DTWD is adopted to measure the similarity between the synthetic sample and the real sample, so that the quality of the synthetic sample is evaluated. And finally, inputting the synthesized sample data in different observation angle directions into a CNN classifier based on ResNet50 for training so as to realize omnidirectional human body activity recognition.

The invention provides a double-frequency navigation high-gain omnidirectional receiving antenna system, and relates to the technical field of communication navigation, and the system comprises an array module which is used for constructing a multi-dimensional three-dimensional antenna array in multilayer staggered arrangement, and forming a three-dimensional structure with omnidirectional coverage capability, so as to obtain a double-frequency-band signal adaptive to a navigation device; the separation module is used for identifying a satellite direct signal and a multipath signal formed by ground reflection by utilizing different polarization states through combination of a spatial domain and a polarization domain aiming at the dual-band signal so as to obtain a stable direct signal; and the control module is used for dynamically adjusting the signal weight of each unit in the array based on the stable direct signal, focusing energy in the incoming wave direction of the satellite signal to form a high-gain main beam, and realizing omnidirectional coverage of the array signal coverage capability. According to the invention, the dual-frequency navigation signal is received, high-gain omnidirectional coverage is realized, the signal receiving strength and stability are improved, and the positioning error is reduced.

An omnidirectional wheel (100) includes a central hub (150) from which a plurality of radially extending spokes (110) extend, each spoke (110) terminating in an outer radial head (112), each pair of adjacent radial heads radially spaced from the central hub (150) having a roller axis extending therebetween for supporting a roller (104) adapted to rotate about an axis (105), the axis (105) is perpendicular to a virtual radial line (124) extending from the main rotational axis (108) of the wheel (104), where the outer periphery of the central hub (150) includes a cylindrical outer wall (156) supporting each radial head, a pair of radially outwardly extending spoke arms (146) defining a triangular, diamond or arrow-shaped hollow portion (142) therebetween, the pair of outwardly extending spoke arms (146) converging to converge, thereby forming a spoke neck (134) supporting a respective radial head (112).

The invention discloses a wind power plant arrangement optimization method and device, equipment and a storage medium, and relates to the technical field of wind power plant design and optimization, and the method comprises the steps: obtaining environment turbulence intensity and a fan thrust coefficient, and constructing an omnidirectional wind resource map; inputting the environmental turbulence intensity and the fan thrust coefficient into a TurbOPark wake flow model, calculating wake flow loss and obtaining the inflow wind speed of each fan under each wind direction and wind speed combination; taking the wind frequency in the omnidirectional wind resource map as a weight, and carrying out weighted summation processing on single-machine power obtained by converting the inflow wind speed through a power curve to obtain a target function of maximizing the total power generation of the whole field; and by taking the boundary polygon coordinates and the minimum spacing requirement as constraints, randomly disturbing the fan coordinates and comparing the target function before and after disturbance to iteratively update the fan position, the target fan coordinates and the whole-field total generating capacity corresponding to the target fan coordinates are obtained, and the optimization precision and the engineering efficiency are remarkably improved.

The invention provides a shipborne relay vertical omnidirectional communication array antenna, which relates to the technical field of wireless communication and comprises a base, a low-frequency printed substrate and two high-frequency printed substrates, a plurality of low-frequency dipole units and second phase guider coupling units are arranged on the two surfaces of the low-frequency printed substrate in an array manner, and the low-frequency dipole units form an array through a combiner; a plurality of high-frequency dipole subunits and first phase guider coupling units are arranged on the two surfaces of the high-frequency printed substrate in an array manner, and each high-frequency dipole subunit outputs through a parallel connection network; the low-frequency printed substrate and one group of high-frequency signals are connected with one antenna port of the 5G communication module through the duplexer combiner, and the other group of high-frequency signals are independently output and connected with the other antenna port of the 5G communication module. The dipole unit adopts a parallel feed array, so that the gain of the antenna in the horizontal direction is improved, and the omnidirectional coverage area and gain of the antenna are increased in a turning manner; and the phase guider coupling unit beside the dipole unit improves the out-of-roundness of the antenna.