861 results about "Omni directional" patented technology

The invention provides a hybrid representation learning-based omni-directional motion control method for a quadruped robot in a three-dimensional environment, aiming at solving the problem that an existing motion control method for the quadruped robot is limited by a narrow forward view angle and external perception noise of the robot, so that the omni-directional motion capability in the three-dimensional environment is difficult to obtain. Comprising the steps of designing various input and output contents of a first-stage end-to-end neural network learning framework, designing a training process including mixed representation learning based on a reinforcement learning framework, constructing a specific neural network model of each module, and constructing a quadruped robot simulation motion control training environment. The method has the advantages that network input and output content beneficial to efficiently learning the relation between actual observation of the robot and the environment truth value is provided, and a mixed representation learning method including supervised learning and comparative learning is introduced, so that the robot can effectively deduce environment information beyond the visual field range of the robot in the training process.

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 sound wave positioning device and method for a coal mine auxiliary transportation digital twin system. According to the device, two loudspeakers are installed on the side wall of a roadway of an auxiliary transportation equipment operation area at intervals; the omnidirectional microphone and the edge computing node are mounted on the auxiliary transportation equipment; the method comprises installing the sound wave positioning device; constructing an asymmetric sound field; off-line RSS acquisition is carried out; constructing a multi-dimensional RSS fingerprint vector according to the received interference intensity, and constructing a gradient fingerprint image based on the multi-dimensional RSS fingerprint vector; establishing a fingerprint database; acquiring an RSS vector Rtest of a current to-be-positioned point, converting the RSS vector Rtest into a corresponding to-be-matched gradient fingerprint image gtest, and performing fingerprint matching by using a fingerprint image matching algorithm based on a discrete Frechet distance to obtain position information; and digital twinning integration. According to the device and the method, the auxiliary transportation equipment can be quickly and accurately positioned in a complex coal mine environment, and the safety and the efficiency of mine operation can be effectively improved through real-time feedback and visual monitoring.

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.

The utility model provides a mowing robot. The mowing robot comprises a main body bracket, two omnidirectional wheels, two driving wheels, four driving motors and a driving control system, the main body bracket comprises a first end and a second end; the first end and the second end are oppositely arranged; the two omnidirectional wheels are arranged at the first end; the two driving wheels are arranged at the second end; the rated powers of the four driving motors are the same; the four driving motors are arranged in one-to-one correspondence with the two omnidirectional wheels and the two driving wheels; each driving motor is connected with the corresponding omnidirectional wheel and drives the omnidirectional wheel to rotate or is connected with the corresponding driving wheel and drives the driving wheel to rotate; the driving control system is used for being connected with the four driving motors and controlling the rotating speed of the two omnidirectional wheels and the rotating speed of the two driving wheels by controlling the input currents of the four driving motors. Therefore, the four driving motors with the same rated power are adopted, the situation that the grass is deep, the resistance is large, and consequently slipping occurs can be overcome, and the advancing speed of the mowing robot is guaranteed.

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 an omni-directional reconfigurable metasurface-assisted array radar transmitted beam forming method for non-line-of-sight target perception, and aims at an omni-directional reconfigurable metasurface-assisted array radar to maximize the main lobe gain of a transmission region and a reflection region as a target function. Constructing an optimization model by taking the array emission energy and the transmission coefficient and the reflection coefficient of the omnidirectional reconfigurable metasurface as constraints, and performing equivalent transformation on the optimization model; constructing a scaling form augmented Lagrange function of the optimization model after the equivalent transformation, decomposing the optimization model after the equivalent transformation into a plurality of sub-problems based on an ADMM criterion, and solving each sub-problem by adopting non-convex quadratic constraint quadratic programming and positive semidefinite relaxation technologies, and obtaining an optimized emission weight and a transmission coefficient and a reflection coefficient of the omni-directional reconfigurable metasurface through iteration. The STARS-assisted array radar provided by the invention realizes full space coverage, and has better performance in the aspect of main lobe gain compared with a standard RIS-assisted array radar.

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

The invention relates to the technical field of robots, and discloses a waist omni-directional driving assembly for a humanoid robot and the humanoid robot, the waist omni-directional driving assembly for the humanoid robot comprises a base, a driven shaft, a cross shaft universal joint, two waist omni-directional joint modules and two crank rocker mechanisms; the two waist omni-directional joint modules are rotatably connected with the two ends of the second rotating shaft respectively, the two waist omni-directional joint modules are coaxially arranged and approximately symmetrically distributed on the two sides of the second rotating shaft, motors of the two waist omni-directional joint modules are arranged adjacently, the output ends of speed reducers are arranged oppositely, and the second rotating shaft is parallel to the driven shaft; crank parts of the two crank and rocker mechanisms are fixedly connected with output flanges of the two speed reducers respectively, and rocker parts of the two crank and rocker mechanisms are hinged to the two ends of the driven shaft respectively. Effective transmission force arms at the two ends of the equivalent lever under the working condition of trunk roll motion are prolonged, the torque output requirement for the joint module is reduced, and the control precision is improved.

The invention provides a parameter calibration method, a parameter calibration device and a computer readable storage medium. The parameter calibration method comprises the following steps: under the condition that an omnidirectional camera enters a working state, acquiring a scene image by using the omnidirectional camera, and determining an image coordinate of a calibration point for camera calibration in the scene image and a camera coordinate of the calibration point in a coordinate system of the omnidirectional camera; calibrating camera parameters of the omnidirectional camera based on the image coordinates of the calibration point and the camera coordinates, the camera parameters including internal parameters and / or external parameters; and acquiring a real-time image of the target area by using the omnidirectional camera after calibration of the camera parameters. By means of the mode, the parameter calibration device achieves a complete parameter online calibration scheme, and compared with the result depending on offline calibration in the prior art, the parameter calibration method has better precision and stability during online operation.

The invention provides an omni-directional all-drive robot trajectory tracking method based on constraint simplification, and belongs to the technical field of ground wheel type mobile robot trajectory tracking. According to the method, a robot kinematic model is established on the basis of rigid body dynamics, the transformation relation between each set of wheel speed vectors and robot speed information in a world coordinate system is represented, and multiple sets of hard constraint problems caused by motor physical characteristics are converted into soft constraint or unconstrained problems in a target function. And the program running speed and the solving success rate are improved. In addition, tracking errors caused by mechanical friction and noise interference are compensated for on the control outermost ring based on high-frequency speedometer information, and it is ensured that the robot accurately executes according to a control instruction. Through experimental verification, the solving speed of each frame of the method is within 50ms, and the tracking error evaluation of a reference trajectory is controlled within 5cm.

The invention provides an optical fiber type underwater robot attitude sensing device and method. The device comprises a plurality of fiber bragg grating sensors, a base, flexible silica gel, an omnidirectional rotatable transmission shaft, a spring and a stress sensing ball, wherein the plurality of fiber bragg grating sensors are embedded in the flexible silica gel; the flexible silica gel is placed in the circular base and is used as a medium to transmit the force in the vertical direction of the stress sensing ball to the plurality of fiber bragg grating sensors; the base is separated from the lower rotary transmission shaft; the omni-directional rotatable transmission shaft, the spring and the stress sensing ball form an elastic linkage system. The device is installed on the upper surface of a robot, when the posture of the robot deviates, an elastic device formed by connecting a spring and a stress sensing ball slides on the whole flexible silica gel, the stress sensing ball extrudes the flexible silica gel, accordingly, the fiber Bragg wavelength changes, the position of the stress sensing ball can be obtained by adopting a posture analysis model based on deep learning, and the posture of the robot is analyzed. Therefore, different postures of the robot are sensed.

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.

1. The name of this design product: electric omnidirectional wheel (double-row wheel set). 2. Purpose of this design product: used for the movement of mechanical equipment. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: Stereoscopic diagram 2.

The invention discloses a broadband omnidirectional conformal long-slot antenna and a wireless communication device, the antenna comprises two antenna units which are arranged up and down, and the two antenna units relatively rotate around the center at an angle of 45 degrees. Each antenna unit comprises an annular metal resonant cavity, a first annular dielectric substrate, a metal ring, a second annular dielectric substrate and a microstrip metal feeder which are sequentially arranged from inside to outside, and a circle of annular long seam is formed in the center of the metal ring. According to the antenna, the slot is used for providing low-frequency resonance points, the microstrip open-circuit line is used for providing high-frequency resonance points, the antenna achieves double working frequency bands, the working bandwidth of the antenna is greatly expanded through the design, the problem that the bandwidth of the antenna is insufficient is solved, the antenna is designed in a circular ring shape, a double-layer directional diagram compensation design method is applied, and the antenna performance is improved. Therefore, the antenna can achieve the omnidirectional radiation performance, and the problem that a traditional cavity-backed slot antenna is difficult to radiate in an omnidirectional manner is solved.

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.

The invention relates to the technical field of electromagnetic wave time domain antennas, in particular to an anisotropic material-based ultra-wideband ground penetrating radar antenna, which comprises a time domain butterfly antenna unit, a sponge layer, an anisotropic material, a metal back cavity and a coaxial feed part. According to the invention, a butterfly antenna is mainly selected. The antenna is made of an all-metal material, the patch is an elliptical butterfly antenna, a distributed loading resistance loading mode is selected, the characteristic impedance of the antenna is basically kept unchanged along with the frequency, and meanwhile, the bandwidth is increased; the back cavity is added to reduce the influence of the surrounding environment and all parts in the system on the antenna and suppress the omnidirectional radiation of the antenna, and the absorption layer is added in the back cavity to cover the back cavity, so that multiple reflections between the antenna and the cavity are suppressed. The designed antenna is low in working frequency band, wide in frequency band, good in time-domain characteristic, simple in feeding and capable of achieving long-distance high-resolution detection under a deep layer.

The invention discloses a collision-free preset time formation control method for a multi-omni-directional mobile robot model with input quantization, which is controlled by a collision-free preset time formation controller and comprises the following steps of: firstly, establishing a multi-omni-directional mobile robot dynamic model with unknown nonlinear terms; by analyzing the kinetic model, a hysteresis quantizer can be constructed to quantize continuous input signals into discrete signals, and a novel artificial potential field function is constructed to realize no collision among a plurality of omnidirectional mobile robots and no collision between the robots and environmental obstacles. An unknown non-linear term is approximated by using a radial basis function neural network so as to establish a Lyapunov function, and a preset time filter is constructed in combination with a dynamic surface control technology. On the basis of the work, the adaptive law of the multi-omni-directional mobile robot model and a collision-free preset time formation controller can be obtained.

The invention provides a safflower picking robot based on a five-axis series-parallel mechanical arm. The safflower picking robot mainly comprises an omni-directional moving chassis, the five-axis series-parallel mechanical arm, a tail end picking mechanism, a flower bud positioner, a pneumatic suction conveying and collecting device, a binocular camera, a light supplementing lamp, an electric control box, a control system and the like. The binocular camera is combined with the light supplementing lamp to be used for safflower detection and pose recognition under the condition of poor light. The top of the five-axis series-parallel mechanical arm is connected with the omnidirectional moving chassis, and the lower portion of the five-axis series-parallel mechanical arm is connected with the tail end picking mechanism. The tail end picking mechanism is connected with a flower bud positioner and used for completing positioning of the cutting position of safflower carthamus. The pneumatic sucking, conveying and collecting device is connected with the flower bud positioner, the upward gathering, carding and shaping effect is achieved after the pneumatic sucking, conveying and collecting device gets close to the safflower filaments, and the cutting effect is improved. The control system visually detects to-be-picked safflower according to the binocular camera and obtains pose information, the five-axis series-parallel mechanical arm and the picking mechanism at the tail end on the five-axis series-parallel mechanical arm are driven to execute a pose profiling picking task, the pneumatic suction conveying and collecting device completes upward gathering, carding and shaping of safflower filaments, and the safflower filaments are conveyed and collected after picking. The robot improves the picking adaptability and picking effect of safflower carthamus in different poses.

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.