60 results about "Straight path" patented technology

The invention provides a path planning method and system based on HER-ACO, and belongs to the technical field of robot path planning. The method comprises the following steps: S1, acquiring an environment grid map, wherein the grid map comprises a starting point, a target point and obstacle distribution information; s2, introducing an HER algorithm to improve a traditional ant colony algorithm ACO, and searching a feasible path from a starting point to a target point in the grid map by using the improved ant colony algorithm as an initial planning path; the improvement comprises the following steps: introducing an HER thought and a dynamic pheromone volatilization mechanism; increasing a direction weight factor, a neighborhood obstacle factor and a future obstacle factor; and S3, smoothing the initial planning path based on the feasibility check of the linear path, removing redundant intermediate nodes, and outputting a final planning path. A simulation result shows that the scheme has remarkable advantages in a complex environment, particularly has excellent performance in the aspects of path quality and convergence speed, and is suitable for scenes such as robot navigation and concrete robot path planning.

The invention relates to a plastic pipe cutting guide device and a using method. The plastic pipe cutting guide device comprises an operation table, a first pipe diameter positioning module and a second pipe diameter positioning module which are located at the two ends of the operation table correspondingly and used for positioning a plastic pipe, and a plurality of sets of first annular frames and second annular frames are oppositely arranged on the operation table and surround the plastic pipe diameter in an interactive mode; the arc-shaped groove is formed in the middle of the operation table, the air pressure cushion is arranged in the arc-shaped groove to enhance the positioning stability, the cutting arm assembly composed of the linear bearing guide rail is integrated, a cutting tool (a saw blade or a cutting knife) is forcibly restrained to move along a preset absolutely straight path, and the problems that due to manual shaking, a notch is inclined, and burrs are too many are fundamentally solved. The section of the notch is smooth and flat and is always perpendicular to the axis of the pipe, secondary finishing is not needed, and the sealing performance and reliability of follow-up pipe fitting connection are greatly improved.

A computer implemented system useful for determining turns in a user's trajectory, including one or more processors; one or more memories; and one or more programs stored in the one or more memories, wherein the one or more programs executed by the one or more processors (1) receive input data, comprising orientation data and acceleration from one or more sensors carried by a user taking steps along a trajectory; (2) analyze the input data using a first trained machine learning algorithm so as to detect a plurality of n straight sections when the user is walking along an approximately straight path; (3) comprise an orientation tracker tracking an orientation of the user in each of the n straight sections, wherein the orientation comprises an estimated orientation taking into account drift of the input data outputted from the one or more sensors; and (4) comprise a turn detector detecting each of the turns, wherein each of the turns is a change in the estimated orientation of the user in the nth straight section as compared to the estimated orientation in the (n−1)th straight section.

The utility model discloses an rfid radio frequency sorting machine, belongs to the technical field of radio frequency identification, and solves the problems that when an air cylinder pushes an article, the acting force output by the air cylinder cannot be adjusted, the air cylinder directly acts on the article, or the article is damaged, or the article falls off from a conveying belt due to the fact that the acting force received by the air cylinder is too large. Comprising a workbench, a feeding conveying mechanism arranged on the workbench, a double-path conveying mechanism arranged on the same path as the feeding conveying mechanism, and a path adjusting mechanism. The air cylinder drives the inclined plate, the first guide plate and the second guide plate to move, the driving roller achieves switching between a Z-shaped path and a linear path, articles are driven to move to different collecting boxes through friction force, damage or falling of the articles caused by direct acting force is avoided, and path switching is completed by connecting a radio frequency reader with the single-chip microcomputer controller and the air cylinder.

The embodiments of the present application provide an obstacle crossing method, system, device, equipment, and storage medium, which relate to the field of robotics technology. The specific implementation scheme is as follows: when it is detected that the robot cannot cross the current obstacle to be passed according to the predetermined path, the projection outline of the current obstacle to be passed is obtained; a currently unused point is selected from the specified part of the target line segment of the projection outline as the current point to be passed; the current obstacle crossing starting point is determined from the side of the current obstacle to be passed adjacent to the robot; the robot is controlled to travel to the current obstacle crossing starting point; after the robot travels to the current obstacle crossing starting point, the robot is controlled to travel from the current obstacle crossing starting point to the current point to be passed along a straight path, so that the robot crosses the current obstacle to be passed from the current point to be passed. It can be seen that this scheme can improve the robot's obstacle crossing success rate.

The application discloses a motion planning method and equipment for a steam generator tube plate quadruped robot, and belongs to the technical field of motion planning of a nuclear industry steam generator quadruped robot. In order to solve the problems that the existing robot has low planning efficiency when inspecting a steam generator tube plate, and the execution success rate of a planning scheme needs to be improved, the application firstly performs traversal search to determine the motion space of a base and a foot end, and determines a feasible foot landing set; then divides a given polyline path into multiple straight line paths, plans a base track, determines the base position, and for each straight line path, the robot selects a foot landing point in the feasible foot landing set according to a turning motion evaluation index, continuously performs a turning motion process until the robot adjusts the posture to face a given orientation and completes the turning motion; the robot selects a foot landing point in the feasible foot landing set according to a straight line motion evaluation index, continuously repeats a straight line motion process until the base of the robot reaches the terminal point of the straight line path.

The invention relates to a window assembly (1) for mounting in a roof (100) of a vehicle, comprising a frame (2) defining a plane and a sash (3) hinged to the frame (2) at an edge of the sash (3) so as to be pivotably openable in an upward direction, where the window assembly (1) comprises an opening mechanism for opening the sash (3) in the upward direction. The opening mechanism includes a drive element (4) coupled to the closure (5), the drive element (4) configured to transmit an operating force to the closure (5) to operate the sash (3), where operating the sash (3) includes opening and closing the sash (3) and locking and unlocking the sash (3) when the sash (3) is closed, and a stay (7) configured to lock the sash (3) when the sash (3) is closed. This is achieved by moving the closure (5) back and forth along a linear path and within a range of movement between a locked position and an open position of the closure (5).

The invention relates to a medium conveying apparatus and an image reading apparatus. The present invention reduces the risk of collision between a medium discharged from a straight path (13) and a wall surface (34). A medium transport device (3) has an outer cover (22), and is provided with: a transport unit (11) that transports a medium (2) from the front surface side of the outer cover (22) in a transport direction (F); a linear path (13) in which the medium (2) is conveyed toward the rear surface of the exterior (22); a U-turn path (14) that branches from the straight path (13) and that reverses and conveys the medium (2); and a discharge port (23) through which the medium (2) is discharged from the straight path (13), the discharge port (23) being disposed on the rear surface side of the outer cover (22), the discharge port (23) being located closer to the front surface side than the position of the rear surface (24) of the outer cover (22) corresponding to the region in which the U-turn path (14) is disposed.

The present invention relates to a method for laying fiber strips on a spreadable shape comprising at least one frustoconical portion extending about an axis of rotation (A) to obtain a fiber preform, the frustoconical portion extending along the axis of rotation (A) between a first end profile (P1) and a second end profile (P2), the fiber strip comprising fibers extending in at least one given direction, the method being characterized in that the fiber strips are deposited on the spreadable shape such that the fibers of the fiber strips each extend along a straight path corresponding to a spreadable surface of the spreadable shape, and in that each fiber strip extends from one of the end profiles (P1, P2) and extends into one of the end profiles (P1, P2) of the frustoconical portion.

This invention discloses a rock wool board cutting device, comprising a feeding module, a conveying module, a longitudinal cutting module, a transverse cutting module, and a cutting module sequentially arranged on a frame. The cutting module has a cutting blade with a movable joint at its end. The rock wool board is conveyed from the feeding module, and the cutting blade of the cutting module, driven by the longitudinal and transverse cutting modules in conjunction with the conveying module, performs simple or complex cutting paths. This invention, through the cooperation of the longitudinal and transverse cutting modules and the movable joints of the cutting module, achieves cutting of the target contour or pattern of the rock wool board. Compared to the traditional single-cutting approach, the cutting path breaks through the limitation of a straight path, allowing for on-demand cutting based on the wall surface layout, avoiding the time-consuming and labor-intensive temporary manual processing, and ensuring controllable project schedule and cost. Appropriate structural adjustments are made to the conveying mechanism to accommodate the forces during cutting, and a transition section is set between the feeding and cutting areas to ensure smooth operation of the entire process.

A steerable sheath includes an inner liner extending from a proximal to a distal end of the steerable sheath. The inner liner includes a non-deflectable portion and a deflectable portion. The steerable sheath includes a first pull wire positioned along a first helical path around the circumference of the inner liner from a proximal to a distal end of the non-deflectable portion and along a first straight path from a proximal to a distal end of the deflectable portion. The steerable sheath includes a second pull wire positioned along a second helical path around the circumference of the inner liner from the proximal to the distal end of the non-deflectable portion and along a second straight path from the proximal to the distal end of the deflectable portion. The steerable sheath may also include electrode wires present in a helical or spiral pattern around the circumference of the steerable sheath.

A machine for wrapping smokable material in a wrapper includes a garniture defining a straight path along a longitudinal axis on which a wrapper is guided. A garniture belt transports the wrapper along the straight path. A feeding device for feeding a smokable material to the garniture includes a first conveyor having an upper section on which the smokable material is supported, the first conveyor being actuatable to move the smokable material in a feed direction toward a downstream side of the first conveyor. A holding container has a bottom defined at least partially by the first conveyor. A feed transports the smokable material from a supply container to the holding container so that that an amount of smokable material in the holding container is maintained within a range including a predetermined minimum amount and a predetermined maximum amount. A metering device meters the amount of smokable material that is moved by the first conveyor from the holding container toward the garniture.

The present invention discloses a method for testing the intensity of opposite spraying shot peening and an opposite spraying fixture. The testing method is to adjust two shot peening test pieces mounted on the opposite spraying fixture in a plane and ensure that the spraying distances of the two shot peening test pieces to the opposite spraying nozzles are the same as those in actual opposite spraying. Then, the opposite spraying shot peening equipment is moved along a straight path parallel to this plane to complete the intensity test of the two shot peening test pieces in one shot peening program. The opposite spraying fixture includes a base, a support frame, and a base. A rotating shaft is provided on the base, and the support frame is rotatably connected to the rotating shaft. The base includes a first base and a second base. The first base is rotatably connected to the first end of the support frame, and the second base is rotatably connected to the second end of the support frame. One shot peening test piece is respectively mounted on the first base and the second base. The present invention can complete the symmetrical shot peening intensity test of two shot peening test pieces by executing one opposite spraying program, and solves the problem of cumbersome operation existing in the existing testing method.

The present application discloses a control method, control system, device and readable storage medium for a cleaning device. The cleaning device includes a device body and a brush body. The brush body is located at one end of the device body and has a preset width. When the device body moves toward one end, the brush body cleans the area of the preset width. The method includes: obtaining the detection result of the area to be cleaned; determining the cleaning path according to the detection result; the cleaning path includes at least a straight path and a turning path, the straight path includes a single-line segment and a double-line segment, and the end of the single-line segment is connected to the head end of the double-line segment and the head end of the turning path; controlling the cleaning device to perform a cleaning operation on the area to be cleaned according to the cleaning path; wherein, when the cleaning device reaches the end of the single-line segment, the cleaning device is controlled to move from the head end of the double-line segment to the end of the double-line segment, and then retract from the end of the double-line segment to the head end of the double-line segment, and then turn along the turning path. The above method can improve the coverage of the cleaning path in the area to be cleaned.

The application provides a surface topography measuring device and method for large plane workpieces. The surface topography measuring method comprises the following steps: step 1, selecting several specific straight line paths as measuring paths on a required measuring plane of a workpiece, and measuring flatness curve data of each straight line path; step 2, screening effective data from the flatness curve data of the several measuring paths; step 3, sequentially processing the effective data by finding and filling outliers, deleting missing data, removing trends from the data, smoothing the data containing noise, and filling and scaling the data; step 4, performing surface interpolation fitting along the several specific paths among the several measuring paths; and step 5, drawing a full plane surface topography according to actual positions in a three-dimensional rectangular coordinate system. The application provides a high-precision simulation large plane surface topography measuring method, so that a surface topography with high precision of the whole plane is obtained.

The invention discloses a wafer through cutting device, which belongs to the field of wafer through cutting and comprises a cutting table, a processing wafer and a cutting knife, the first side column is arranged at the top end of the cutting table; the second side column is arranged at the end, away from the first side column, of the top end of the cutting table. The X-direction driving part is arranged on the first side column and the second side column so as to drive the cutting knife to move and cut in the X direction; the Y-direction driving part is arranged on the X-direction driving part so as to drive the cutting knife to move and cut in the Y direction; the first air cylinder is arranged on the Y-direction driving part; and the first connecting disc is connected with the output end of the first air cylinder. According to the invention, the cutting assembly and the cutting driving assembly are arranged, so that the six cutting knives can simultaneously cut the six edges of the regular hexagonal chip along a linear path, and one regular hexagonal chip can be cut at a time.

This application provides a path planning method, apparatus, electronic device, and medium for transfer tasks. The method includes: receiving a transfer instruction including a starting position, an ending position, a first direction vector from the starting position to its adjacent main road, and a second direction vector from the adjacent main road of the ending position to the ending position; determining a first straight path based on the first direction vector, determining a second straight path based on the second direction vector, and using the endpoints of the first and second straight paths located on the main roads as the first and second positions; starting from the first position, performing a path search with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost; and connecting the first straight path, the target path, and the second straight path end-to-end to obtain the final travel path. This method reduces the number of turns in the path.

The application provides a method and device for determining a moving path in a game and electronic equipment. If a second virtual character exists in a specified range of a first virtual character and the first virtual character and the second virtual character are on different sides of a specified game prop, a target position point is determined, and an initial moving path is determined according to the target position point. If a turning point of the initial moving path is on the same side of the specified game prop as the second virtual character, a straight line path is determined. An intermediate position point is determined in the straight line path, and a target moving path is determined according to the intermediate position point and the target position point. The straight line path determined in this way is on the different side of the specified game prop from the second virtual character, and the target moving path is determined based on the position point on the straight line path and the target position point, thereby avoiding the first virtual character from meeting the second virtual character when moving to the target position point, improving the personification of non-player characters, reducing the possibility of a player character recognizing the non-player characters, and improving the game experience of the player.

The multi-needle storage type rotary needle changing acupuncture pen comprises a tail rod part, a middle rod part and a head rod part, the two ends of the middle rod part are rotatably connected with the tail rod part and the head rod part respectively, a rotary column is arranged in the middle rod part, a plurality of straight ways are arranged on the rotary column in a circumferential array mode, and the tip ends of acupuncture needles are inserted into the straight ways downwards. The head rod part is provided with a through opening, the through opening is located in the circumferential moving path of the straightways, and the through opening can be sequentially aligned with different straightways by rotating the middle rod part. A button is arranged on the tail rod part, a straight rod is arranged on the inner end face of the button and located on the circumferential moving path of the straight channel, a button spring is arranged between the button and the rotary column, and when the straight rod, the straight channel and the through opening are collinear, the straight rod can be driven by pressing the button to push the acupuncture needle in the straight channel out of the through opening. According to the acupuncture pen, the technical problems of needle tip deviation, speed lag, unstable needle holding and the like in traditional manual needle insertion are solved, the operation difficulty is reduced, a standardized tool easy to master is provided for beginners, and then standardized application and teaching popularization of the acupuncture technology are promoted.

The present invention suppresses interference of a power supply line and a power receiving portion at a portion where a travel path is curved, and suppresses a decrease in power receiving capability due to excessive distance between the power supply line and the power receiving portion. A cart (3) that travels along a travel path having a straight path and a curved path includes a cart body (10), a first travel portion (9f) and a second travel portion (9r) arranged in a travel direction (L), and a power receiving portion (4) that non-contactingly receives driving electric power from a power supply line (11) arranged on both sides in a path width direction. The power receiving portion (4) includes a first power receiving portion (4f) arranged so as to surround a first axis (X1) arranged so as to overlap the first travel portion (9f) in an up-down direction (Z) and a second power receiving portion (4r) arranged so as to surround a second axis (X2) arranged so as to overlap the second travel portion (9r) in the up-down direction (Z).

Systems and methods are disclosed for contactless direction of sortation shuttles along a track. An example system for contactless direction of sortation shuttles may include a track having a linear path, and a curved path that intersects the linear path. The system may include a shuttle with a first ferrous block and a second ferrous block, the shuttle configured to move along the track, and a first set of electromagnets disposed along a side of the curved path. Electromagnets of the first set of electromagnets may be configured to be individually energized. Energizing the first set of electromagnets may cause the shuttle to merge onto the curved path via interaction with at least one of the first ferrous block or the second ferrous block.

The invention relates to a fiber winding method, and belongs to the technical field of polyacrylonitrile fibers, and the fiber winding method comprises the following steps: after entering a fiber winding machine through a drafting device, the fiber sequentially passes through a first tension wheel, a second tension wheel and a third tension wheel of the fiber winding machine, and then is wound on a winding device of the fiber winding machine for winding; wherein after the fibers enter the filament collecting machine, the path of the fibers to pass through the first tension wheel is defined as a first linear path; after the fiber passes through the first tension wheel, the path of the fiber to pass through the second tension wheel is positioned as a second linear path; after the fiber passes through the second tension wheel, the path of the fiber to pass through the third tension wheel is positioned as a third linear path; wherein straight lines where the first linear path, the second linear path and the third linear path are located intersect to form an acute triangle. The device is mainly used for avoiding large tension fluctuation of tows in the yarn collecting process, so that the accuracy of tension control is improved, and the influence on the fiber quality and the winding effect is avoided.

The invention relates to the technical field of additive manufacturing, and discloses an angle-controlled annular-strip contour partition turning scanning linear path planning method and system, and the method comprises the steps: obtaining contour data; if the contour data is annular, splitting and converting the contour data into two strip-shaped contours; according to an angle threshold value, each strip-shaped contour is segmented and cut into a plurality of sub-contours; performing inward bias on each sub-contour according to the bias parameter; for each biased sub-contour, generating an intersection line of a scanning line and a contour line segment, sequentially constructing a filling path, and outputting partition path data of the whole strip-shaped contour; and merging the partition path data of the two strip-shaped contours to obtain a partition turning scanning filling path of the complete annular contour. By means of the method, partition turning scanning filling is carried out on the annular or strip-shaped slice contour, the heat cycle mode is optimized, internal stress distribution is improved, and the part forming quality is improved.

A method for navigating a robot through a limited space includes: obtaining a planned first path for the robot to reach a target position; calculating curvature and / or normal vectors of points in the first path; according to the curvature and a preset curvature threshold, and / or according to the normal vectors and a preset normal vector change threshold, obtaining a first straight path for the robot outside the limited space by curve fitting; determining an intersection of a centerline of the limited space and the first straight path, and determining a second straight path for the robot to move through the limited space according to the centerline and the intersection; and generating a second path for the robot to move through the limited space based on the first straight path and the second straight path, and navigating the robot to move through the limited space according to the second path.

The invention discloses a filter press cleaning device and a cleaning system, and relates to the technical field of filter presses, the filter press cleaning device comprises a transverse plate and a flexible scraper, the transverse plate is movably provided with a first moving block and a second moving block which move on the same linear path, and the first moving block and the second moving block are connected through an elastic piece; when acting force towards the second moving block is applied to the first moving block, the second moving block is flexibly pushed by the elastic piece; one end of the flexible scraper blade is fixedly installed on the transverse plate so that the other end of the flexible scraper blade can form a working end, the working end is movably connected with the second movable block through a connecting rod, and the connecting rod has movement displacement perpendicular to the direction of the connecting line of the first movable block and the second movable block. According to the cleaning device, through collaborative design of the elastic piece and the connecting rod, flexible transmission and self-adaptive adjustment of the cleaning force are achieved.

The present invention discloses a material taking platform for a lithography machine, which relates to the technical field of lithography machines and includes a material moving seat and a lead screw slide table capable of controlling the material moving seat to move along a straight path. Above the material moving seat, a mask carrier plate and a silicon wafer carrier plate are arranged in parallel distribution. When the material moving seat slides to the material taking position, the mask carrier plate and the silicon wafer carrier plate can rotate in opposite directions to both sides of the material moving seat. On both sides of the material moving seat, a material taking seat one and a material taking seat two capable of ascending and descending movements are respectively arranged. As the material taking seat one and the material taking seat two ascend, the mask and the silicon wafer can be respectively ejected above the mask carrier plate and the silicon wafer carrier plate. When the mask carrier plate and the silicon wafer carrier plate in the present invention are at the material taking station, they can rotate in opposite directions to both sides of the material moving seat, so that the mask and the silicon wafer are fully exposed, and at the same time, the material taking and loading operations are performed on the mask carrier plate and the silicon wafer carrier plate, reducing the obstacles in the material taking and loading operation processes and improving the efficiency of the material changing operation.

The invention relates to the technical field of knurling roller treatment, in particular to a sand blasting device for knurling roller retreatment, which comprises a rack and clamping units mounted on the rack along the length direction, a knurling roller is horizontally arranged on the rack, and the two ends of the knurling roller are fixedly clamped through the clamping units respectively; the material spraying and mixing mechanism is arranged on one side of the knurling roller; the material spraying mechanism is communicated with the material spraying and mixing mechanism and is used for spraying a spraying material to the surface of the knurling roller; according to the embossing roller spraying device, linearly arranged spraying materials can be integrally and transversely sprayed to the outer surface of an embossing roller along a linear path, the spraying mode that a spraying face is converted into a spraying line is adopted, it is guaranteed that the spraying materials are evenly distributed, the cleaning effect of the surface of the embossing roller is improved, the surface of the embossing roller is smoother, and the service life of the embossing roller is prolonged. The technical problems that spraying materials in the spraying face range of sand blasting equipment are not evenly distributed, so that the cleaning strength of the spraying face is different, and the surface of an embossing roller is not smooth are solved.

The present invention provides a conveying device. The conveying device (10) is used to convey a pallet (91) along a conveying path (20) including a straight path (21) and a curved path (22) connected to the straight path (21). The conveying device (10) is provided with a posture assist mechanism (30) for assisting the change in the conveying posture of the pallet (91) when the pallet (91) is conveyed from the straight path (21) to the curved path (22). The posture assist mechanism (30) is provided on the straight path (21) on the conveying path (20) and is closer to the conveying upstream side than the position (S) where the curved path (22) starts.

The application belongs to the technical field of indoor positioning, and discloses a robust indoor positioning heading angle estimation method, which comprises the following steps: acquiring IMU data and magnetometer data in the process of pedestrian movement, determining the length of the straight path of the pedestrian under the assistance of a classical step model; obtaining coarse positioning information, combining the length of the straight path of the pedestrian to determine the scene information corresponding to the type of the scene area where the pedestrian is currently located; comparing the magnetometer data with a local magnetic field model to eliminate the coarse error of magnetic interference; obtaining the average magnetic angle of the pedestrian when walking in a straight line based on the pedestrian movement information, and eliminating the coarse error of the magnetic heading angle; combining the pedestrian movement information and the scene information to perform building map angle matching to obtain a first heading angle; and correcting the first heading angle by using the average magnetic angle of the pedestrian when walking in a straight line to obtain a final heading angle. The application solves the problems of low precision and poor reliability of the indoor positioning heading angle in the prior art, and can effectively improve the robustness of the heading angle estimation.

The invention discloses a swing path planning method and system for additive manufacturing and a storage medium, and belongs to the technical field of additive manufacturing. The method comprises the following steps: step 1, generating a periodic swing unit path according to swing parameters; 2, mapping the guide path parameters into a linear path; step 3, performing equal-period array on the swing unit paths on a linear path to generate a continuous swing path; and 4, inversely mapping the continuous swing path generated on the linear path into a swing path of the guide path. According to the swing path planning method for additive manufacturing, swing in a two-dimensional plane and a three-dimensional space can be carried out, swing in paths with different widths can be automatically adapted, meanwhile, the swing speed is adjusted according to the swing parameters, and additive swing path planning of various scenes needing swing can be met.