24 results about "Walking distance" patented technology

The invention relates to the technical field of picking machines, and provides a high-altitude fruit picking device and a picking method.The high-altitude fruit picking device comprises a walking device and a working device; the walking device comprises a walking mechanism, a driving mechanism, a rotating mechanism connected between the walking mechanism and the driving mechanism and a mechanical arm connected with the driving mechanism. The working device comprises an arc-shaped supporting body, an arc-shaped track, a fruit cutting mechanism and a track driving mechanism, the arc-shaped supporting body is connected with the mechanical arm, an arc-shaped moving channel is formed in the arc-shaped supporting body in a penetrating mode, and an arc-shaped receding groove communicating with the arc-shaped moving channel is formed in the inner side wall of the arc-shaped supporting body; the arc-shaped track is assembled in the arc-shaped movable channel in a sliding mode, fruit cutting mechanisms are arranged above the two ends of the arc-shaped supporting body and connected with the arc-shaped track, and the track driving mechanism is connected between the arc-shaped supporting body and the arc-shaped track. The high-altitude fruit picking device has the advantages that the walking distance of the high-altitude fruit picking device in the picking process can be effectively reduced, and the overall picking efficiency is improved.

The invention discloses a surveying and mapping geographic information sampling device for road construction, and belongs to the technical field of geographic sampling, the surveying and mapping geographic information sampling device comprises a soil sampling mechanism for sampling road soil to be constructed, and the soil sampling mechanism is provided with a recording mechanism for recording geographic information of walking of the device and a steering mechanism for recording steering information of the device; the recording mechanism measures the real walking distance through a recording wheel tightly attached to the ground, measurement errors caused by slipping of a traditional walking wheel are effectively avoided, the steering mechanism converts the steering angle into an electric signal through linkage of rotation of a steering wheel and displacement of a sliding block, and the electric signal is recorded; the precise coordinates of the device on the construction path can be calculated by combining the two; according to the soil sampling mechanism, a sampling motor drives a sampling barrel to achieve spiral downward composite motion, a hollow drill bit can stably cut into a soil layer with low disturbance, and an inner spiral groove in the hollow drill bit can continuously convey soil upwards into the sampling barrel when the drill bit rotates.

The invention discloses an automatic distance measurement method and system for six-minute walking and a readable storage medium, relates to the technical field of intelligent detection, and solves the problem that the accuracy of walking distance measurement is low due to the fact that distance measurement is performed in a manual distance measurement mode at present. The method comprises the steps that in the continuous walking process of a to-be-detected target, target images of the to-be-detected target are obtained through a camera at preset time intervals, the starting time when the to-be-detected target starts to walk is determined, and when the target image of the to-be-detected target is obtained every time, image collection time is determined; and determining a center coordinate of the preset marker in the target image, generating a motion track of the to-be-detected target based on the image acquisition time and the center coordinate determined each time, further determining the current time, and if the time interval between the current time and the starting time reaches six minutes, determining the motion track corresponding to the current time as the current motion track, and if the time interval between the current time and the starting time reaches six minutes, determining the motion track corresponding to the current time. And determining a walking distance based on the current motion track.

The present application comprises the following steps: a static pressure molding casting line produces a sand mold loaded in a sand box and is transported to a pouring line to pour molten iron, to obtain a sand box loaded with a casting, then is transported to a sand box cooling line to walk and cool down, and is transported to a return line through the sand box transfer mechanism, the sand box is transferred to the first flask machine by the sand box grabbing transfer mechanism, the sand inside the sand box and the casting are pushed upwards into the flask, the flask loaded with the casting is transferred to the flask conveying line by the first flask grabbing transfer mechanism, the flask is transferred to the flask cooling line by the flask transfer mechanism, after cooling down, the flask is transferred to the second flask machine assembly on the flask conveying line, the flask is transferred to the bottom of the first cleaning mechanism by the second flask grabbing transfer mechanism, and the sand drop and casting taking operation is completed. The above process steps can effectively increase the cooling walking distance, improve the cooling range, and reduce the production investment cost under the premise that the overall device occupies the same size of space.

The application belongs to the technical field of intelligent path planning of coal mining robots, and specifically provides a mine intelligent path planning method and system for a coal mining robot, which mainly comprises the following steps: obtaining camera original images, contact sensor geological data and inertial measurement unit original attitude data, and preprocessing to obtain three-dimensional vision data, geological feature data and corrected attitude data; obtaining historical working face data and equipment attitude information, combining the three-dimensional vision data, the geological feature data and the corrected attitude data, and performing environment perception cooperative correction processing to obtain environment model data; obtaining motor encoder original walking distance and external positioning system original displacement data, and performing walking slip state monitoring processing to obtain a dynamic slip rate. The application can realize accurate correction of environment perception and real-time compensation of walking slip, effectively control the deviation of the actual cutting track and the theoretical path within the safety threshold, and improve the coal mining efficiency and operation safety.

The utility model relates to the technical field of stackers, in particular to a stacker for an automatic stereoscopic warehouse, which comprises a moving frame, a storage mechanism, a lifting platform and a fetching mechanism. A material storage part and a material taking part are arranged on the movable frame; the storage mechanism is composed of a storage table installed on the movable frame, two sets of connecting boxes symmetrically installed at the bottom end of the storage table and a plurality of sets of rotating rollers rotationally connected between the storage table and the connecting boxes. The lifting table is driven by a lifting mechanism arranged on the movable frame to be adjusted in the height direction of the movable frame. A rotating shaft is installed at the bottom end of the object taking mechanism and driven by a second driving assembly installed on the lifting table to rotate. Through cooperation of the moving frame and the goods taking mechanism, multiple sets of goods at different positions can be sequentially taken and placed on the storage mechanism to be stored and then conveyed to an unloading point in a unified mode, the walking distance of the moving frame is shortened, and the goods conveying efficiency is improved.

The invention provides a three-dimensional structure of an urban passenger transport hub. The three-dimensional structure comprises a station yard rail-mounted area on a ground layer, an over-line type station building located above the station yard rail-mounted area, an elevated waiting hall located in the over-line type station building, a station entering and distributing hall and a subway station entering and exiting hall. The subway in-and-out station hall is communicated with the in-station collecting and distributing hall; the pull-in collecting and distributing halls are located at the two ends of the elevated waiting hall; the first pull-in collecting and distributing hall, the second pull-in collecting and distributing hall, the third pull-in collecting and distributing hall and the fourth pull-in collecting and distributing hall are respectively communicated with the three-dimensional traffic cores in different directions; the subway in-and-out station hall is connected with the underground rail transit; the three-dimensional traffic core is provided with a channel connected with the ground layer and an elevated corridor platform communicated with the in-station collecting and distributing hall. The elevated plaza is located outside the on-line station building and located on the same platform with the elevated waiting hall; the system further comprises an elevated municipal road communicated with the elevated square. According to the invention, the problems of complex path, long walking distance and people stream accumulation of a large passenger transport hub are solved.

The invention relates to the technical field of gelatin piece drying, in particular to a fourdrinier chain ball type lower drying machine which comprises a box body and multiple sets of exhaust channels, openings are formed in the left end and the right end of the box body respectively, and the multiple sets of exhaust channels are all arranged at the top end of the box body in a communicating mode; the drying device comprises a box body and further comprises a driving device, a drying device, a first hanging net, a second hanging net and multiple sets of electric heating pipes, the driving device is arranged in the box body, the first hanging net and the second hanging net are arranged on the outer side wall of the driving device in a sleeving mode, the driving device is used for driving the first hanging net and the second hanging net to rotate, and the multiple sets of electric heating pipes are installed at the top of the inner side wall of the box body. The drying device is arranged on the outer side wall of the box body in a communicating manner and is used for circulating hot air in the box body; by conveying the gelatin sheets in an S-shaped route, the walking distance of the gelatin sheets in the box body is increased, the drying effect of the gelatin sheets is improved, the drying efficiency of the gelatin sheets is improved, and the use convenience is improved.

The present application relates to railway four-electricity signal technical field, especially a kind of train parking control method based on CTCS2+ATO train control system mobile authorization point back-off, the mobile authorization point EOA old From the outbound signal machine outer side to the inner side of the outbound signal machine forms mobile authorization point EOA new Or the terminal point of protective approach, the EOA new In the protective approach;Train with the mobile authorization point EOA new Or the terminal point of protective approach generates brake curve to carry out inbound parking.The present application has the advantages that: after train stops and stops accurately, mobile authorization point is back-off to signal machine outer side EOA old Satisfy "fail-safe" principle, ensure that train does not cross the outbound signal machine in any case;While the speed of side track is not higher than 45km / h parking operation, in the case of fixed walking distance, the distance of signal machine inner side is lengthened, and the length of signal machine outer side track can be shortened accordingly, which can achieve the effect of shortening the length of station.

The invention discloses a train braking protection curve calculation method and device, relates to the technical field of train protection, and mainly aims to improve curve smoothness and operation efficiency. According to the main technical scheme, the method comprises the steps that target parameters of train braking are determined; reversely calculating an initial effective braking curve according to a preset distance step length; calculating a first idle running end speed and an idle running distance under the worst slope of the line and a second idle running end speed under the flat slope of the line; a braking section is determined according to the idle running distance and the braking distance points of the first idle running end speed and the second idle running end speed in the initial effective braking curve; calculating a third idle running end speed under the most unfavorable gradient of the braking section, and taking a braking distance point of the third idle running end speed in the initial effective braking curve as an idle running end point; determining an idle walking initial point according to the idle walking end point and the idle walking distance; and brake protection points covering the maximum brake initial speed to the target speed are sequentially obtained according to the preset speed step length, and a brake protection curve is generated.

The invention relates to the field of warehouse logistics, in particular to a warehouse picking path planning method and device, equipment and a medium. The method comprises the following steps: determining a current order picking task state, obtaining an order picking action space and a corresponding reward mechanism, determining a next order picking action on the basis, calculating a next task state by combining the current state and the action, and finally generating a shortest order picking path by combining the current state, the next action, the reward mechanism and the next state. The goods picking action can be dynamically adjusted according to the real-time task condition, various possible factors are fully considered, and therefore the goods picking path is effectively optimized, unnecessary walking distance and time consumption are reduced, and the warehouse goods picking operation efficiency is remarkably improved.

The application discloses a micro-circulation bus station site selection method based on station attractive index, which comprises basic input data requirement specification, micro-circulation bus candidate station determination, station attractive index quantification method, micro-circulation bus station site selection model construction based on station attractive index, and the use of internet open platform data and survey data. The actual walking distance of residents from their residence to the micro-circulation bus station is considered, so that the bus station site selection can attract all residents in the layout area to take the micro-circulation bus, and the willingness of passengers to use the bus is improved. Meanwhile, the number of stations is considered to reduce the operation cost of public companies and improve the service convenience and accessibility of the micro-circulation bus. The application can merge the candidate stations before reaching the minimum threshold of the station attractive index that can attract passengers, so as to ensure that the micro-circulation travel demand of all residents is met with the least number of stations, and then competitive micro-circulation bus services are provided.

The invention relates to the technical field of posture detection, and discloses a walking posture detection method and device, a storage medium and a head-mounted device.The method comprises the steps that when it is detected that a user walks, the real-time walking distance and real-time leg projection of the user are determined; determining a real-time leg state of the user based on the real-time leg projection; and detecting the walking posture of the user according to the real-time leg state and the real-time walking distance. As the projections of the legs on the ground are different at different moments when the user walks, the real-time walking distance and the real-time leg projection of the user can be determined when the user walks, and the real-time leg state of the user can be determined according to the real-time leg projection, so that the user can walk more conveniently. And detecting the walking posture of the user based on the real-time leg state and the real-time walking distance. Compared with an existing method which needs to be determined by the user, the method does not need to be determined by the user, simplifies the user determination process, and improves the user experience.

The invention relates to the field of coal mine machinery, and discloses a coal mine hydraulic anchor rod drill carriage crawler walking and cable winding cooperative control method which comprises the following steps: S1, constructing a cooperative control system: configuring a walking monitoring module, a cable winding monitoring module, a position monitoring module, a cable winding protection module and a control module; s2, presetting system parameters: setting initial parameters related to cable characteristics, a reel structure and safe operation; and S3, cooperative control logic is executed, specifically, according to the received walking instruction, the reset operation of the drill carriage stabilizing mechanism is completed firstly, then crawler walking is started, and the cable winding or unwinding action of the cable winding device is started according to the preset time sequence. By means of a crawler walking distance dynamic algorithm and a cable take-up and pay-off length algorithm, real-time accurate synchronization of the crawler walking distance dynamic algorithm and the cable take-up and pay-off length algorithm can be achieved, manual observation of the cable state and frequent start and stop of a drill carriage to adjust the cable winding speed are not needed, interruption of the operation process caused by shutdown adjustment is thoroughly avoided, and the supporting operation duration can be greatly shortened.

The application relates to the technical field of picking machines, and provides high-altitude fruit picking equipment and a picking method, which comprises a walking device and a working device; the walking device comprises a walking mechanism, a driving mechanism, a rotating mechanism connected between the walking mechanism and the driving mechanism, and a mechanical arm connected with the driving mechanism; the working device comprises an arc-shaped supporting body, an arc-shaped track, a fruit cutting mechanism and a track driving mechanism; the arc-shaped supporting body is connected with the mechanical arm; the arc-shaped supporting body is provided with an arc-shaped movable channel penetrating through the arc-shaped supporting body; the inner side wall of the arc-shaped supporting body is provided with an arc-shaped accommodation slot in communication with the arc-shaped movable channel; the arc-shaped track is slidably assembled in the arc-shaped movable channel; the upper part of the two ends of the arc-shaped supporting body is provided with the fruit cutting mechanism; the fruit cutting mechanism is connected with the arc-shaped track; and the track driving mechanism is connected between the arc-shaped supporting body and the arc-shaped track. The application has the advantages that the walking distance of the high-altitude fruit picking equipment in the picking process can be effectively reduced, and the overall picking efficiency is improved.

The utility model discloses a lineation device for forestry planning construction, which comprises a horizontally arranged base, a box body with an opening at the top end is arranged on the base, a discharge pipe of the box body extends to the lower part of the base, a vibrating plate is connected in the discharge pipe in an up-and-down sliding manner, two sides of the vibrating plate are connected with sliding blocks, and the sliding blocks are connected with the base. A sliding groove is formed in the outer wall of the discharging pipe, the sliding block is connected with the sliding groove in a sliding mode, the discharging pipe is sleeved with a sleeve in a sliding mode, the sleeve is connected with the sliding block, the sleeve is connected with a vibration assembly, and the vibration assembly is in transmission connection with a first rotating shaft through a driving assembly; the road marking vehicle has the advantages that the vibrating discharging structure is designed, meanwhile, the walking wheels are designed to serve as power of the vibrating discharging structure, the discharging amount of the road marking vehicle depends on the walking distance of the road marking vehicle instead of the walking speed of the road marking vehicle, and therefore road marking of the road marking vehicle is more uniform and stable, and use is easier and more convenient.

The invention provides a method for calibrating the installation angle of a single-steering-wheel AGV laser radar, and belongs to the technical field of AGV laser radars, and the method comprises the steps: S1, obtaining straightening control instruction data, and obtaining the initial pose data of an AGV; s2, acquiring linear driving control instruction data, and acquiring AGV real-time pose data; s3, the actual walking distance of the AGV is obtained according to the initial pose data of the AGV and the real-time pose data of the AGV, and when the actual walking distance of the AGV exceeds a threshold value, a stop instruction is sent to the AGV, and the end point pose data of the AGV are obtained; s4, an AGV actual movement linear angle is obtained based on the AGV initial pose data and the AGV terminal pose data, a vehicle body measurement angle is extracted based on the AGV terminal pose data, and an angle offset difference value is obtained based on the AGV actual movement linear angle and the vehicle body measurement angle for correction; and S5, based on the corrected installation angle data of the laser radar, repeatedly executing the steps S1 to S4 for 3-20 times, and obtaining the installation angle calibration data of the laser radar, thereby solving the problems of low efficiency and large error of a traditional calibration mode.

The invention relates to the technical field of parking space guidance, and relates to a parking space guidance system and method based on an Internet of Things cloud platform, and the system comprises a perception interaction device which is used for recognizing the information of an entering vehicle, indicating the vehicle to go to an unoccupied parking space, and detecting the state of the parking space, real-time data is collected and transmitted to the local gateway system, and work is executed according to instructions of the local gateway system; the local gateway system is used for selecting the nearest unoccupied parking space as a predetermined parking space according to the destination of the vehicle, realizing intelligent path planning and performing data synchronization with the Internet of Things cloud platform; and the Internet of Things cloud platform is used for monitoring the state of the parking space in real time, recording the destination information of the entering vehicle and managing the working state of the sensing interaction equipment. According to the invention, the vehicle destination information is integrated through the Internet of Things cloud platform, the three-dimensional map and the path planning module are combined, the unoccupied parking space closest to the target area is intelligently distributed, the walking distance of the user is significantly reduced, and the parking efficiency is improved.

The present application relates to a kind of self-propelled sprayer-based spraying method and self-propelled sprayer, method includes: obtaining the boundary coordinate information of target field;According to the boundary coordinate information of target field, the spray boom spray width of self-propelled sprayer, preset liquid filling point position planning target spraying walking route;Calculate the single-trip operation length and the minimum liquid filling number required of self-propelled sprayer under liquid full load;Based on minimum liquid filling number, target spraying walking route, preset liquid filling point position determines the target liquid filling amount and each walking line segment under the shortest liquid filling driving distance, control self-propelled sprayer executes operation according to the target liquid filling amount and walking line segment each time.The present application can plan the liquid filling amount and walking route of self-propelled sprayer according to liquid filling point position, so that the distance of liquid filling walking is shortest, reduces the invalid walking distance, greatly improves the efficiency of spraying operation.

The application discloses a kind of fixed station not fixed line custom bus multi-level site design method, innovatively proposes a kind of multi-level site design method, can fully consider system design service parameter, overcome the problem that traditional clustering method is prone to produce too large demand cluster and site is too sparse.Proceed and algorithm of site design can effectively control site service radius;The multi-level site design method proposed first generates main site based on demand density clustering, and determines the number of required sub-station by buffer zone analysis to main site demand, then the main site demand is divided twice, finally determines the position of main site and sub-station based on actual road network, can effectively solve the practical problems of site sparse and long passenger walking distance caused by larger cluster cluster in existing design method.

The invention provides a bilateral electric drive intelligent control method and system based on fusion of a sliding-mode observer and an incremental PID (Proportion Integration Differentiation). A sensorless control method based on the sliding-mode observer is adopted, a hardware circuit is simplified, the manufacturing cost and the maintenance difficulty are reduced, and therefore the reliability of long-term operation of the robot in the field is remarkably improved. According to the invention, commutation is carried out through the sliding-mode observer by using the line counter electromotive force zero crossing point, the commutation signal is more accurate, phase delay compensation is not needed, the problems of jittering and out-of-step of the motor during low-speed starting are effectively solved, and the dynamic response performance is improved. The incremental PID algorithm is adopted for synchronous control, the pulse number serves as the accurate feedback quantity, and it is ensured that the walking distances of the wheels on the two sides are highly consistent, so that posture deflection of the robot is effectively restrained, and advancing linearity and stability are ensured.

The invention relates to the technical field of automatic logistics equipment for dangerous goods, and provides an anti-explosion straight shuttle vehicle walking mechanism which comprises a ground rail assembly. The shuttle vehicle is connected to the ground rail assembly; the distance measuring assembly is used for detecting the walking distance of the shuttle vehicle; the controller is in signal connection with the distance measuring assembly and the shuttle vehicle and used for controlling the walking distance of the shuttle vehicle according to signal feedback of the distance measuring assembly; the limiter is in signal connection with the controller and used for triggering a stop signal when the shuttle vehicle walks to the first position, and the controller controls the shuttle vehicle to stop walking based on the stop signal; the mechanical stop assembly is used for providing mechanical stop limiting for the shuttle vehicle when the shuttle vehicle travels to the second position; in the advancing direction of the shuttle vehicle, the second position is located downstream of the first position. By means of the arrangement, the running safety and stability of the anti-explosion straight shuttle vehicle walking mechanism can be further improved, and higher safety guarantee is provided for application of the anti-explosion straight shuttle vehicle walking mechanism in the field of transportation of flammable, explosive and dangerous goods.

The utility model discloses an automobile door clamp rotating mechanism which comprises a base structure which comprises a welding seat, a first trundle is fixedly installed on one side of the bottom of the welding seat, and a second trundle is fixedly installed on the other side of the bottom of the welding seat. The rotating structure comprises a rotary support and a limiting piece, and the rotary support is installed on the welding base; the gas circuit structure comprises a gas distribution block fixedly mounted on the welding seat, each interface of the gas distribution block is fixedly communicated with a straight joint, a quick male plug and a quick female plug, one end of the straight joint is fixedly connected with a rotating joint through a gas pipe, and one end of the rotating joint is rotatably connected with a right-angle joint through a gas pipe; the connecting structure comprises a connecting plate and a second connecting block, the connecting plate is installed on the rotary support, the right-angle connector is fixed to the connecting plate, through cooperative work of all the parts, the walking distance of an operator is reduced, and therefore the fatigue feeling is reduced, the body ache feeling is relieved, and the welding efficiency of the automobile door is improved.

This invention discloses a method for locating and positioning a warehousing robot, a warehousing robot, and an automated storage and retrieval system. The method includes: when the conditions for performing a return-to-home action are met, controlling the warehousing robot to move to the position on the return-to-home track; initializing the current position of the warehousing robot based on a return-to-home detection signal received from a return-to-home positioning sensor that detects a return-to-home positioning marker; wherein the return-to-home execution conditions include a power-on command for the warehousing robot; after successful initialization, during the warehousing robot's movement along the track, determining the real-time walking distance of the warehousing robot based on a multi-aperture positioning sensor that detects a multi-aperture detection signal from the first positioning aperture, and updating the current position of the warehousing robot in real time. Through the cooperation of the return-to-home positioning sensor and the return-to-home positioning marker, it is ensured that the warehousing robot starts from the return-to-home position on the return-to-home track, avoiding the warehousing robot's inability to move to the target position due to an incorrect starting position.