3066results about How to "Reduced precision requirements" patented technology

The invention relates to the field of a robot, in particular to an industrial robot control system based on visual positioning and a control method thereof. The control system provided by the invention is convenient to operate and has the advantages of simple structure and high efficiency and accuracy. In artificial teaching process, positioning motion control process and oriented motion control process of the control method provided by the invention, the positioning of luminescence mark points or the ends of an operating tool is performed in the coordinates ow, xw, yw and zy of a visual measuring device, thus the control system has no requirement on the motion control accuracy of the robot and the relative position relation of the coordinates of the tool and the coordinates of the robot, and the control method only requires linear motion realized by the rotation of axes from the first axis to the third axis and rotary motion realized by the rotation of axes of axes from the fourth axis to the sixth axis according to the theoretical model of the robot and, thereby fundamentally avoiding the extremely strict requirements on the accuracy of a robot model and the calibrating accuracy of the coordinates of the tool in conventional off-line programming teaching and meeting the operating requirements of a complicated track with high accuracy.

The invention discloses a full-duplex transceiver in a flat fading environment and a method for canceling self-interference. The method includes dividing received signals by a coupler to obtain a channel I of signals and a channel Q of signals at a receiving end; respectively transmitting the channel I of signals and the channel Q of signals into a channel I receiving channel and a channel Q receiving channels which are structurally symmetrical with each other; canceling the self-interference in a simulated manner in the receiving channels by the aid of multipliers, adders and a radiofrequency interference reconstruction module; digitally canceling the self-interference at the rear end via a digital cancellation unit; transmitting delay estimation parameters and channel estimation parameters to a delay module, the radiofrequency interference reconstruction module and the digital cancellation unit; circularly canceling the self-interference until the optimal cancellation effect is realized. Phase difference between the channel I of signals and the channel Q of signals is 90 degrees. The delay estimation parameters and the channel estimation parameters are generated by a channel / delay estimation unit. The full-duplex transceiver and the method have the advantages that the complexity of the structure of the transceiver can be effectively decreased by the aid of self-mixing and zero-intermediate-frequency technologies, the cost can be saved, and the size of the full-duplex transceiver can be reduced; requirements of self-interference signals on the precision of delay devices can be greatly reduced, and the devices can be selected conveniently and can be implemented easily; the receiving channels are independent from each other, are structurally symmetrical with each other and can be integrated easily.

The present invention discloses a press-fitting type jaw overrunning clutch, which can be used as a single or double direction overrunning clutch or a single and double direction controllable glider, and has the characteristics of huge transmissible torque, high rotating speed, no collision, small volume, large impact resistance, simplicity and reliability, and long service life. The present invention is characterized in that the press-fitting type jaw overrunning clutch is provided with a blocking embedding mechanism preventing two embedding mechanisms of a force transmission embedding mechanism and a separation embedding mechanism from being embedded under the overrunning separating condition, the mechanism on the axial direction is positioned in the two mechanisms, and the mechanism on the radial direction is positioned in the two mechanisms, between the two mechanisms or outside the two mechanisms; a lift angle of both sides blocking the working surface is formed to enough ensure the friction self-locking collided on the both sides and the stability of the blocking operating condition, in order that the lift angle has the capabilities that the adaptive axle base is changed and the abrasion is automatically compensated; no collision characteristic of the overrunning operating condition of the two embedding mechanisms is maintained for a long time, and the separating block process and the embedding return process of the embedding mechanism are absolutely reliable. In addition, the direction control mechanism and the condition control mechanism are simple and reliable, the clutch manufacture is relatively easy, the assembly is simple, and the interchangeability of an old part and a new part is strong.

The invention relates to a plane mirror being capable of projecting sunlight directionally which is the usually-called Tingri mirror and belongs to the solar energy application technical field. In the device, positioning plus elevation tracking or auto-rotating plus elevation tracking is adopted; the device comprises a plane mirror, a frame with a dimension small enough to be formed at one time, an adjusting device, a positioning and guiding pipe arranged a center tower and the Tingri mirror, a positioning sensor and a control system which carries out control and error judgment according to signals produced by reflection light reaching a mirror surface of a four-quadrant photosensitive element through the positioning and guiding pipe. If the invention is adopted, as long as sunlight, no matter where the sun move, the reflection light of the Tingri mirror can always project into a collector. Due to the adoption of the positioning and guiding pipe, the positioning sensor and DCS (distributed control system), a mirror with a small area can be used, reducing the difficulty in production, installation and commissioning and thus reducing the cost significantly.

The invention discloses a self-adaption absorptive clamping device of an airplane skin. The clamping device is characterized by comprising a frame, bent frames and self-adaption absorptive columns, wherein the upper and lower beams of the frame are provided with racks, and the two ends of each bent frame are arranged on the racks and can move along the racks; each bent frame is internally provided with a linear guide rail in a vertical direction, and each group of bent frames is provided with a certain amount of self-adaption adsorption columns and can move along the linear guide rail respectively; each adsorption column comprises a rotary vacuum chuck, a self-adaption telescopic link and a scale column. According to the clamping provided by the invention, the layout of the bent frames and the self-adaption absorptive columns can be adjusted by aiming at the shape of the skin, the absorption height can be adjusted by the scale columns and the self-adaption telescopic links, and the skin can be absorbed by the vacuum suckers; furthermore, the clamping device is applicable to clamping the skins of various shapes and sizes, the comprehensive cost can be reduced, the frock preparation period and production period can be shortened, and the production efficiency can be improved.

The invention discloses a double-rotor-wing unmanned plane. Flying control on the double-rotor-wing unmanned plane is realized based on a four-rotor-wing unmanned plane flying control principle by designing a single-degree-of-freedom automatic tilter, semi-rigidity rotor wings and a flying control system. The unmanned plane consists of a stander, a plane body, a power bin, rotor wing systems and a rotor wing system support, wherein the plane body is provided with an equipment bin in which a flight posture sensor group, a PID controller, a lithium battery and an electronic speed controller are arranged; the plane body, the power bin and the rotor wing system support are in rigid fixed connection through the stander; a brushless motor and a steering engine are arranged in the power bin; the steering engine drives a pull rod to operate the single-degree-of-freedom automatic tilter and control the rotor wings to periodically change the distance; the angle of the tilter is measured by a potentiometer, so that precise control is facilitated; the rotor wing systems are symmetrically arranged and are positioned on the same horizontal plane; the rotating directions of the rotor wings are opposite, and the rotor wings are mounted on a total distance hinge so as to be mechanically limited to do waving motion. According to the unmanned plane, the operation mechanism is simplified; the flying quality is good; the requirement on the precision of a theoretical model is low, and an extremely high practical value is achieved.

The invention discloses a device used for distributing gases, comprising a support plate, a baffle and a spray header electrode; the support plate is provided with an air inlet passage, and the spray header electrode is provided with an exhaust passage. The back of the support plate is provided with a first support table and stream guiding bosses of the support plate, and stream guiding grooves are formed among the stream guiding bosses as well as between the first support table and the stream guiding bosses; the front surface of the baffle is provided with a second support table to superpose the support plate and the baffle together, at the same time, the gas coming from the air inlet passage can be transferred and spread by the stream guiding grooves; through holes of the baffle are arranged on the baffle to lead the gas coming from the stream guiding grooves to be transferred above the spray header electrode, and the gas can be discharged out into a reaction chamber by the exhaust passage. The invention also discloses a plasma treatment device. The device of the invention can evenly distribute the gases, and has the advantages of simple structure, low cost, being convenient for processing and maintaining, as well as being not easy to be damaged.

The invention relates to an atmospheric plasma chemical processing method of WC and SiC optical molding molds, which belongs to the atmospheric plasma chemical processing methods of the optical molding molds. The atmospheric plasma chemical processing method can solve the problems that the grinding and polishing technology which is used for processing after processing and forming of the optical molding molds made of SiC and WC materials has the disadvantages of low processing efficiency, poor surface quality, damage of a sub-surface layer and short service life of the molds. The method comprises the steps of: introducing a mixture of plasma gas, reaction gas and oxygen into space between a cathode and an anode of a plasma generator, imposing radio frequency power signals on the cathode andthe anode, producing the plasma discharge between the two electrodes, then placing the surface to be processed of the WC or SiC optical molding mold in a plasma jet region for carrying out chemical reaction and realizing the optical surface processing of the optical molding molds made of the SiC and WC materials. The method is used for carrying out the optical processing on the surfaces of the WCand SiC optical molding molds.

The invention discloses an automatic charging system based on a snakelike-simulated mechanical arm. The automatic charging system comprises the snakelike-simulated mechanical arm, a charging device and a control system, and further comprises all control and execution modules, the control and execution modules are mutually matched, and whether to-be-charged vehicles exist or not can be automatically induced through a vehicle induction module; a charging-port pre-alignment module identifies charging ports through installed sensors, and general orientations of the charging ports are preliminarilycalculated; a main control module of a microcomputer is prepared, and is installed in a charging pile base, and the main control module controls the mechanical arm to clamp charging guns to move in the pre-alignment direction; an accurate alignment module of a snakehead-simulated joint accurately determines positions of the charging ports through the corresponding sensors and charges the to-be-charged vehicles. According to the automatic charging system based on the snakelike-simulated mechanical arm, vehicle using experiences of new-energy vehicles and automatic guide vehicles are greatly improved, the automatic charging requirements of automatic sites such as automatic-parking-place vehicles are met, a complete automatic parking and automatic inter-vehicle service system is formed, thelabor cost is greatly reduced, and the running efficiency is improved.

The invention discloses an acceleration and deceleration planning method and device for a numerical control system and a numerical control machine tool. The acceleration and deceleration planning method includes the steps of carrying out T-type curve velocity planning on a machining path of an operating device of the numerical control machine tool to obtain time of the constant acceleration, time of the constant velocity and time of the constant deceleration in a T-type curve; independently adjusting the three time periods of the constant acceleration, the constant velocity and the constant deceleration in the T-type curve, and complementing the step length shorter than an interpolation period to form a whole interpolation period; obtaining the target velocity of the T-type curve velocity planning again according to the adjusted time periods; adjusting the acceleration, the deceleration and the path lengths of the time periods of the T-type curve according to the target velocity. According to the acceleration and deceleration planning method and device for the numerical control system and the numerical control machine tool, the problems of rounding errors and machine tool shaking can be accurately solved; meanwhile, complex steps for solving a high-degree equation when velocity planning is carried out on the operation device are omitted, the velocity planning efficiency of the whole numerical control system is greatly improved, and the method is relatively easy and convenient to use and easy to achieve.

The invention relates to a pose measure system of a cantilever type heading machine. The pose measure system comprises a laser pointing rangefinder and an optical goniometer. The pose measure system is characterized in that: the laser pointing rangefinder respectively emits a visible laser and an infrared ranging laser; the visible laser forms an image on a focal plane of a convex lens of the optical goniometer through the convex lens; a direction angle alpha<,> and a pitch angle beta<,> of a optical axis of the optical goniometer relative to a laser beam are obtained through image point coordinates. Because a preset optical axis of the optical goniometer is parallel to a fuselage axis of the heading machine, the alpha<,> and the beta<,> are the direction angle and the pitch angle of the fuselage axis relative to the laser beam. A spinning angle gamma of the fuselage relative to a horizontal plane can be obtained through a tilt angle sensor installed parallel to a datum plane of the heading machine. Therefore, influence on measurements of the direction angle alpha<,> and the pitch angle beta<,> due to the spinning angle gamma is corrected so as to complete the measurements of the direction angle alpha<,> and the pitch angle beta of the heading machine relative to the laser beam, and the spinning angle gamma of the heading machine relative to the horizontal plane. With the present invention, a range between the fuselage of the heading machine and the laser pointing rangefinder can be obtained through the infrared ranging laser; a position coordinate of the heading machine can be obtained through combining the position coordinate of the laser pointing rangefinder and parameters of emission angle of the laser beam; tunnelling workload and other information can be obtained through system output data.

The invention discloses a method and device for sending synchronizing signals. The problem that system implementation cost is high due to an existing wireless communication standard is solved. The sending method is applied to a communication system applying an LTE series standard and comprises the steps that a network side network element generates enhanced synchronizing signals; the network side network element sends the enhanced synchronizing signals to an enhanced terminal, wherein the time-frequency resource used in the enhanced synchronizing signals is different from the time-frequency resource used in basic synchronizing signals. The device comprises a generating module and a sending module. According to the method and device for sending the synchronizing signals, a synchronizing channel of the LTE series standard is enhanced, the power consumption and the implement complexity of the terminal can be effectively lowered, cost is also lowered, and the demands of high-speed development data users and wireless communication industry future development can be better met.

The invention provides a location method of a partial discharge fault source of a transformer, comprising the following steps: detecting radio-frequency signals generated by a partial discharge source in the transformer by a plurality of sensor modules, and recording the initial time at which a plurality of radio-frequency signals are detected; determining the measured time delay parameters of the radio-frequency signals according to the plurality of the initial time; setting wave speed parameters of the radio-frequency signals; making use of the space mesh division method to search and obtain the location of the partial discharge source according to the measured time delay parameters and the wave speed parameters. In the prior art, the time difference method is very sensitive to parameter errors generated in the transformer actual measurement process, and even tiny parameter errors can lead to problems like method failure or over-great location errors. The method in the invention overcomes the above problems.

The invention discloses a base station planning point automatic selection method. The method comprises the core steps that cell information of macro base stations is acquired, and a set A is obtained; the maximum value and the minimum value of cell longitudes and latitudes in the set A are calculated, and the maximum value and the minimum value are rounded according to the step length; the longitudes and the latitudes are segmented according to the step length from the minimum value to the maximum value; according to pairing of the longitudes and the latitudes, a set B is obtained; the attributes of the set B are initialized; grid ground feature information of the set B is acquired; an MR level value is acquired; the signal intensity of each grid in the set B is calculated, and the first three cells with the first three high signal intensities are obtained; the carrier-to-interference ratio of the grids in the set B are calculated; the attribute MR level values of the grids in the set B are calculated; the grids with the attribute MR level values smaller than a threshold value Xa and the carrier-to-interference ratios smaller than a threshold value Xb are searched for in the set B, and a poor coverage set D is obtained; aggregation processing is carried out on the grids of the set D, and the grids with the distances smaller than a threshold value are arranged in one set, so that a grid group set E is obtained; the center coordinates of the grid groups of the grid group set E are calculated, and a planning point coordinate set F is obtained.

The invention provides a natural expression information processing method. The natural expression information processing method includes identifying natural expression information from users to acquire natural expression in the form of characters, and transforming the identified natural expression into standard expression in the form of codes. According to the natural expression information processing method, ruleless natural expression information can be transformed into encoded standard expression; transformation of the standard expression refers to transformation from semanteme of the natural expression to the codes, and no accurate language translation is needed, so that accuracy requirements of machine translation can be reduced, complexity of databases used for expression transformation (machine translation) is lowered, data inquiry and update speeds are increased, and performance of intelligent processing is improved; in addition, by simple encoded expression, workload for human-assisted intervention can be reduced.

The invention discloses a dynamic measuring device and method for plumb line deviation kept on the basis of an astronomical attitude reference. An INS / GPS attitude measurement subsystem and an LGU / GPS attitude measurement subsystem are built, wherein an initial value adopted for attitude updating by the LGU / GPS attitude measurement subsystem is provided by attitude information output by a star sensor. The difference between the attitude output by the LGU / GPS attitude measurement subsystem and the attitude output by the INS / GPS attitude measurement subsystem is obtained, and further the plumb line deviation is calculated. Finally, jump errors in the measuring values of the plumb line deviation are finally corrected, and low frequency errors in the measuring values of the plumb line deviation are corrected by utilizing global gravity model data. The systems in the invention are simple; the method provided by the invention is strong in robustness, and the measuring results are stable; requirements to GPS accuracy are lowered; compared with a traditional vector airborne gravitometer which relies on high precision difference GPS, the dynamic measuring device provided by the invention only requires common GPS single point positioning to meet accuracy requirements. Therefore, the application scope of the measuring method is expanded.

The invention relates to a scan type automatic zooming iris image acquisition system and acquisition method, wherein the acquisition system comprises an image acquisition unit and a control unit; the image acquisition unit comprises a camera, a chilled mirror, a light source, a focus-variable optical lens set and an image acquisition card; the control unit comprises a light source control circuit, a zooming motor control circuit, a zooming motor and a computer; the chilled mirror, the focus-variable optical lens set and the chilled mirror are connected together in turn with the central axial lines being at one straight line; the light source which is positioned around the chilled mirror is used to illuminate the eyes of acquisition object; the zooming motor which is connected with the focus-variable optical lens set is used to regulate the imaging distance of the focus-variable optical lens set to move between farthest and nearest positions; the image acquisition card is used to receive images collected by the camera and to transmit the images to the computer; the computer controls switch on / off of the light source through the light source control circuit; the zooming motor control circuit connects the zooming motor and the computer, while the computer controls the zooming motor control circuit to make the zooming motor rotate. The invention has the advantages of a simple structure, low cost and short acquisition time.

The invention provides a system and a method for online recognition of road unevenness. The system comprises a power source module, an acceleration sensing system, a vehicle speed information collecting system, a signal preprocessing module and a road unevenness calculating module. The method includes that road tests are performed on a sample vehicle on two roads different in grade, a linear relation between a quotient of an unsprung mass vertical acceleration mean square value of the vehicle model and vehicle speed and a road unevenness coefficient is demarcated; when the vehicle travels, each unsprung mass vertical acceleration of the vehicle and vehicle traveling speed information are collected; the collected information is compared with a demarcation result of the sample vehicle of the vehicle model, and current road unevenness can be acquired in real time. Compared with current similar technology, the system has the advantages of high transportability, quickness in operation and the like, and is nonsensitive to stiffness damping coefficient change of a suspension and especially suitable for active and semi-active suspension control systems variable in stiffness damping, and robustness of the system can be guaranteed.

The invention relates to a precision reciprocating transfer device which is composed of a cam oscillating bar mechanism, a cam lifting mechanism, a transmission mechanism, a suction nozzle component, a workbench and a shaft bracket component. A main shaft clockwise rotates, an oscillating bar cam in the oscillating bar mechanism is driven to rotate, an oscillating bar cam roller moves by being attached to a cam, an oscillating bar swings in a reciprocating and intermittent mode along an oscillating bar rotating shaft according to the trace curve of the oscillating bar cam, a cross-garnet butt cam roller on the oscillating bar drives a cross-garnet butt to swing in a reciprocating and intermittent mode, the main shaft clockwise rotates, a lifting cam in the lifting mechanism is driven to rotate, a lifting cam roller moves by being attached to a lifting cam groove, the main shaft rotates, meanwhile, the oscillating bar cam and the lifting cam are driven to rotate, the cam oscillating bar mechanism and the cam lifting mechanism alternatively move, a translation bar is driven to complete the reciprocating motion of vertically downward moving, vertically upward moving, horizontally left moving, vertically downward moving, vertically upward moving and horizontally right moving resetting in sequence, and the control difficulty of a system is reduced. A transfer track depends on a mechanical structure, and the accuracy requirement for a driving motor is effectively lowered.

The invention provides a design method for a sliding mode disturbance observer used for servo system control, and aims at the friction interference problem in low speed of a servo system and considers the error and uncertainty problem of system modeling. A common DC motor model is used, and a disturbance observer and sliding model variable structure control are combined so that the sliding mode disturbance observer is designed. Firstly the size of the friction torque is observed by using the disturbance observer, and then a sliding mode controller is designed according to the obtained friction torque. The switching item gain of the sliding mode controller can be reduced through observation of friction torque so that the buffeting phenomenon can be reduced. Suppression of the low speed servo system for dead zone, creeping, self-oscillation and other nonlinear phenomena can be realized through the sliding mode disturbance observer so that the requirements for the modeling precision can be reduced and the method has great robustness.

The invention provides a shear type expansion anchor rod which comprises a fixing part, a pushing part and a tightening part, wherein the fixing part is provided with an expansion part. The shear type expansion anchor rod is characterized in that the pushing part is matched with the fixing part, the pushing part and the fixing part can move along the coaxial direction of the axis of the fixing part, the expansion part is hinged with the top end portion of the fixing part, the lower end portion of the expansion part is provided with an inclined surface facing the pushing part, the top end portion of the pushing part can contact with the inclined surface of the lower end portion of the expansion part and pushes the expansion part along the inclined surface, the expansion part is stretched in a shear mode towards the outer side of the pushing part, and the tightening part is arranged at the lower end of the pushing part and can move in the coaxial direction of the axis of the pushing part. The shear type expansion anchor rod is simple and ingenious in structure, the expansion part is stretched in the shear mode, the stretched range is large, anchoring force is strong, and the shear type expansion anchor rod not only is used for surrounding rock support and protection, but also is widely suitable for anchoring or fixation of mines, tunnels, protection slops, foundation trenches, buildings and other engineering. Extension application comprises underpinnings for constructing the buildings, stand columns for highway sides, and the like, and safety, reliability and universal values of the shear type expansion anchor rod are achieved really.

The invention discloses a system and method for judging interior looseness of a power transformer. The system for judging and initially positioning interior looseness of the power transformer comprises a signal conditioning circuit, a data acquisition instrument, a data analysis module and three vibration sensors, wherein the signal conditioning circuit, the data acquisition instrument and the data analysis module are sequentially connected. The three vibration sensors are connected with the data acquisition instrument through the signal conditioning circuit and measure vibration signals of three phases of the power transformer correspondingly, the vibration signals are amplified, filtered and denoised by the signal conditioning circuit and then transmitted to the data acquisition instrument, the data acquisition instrument transmits the acquired vibration signals to the data analysis module, and the data analysis module stores and processes the vibration signals and carries out fault judgment. The looseness fault of the transformer is judged through 100 Hz signals in the vibration signals according to the characteristic of change of the vibration signals along with the looseness degree.

The invention relates to a parallelism detector for an optical axis of a multi-optical system. A first half-reflecting semi-permeable mirror of the detector is fixed on a guide rail, and a calibration reflection mirror is movably connected with the guide rail through a two-dimensional adjusting mechanism; a refluxing reflection mirror is movably connected with a guide rail sliding block through the two-dimensional adjusting mechanism, and the guide rail sliding block can move along the guide rail; a crosshair division plate is positioned on a focal surface of a collimating system, and a light source irradiates one side of the crosshair division plate; one path of collimated light beams emitted from the collimating system permeates the first half-reflecting semi-permeable mirror and is then incident upon the calibration reflecting mirror, and the other path of the collimated light beams is incident upon a cone prism after reflected through the first half-reflecting semi-permeable mirror and the refluxing reflection mirror. The invention can be flexibly applied to the parallelism detection of optical axes of various multi-optical systems and has simple processing and manufacturing, low cost, convenient installation and debugging and convenient detection and calibration.

The invention discloses a polyethylene composition for manufacturing a lithium battery diaphragm. The composition is prepared by blending a polyethylene material and a diluent. Polyethylene resins of different molecular weights are taken as polyethylene materials for manufacturing a lithium battery diaphragm, and are uniformly mixed and blended with a diluent to form a polyethylene composition, so that the lithium battery diaphragm is prepared. The polyethylene material used in the invention is an ordinary super-high-molecular-weight polyethylene resin, a super-high-molecular-weight polyethylene resin or a high-density polyethylene resin. The battery diaphragm prepared from the polyethylene composition has low requirement on the accuracy of manufacturing equipment and high production efficiency, has high tearing strength, high piercing resistance and smaller thickness while keeping the high porosity, high insulating property and high shutoff property of an ordinary polyethylene lithium battery, and is suitable for manufacturing a smaller lithium battery.

The invention, aiming to enhance a rapid maneuvering capability and an object targeting precision of a weapon system and satisfy requirements of a quick response, a high precision, a strong independence and a good reliability of the system on a vehicle positioning device, provides the vehicle positioning device based on a laser gyroscope strapdown inertial measurement unit. The vehicle positioning device includes: a laser strapdown inertial measurement unit in which a laser gyroscope is employed, an odometer assembly used for measuring a running speed and a running distance of a vehicle on ground, an elevation meter used for obtaining an altitude by measuring an atmosphere pressure of a level of the vehicle, a multimode satellite system which is compatible with single antenna and double antennas, and a display controlling apparatus assembly used for carrying out an intelligent match between positioning information of the vehicle positioning device and a road network electronic map. By means of advantages of being high in precision, stable in performance, wide in dynamic range, short in response time and high in reliability of the laser gyroscope, a positioning and orienting function which is high in precision, strong in independence and good in reliability is achieved through methods, such as a gyroscope demodulation technology, a multi-information fusion technology and the like, on the basis of a digital filter.

The invention specifically discloses a flexible charging butt joint mechanism for an automatic walking device. The flexible charging butt joint mechanism comprises a guiding mechanism, a flexible mechanism and a butt joint mechanism, wherein the guiding mechanism is provided with the butt joint mechanism, the guiding mechanism comprises at least a pair of mutually cooperated guide members I, II, the guide member I is installed on an automatic walking mechanism, and the guiding member II is installed on the flexible mechanism. According to the invention, the automatic walking device, after the electric power of its battery is consumed, automatically goes to a charging pile for charging, and the charging loop of the charging pile is accurately and reliably connected to the automatic walking device.

The invention discloses an image depth estimation system and method based on cavity convolution and semi-supervised learning, and solves the problem of estimating scene depth from a single image. According to the invention, a conventional encoder is adopted; the network structure model of the decoder is improved, and a cavity convolution module is added between an encoder module and a decoder module. The image depth estimation method specifically comprises the steps of obtaining a training set and a test set; using a semi-supervised learning strategy to train a model; testing the precision ofthe model by using a test set; estimating image depth using a model. According to the method, the spatial perception capability of the network is improved by using hole convolution, a semi-supervisedlearning strategy is adopted, and the output depth map is optimized through the depth map smoothing error. The method has the characteristics of small parameter model, high prediction precision and complete detail information. The method is applied to the fields of image three-dimensional reconstruction and automatic driving.