128 results about "Walking around obstacles" patented technology

Driver distraction is reduced by providing information only when necessary to assist the driver, and in a visually pleasing manner. Obstacles such as other vehicles, pedestrians, and road defects are detected based on analysis of image data from a forward-facing camera system. An internal camera images the driver to determine a line of sight. Navigational information, such as a line with an arrow, is displayed on a windshield so that it appears to overlay and follow the road along the line of sight. Brightness of the information may be adjusted to correct for lighting conditions, so that the overlay will appear brighter during daylight hours and dimmer during the night. A full augmented reality is modeled and navigational hints are provided accordingly, so that the navigational information indicates how to avoid obstacles by directing the driver around them. Obstacles also may be visually highlighted.

A guide catheter and medical lead are provided wherein the lead may be used as a pull wire to steer the guide catheter. The guide catheter is provided with a flexible distal segment and the lead is provided with a distal engaging member, which may also serve as an electrode. The distal engaging member interacts with the distal catheter end such that traction applied to the proximal lead end causes flexion of the distal segment of the catheter to advance the flexible distal segment between a non-flexed position and a flexed position, allowing the catheter to be steered around obstacles.

In a route planning system and method for agricultural working machines, a defined working width is assigned to the agricultural working machines to generate driving routes in a territory, and dynamic adaptation of the planned driving route is carried out thereby ensuring that the driving route to be covered is flexibly adaptable to changing external conditions such as driving around obstacles, thereby largely relieving the operator of the agricultural working machine of the task of performing laborious steering maneuvers.

The invention relates to an automatic obstacle avoiding method of a substation inspection robot. Obstacle information around the inspection robot is scanned with laser radar, and the types of obstacles are judged through an infrared temperature sensor; if the obstacles are humans or animals, the inspection robot notify the humans to leave or to dispel the animals, and there is no need to avoid the obstacles; if the obstacles remain on a set path of the inspection robot, the inspection robot executes avoiding; obstacle priorities are divided according to 'time distance' that is time that the inspection robot takes to arrive at the obstacles; the inspection robot keeps to the right according to set driving rules; upon contact with an obstacle, the inspection robot moves along the obstacle clockwise from the left of the obstacle and ends avoiding after arriving at the front of the obstacle; if unable to bypass the obstacle from the left, the inspection robot tries to bypass the obstacle anticlockwise from the right of the obstacle. The method is insusceptible to temperature and visible light, and distance and direction information detection precision is higher.

In accordance with operation, data on a starting point, a destination, and a display scale are inputted to set a first route from the starting point to the destination based on the inputted data on the starting point and the destination. In case an obstacle which blocks a smooth traveling of the vehicle is detected in the first route, a second route to bypass the obstacle is searched for. In accordance with the inputted display scale, the range of display of the map information to be displayed is set. With the traveling of the vehicle, the map information to be displayed in the range of display is successively updated. In case the searched for second route is to be displayed, the new range of display is set irrespective of the inputted display scale so that the overall second route is displayed simultaneously with the first route.

A method and apparatus for guiding an automated-guided vehicle includes providing a guide path defined with respect to a physical path and controlling a vehicle to generally follow the guide path. The presence of an obstacle at the guide path is detected, such as with a laser scanner, radar detector, or the like. The vehicle is controlled around the obstacle and back to the guide path. This may be accomplished by generating an offset to the guide path at the detected obstacle.

The invention discloses a cleaning method for sweeping the floor by a sweeping robot, which includes: normal walking and cleaning when no obstacles are detected and automatic processing and cleaning when obstacles are detected. The automatic processing and cleaning steps when obstacles are detected are: first Step 1: Stop moving forward, scan the obstacle to determine the type of obstacle, and deal with it according to the type of obstacle; Step 2: Measure the distance to the obstacle and determine the range of slow walking distance; Step 3: In the slow walking area Reduce the walking speed, increase the rotation speed of the cleaning roller brush or the suction force of the cleaning port until it crosses or sticks around obstacles; The problem of cleaning the gap between the obstacles or the area where the obstacle meets the ground.

Provided is a small mobile robot which moves back and forth and left and right while keeping its posture by two main wheels. The small mobile robot includes built-in auxiliary wheels to overcome topographical elevation differences. The auxiliary wheels of the small mobile robot are attached to a servomotor. The servomotor is driven by remote control, and the auxiliary wheel can be moved to the position required for operation. When the robot is in a normal state, the auxiliary wheels are retracted in the robot. When the robot meets a stepped topography, the auxiliary wheels are lowered out to contact a ground to support the main wheels going over the stepped topography. The small mobile robot includes a sensor for sensing obstacles and a control module to make a detour around obstacles while moving to a target point.

The present invention comprises a walk behind zero turn radius drive unit and a front spray frame carrying a plurality of transversely spaced, clearly observable spray nozzles. The drive unit permits accurate and high productivity traverse of the application area with the ability to steer around obstacles and accurately traverse an irregular edging pattern. The spray frame includes a pair of folding spray arms, each of which carried dispensing nozzles. Another set of nozzles is positioned at the sides of the frame. All the nozzles are within the forward lateral view of the operator permitting ready steering of the drive unit around the borders of the application area. The nozzles are supplied with liquid from a frame mounted tank by an electric pump powered by the drive unit. The spray nozzles are controlled by an operator valve positioned adjacent the drive unit control, thereby allowing operator to control the application during travel. For narrower application paths the boom arms may be raised and the boom nozzles inactivated by the control valve. The sprayer is also provided with an edging curtain that is removably mounted at the sides of the frame. The curtain provides a lateral spray barrier and drip edge that, in combination the ZTR drive, provides close delineation between adjacent areas to prevent unwanted treatment of a border area.

Robots and other mobile apparatus, especially robotic bipeds, that exhibit agile capabilities can become easily destabilized by obstacles or particular surfaces. An algorithm for controlling the movement of a robot based on visual cues and learning processes will help to avoid destabilization and movement interruption by altering the gait measurement. As such, when the robot predicts that an obstacle is upcoming, it can make adjustments by either increasing or decreasing stride so that a smooth transition can be made in bypassing the obstacle.

A modular furniture power distribution system has a plurality of multiconductor electrical cables (42, 44, 46, 48, 62), each having an electrical connector (98, 100, 102) at a first and second ends. There are at least two upstanding partition panels (58), each having an elongated generally horizontally extending channel or raceway (60) for receiving a corresponding electrical cable, and a stanchion or leg (68, 70, 72, 74) for supporting juxtaposed partition panel ends. The support stanchion forms an obstacle precluding direct communication between adjacent partition channels because it provides inadequate clearance to accommodate an electrical coupling between the electrical connector in one channel and the corresponding electrical connector in the other panel. A collar (80) at least partially encircles the leg or other support structure and forms an electrical coupling for circumventing the obstacle and electrically coupling a connector of the cable in one channel with a corresponding connector of the cable in the other channel. A pair of electrical connectors (84, 88) at opposite ends of the collar are adapted to mate with corresponding cable connectors (98, 100) and the mating cable connector and collar connector pairs engage and disengage by relative motion in the direction (90) of channel elongation.

The invention discloses a man-machine coordination driving method of a self-driving car, and belongs to a self-driving transportation device. The method includes the following steps of A, establishing a man-machine coordination driving system of the self-driving car; B, determining a driving route; C, passing by an obstacle; D, arriving at a destination. Batch delivery is achieved in order-concentrated places such as community convenience stores and office buildings under the complicated urban environment and traffic conditions more safely and conveniently, the delivery efficiency is greatly improved, and labor cost is saved. Operators remotely control the self-driving car to drive when far away from the car, and it is guaranteed that the self-driving car can safely work for a distance.

Process for conveyance of a powder material in a hyperdense bed to bypass an obstacle, in which an obstacle bypass device including at least upstream, intermediate and downstream caissons is inserted between two horizontal conveyors, an upstream conveyor, and the downstream conveyor. At a device entry, at the upstream caisson lower duct is supplied with gas at pressure P1, the upstream caisson further including an upper duct which is a column. The intermediate caisson is between the upstream caisson and the downstream caisson at a level that bypasses the obstacle, a lower duct of which is fed with gas at pressure P3 and an upper duct of which is connected to the upper duct of the upstream caisson and to an upper duct of the downstream caisson. At a device outlet, at the downstream caisson, a lower duct is supplied with gas at pressure P2. The three caissons remain full of powder material kept in a potential fluidization state at all times, with a pressure difference P1-P2 being kept strictly positive.

The invention discloses a pinch roller mechanism. The pinch roller mechanism comprises a fixed box, a lifting driving device arranged on the fixed box and a pinch roller set which is connected with the lifting driving device and is driven by the lifting driving device to rise and fall, wherein the pinch roller set at least comprises a pinch roller. When the pinch roller mechanism works, the pinch roller of the pinch roller set is compressed to the lower side of a line, and an inspection robot can walk through cooperation between the pinch roller and a driving wheel mechanism; when one pinch roller mechanism of the inspection robot approaches to a barrier and can not pass through, the pinch roller set is driven by the lifting driving device to move downwards, and then compression of the line is released; the inspection robot walks continuously, the lifting driving device drives the pinch roller set to move upwards when the pinch roller mechanism bypasses the barrier, and then compression of the line is achieved. According to the pinch roller mechanism, an obstacle crossing function is achieved, and the application range of the inspection robot is widened. The invention further discloses a traveling wheel set mechanism provided with the pinch roller mechanism.

The invention relates to a method for steering a vehicle (1) around obstacles (7), from a starting position (2) to an end position (3). According to the method the vehicle is steered along a path, wherein the path comprises linear partial paths (4) defined by an increment [eta] and a steering angle [delta]. The method comprises the following steps: a) determining a maximum steering angle range and a maximum and a minimum increment range; b) determining the actual distance eP to the end position (3) and the target angle [theta]O, and the angle difference e[theta] between the current vehicle angle and the target angle; c) carrying out an optimization method for determining a partial path (4) by minimizing the value of a cost function lO assigned to the partial path, wherein (i) the cost function includes the current distance eP to the end position (3) and the current angle difference e[theta] to the target angle as optimization variables weighted independently of each other, and (ii) the maximum steering angle range, the maximum and the minimum increment range and a collision test are provided as boundary conditions; d) determining the new position by adding the detected partial path (4) to the current position; e) repeating the steps (b) to (d) until the end position (3) has been reached with sufficient accuracy.

An automatic homing and charging method for a self-moving cleaning apparatus mainly includes the steps of: judging power of the self-moving cleaning apparatus lower than an intended charging power value; controlling the self-moving cleaning apparatus to move forward until bumping against an obstacle; controlling the self-moving cleaning apparatus to turn a swerved angle; controlling the self-moving cleaning apparatus to move straightly for a preset distance; controlling the self-moving cleaning apparatus to move along an arched locus until bumping against the obstacle again; and detecting a position signal issued from a charging dock and controlling the self-moving cleaning apparatus to turn and move forward to form electric contact with the charging dock. The invention also provides a debugging mechanism to avoid circuiting round the obstacle, thus can accurately search the charging dock.

The invention provides a UAV and a visual servo control method and device thereof. The method comprises that a ground target and an expected target position corresponding to the ground target are determined in a flight spatial domain image, a three-dimensional (3D) flight trajectory to reach the expected target position is calculated according to a path planning algorithm and different constrainedconditions, the 3D flight trajectory is projected into an image coordinate system to obtain a two-dimensional (2D) flight trajectory, and navigation and visual servo control care carried out on the UAV based on the 2D flight trajectory. According to the method, device and UAV, the different constraints are integrated in path planning, navigation and visual servo control care carried out on the UAV based on the 2D flight trajectory, an obstacle can be avoided, and image characteristic information collected by a camera is directly used for feedback and servo control, it is not required to estimate the 3D attitude of the UAV, the visual servo control method is less complex, and the flight safety of the UAV is improved.

The invention discloses an all-region intelligent full-automatic service system. The system comprises a central data bank switching control device, a guest greeting guide robot, a service robot, a conveying and cleaning robot, a direction path control module, an order settlement service module and a conveying and cleaning service module, and the guest greeting guide robot is provided with a face recognition module and a speech recognition module. The system has the advantages that the system is convenient to guide guests to have meals and record guest information; obstacles can be bypassed, work efficiency of walking is improved, the energy is saved, the service for a single area is achieved; information transmission is convenient and rapid; an uplink robot conveying device is arranged in the system, all conveying objects can be conveyed to a designated area through an uplink conveying track, the conveying and cleaning speed is improved in a relative segmentation area; and labor intensity of service staffs is reduced, the labor cost is saved, the service time is prolonged, and the service efficiency is improved.

The invention aims to disclose a toughness-improved HDPE (High-Density Polyethylene) trenchless tubular product, which comprises the following components in percentage by weight: 60-80 percent of PE100 pipeline special material, 5-15 percent of recovered HDPE tubular product, 5-15 percent of mLLDPE (metallocene Linear Low Density Polyethylene), 1-5 percent of petroleum resin, 0-5 percent of black color master batch, 1-3 percent of processing aid and 1-3 percent of modifying aid. The tubular product is obtained by accurately weighing the components, mixing uniformly, drying, dehumidifying, plasticizing, extruding, performing compression molding, sizing in vacuum, spraying, cooling and cutting at a fixed length. The tubular product has very high flexibility, and is particularly suitable for super long-distance trenchless traction construction and trenchless traction construction in which an underground environment is complex and the tubular product is required to be wound on a barrier; and the aims of the tubular products are fulfilled.

The invention relates to an all-dimensional manipulator which comprises a chassis, a telescopic boom mechanism and a mechanical clamp holder, wherein the mechanical clamp holder consists of a hand grip mechanism and a steering mechanism, the hand grip mechanism is fixed at the lower end of an embedded rack lifting rod in the steering mechanism, the steering mechanism is connected with a connecting sleeve in the telescopic boom mechanism by the embedded rack lifting rod, and the telescopic boom mechanism is fixed on the chassis which is internally provided with a spreading mechanism. The all-dimensional manipulator has the beneficial effects that the all-dimensional manipulator can pass through a tunnel through bypassing barriers to fast cross a bridge and implement rescue tasks, thus being steady and flexible to run and fast in rescue speed; the mechanical clamp holder can be stretched front and back, lift freely, rotate by 360 degrees and be folded on a car body with the griping range of 30-130MM; and the spreading mechanism in the chassis moves only in crossing the bridge, and is not contacted with the ground surface for the sake of shortening the time and ensuring the stability.

The invention provides an obstacle-crossing robot for transmission line operation and an obstacle-crossing method thereof. The robot comprises a body, a front swinging arm, a rear swinging arm, a front roller wheel, a rear roller wheel, a front arm slider, a rear arm slider and an auxiliary arm. The method comprises the following steps: when a sense director of the robot detects that obstacles exist, the robot first loosens conductors in wheel-type hands of the two front arms, and then swings the two arms outward, moves round the obstacles by 180 degrees of rotation and grips the conductors again, at the moment, the robot crosses the obstacles. The two rear arms adopt the same method to cross the obstacles. After crossing the obstacles, the robot reverses the four arms to prepare for the next obstacle-crossing. The robot is suitable for the signal conductor and bundled conductor, and can complete multiple operations. The method features clear and simple steps. All the driving motors are all in sequential working state, without multi-motor linkage. The robot is characterized by considerably easy control system manufacturing and programming, thus having good adaptability to the field.

The invention discloses a practical training teaching robot platform for a three-degree-of-freedom motion control system. The practical training teaching robot platform comprises a bottom plate, a bracket, an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism, a drag chain, parallel claws, claw fingers, a color sensor, a labor sensor, supporting plates for holding workpieces, a plurality of different colors of workpiece blocks, a servo motor, a servo motor controller, a barrier plate, a multi-axis motion controller, a computer, a touch screen, a small-size air compressor and the like, wherein the bracket is arranged on the bottom plate, the X-axis motion mechanism, the Y-axis motion mechanism and the Z-axis motion mechanism are arranged on the bracket, and the claws, the color sensor and the labor sensor are arranged at the lower end of the Z axis. The two supporting plates for holding the workpieces are fixed at two sides of the barrier plate, and workpieces in different colors are arranged in a workpiece placing groove. A robot can be used for automatically grabbing the workpiece blocks through detection of the sensors, bypassing the barrier, automatically stacking the workpieces onto another workpiece supporting plate according to color setting on a human-computer interface and then circularly performing the grabbing step.

Provided is a small mobile robot which moves back and forth and left and right while keeping its posture by two main wheels. The small mobile robot includes built-in auxiliary wheels to overcome topographical elevation differences. The auxiliary wheels of the small mobile robot are attached to a servomotor. The servomotor is driven by remote control, and the auxiliary wheel can be moved to the position required for operation. When the robot is in a normal state, the auxiliary wheels are retracted in the robot. When the robot meets a stepped topography, the auxiliary wheels are lowered out to contact a ground to support the main wheels going over the stepped topography. The small mobile robot includes a sensor for sensing obstacles and a control module to make a detour around obstacles while moving to a target point.

The invention relates to a deep scarification intertillage weeding and fertilization integrated machine. The deep scarification intertillage weeding and fertilization integrated machine is characterized by being composed of a machine frame, a traction device, an anti-blocking device, a deep scarification intertillage weeding device, a self-locking device, an automatic resetting device, a depth control device and a layering fertilization device. Compared with the prior art, layering fertilization of crops can be performed according to different fertilizer requirements of crop growth periods. When encountering a hard barrier, a plough body can avoid the barrier, so that damage to the plough body is reduced; due to the fact that the plough body can automatically reset after passing by the barrier, the working efficiency is greatly improved.

The invention relates to a method for avoiding an obstacle automatically and a robot using the same. The method comprises: obstacle information of a moving device in a first heading direction is detected; according to the obstacle information, a heading route is calculated again; the moving device moves based on the re-calculated heading route to avoid the obstacle; and when obstacle information is detected n times in succession within unit time, the obstacle information is converted into boundary information. Therefore, problems of automatic path identification and automatic obstacle avoidance of a robot, an automatic driving device, an unmanned aerial vehicle, or an aircraft are solved; and the high-efficiency service can be provided.

The invention relates to a processing method and chip for a robot encountering an obstacle. The robot determines the next motion by determining the position and the distance relationship between the current obstacle point and the projection point of a reference starting point. The robot is enabled to immediately turn around to clean the current open area if a space behind the obstacle is not sufficient. Detection behind the obstacle is not needed. If the space behind the obstacle is sufficient, the robot can bypass the obstacle to clean an area behind the obstacle. The problem that the cleaning efficiency of the robot is reduced, which is caused by the fact that a large area is not timely cleaned, is avoided. Through the processing method or chip, the intelligence of the robot is improved, and the cleaning efficiency of the robot is greatly improved.

The present invention discloses a mooring unmanned rotor craft cluster platform system and liquid continuous sprinkling system, and relates to a mooring unmanned rotor craft system and the unmanned aerial vehicle agricultural plant protection technology field. The system comprises a mobile mooring platform, a power supply system, a bollard, a plurality of unmanned rotor crafts, a central control system and the liquid continuous sprinkling system. The power supply system moves along with the mobile mooring platform and provides electric energy to the plurality of unmanned rotor crafts via the bollard, and the bollard is driven to lift off by the plurality of unmanned rotor crafts, so that the bollard can form a spatial three dimensional folded curves in the air to thereby avoid or bypass the obstacles, fit the terrain better and adapt to the terrain change, and the spatial range of the mooring unmanned rotor craft and a task load carried by the mooring unmanned rotor craft in a horizontal direction is increased greatly. The conveying pipelines of the liquid continuous sprinkling system are arranged along the bollard, so that the liquid can be supplied to a nozzle uninterruptedly, and the working efficiency is improved substantially.

The invention discloses a path planning method of an unmanned belt obstacle. The path planning method comprises the steps of acquiring geographic information of a working site, acquiring a polygonal sequence coordinate point, allowing a polygon to inwards retract by stipulating safety boundary distance, generating a path undetermined point and generating a path by a current working vehicle position as a reference and a point at the nearest distance with a top point of the polygon as a next target point and by allowing the point to be adjacent to a relatively long edge; passing by an obstacle by moving the undetermined point when the obstacle is met, acquiring a relatively optimal path by comparing left translation distance and right translation distance, and generating a next group of pathby moving the path undetermined point until the path can traverse the whole working site. After acquiring coordinates of the site and the obstacle, a travelling path with an obstacle prevention pathcan be automatically generated according to the coordinate of the obstacle when the path is generated, and the operation efficiency and the operation safety unmanned driving are greatly improved. Thepath planning method can be used for path planning of unmanned driving operation of an agriculture machine in an obstacle-containing closed site.

The invention relates to a series-parallel two-foot iron-tower climbing robot capable of satisfying the climbing of all power transmission line iron towers. The series-parallel two-foot iron-tower climbing robot comprises a pair of hip platforms, a pair of parallel execution mechanical arms, a hip rotation pair, a pair of wrist platforms, a pair of foot rotation pairs, a pair of electromagnetic foot platforms and a pair of foot mechanical claws. The pair of hip platforms is connected by virtue of the hip rotation pair and driven to rotate, the wrist platforms are connected with the electromagnetic foot platforms by virtue of the foot rotation pair and driven to rotate, and the hip platforms and the wrist platforms are connected by virtue of the parallel execution mechanical arms and driven to move. Under the situation of unmanned control, the series-parallel two-foot iron-tower climbing robot can carry a route inspection device to climb along structural steel of the iron tower and can bypass an obstacles (such as a steel frame connecting plate, a connecting nut and the like) to reach an iron tower crossbar, and finally the robot can step over the crossbar to reach a circuit ground line and can make an inspection tour on the ground line.

The invention discloses a piece of indoor 3D data automatic collection equipment, comprising a chassis, a host and power supply cabin, a bracket, a monitor, a machine head, a camera component, a laserradar component and an inertial measurement unit. The chassis is a walking mechanism. The host and power supply cabin is fixed on the chassis, has an open side, and is equipped with a data processingdevice inside. The bottom of the bracket penetrates the shell of the host and power supply cabin, and is fixed on the chassis. The monitor is fixed in the middle of the bracket. The machine head is fixed on the top of the bracket. The camera component is composed of a plurality of cameras fixed on the machine head, and is in communication connection with the data processing device. The laser radar component is composed of a plurality of laser radars fixed on the bracket and the machine head, and is in communication connection with the data processing device. The inertial measurement unit is fixed on the machine head, and is in communication connection with the data processing device. The beneficial effect is that the indoor 3D data automatic collection equipment can bypass obstacles and collect data in real time, and can obtain a complete 3D point cloud model by spatially locating the data obtained by different sensors under a unified coordinate system.