Abstract: A visual navigation inspection and obstacle avoidance method for a line inspection robot is provided. The line inspection robot is provided with a motion control system, a visual navigation system and an inspection visual system; and the method comprises the following steps: (1) according to an inspection image, the inspection visual system determining and identifying the type of a tower for inspection; (2) the visual navigation system shooting a visual navigation image in real time to obtain the type of a target object; (3) coarse positioning; (4) accurate positioning; and (5) according to the type of the tower and the type of the target object, the visual navigation system sending a corresponding obstacle crossing strategy to the motion control system, such that the inspection robot completes obstacle crossing. The inspection and obstacle avoidance method is real-time and efficient.

Abstract: A force control method and system for multi-motor synchronization is provided. The force control method includes: acquiring a total desired force of a plurality of motors; calculating the desired force of each of the plurality of motors according to a characteristic of each of the plurality of motors; setting an external feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking a synchronization error of each of the plurality of motors as a feedback item of the external feedback loop; and setting an internal feedback loop for controlling each of the plurality of motors to operate according to the desired force, and taking an output force error of each of the plurality of motors as a feedback item of the internal feedback loop. The force control method and system ensures multi-motor synchronization under the premise of accurate force control.

Abstract: A forklift-type automated guided vehicle includes a body and a control circuit unit received in the body, both a first fork arm and a second fork arm parallel to each other and formed on a front end of the body to forklift cargo, each of the first fork arm, the second fork arm and a bottom end of the body including at least one two-wheel differential driving assembly rotatably connected to the first and second fork arms, and the body, respectively, and electrically connected to the control circuit unit. The two-wheel differential driving assembly includes a left driving wheel and a right driving wheel formed opposite to each other which can be independently driven to realize differential rotation. The present disclosure not only can forklift cargo with a small turning radius, but also can realize left-to-right sideways movements and an in-place rotation and a U-turn movement.

Abstract: A system includes an article supply location, wherein the article supply location includes a plurality of articles to be sorted, first and second transport vehicles, each having a first position in which an article is stowed about the vehicle and a second position in which the article is deposited into a proximal container. And a control system. The control system is configured to receive an order for a plurality of disparate articles, determine one destination container of a plurality of destination containers to direct the transport vehicle to deposit a selected article, direct the first transport vehicle to transport a selected article to the destination container and deposit the article by manipulation of the first transport vehicle from the first position to the second position for deposit of the selected article in the destination container.

Abstract: Disclosed is a Light Detection and Ranging (LIDAR) sensor which is capable of minimizing the size of a LIDAR sensor which is capable of performing 3D scanning and setting a region of interest for obtaining point cloud data with the removal of light scattering, by separating a transmitter module and a receiver module; disposing a transmitter, a mirror, and a receiver in a specific space so that light emitted from a light source or light reflected from a transmission mirror is reflected from a first reflection region of a moving mirror and is then moved to a target object, after which light reflected from the target object is reflected from a second reflection region of the moving mirror and is moved to the transmission mirror or a photodiode; installing a blocking wall separating movement paths of light; and adjusting the range of movement of the moving mirror.

Abstract: A smart power transmission line inspection system, related to the technical field of robotic inspection. The smart power transmission line inspection system comprises an inspection robot, an activation/deactivation device, and a control and processing terminal. The activation/deactivation device is used for activating or deactivating the inspection robot according to an activation/deactivation instruction. The inspection robot is used for inspection along a power transmission line according to an inspection instruction, and the inspection robot is also used for obtaining inspection data and for transmitting the inspection data to the control and processing terminal, wherein the inspection instruction is a pre-set inspection instruction pre-set for the inspection robot, or the inspection instruction is sent by the control and processing terminal and received by the inspection robot.

Abstract: The present application relates to the technical field of medical robots, and in particular, to a slave driving device of an interventional surgical robot and an elongated medical instrument delivery method. The slave driving device includes: a frame; a first driving mechanism, fixedly arranged on the frame to clamp one end of an elongated medical instrument to deliver the elongated medical instrument; and a second driving mechanism, movably arranged on the frame to clamp the other end of the elongated medical instrument to deliver the elongated medical instrument through movement on the frame. Since only the second driving mechanism is able to move on the frame, the overall size of the slave driving device is reduced by using a reasonable structural design, and the occupied space and the overall weight of the slave driving device are reduced, thereby facilitating the spatial layout of the surgical robot.

Abstract: A cleaning apparatus for a cleaner robot is provided and includes a main body. An accommodation cavity is formed inside the main body. The cleaning apparatus further includes a water spraying device and a sweeping roller, the water spraying device is disposed in the accommodation cavity and detachably connected with the accommodation cavity, and the sweeping roller is disposed in the accommodation cavity and detachably connected with the accommodation cavity. A water squeezing rod is arranged between the sweeping roller and the accommodation cavity. The main body is further disposed with a sewage recovery device detachably connected therewith. The sewage recovery device includes a sewage sink disposed at an inner side of the sweeping roller, and the sewage sink abuts against the inner side. The main body is further disposed with a driving device for driving the sweeping roller to rotate.

Abstract: A system includes an article supply location, wherein the article supply location includes a plurality of articles to be sorted, first and second transport vehicles, each having a first position in which an article is stowed about the vehicle and a second position in which the article is deposited into a proximal container. And a control system. The control system is configured to receive an order for a plurality of disparate articles, determine one destination container of a plurality of destination containers to direct the transport vehicle to deposit a selected article, direct the first transport vehicle to transport a selected article to the destination container and deposit the article by manipulation of the first transport vehicle from the first position to the second position for deposit of the selected article in the destination container.

Abstract: An interventional robot system and a readable storage medium. In the interventional robot system, a touch switch is arranged on an operation lever and connected to a processor, and is configured to send a current switch state to the processor; a master-end encoder is arranged on the operation lever and connected to the processor, and is configured to send to the processor an operation lever displacement generated in response to the operation lever being controlled to perform a current operation; a null sensor is arranged on a base and connected to the processor, and is configured to send a current sensor state to the processor; and the processor is configured to control an interventional robot slave end to perform a movement corresponding to the operation lever displacement, such that an elongated medical instrument is accurately controlled to move, and invalid operations are eliminated.

Abstract: A self-balancing vibration damping system, an active vibration damping seat, and transport equipment are provided. The self-balancing vibration damping system includes an active vibration damping module, a control module, a sensor module, and a receiving module, where the sensor module is configured to acquire motion data of the transport equipment; the active vibration damping module includes a first rotating assembly and a second rotating assembly; the first rotating assembly is provided in an accommodation space; the second rotating assembly is provided at a driving end of the first rotating assembly, and is butted with the receiving module; the control module is configured to control the first rotating assembly and the second rotating assembly to operate synchronously according to the motion data, so as to provide a force opposite to a tilt direction of the receiving module.

Abstract: A bi-planar robotic arm device for vascular interventional surgery includes an operating table, a frame assembly, an outer arm assembly, and an inner arm assembly. The frame assembly includes a standing column, a sliding block, a sliding platform, a support, and a screw stepper motor. The standing column is arranged on the operating table. The support is arranged on the standing column. The sliding platform is arranged on the support. The sliding platform is connected to the sliding block. The sliding block is connected to the screw stepper motor and can slide along the sliding platform under the action of the screw stepper motor. The outer arm assembly is connected to the standing column. The inner arm assembly is connected to the outer arm assembly and the sliding block. The inner arm assembly and the outer arm assembly can move relative to each other.

Abstract: Mechanical fingers for clamping catheters, guild wires, and the like equipment for vascular intervention include a left clamping panel, a right clamping panel, left gathering pieces, right gathering pieces, a linear-propelling mechanism, and a frame. The linear-propelling mechanism is arranged on the frame. The left clamping panel and the right clamping panel are oppositely arranged, and are each arranged on the linear-propelling mechanism. The left gathering pieces and the right gathering pieces are arranged on the left clamping panel and the right clamping panel, respectively. The linear-propelling mechanism drives the left clamping panel and the right clamping panel to move towards or move away from each other. The mechanical fingers can realize adaptive clamping for intervening equipment in a widely varying diameter range. The clamping surfaces of panels in the mechanical fingers are provided with grid-and-stripe microstructures and are made from resilient materials.

Abstract: A method and a device for controlling a number of robots to emergency stop are provided. The method includes arranging multiple position points in a site where robots work and position identifiers corresponding to the position points, and providing corresponding recognizers at bottoms of the robots; when fault signals reported by the robots are detected, determining, according to the fault signals, whether all the robots in the site need to be controlled to emergency stop, wherein if yes, according to current positions and moving speeds of the robots, position points in the site are allocated to the robots as respective emergency stop positions, the robots are controlled to move to the corresponding emergency stop positions, and thereafter the robots are controlled to stop movement. The device comprises a configuration module, a determination module, an allocation module and a control module.

Abstract: An operating handle with feedback of guidewire/catheter advancement resistance for a vascular intervention robot includes a sliding guide rail, a fixing base plate, a connecting rod, an operation rod, a pressure sensing device, a rotary driving device, and a linear motor. The rotary driving device, the sliding guide rail, and a stator of the linear motor are arranged on the fixing base plate. The pressure sensing device and a rotor of the linear motor are connected with the sliding guide rail through a slider and are able to reciprocate along the sliding guide rail. The connecting rod has one end provided with the operation rod and the other end connected with the rotor of the linear motor through a strain gauge. The connecting rod passes through the pressure sensing device and the rotary driving device in sequence.

Abstract: The present exemplary embodiments provide a hybrid sensor, a Lidar sensor, and a moving object which generate composite data by mapping distance information on an obstacle obtained through the Lidar sensor to image information on an obstacle obtained through an image sensor and predict distance information of composite data based on intensity information of a pixel, to generate precise composite data.

Abstract: The present disclosure discloses a map creation method of a mobile robot, the mobile robot working indoors, comprising the following steps: S1: obtaining Euler angles of a current point relative to a reference point according to a ceiling image taken from the current point and the reference point; S2: determining whether the roll angle of the Euler angles is lower than a set value, if so, saving the map data of the current point, otherwise, not saving the map data of the current point; S3: returning to step S1 after the mobile robot moves a predetermined distance or for a predetermined time; S4: repeating steps S1 through S3 until the map creation in the working area is complete. The present disclosure also discloses a mobile robot using the above method.

Abstract: The present disclosure discloses a map creation method of a mobile robot, including establishing a rectangular coordinate system in a working area of the mobile robot; causing the mobile robot moving in a character shape in the working area; obtaining a key frame picture of the mobile robot at a point Pi and saving the picture and coordinates of the point Pi; obtaining a picture of the mobile robot at a point P?i, wherein an abscissa or ordinate of the point P?i is the same as that of the point Pi; extracting and matching features of the pictures acquired at the point Pi and the point P?i; calibrating coordinates of the mobile robot at the point P?i and data of the odometer and/or the gyroscope according to the matching result and saving them; and repeating the obtaining to the calibrating until the map creation in the working area is complete.

Abstract: A mobile mechanism, a mobile robot having the mobile mechanism and a method for moving the mobile robot are disclosed. The mobile mechanism includes a housing in which a guide portion is provided, a sliding seat mounted on the guide portion and movable along the guide portion, a moving wheel fixed on the sliding seat and partially protruding beyond a surface of the housing, a pressing portion pressing against the sliding seat and moving the sliding seat toward the surface of the housing; and a deformation portion mounted on the housing and connected with the pressing portion, exerting a force for moving the sliding seat towards the surface of the housing through the pressing portion when deformed.

Abstract: Disclosed is a slippage identification and intelligent adaptive control method for a patrol robot. The patrol robot comprises a walking wheel and a pinch wheel. The walking wheel rolls on a wire to be inspected, and the pinch wheel is located below the wire and is used to press the wire on the walking wheel.