Abstract: A self-learning method for an obstacle and a self-learning method for a new obstacle are provided. With the self-learning method, in step 1, data of a grid map in a movement region is acquired, and each of grids of the grid map is marked as not being traversed. In step 2, a starting grid of the grid map is set, data of the starting grid is pushed into a stack, a movement unit is controlled to move to the starting grid, and the starting grid is remarked as being traversed. In step 3, the movement unit is controlled to traverse the grid map, and boundary data of the obstacle is acquired based on marks of the grids in the grid map. In step 4, boundary data of the obstacle is stored.

Abstract: An integrated navigation method for a mobile vehicle is provided, which includes: acquiring a motion measurement of the mobile vehicle by using an inertial navigation element in the mobile vehicle and calculating a gesture parameter of the mobile vehicle based on the motion parameter; estimating, based on the gesture parameter, a motion state of the mobile vehicle in a real time manner by using a satellite navigation element in the mobile vehicle to obtain an error estimation value of the motion state, and correcting a motion parameter of the mobile vehicle based on the error estimation value of the motion state; and controlling an operation route of the mobile vehicle based on corrected navigation information.

Abstract: The present invention relates to the field of navigation. Disclosed is a route planning method for a mobile vehicle, comprising: partitioning an operation area of a mobile vehicle into blocks using a grid cell as a minimum unit to obtain operation blocks, and performing a reciprocating operation in each operation block in a traversing manner; after the mobile vehicle completes the operation in one operation block, moving to another operation block to perform the reciprocating operation therein in the same traversing manner. The present invention can cause a mobile vehicle to obtain a plurality of operation blocks on the basis of an electronic grid map of known information by means of a block partitioning algorithm, and plan an operation route in each operation block by means of a reciprocating and traversing route planning algorithm in each operation block.

Abstract: A path tracking method is provided. The path tracking method includes obtaining a current location and a current traveling direction of the mobile vehicle, and determining a traveling path along which the mobile vehicle travels to a destination based on the current location and the current traveling direction; simplifying the mobile vehicle into a differential model, establishing a forward objective function of the differential model in the traveling path, and obtaining an optimal solution of the forward objective function; and controlling a speed of the mobile vehicle corresponding to the differential model by using the optimal solution as an optimal differential control variable, until the mobile vehicle reaches the destination. The path tracking method is simple in calculation, adopts algorithms that is naturally stable, and is used in combination with integrated navigation, thereby ensuring stability and reliability of tracking.

Abstract: A quantitative one-way oil gas lubricant system and a method for a 4-stroke engine, including a preceding stage quantitative oil intake orifice that is connected to a lubricant case on a wall of a crankcase of the 4-stroke engine, and a final stage quantitative airflow orifice disposed at a cylinder cover of the 4-stroke engine, are provided. A diameter of the preceding stage quantitative oil intake orifice D1 and a diameter of the final stage quantitative airflow orifice satisfy an equation: D1/D3=0.8-1.5, wherein a one-way connected oil gas lubricant channel is disposed between the preceding stage quantitative oil intake orifice and the final stage quantitative airflow orifice. A lubricant oil sucked from the preceding quantitative oil intake orifice by the crankcase flows along the oil gas lubricant channel and lubricates the engine parts that the channel passes through in turns.

Abstract: The GNSS-RTK-based positioning method includes the following steps: Step 1, performing data quality control according to analyzed raw satellite-ground observation values; Step 2, performing SPP positioning by using a pseudorange observation value, and performing RTD positioning according to an RTD pseudorange residual of a previous epoch and a pseudorange residual of a current epoch obtained through SPP positioning calculation; Step 3, calculating a float solution by means of the least squares method and Kalman filtering of additional ambiguity parameters in which the RTD positioning result is used as an initial value; and Step 4, converting the float ambiguity solution into a fixed solution by using an optimized partial ambiguity fixing strategy.

Abstract: The GNSS-RTK-based positioning method includes the following steps: Step 1, performing data quality control according to analyzed raw satellite-ground observation values; Step 2, performing SPP positioning by using a pseudorange observation value, and performing RTD positioning according to an RTD pseudorange residual of a previous epoch and a pseudorange residual of a current epoch obtained through SPP positioning calculation; Step 3, calculating a float solution by means of the least squares method and Kalman filtering of additional ambiguity parameters in which the RTD positioning result is used as an initial value; and Step 4, converting the float ambiguity solution into a fixed solution by using an optimized partial ambiguity fixing strategy.

Abstract: An integrated navigation method for a mobile vehicle is provided, which includes: acquiring a motion measurement of the mobile vehicle by using an inertial navigation element in the mobile vehicle and calculating a gesture parameter of the mobile vehicle based on the motion parameter; estimating, based on the gesture parameter, a motion state of the mobile vehicle in a real time manner by using a satellite navigation element in the mobile vehicle to obtain an error estimation value of the motion state, and correcting a motion parameter of the mobile vehicle based on the error estimation value of the motion state; and controlling an operation route of the mobile vehicle based on corrected navigation information.

Abstract: A self-learning method for an obstacle and a self-learning method for a new obstacle are provided. With the self-learning method, in step 1, data of a grid map in a movement region is acquired, and each of grids of the grid map is marked as not being traversed. In step 2, a starting grid of the grid map is set, data of the starting grid is pushed into a stack, a movement unit is controlled to move to the starting grid, and the starting grid is remarked as being traversed. In step 3, the movement unit is controlled to traverse the grid map, and boundary data of the obstacle is acquired based on marks of the grids in the grid map. In step 4, boundary data of the obstacle is stored.

Abstract: The present invention relates to the field of navigation. Disclosed is a route planning method for a mobile vehicle, comprising: partitioning an operation area of a mobile vehicle into blocks using a grid cell as a minimum unit to obtain operation blocks, and performing a reciprocating operation in each operation block in a traversing manner; after the mobile vehicle completes the operation in one operation block, moving to another operation block to perform the reciprocating operation therein in the same traversing manner. The present invention can cause a mobile vehicle to obtain a plurality of operation blocks on the basis of an electronic grid map of known information by means of a block partitioning algorithm, and plan an operation route in each operation block by means of a reciprocating and traversing route planning algorithm in each operation block.

Abstract: A path tracking method is provided. The path tracking method includes obtaining a current location and a current traveling direction of the mobile vehicle, and determining a traveling path along which the mobile vehicle travels to a destination based on the current location and the current traveling direction; simplifying the mobile vehicle into a differential model, establishing a forward objective function of the differential model in the traveling path, and obtaining an optimal solution of the forward objective function; and controlling a speed of the mobile vehicle corresponding to the differential model by using the optimal solution as an optimal differential control variable, until the mobile vehicle reaches the destination. The path tracking method is simple in calculation, adopts algorithms that is naturally stable, and is used in combination with integrated navigation, thereby ensuring stability and reliability of tracking.

Abstract: The present invention provides an embedded-outer rotor motor direct driven mower driving wheel and a mower. The embedded-outer rotor motor direct driven mower driving wheel comprises a driving wheel main body formed by the assembling of a wheel side cover I, a wheel side cover II, and a wheel body sandwiched between the wheel side cover I and the wheel side cover II, the wheel side cover I, the wheel side cover II and the wheel body are enclosed to define a cavity, an outer rotor motor is mounted in the cavity, an outer rotor portion of the outer rotor motor is fixedly arranged relative to the driving wheel main body, an internal stator portion of the outer rotor motor is provided with a fixed shaft penetrating through the wheel side cover I and extending out of the driving wheel main body, and the wheel side cover I is provided with a shaft hole I allowing the fixed shaft to penetrate through.

Abstract: A quantitative one-way oil gas lubricant system and a method for a 4-stroke engine, including a preceding stage quantitative oil intake orifice that is connected to a lubricant case on a wall of a crankcase of the 4-stroke engine, and a final stage quantitative airflow orifice disposed at a cylinder cover of the 4-stroke engine, are provided. A diameter of the preceding stage quantitative oil intake orifice D1 and a diameter of the final stage quantitative airflow orifice satisfy an equation: D1/D3=0.8-1.5, wherein a one-way connected oil gas lubricant channel is disposed between the preceding stage quantitative oil intake orifice and the final stage quantitative airflow orifice. A lubricant oil sucked from the preceding quantitative oil intake orifice by the crankcase flows along the oil gas lubricant channel and lubricates the engine parts that the channel passes through in turns.

Abstract: An electric mower includes a chassis; and a walking device, a mowing device, a power device, a handle device, and a back grass discharging device arranged on the chassis. The power device drives the operation of the walking device and the mowing device, the back grass discharging device discharges the grass cut by the mowing device, and the handle device controls the electric mower. The power device of the electric mower uses a hybrid power system formed by DC power supply and AC power supply.

Abstract: The present invention provides an embedded-outer rotor motor direct driven mower driving wheel and a mower. The embedded-outer rotor motor direct driven mower driving wheel comprises a driving wheel main body formed by the assembling of a wheel side cover I, a wheel side cover II, and a wheel body sandwiched between the wheel side cover I and the wheel side cover II, the wheel side cover I, the wheel side cover II and the wheel body are enclosed to define a cavity, an outer rotor motor is mounted in the cavity, an outer rotor portion of the outer rotor motor is fixedly arranged relative to the driving wheel main body, an internal stator portion of the outer rotor motor is provided with a fixed shaft penetrating through the wheel side cover I and extending out of the driving wheel main body, and the wheel side cover I is provided with a shaft hole I allowing the fixed shaft to penetrate through.

Abstract: A dual-step snow sweeper includes a body, on which a driving device, a self-propelled device, a snow sweeping device, and a handrail control device are arranged. The driving device drives the operation of the self-propelled device and the snow sweeping device, the snow sweeping device includes a snow scraping mechanism and a snow throwing mechanism, and the driving device includes at least one motor which is powered by a power supply device. The power supply device can use battery supply separately, and can supply power by being connected with alternating current through an AC-DC power supply system as well, or operate in such a way that the AC directly drives an AC motor.

Abstract: A hybrid driving snow sweeper includes a snow sweeping impeller. The snow sweeping impeller is mounted on an impeller shaft. The impeller shaft is driven by a motor. The motor includes a DC motor and an AC motor. The DC motor and the AC motor are connected with a control panel. The control panel is connected with wires of battery power supply and AC power supply. The control panel controls the operation of the DC motor or the AC motor so as to drive the impeller shaft. The DC motor and the AC motor are set simultaneously.

Abstract: An electric mower includes a chassis; and a walking device, a mowing device, a power device, a handle device, and a back grass discharging device arranged on the chassis. The power device drives the operation of the walking device and the mowing device, the back grass discharging device discharges the grass cut by the mowing device, and the handle device controls the electric mower. The power device of the electric mower uses a hybrid power system formed by DC power supply and AC power supply.

Abstract: An LED lamp is mounted on a snow scraping shovel. The LED lamp includes a front panel and a back panel which are jointly fixed. Foam is provided between the front panel and the back panel. A battery and a PCB board are provided in the space between the front panel, the back panel and the foam. The PCB board is connected with the battery by a wire. An LED is mounted on the PCB board. A light concentrating assembly formed by a light concentrating cover and a front LENS and a back LENS is provided outside of the LED. A switch for controlling the LED lamp is connected on the back panel.