Abstract: Disclosed are differential temperature push bending method and device for tube with small bending radius, the device comprising: a push bending die, core, fillers and pushers, wherein the core and the fillers are both arranged in a bending chamber of the push bending die, an inlet and an outlet end of the push bending die are respectively provided with a front guiding sleeve and a rear guiding sleeve, the pusher in the front guiding sleeve abuts against a plurality of fillers, and the pusher in the rear guide sleeve abuts against the core. A heat rod is provided at an outer end of the bending chamber. The present disclosure adopts differential temperature type push bending, flow performance of the tube blank at the outer corner of the die can be improved, and the material can be timely fed to prevent excessive stretching and thinning of the outer material.

Abstract: Implementations of the present specification provide an interaction behavior detection method, apparatus, system, and device. The method includes the following: obtaining a to-be-detected depth image photographed by a depth photographing device, extracting a foreground image used to represent a moving object from the to-be-detected depth image, obtaining spatial coordinate information of the moving object based on the foreground image, comparing the spatial coordinate information of the moving object with spatial coordinate information of a shelf in a rack, and determining an article touched by the moving object based on a comparison result and one or more articles on the shelf.

Abstract: Disclosed are methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing interaction behavior detection. One method includes obtaining a depth image from a depth camera disposed above a rack, and a filming range of the depth camera covers an outer edge of each shelf in the rack and an aisle. A foreground images associated with a moving object from the depth image is extracted. Spatial coordinates of the moving object are obtained based on the foreground image. An object on a shelf in the rack that is physically contacted by the moving object is determined based on comparing the spatial coordinates of the moving object with spatial coordinates of the shelf, where the spatial coordinates of the shelf is determined based on a background depth image captured by the depth camera at a predetermined angle unobstructed by the moving object.

Abstract: Disclosed are differential temperature push bending method and device for tube with small bending radius, the device comprising: a push bending die, core, fillers and pushers, wherein the core and the fillers are both arranged in a bending chamber of the push bending die, an inlet and an outlet end of the push bending die are respectively provided with a front guiding sleeve and a rear guiding sleeve, the pusher in the front guiding sleeve abuts against a plurality of fillers, and the pusher in the rear guide sleeve abuts against the core. A heat rod is provided at an outer end of the bending chamber. The present disclosure adopts differential temperature type push bending, flow performance of the tube blank at the outer corner of the die can be improved, and the material can be timely fed to prevent excessive stretching and thinning of the outer material.