Abstract: A robot with the perception capability of livestock and poultry information and a mapping approach based on autonomous navigation are disclosed. The robot includes a four-wheeled vehicle (3), an autonomous navigation system, a motion module and an information acquisition module. The autonomous navigation system includes a LiDAR (10), a RGB-D camera (9), an inertial measurement unit (5), an odometer and a main control module (12). The information acquisition module includes two thermal imagers (6), an environmental detection sensor module (8) and a wireless transmission module (11). The robot is controlled in indoor working environment, and simultaneously information about surrounding environment during movement is obtained with the autonomous navigation system; positioning locations are obtained through data processing and a global map is constructed, which can improve positioning accuracy, reduce dependence on breeders, realize automatic environment detection.

Abstract: Non-fullerene electron acceptors for highly efficient organic photovoltaic devices are described. The non-fullerene electron acceptors have an extended, rigid, ?-conjugated electron-deficient framework that can facilitate exciton and charge derealization. The non-fullerene electron acceptors can physically mix with a donor polymer and facilitate improved electron transport. The non-fullerene electron acceptors can be incorporated into organic electronic devices, such as photovoltaic cells.

Abstract: Non-fullerene electron acceptors for highly efficient organic photovoltaic devices are described. The non-fullerene electron acceptors have an extended, rigid, ?-conjugated electron-deficient framework that can facilitate exciton and charge derealization. The non-fullerene electron acceptors can physically mix with a donor polymer and facilitate improved electron transport. The non-fullerene electron acceptors can be incorporated into organic electronic devices, such as photovoltaic cells.