Abstract: A liquid nitrogen quick-freezing preservation method for fresh bamboo shoots. The method includes performing a coating treatment on cuts of fresh bamboo shoots, which reduces the moisture loss through the cuts, slows down the degree of lignification of the bamboo shoots, mitigates color changes at the cuts, inhibits excessively fast reproduction of microorganisms at the cuts and prevents invasion of microorganisms from the cuts, so that a decrease in nutritional value is reduced, the deterioration of the appearance quality of the bamboo shoots is mitigated, and the nutritional value and commodity value of the bamboo shoots are maintained. The method further includes an intermittent ultrasonic treatment on the fresh bamboo shoots, so that coating substances form films on the surfaces of the cuts more easily, preventing the fresh bamboo shoots from being eroded by microorganisms and preventing nutrient substances from being decomposed and utilized by the microorganisms.

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: The present disclosure discloses a method for planning a path of a mobile robot including an odometer and a gyroscope. The method includes causing the mobile robot to move from an initial position to a point Pi or a point P?i, calibrating data of the odometer and/or the gyroscope at the point Pi or the point P?i, and repeating S?1 to step S?2 until arriving at a final target point.

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.