Abstract: A method for trajectory planning, an apparatus, a storage medium, and an electronic device are provided. A constraint set of a space including a target device is determined according to a velocity of an unmanned device and velocities of designated obstacles, so that during optimization of a preliminary reference trajectory, a solution can be obtained with the space in the constraint set as a solution space under the constraint of the constraint set, so as to ensure that the solution space is a convex space, and relatively satisfactory reference trajectory points can be solved.

Abstract: A robot and a collecting method for collecting polymetallic nodules in deep-sea are provided. The robot includes an underwater moving carrier and a collecting module, and the collecting module is fixedly mounted on the underwater moving carrier. The collecting module includes a collecting frame, a collecting pump, a rack and a collecting tube, the collecting frame is installed at the bottom of the rack, and the collecting pump is a piston pump, which includes a piston and a cylinder with open lower-end. The upper part of the cylinder is a collecting area, the lower part is a piston stroke area, the collecting tube is connected to the cylinder of the collecting area, and a check valve is arranged in the middle of the piston.

Abstract: A robot and a collecting method for collecting polymetallic nodules in deep-sea are provided. The robot includes an underwater moving carrier and a collecting module, and the collecting module is fixedly mounted on the underwater moving carrier. The collecting module includes a collecting frame, a collecting pump, a rack and a collecting tube, the collecting frame is installed at the bottom of the rack, and the collecting pump is a piston pump, which includes a piston and a cylinder with open lower-end. The upper part of the cylinder is a collecting area, the lower part is a piston stroke area, the collecting tube is connected to the cylinder of the collecting area, and a check valve is arranged in the middle of the piston. The disclosure realizes the non-destructive collection of deep-sea polymetallic nodules and has high efficiency.

Abstract: A light emitting diode (LED) lamp includes a base, LED chips mounted on base, and a lens covering the LED chips and engaging with the base. The lens includes an arc-shaped engaging portion, and an extending portion extending from a radial outer side of a top surface of the engaging portion with a radial inner side of the top surface of the engaging portion exposed. The engaging portion includes an outer side surface. A groove is defined in an underside of the engaging portion and receives the LED chips therein. The extending portion includes an inner light emitting surface extending upwardly and outwardly from the top surface of the engaging portion, an outer light emitting surface extending upwardly from a top edge of the outer side surface of the engaging portion, and a top light emitting surface interconnecting the outer light emitting surface and the inner light emitting surface.