Abstract: A pyram-shaped deep-sea pressure-resistance shell and a design method therefor. The shell comprises a conical shell, an annular combined shell, a cylindrical shell, a flange bolt, and a perforated thick plate; a bottom end of the conical shell is connected with a top end of the annular combined shell, the conical shell being in communication with an interior part of the annular combined shell; the perforated thick plate blocks the bottom end of the annular combined shell, the perforated thick plate and the annular combined shell being connected by means of multiple flange bolts; the cylindrical shell is disposed inside the annular combined shell, a lower end of the cylindrical shell being inserted in a gap between the annular combined shell and the perforated thick plate.

Abstract: A mapping method for a robot includes: detecting a plurality of linear trajectories of the robot in a process of building a map; inserting a positioning key frame corresponding to each of the linear trajectories, wherein the positioning key frame comprises, when the robot is located on a corresponding one of the linear trajectories, a first pose in a positioning coordinate system, and a second pose in a map coordinate system; and for each two adjacent ones of the linear trajectories, according to one of the first poses determined according to a displacement between the positioning key frames of the two adjacent ones of the linear trajectories, performing optimization of loop closure constraints on the second poses of the positioning key frames, and generating a map based on the optimized positioning key frames.

Abstract: A redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and a control method thereof are provided, which relate to the field of robot mechanisms. The redundant parallel mechanism includes: a fixed platform, a moving platform, multiple moving branch chains, and one or more redundant branch chains. Two ends of each moving branch chain are respectively connected to the fixed platform and the moving platform, and a brake is arranged on each moving branch chain. Two ends of each redundant branch chain are respectively connected to the fixed platform and the moving platform, and an actuating part is arranged on each redundant branch chain. There are n redundant branch chains arranged. During control, the number of follow-up moving branch chains is set to n, and the n moving branch chains move to expected positions and postures under the control of the n redundant branch chains.

Abstract: The present invention provides a hexagonal frustum deployable unit and the deployable mechanism formed by the same, which includes hexagonal frustum deployable units, unit connecting rods and support frames, 3N2+3N+1 hexagonal frustum deployable units are combined into a closely connected deployable mechanism through unit connecting rods and support frames; the present invention combines hexagonal frustum deployable units array into deployable mechanisms of any aperture size, which has advantages such as high rigidity, high retraction rate, high support performance and adjustable aperture size, which makes space deployable antenna mechanism safer, more efficient and convenient during operation process and solves problems of weak signal transmission or reception, small data capacity and low communication rate of traditional antennas.

Abstract: The present invention discloses a bi-directional flat plate foldable unit, including a first row of antenna plates and a second row of antenna plates distributed along a first direction; the first row of antenna plates and the second row of antenna plates both include three antenna plates distributed in a second direction perpendicular to the first direction, three antenna plates in the first row of antenna plates and three antenna plates in the second row of antenna plates are set opposite to each other and hinged to form a first rotating pair; any two antenna plates adjacent to each other in the same row of antenna plates are hinged to form a second rotating pair; three antenna plates in the first row of antenna plates and three antenna plates in the second row of antenna plates are connected by a vertical support mechanism, and the first row of antenna plates are connected to the second row of antenna plates by a lateral support mechanism.

Abstract: The present invention discloses a post-processing method for a special seven-five axis linkage machine tool, comprising: building a multi-body kinematic model according to the structure of the machine tool, and building the multi-body kinematic model according to the sequence of workpiece-turntable-machine tool-cross beam-ram-milling head-cutting tool; establishing position coordinate transformation matrices according to the built multi-body kinematic model to obtain the matrices of cutter location points and tool orientation vectors; solving transformation equations of every motion axis of the machine tool and cutter location point coordinates according to the matrices of cutter location points and tool orientation vectors; building a corresponding relationship between the cutter location point coordinates and every motion axis of the machine tool based on a geometric level, and solving specific values of C-axis rotation angle of milling head and C2-axis rotation angle of the turntable.

Abstract: The invention provides a pump unit for a miniature cleaning machine, and belongs to the technical field of cleaning machines. The problem that an existing pump unit is frequently maintained is solved. The pump unit for the miniature cleaning machine comprises a motor, a pump shell, a plunger and a transmission assembly, the plunger and the transmission assembly are arranged in the pump shell, a reset spring enabling the plunger to always have the upward moving trend is arranged in the pump shell, the transmission assembly comprises a pump main shaft, an eccentric shaft and a ball bearing, one end of the pump main shaft is in transmission connection with the motor, and the other end of the pump main shaft is in transmission connection with the eccentric shaft.

Abstract: The present disclosure discloses a navigation map updating method as well as an apparatus, and a robot using the same. The method includes: controlling a robot to move along a designated path after a successful relocalization of the robot, and recording key frame data of each frame on the designated path and a corresponding pose; creating a new navigation map, and copying information in an original navigation map into the new navigation map; and covering the key frame data of each frame on the designated path onto the new navigation map to obtain an updated navigation map. In this manner, there is no need for the user to manipulate the robot to recreate the map at the environment where the robot is operated, which saves a lot of time and manpower.

Abstract: The present invention discloses a bi-directional flat plate foldable unit, including a first row of antenna plates and a second row of antenna plates distributed along a first direction; the first row of antenna plates and the second row of antenna plates both include three antenna plates distributed in a second direction perpendicular to the first direction, three antenna plates in the first row of antenna plates and three antenna plates in the second row of antenna plates are set opposite to each other and hinged to form a first rotating pair; any two antenna plates adjacent to each other in the same row of antenna plates are hinged to form a second rotating pair; three antenna plates in the first row of antenna plates and three antenna plates in the second row of antenna plates are connected by a vertical support mechanism, and the first row of antenna plates are connected to the second row of antenna plates by a lateral support mechanism.

Abstract: Ink for producing laser light sources. The ink is used for inkjet printing to produce laser light sources of a certain scale. The ink comprises a luminescent dye, a host material, and a solvent. The use of the ink makes it possible to produce laser light sources through inkjet printing. This provides a novel technical solution for cheap and industrial manufacturing of laser light sources and other related products through inkjet printing.

Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.

Abstract: The present invention provides a four-chain six-degree-of-freedom hybrid mechanism. The four-chain six-degree-of-freedom hybrid mechanism comprises a fixed platform, a sliding rail mounted on the fixed platform, two sliding blocks, a mobile platform and four linear actuator chains connecting the mobile platform with a first sliding block and a second sliding block. The mobile platform is square-shaped. In the four linear actuator chains, the first linear actuator chain and the third linear actuator chain have the same structure while the second linear actuator chain and the fourth linear actuator chain have the same structure. The mobile platform can achieve six degrees of freedom. The four linear actuator chains coordinate to drive so as to achieve two translational degrees of freedom and two rotational degrees of freedom; the first sliding block and the second sliding block coordinate to drive so as to achieve the other translational and rotational degrees of freedom.

Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.

Abstract: A redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and a control method thereof are provided, which relate to the field of robot mechanisms. The redundant parallel mechanism includes: a fixed platform, a moving platform, multiple moving branch chains, and one or more redundant branch chains. Two ends of each moving branch chain are respectively connected to the fixed platform and the moving platform, and a brake is arranged on each moving branch chain. Two ends of each redundant branch chain are respectively connected to the fixed platform and the moving platform, and an actuating part is arranged on each redundant branch chain. There are n redundant branch chains arranged. During control, the number of follow-up moving branch chains is set to n, and the n moving branch chains move to expected positions and postures under the control of the n redundant branch chains.

Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.

Abstract: A semi-submersible floating wind power generator includes a wind power generator set, a post device, a load carrying device and a mooring device. The wind power generator set is disposed at a first end of the post device. The load carrying device is disposed at a second end of the post device. The mooring device is disposed at the second end of the post device. The post device includes a main post and multiple auxiliary posts. The main post is disposed in parallel with the multiple auxiliary posts, and second ends of the multiple auxiliary posts are aligned such that the second ends of the multiple auxiliary posts form a first plane, and the second end of the main post is disposed at a position closer to the first end of the main post than the first plane.

Abstract: A laser panel, a laser array device, and a laser display. The laser panel and the laser array device separately comprise multiple groups of independent laser light source modules; each group of laser light source modules comprises plural light sources; the plural light sources are all produced by inkjet printing; the laser display and a voltage-driven laser display separately comprise the laser panel. Producing a laser panel by inkjet printing provides a novel technical solution for cheap and industrial manufacturing of laser panels. It is difficult to generate laser coherent superposition between the light emitted by the laser light source module, and therefore, speckles caused by laser coherence in conventional laser display technologies are greatly eliminated. The present invention achieves a voltage-driven laser display, and facilitates achieving a better display effect while reducing the volume of the display.

Abstract: The invention discloses a detection method for radial deformation of flexspline of harmonic reducer under installation eccentricity state, taking the center of wave generator as the origin, the reference coordinate system is established in the method, and the offset between the center of wave generator and the pivotal center of rotary table is calculated by measuring the standard circle coaxial with the wave generator; the radial deformation function and the offset of wave generator under eccentricity state are taken to the theoretical ellipse eccentricity mathematical model to obtain the parameters of the actual ellipse; the offset and ellipse parameters are taken into the radial runout correction model of the flexspline to obtain the correction model under eccentricity state; the flexspline deformation function is measured and the correction model is taken to obtain the radial deformation function of the flexspline under standard state.

Abstract: The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

Abstract: The present disclosure provides a positioning method and a robot with the same. The method is applied to a robot having a camera, the method includes: taking a photo of a predetermined area, wherein the predetermined area comprises a marker pattern area; identifying at least two marker points of the marker pattern area and obtaining first coordinate data of each marker point; calculating second coordinate data of the robot in a world coordinate based on parameters of the camera and the first coordinate data of the marker points; and calculating angle data of the robot in the world coordinate based on the first coordinate data of the marker points and the second coordinate data of the robot in the world coordinate. Through the above-mentioned positioning method, the robot can quickly perform monocular visual positioning and reduce the calculation amount of positioning.