190results about How to "Arrive accurately" patented technology

The invention discloses an inspection robot path planning method combining map grids with potential field method obstacle avoidance; the inspection robot path planning method comprises the following steps: 1, global grid method path planning: using the grid method to obtain the global optimal path from a start point to an object point; 2, moving to the object point: determining whether obstacles are encountered or not, moving to the object point is no obstacle is detected, planning a local obstacle avoidance path if an obstacle is detected until reaching the object point; 3, planning the local obstacle avoidance path, using the artificial potential field method with changeable parameters to carry out obstacle avoidance path planning, determining whether the object point is reached or not, returning to step 2 if not, and finishing the tour if the object point is reached. The inspection robot path planning method can solve the problems that the robot inspection path planning in the prior art is poor in efficiency, thus enlarging the robot inspection time.

The invention discloses a mark point position display method, a device, a terminal and a computer readable storage medium, and belongs to the technical field of computers. The method includes the following steps of: acquiring a mark point position in a global map of a three-dimensional virtual scene, wherein the global map is used for displaying a thumbnail of the three-dimensional virtual scene;determining a target scene area indicated by the mark point position in the three-dimensional virtual scene, wherein the target scene area is a region marked by the mark point position; displaying a prompt signal in the visual angle image of the current control object, wherein the prompt signal is used for prompting the position of the target scene area in the three-dimensional virtual scene. By clearly and accurately identifying the position of the target scene area in the three-dimensional virtual scene, the current control object can accurately and rapidly reach the target scene area according to the prompt signal, and the accuracy of the actual display of the mark point position is greatly improved.

The invention provides an information interaction method based on an instant messaging system, comprising: a first message submitted by a user on a message submitting page is received; an ID of the first message is generated; the contact person information of the user is obtained and prompt information is displayed at clients of all contact persons according to the ID of the user and the ID of the first message; the message submitting page is returned according to an extract request emitted by the contact against the ID of the first message; receiving a second message submitted by the contact person on a message reply page; the ID of the second message is generated; the prompt information at the client of the user is displayed according to the ID of the second information and the message replay page is returned according to the extract request emitted by the user against the ID of the second message. The invention can effectively improve the utilization rate of resources and reduce the occupancy of the resources.

The embodiment of invention discloses a time optimal grab bucket operation method. According to the method, an operation path of a grab bucket is a parabola compounded by hosting motion and trolley motion; the hoisting motion operates according to a trapezoidal velocity curve; both ascending motion and descending motion are accelerated to operate at full speed with the maximum acceleration and decelerated to stop with the maximum acceleration when a target location is reached, so that the grab bucket operates at high level at the earliest time and descends from the high level at the latest time; for the trolley motion, a two-step acceleration method is adopted at an acceleration stage, a two-step deceleration method is adopted at a deceleration stage, a two-step deceleration method or a bucket throwing deceleration method is adopted at the stage of approaching a hopper, and a two-step acceleration method or a bucket throwing acceleration method is adopted at the stage of leaving the hopper, wherein the hoisting motion is accelerated to the full speed, a trolley starts to move from a point B, and the grab bucket starts to move along the parabolic path; and when the grab bucket returns to a cabin of a ship, the grab bucket moves to the point H along the parabolic path, the trolley stops moving, and the hoisting starts to decelerate from the point H and stops at a point I.

The invention discloses a novel garbage disposal manipulator system and an intelligent control method thereof. The overall structure mainly comprises a support, two manipulators, a conveying belt, eight classifying boxes and eight classifying plates. The two four-freedom-degree manipulators of the same structure are arranged; and three clamping claws arranged in a staggered manner is adopted for a tail end executor of each manipulator. The manipulator system is simple in structure, fast in response and convenient to control, and improves the clamping effectiveness. By adopting the above intelligent control system, the manipulators can accurately reach target bottles and cans, and achieves automatic classification. The sorting and classification problem of bottles and cans in travel rubbish is solved, and technical supporting is provided for healthy development of the travel industry.

The invention discloses a puncture treatment robot system with a sleeved flexible needle. The puncture treatment robot system comprises an outer sleeve servo motor, lead screw linear guides, an outer sleeve servo motor base, a belt pulley, a belt, a roller bearing, a force sensor connecting shaft, a pressure sensor, a sleeve chuck, a chuck and shaft connecting mechanism, a sleeve supporting base, a flexible needle servo motor base, the other belt pulley, the other belt, the other roller bearing, the other force sensor connecting shaft, the other pressure sensor, a flexible needle chuck, the other chuck and shaft connecting mechanism, a flexible needle supporting base, a camera, and a movement control circuit. The puncture treatment robot system with the sleeved flexible needle has four degrees of freedom, and the arched puncture track of the flexible needle can be changed so that the flexible needle can avoids some obstacles and important organs to reach the focus accurately and flexibly. Besides, the puncture treatment robot system with the sleeved flexible needle can track the puncture path of the flexible needle in real time and acquire biological resistance in real time.

The invention discloses an energy consumption managing system and method for a large-sized public building. The system comprises a wireless sensing network node, a WIA (Windows Image Acquisition) wireless gateway and a system server, wherein the wireless sensing network node is in signal connection with the WIA wireless gateway; and the WIA wireless gateway is in network connection with the system server. System nodes are constructed into a network, a networked scale effect is achieved, and online monitoring can be performed on all energy consumption data and environmental information in the large-sized public building; moreover, a large quantity of data can be analyzed and counted to form an effective control strategy; and illumination and air-conditioning parameters can be optimized more effectively under the condition of ensuring comfort degree, so that optimal energy conservation is achieved.

The invention discloses a packing box casing machine which comprises a material taking mechanism, an overturn mechanism, a first product conveying belt and a second product conveying belt, wherein the first product conveying belt is sequentially connected with the second product conveying belt; the first product conveying belt is used for conveying vertical packing boxes; the second product conveying belt is used for conveying horizontal packing boxes; the overturn mechanism is positioned above one end, close to the first product conveying belt, of the second product conveying belt; and the material taking mechanism is related to an output end of the second product conveying belt. With the adoption of the packing box casing machine, the packing boxes can be changed from a vertical state to a horizontal state, and then are clamped and cased, so that the possibility of shaking of the packing boxes easily caused in a clamping process is reduced, the casing safety and an casing accuracy rate of the packing boxes are ensured, and the casing speed is increased.

The invention discloses a robot system for spraying anti-pollution flashover coatings on substation insulators and a spraying method. The robot system is characterized by comprising a robot body and aspraying tool, wherein the robot body comprises a lifting mechanism, and the spraying tool is arranged at the front end of the lifting mechanism; the spraying tool comprises a supporting mechanism, asurrounding mechanism and at least one spraying mechanism; the surrounding mechanism is connected with the supporting mechanism and can carry out vertical lifting movement relative to the supportingmechanism; the surrounding mechanism comprises an annular inner chamber and an annular component which can move along the annular inner chamber, and an annular opening is formed in the lower part of the annular inner chamber; and at least one spraying mechanism is arranged under the supporting mechanism, is connected with the annular component and can move along with the annular component along the annular opening. The robot system can realize uniform spraying for the insulators.

The invention discloses a dynamic sighting device for a gunner sighting lens of a self-propelled anti-aircraft gun and belongs to the technical field of gun observation and sighting. When a gunner emergently operates a gun, the dynamic sighting device is used for receiving target information or lead data sent by a fire control computer, resolving a coordinate value of an electron cursor in real time and generating a video signal which is controlled by a dynamic coordinate, and then a display is used for converting the video signal into a visible image and amplifying and projecting the visibleimage onto the partition plane of the gunner sighting lens by virtue of a projecting system, so that a dynamic electron cursor appears in the visual field of the gunner sighting lens. The dynamic sighting device is used for solving the technical problems that the reaction speed is low, the sighting precision is low and the lead error is big when the gunner emergently operates the gun by using a traditional sighting lens. The probability of grasping combat opportunity of the gunner is improved, the mental work intensity and spirit pressure of the gunner are relieved and the error rate of the gunner is also greatly reduced.

The invention discloses a passenger and freight roll-on and roll-off harbor to-be-transported field intelligent operation mode based on BIM technology. The passenger and freight roll-on and roll-off harbor to-be-transported field intelligent operation mode comprises steps of acquiring real-time ship information and historical information, issuing and collecting ticket buying reserving information,performing preprocessing on a combined solution of a to-be-transported area and a ship parking space, performing safety checking and information detecting, adjusting and updating the combined solution, issuing vehicle path and parking space information, inducing the vehicles arrive at the to-be-transported area, getting on the ship, etc. The passenger and freight roll-on and roll-off harbor to-be-transported field intelligent operation mode has advantages of automation and intelligence.

The invention discloses a path planning method based on an improved A* algorithm, and belongs to the field of unmanned driving path planning. An existing path planning method cannot deal with various conditions and cannot accurately perform global path planning due to temporary dynamic obstacles. The path planning method based on the improved A* algorithm comprises the steps: processing a collected road condition map through a grid method, and obtaining a grid map; then, optimizing and improving the A* algorithm by using an ant colony algorithm; then, carrying out local path planning by an artificial potential field method, and carrying out improvement and optimization aiming at the defect that a local minimum value and a target of the artificial potential field method are unreachable; afterwards, combining the improved A* algorithm and the artificial potential field method to design a mixed path planning algorithm, and providing a proper control algorithm for subsequent vehicle path planning; and afterwards, adopting a proper path planning algorithm, automatically planning a feasible path by the system, and enabling the vehicle to avoid an obstacle according to the path, so as to enable the vehicle to accurately and quickly reach the target position.

The invention provides a remote rescue method based on an unmanned plane and the unmanned plane. According to the method, the position information of a rescue point is acquired by the unmanned plane, the position of a target unmanned plane base station closest to the unmanned plane is determined, and the position of the target unmanned plane base station is taken as a half-way point; a first navigation path between an origin and the half-way point is calculated by the unmanned plane according to electronic map data, and movement to the target unmanned plane base station is carried out according to the first navigation path; a second navigation path between the half-way point and a terminal point is calculated by the unmanned plane according to the electronic map data, and movement to the rescue point is carried out according to the second navigation path. The method is advantaged in that the position of the target unmanned plane base station is taken as the half-way point, the whole navigation path is divided into multiple navigation paths during calculation, computational complexity during calculation is reduced, the accurate navigation route can be rapidly acquired, smooth arrival to the designated rescue point is realized, and convenience is provided for rescue events.

The invention relates to a stimulation, recording and administration combined device for the research on the use of ippocampal field potentials of mouse and rat, belonging to a device used in medical electrophysiologic experiment of animals and mainly solving the difficult technical problem that the current device has low successful rate in field potation guidance owing to complex operations and plenty of consumed time and used drugs. The technical proposal of the invention is that: a stimulation, recording and administration combined device for the research on the use of ippocampal field potentials of mouse and rat comprises an eccentric circle dual-pole stimulating electrode, a hollow single-pole recording electrode, an electrode fixation device and a recording electrode core, wherein the eccentric circle dual-pole stimulating electrode and the hollow single-pole recording electrode are arranged inside the electrode fixation device in parallel, and the recording electrode core is arranged in an administration hole in the center of the hollow single-pole recording electrode. The device further comprises an administration device consisting of a hollow administration catheter, a hose and a microinjector, wherein the upper end of the hollow administration catheter is connected with one end of the hose the other end of which is connected with the microinjector.

The invention discloses a final segment saturation control method of non-cooperative target spacecraft rendezvous and docking. The method comprises: a spatial coordinate system including an earth inertial coordinate system, an orbital coordinate system, a target spacecraft body coordinate system, a tracking spacecraft coordinate system and a line-of-sight coordinate system is defined and a kinematical equation of the line-of-sight coordinate system is established; a six-degree-of-freedom rendezvous and docking model for the spacecraft is established; a two-stage artificial potential function is established; and according to bounded gradient information of the two-stage artificial potential function, a six-degree-of-freedom saturation controller for spacecraft rendezvous and docking is designed. According to the invention, a novel line-of-sight coordinate system is designed and thus a problem of real-time measurement of the sensitive device of the spacecraft system is solved; with introduction of the saturation controller based on the two-stage artificial potential function, a safety rendezvous problem in spacecraft rendezvous and docking and problems of limited control input saturation and external disturbance influence are solved; and the system robustness is ensured.

The invention discloses a coordinate platform of a logistics flying delivery system. The coordinate platform comprises N client coordinate platforms, an unmanned aerial vehicle taking off and landingplatform, flying delivery unmanned aerial vehicles, unmanned aerial vehicle platforms and a plurality of ground emergency patrol vehicles. The client coordinate platforms are mounted outside balconiesof flying delivery registered clients, the client coordinate platforms and the unmanned aerial vehicle taking off and landing platform have individual communication numbers and are internally provided with positioning guide signal transmitters and communication number transmitters, and the client coordinate platforms and the unmanned aerial vehicle taking off and landing platform are provided with automatic folding devices. When the client coordinate platforms and the unmanned aerial vehicle taking off and landing platform stretch in a horizontal state, the positioning guide signal transmitters and communication number transmitters are started automatically; when the client coordinate platforms and the unmanned aerial vehicle taking off and landing platform are folded in a vertical state,the positioning guide signal transmitters and communication number transmitters are closed automatically. The coordinate platform has advantages that by GPS navigation and coordinate platform positioning signal guide, the unmanned aerial vehicles are capable of quickly and accurately reaching floors in high-rise buildings, and environmental friendliness, high efficiency, quickness and safety in delivery are realized.

The invention discloses energy consumption management system and method for large buildings. The system comprises wireless sensor network nodes, a WIA wireless gateway, and a system server. The wireless sensor network nodes are in signal connection with the WIA wireless gateway which is in network connection with the system server. The system and method have the advantages that the nodes are available for ad-hoc networks, the system has the network scale effect, all energy consumption data and environment information can be monitored online for the interior of each large public building, massive data can also be analyzed statistically, and accordingly an effective control strategy is formed; while comfort is guaranteed, lighting and air-conditioning parameters can be optimized more effectively, and optimal energy conservation is achieved.

The invention provides an intelligent passive wireless electronic lock control system and a realization method thereof. By using the system and the method, an existing problem that management lock information can not be recorded can be solved. The system comprises an intelligent passive wireless electronic lock, an intelligent key, an intelligent terminal and a lock control background. The intelligent key opens or closes a lock by inserting into an intelligent passive wireless electronic keyhole, and the intelligent key carries out wireless and / or wired communication with the intelligent terminal. An intelligent terminal APP can manage authority of a login user, and temporary authority can be acquired through audit of an upper-level user so that one intelligent key can manage the intelligent lock through an authority range of a logged-in user, and the APP and the lock control background record that the user uses the key to open or close the intelligent lock. The system and method haveadvantages that the key and usage personnel carry out traceable management; a personnel identity can be bound at any time; the authority of opening and closing the lock is controlled; and lock safetyis increased and simultaneously the manageability of the lock and the responsibility of usage personnel are increased.

The invention relates to the field of data caching, in particular to a multi-level data cache processing method. The method is characterized by including the following steps that a first data buffer receives one-piece big data sent by a client side and carries out caching; the length of target data is calculated, the target data are taken out of the first data buffer according to the length of the target data, the target data form a complete data package after being analyzed through two steps, the complete data package is stored in a second data buffer, the target data are taken out by repetition of the previous steps until the rest of the data in the first data buffer are not enough to form a complete data package, and the rest of the data are transferred to the head portion of the first data buffer; the complete data package in the head portion of the second data buffer enters a third data buffer to carry out service processing and enters a fourth data buffer ready for being transmitted after the processing is completed. According to the method, on the premise of ensuring the fact that the data cannot be in disorder and or be lost, the data can reach the data buffers accurately and effectively, and be extracted and processed.

The invention discloses a winch automatic controlling type three-section folding conveyor. The winch automatic controlling type three-section folding conveyor comprises three conveying arms, a main portal frame and a winch. The winch automatic controlling type three-section folding conveyor is characterized by further comprising a secondary portal frame I, a secondary portal frame II, a hydraulicoil cylinder, a limiting device I, a limiting device II and a steel wire rope, wherein the conveying arms are all of a trapezoidal truss type structure; the secondary portal frame I is hinged with a hinging hole in the big end of the second conveying arm, and the limiting device I is arranged on the hinging hole; the secondary portal frame II is hinged with a hinging hole in the small end of the second conveying arm, and the limiting device II is arranged on the hinging hole; the winch, the hydraulic oil cylinder and the main portal frame are mounted on a ship body. According to the winch automatic controlling type three-section folding conveyor, the conveying arms are long enough and are upwards turned over to be folded, and moreover, the hydraulic oil cylinder is not used, so that the load of a belt is decreased, the cost is reduced, and the mass of the conveying arms is reduced; the problems such as safety accident caused by forwards-shifted weight due to excessively high mass of the conveying arm can be solved, and thus the safety coefficient is increased.

The invention relates to a domestic intelligent stir-frying robot which comprises a pouring unit, a pan unit, a heating unit, an oily fume treatment unit, a solid seasoning feeding unit and a liquid seasoning feeding unit, wherein the pouring unit, the pan unit, the heating unit and the oily fume treatment unit are arranged in a cabinet, and the solid seasoning feeding unit and the liquid seasoning feeding unit are hung on the cabinet. A center controller and a code scanning module are arranged in the cabinet, the pouring unit, the pan unit, the heating unit, the oily fume treatment unit, thesolid seasoning feeding unit, the liquid seasoning feeding unit and the code scanning module are connected with the center controller, the code scanning module comprises a code scanning device and a code scanning module group, the code scanning device is used for reading coded information on a dish box, the code scanning module group is used for transmitting the information acquired by the scanning device to the center controller in a packaged manner, the center controller inputs and stores attributes of corresponding dishes varieties according to codes, and code storage information and code scanning information are compared, so that stir-frying instructions of corresponding menus are transmitted to the stir-frying robot. The stir-frying robot is highly intelligent, and standardization andintelligent management of minimally processed vegetable delivery are achieved.

The invention discloses an unmanned aerial vehicle platform of a logistics flying and throwing system, which comprises an unmanned aerial vehicle warehouse, a full-automatic mechanical arm, an unmanned aerial vehicle lifting platform, a flying and throwing unmanned aerial vehicle, N client coordinate platforms and a plurality of ground emergency patrol vehicles, wherein a plurality of rows of unmanned aerial vehicle parking frames are arranged in the unmanned aerial vehicle warehouse, the outer side of the unmanned aerial vehicle warehouse is provided with an unmanned aerial vehicle inlet andoutlet, the outer side of the unmanned aerial vehicle inlet and outlet is movably provided with an unmanned aerial vehicle takeoff and landing platform, an electric folding device is arranged betweenthe unmanned aerial vehicle inlet and outlet and the unmanned aerial vehicle takeoff and landing platform, and the unmanned aerial vehicle takeoff and landing platform is also provided with a guide signal transmitter; a plurality of layers of unmanned aerial vehicle parking frames are arranged; each layer of the unmanned aerial vehicle parking frame is respectively provided with an automatic charging device, and the automatic charging device comprises a charging connecting frame, an automatic side-charging connecting strip of a positive pole and negative pole and an automatic rear-charging connecting strip. The platform has the advantages that the unmanned aerial vehicle platform is fully automatic, more scientific and rapid, green, environment-friendly, straight-line flying, more efficient, rapid and safe, and truly achieves the dreamtime of window opening and express taking.

The invention discloses a multicast flow control and management system, comprising an Internet group management protocol (IGMP) snooping module, a command line interface (CLI), a web interface, a setting manager, an event manager, a cycle service manager, a router hardware abstraction layer (RT_HAL) module, a data packet transmitter module and an exchanger driver. The IGMP snooping module is used to transmit the multicast data packet needed by host computers in network connection and receives the join or leave data packet transmitted from the data packet transmitter module to determine which host computers need join the multicast group and which ones need leave the multicast group. The RT_HAL module forms a forwarding list according to the join data packet and by this forwarding list, the IGMP snooping module can determine to transmit the received multicast data to the response host computers.

The invention relates to the technical field of roadways, and provides an intelligent roadway with high safety performance for a blind person. The intelligent roadway with high safety performance forthe blind person comprises blind road floor tiles; cylindrical bumps are uniformly fixed to the top of each blind road floor tile; a square groove is formed in the edge of one side of each blind roadfloor tile; a main sliding way is fixedly mounted in each square groove; an auxiliary sliding way is formed in one side of each main sliding way; the size of the cross section of each auxiliary sliding way is consistent with the size of the cross section of each main sliding way; each auxiliary sliding way is communicated with the corresponding main sliding way; a handheld device is clamped in each main sliding way in a sliding manner. According to the intelligent roadway with high safety performance for the blind person, the problems of low moving speed and great potential safety hazard whenvisually handicapped persons move and act are solved.

The invention relates to an accurate and continuous feeding device for punching of a clutch coil housing. The device comprises a conveying device for conveying a raw steel plate to a stamping station of a punching machine, and a supplying device for supplying materials to the conveying device, wherein the conveying device comprises a bearing body which is arranged on a working platform, and a pushing-pulling device for pushing the bearing body to reciprocate along a guide rail on the working platform; steps are arranged at one end, close to the punching machine, of the bearing body, and a supporting plate is arranged on the steps; a clamping head of which the diameter is in match with the diameter of a central hole of the raw steel plate is arranged on the supporting plate; the supplying device, comprising a supporting plate, a material rack a and a material rack b, is arranged above the clamping head; a chute b in match with the material rack a and the material rack b is formed in the supporting plate; a blanking hole is formed in the supporting plate. With the adoption of the accurate and continuous feeding device for the punching of the clutch coil housing, the problems in the prior art, such as low efficiency of manual charging during punching, waste of manpower, potential risk, and failure of continuous supplying of some automatic conveying devices, can be solved.

The invention discloses an automatic conveying system of a large equipment coating line. The automatic conveying system comprises a workpiece storage rack, a stored program control conveying machine, a roller machine conveying machine and a friction power and free chain conveying line. A sling transport rack is connected to the workpiece storage rack and connected with a workpiece bracket. The top of the sling transport rack is provided with an upward-extending hoisting branch arm, and the lower portion of the sling transport rack is provided with a suspension rack. The hoisting branch arm is provided with an outward-extending hoisting arm. A limiting groove is formed in the hoisting arm. Two suspension arms are arranged on one side of the suspension rack and provided with opposite suspension grooves. A workpiece suspension arm is arranged on the workpiece bracket. A stored program control suspension arm is arranged on the stored program control conveying machine and provided with a stored program control bracketing arm. The friction power and free chain conveying line is provided with a friction conveying base. The bottom of the friction conveying base is provided with a power and free chain suspension arm. The automatic conveying system can continuously transport large workpieces from electrophoresis to coating, and has the advantages of being high in transport efficiency, small in occupied area and accurate in reaching position.

The invention provides a water source sampling and detecting device for hydrogeological survey. The device comprises a casing and at least two water storage chambers. Each water storage chambers is aseparate accommodation cavity, and the separate accommodation cavities are not connected with each other. Each water storage chamber is provided with an inlet / outlet port into which a water supply source enters and an intake / exhaust port for discharging a gas medium in the water storage chamber. The device further comprises a control mechanism which separately controls opening and closing of the inlet / outlet port and the intake / exhaust port of each water storage chamber, so that the water source enters the water storage chamber. The problem of low efficiency of water source exploration, whichis caused by the fact that the existing hydrogeological survey water source sampling and detecting device cannot simultaneously sample water sources at different depths and different locations, is solved.

The invention provides a bionic underwater glider with undulatory fins. The bionic underwater glider comprises a pressure-resistant outer cylinder, a head end cover and a tail end cover, a flow inletsection and a flow outlet section are installed on the head end cover and the tail end cover correspondingly, and a pair of undulatory fin devices is mounted on the two opposite sides of the tail portion of the pressure-resistant outer cylinder. The undulatory fin devices create sinusoidal waves so as to generate propulsion for a machine body, and when the motion direction, the amplitude and / or the frequency of the sinusoidal waves is changed, the propulsion produced by the undulatory fins is also changed so as to control the machine body to move. The bionic underwater glider with the undulatory fins solves the technical problem that a traditional underwater glider is in lack of a power source and effective communication means, so that the mobility and stability under water are poor.

The invention relates to an ultrasonic probe combination. The ultrasonic probe combination comprises an ultrasonic probe, a puncture guiding device arranged on the ultrasonic probe and a puncture needle mounted on the puncture guiding device; the ultrasonic probe is provided with a light source, wherein the light source is configured to emit light from the side direction of the ultrasonic probe toform a light plane, the light plane and a scanning plane of the ultrasonic probe are located in the same plane, the puncture needle is arranged in the same plane as the light plane so as to ensure that the heading direction of the puncture needle does not deviate from the scanning plane in the whole puncture process, and thus the location of a lesion is accurately reached.

The invention discloses a blind person walking assisting method based on deep learning. Firstly, a camera is started for real-time data acquisition. The method comprises the following steps: detectingan environmental dangerous object and a traffic signal lamp through a deep convolutional neural network when the vehicle travels outdoors, if the vehicle meets the dangerous object, carrying out Kalman filtering tracking, comparing and calculating an object motion state in a period of time, analyzing a motion trend of the object, and carrying out danger reminding; And if so, performing signal lamp state identification. During indoor advancing, markers in the environment are detected in real time, marker related areas are extracted, and key information such as characters is extracted. The method adopts deep learning to carry out object detection, has the characteristics of high robustness, high accuracy, high speed and the like, and has very high practicability.