The present disclosure provides a soft ground cleaning vehicle, including a main body frame; wherein each of both sides of the main body frame is arranged with a screw propulsion mechanism, and a lower portion of each of the both sides of the main body frame is arranged with a bottom frame; a power assembly is arranged on the bottom frame, and an extension frame is arranged on a lower portion of the bottom frame; the extension frame is arranged with a rotation assembly; a plastic track is arranged on the power assembly and the rotation assembly; a plurality of stand plates are arranged on an outer strip surface of the plastic track.

A continuously variable helical transmission system comprising a frame, a central drive shaft configured to rotate about its longitudinal axis within the frame, and at least one angular wheel rotatably attached to the frame and configured to pivot about an axis being radial to the frame, wherein a longitudinal translation of the central drive shaft rotates the at least one angular wheel about the radial axis.

A continuously variable helical transmission system comprising a frame, a central drive shaft configured to rotate about its longitudinal axis within the frame, and at least one angular wheel rotatably attached to the frame and configured to pivot about an axis being radial to the frame, wherein a longitudinal translation of the central drive shaft rotates the at least one angular wheel about the radial axis.

A biomimetic tower climbing robot and a tower climbing method thereof are provided. The robot mainly includes a main control body module and clamping and moving mechanism modules; two ends of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively, two clamping and moving mechanism modules can alternately lock and unlock an anti-fall track of an iron tower, and the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards to achieve climbing of the robot along the anti-fall track.

A biomimetic tower climbing robot and a tower climbing method thereof are provided. The robot mainly includes a main control body module and clamping and moving mechanism modules; two ends of the main control body module are connected to one clamping and moving mechanism module through an elastic universal joint respectively, two clamping and moving mechanism modules can alternately lock and unlock an anti-fall track of an iron tower, and the main control body module alternately pushes the clamping and moving mechanism module at its upper end upwards and pulls the clamping and moving mechanism module at its lower end upwards to achieve climbing of the robot along the anti-fall track.

A localization system comprises: a device; a master unit which wirelessly transmits a first localization signal; a plurality of lateration units distributed about the area within which the device is being localized, wherein each lateration unit of the plurality independently starts its own timer upon its receipt of the first localization signal; and a localization unit. The device receives the first localization signal and responsively wirelessly transmits a second localization signal. Each of the lateration units: independently receives the second localization signal; stops its respective timer responsive to receipt of the second localization signal; and wirelessly transmits a timer count signal to a localization unit. The timer count signal identifies the transmitting lateration unit and a count of its respective timer. The localization unit utilizes the plurality of timer along with respective distances between the master unit and the lateration units to localize the first device via time-of-flight lateration.

A robot comprises a memory, a processor, a body and a drive system which are coupled. The drive system comprises one of auger-based surface interface portions and continuous tread surface interface portions. The auger-based surface interface portions and the continuous tread surface interface portions are interchangeable to adapt the robot to one of different operating conditions and different uses. The processor is configured to: control movement of the robot, via the drive system, to traverse across a first surface, wherein the first surface comprises piled granular material, in response to the drive system being configured with the auger-based surface interface portions; and control movement of the robot via the drive system to traverse across a second surface, which is a solid or semi-solid surface other than the piled granular material, in response to the drive system being configured with the continuous tread surface interface portions.

A device for moving on a granular medium including one or more slopes. The device includes: a body having a front and rear in longitudinal direction; and one or more rotatable parts, each for rotational movement relative to body about respective rotational axis having component aligned with longitudinal direction, and being externally-exposed to adjacent portion of granular medium wherein device is provided. The one or more rotatable parts includes one or more helical fins extending outward from rotational axis, wherein rotation of one or more rotatable parts is configured to cause movement of device on granular medium. A first longitudinal distance between centre of mass of device and front of the body is less than a second longitudinal distance between, expected centre of contact between device and granular medium when device is on flat portion of granular medium, and front of body.

A device for moving on a granular medium including one or more slopes. The device includes: a body having a front and rear in longitudinal direction; and one or more rotatable parts, each for rotational movement relative to body about respective rotational axis having component aligned with longitudinal direction, and being externally-exposed to adjacent portion of granular medium wherein device is provided. The one or more rotatable parts includes one or more helical fins extending outward from rotational axis, wherein rotation of one or more rotatable parts is configured to cause movement of device on granular medium. A first longitudinal distance between centre of mass of device and front of the body is less than a second longitudinal distance between, expected centre of contact between device and granular medium when device is on flat portion of granular medium, and front of body.

A robot comprises an auger-based drive system, a memory, and a processor coupled with the memory and configured to control movement of the robot, via the auger-based drive system, relative to grain in a grain bin. The processor is further configured to direct performance of a maintenance traversal, by the robot, of a surface of a pile of the grain during a storage period of the grain. The maintenance traversal disperses a layer of the grain on and near the surface and thus hinders crust formation on the surface during the storage period. The dispersal is effected by rotation of augers of the auger-based drive system during the maintenance traversal.