baber/WOPTO huggingface dataset:
Patent WO-2020103821-A1 (WO)
Inventor: YANG QIN
IPC: H04L12/24
Filed: 2019-11-19
Abstract: 本申请公开了一种故障感知方法及装置和控制器，该方法包括：控制器对当前网络资源进行镜像处理；控制器根据获得的故障感知条件，对镜像得到的网络资源进行故障模拟，获取故障对网络产生的影响结果。本申请实现了IP+光协同的场景下自动获知故障对网络的影响，为网络运维人员提供了一种有效、直观的对网络质量以及网络资源的评估办法。
Patent WO-2021082191-A1 (WO)
Inventor: ZHANG QIANG
IPC: G01S19/07
Filed: 2019-12-07
Abstract: The present invention relates to an ionosphere modeling method, and in particular relates to a GNSS real-time global ionosphere TEC modeling method. According to the method, two data sources are mainly used to establish a real-time global ionosphere TEC model, wherein a forecast global ionosphere TEC model is used as a background field to describe the overall trend of global ionosphere TEC, and GNSS real-time observation data can reflect real-time changes and local changes of ionosphere TEC near each observation station. By means of combining two data sources, the reliability of the global range inversion of ionosphere TEC can be ensured, and the model precision of a GNSS real-time observation data coverage area can be improved.
Patent WO-2020173172-A1 (WO)
Inventor: GAO MEIWEN
IPC: A61K35/618
Filed: 2019-12-10
Abstract: 一种中药片剂及其制备方法。所述片剂由包括以下的原料制成：魔芋粉、壳聚糖、白芸豆提取物、富硒酵母、茶多酚、玉米须提取物、桑葚提取物、蚌肉粉、狭基线纹香茶菜提取物、柚子皮粉。所述中药片剂用于减肥。
Patent WO-2020135394-A1 (WO)
Inventor: WU HUAQIANG
IPC: H04N5/265
Filed: 2019-12-24
Abstract: 一种视频拼接方法及装置。该视频拼接方法用于拼接第一视频和第二视频，包括：对第一视频的第一目标帧和第二视频的第二目标帧进行特征提取、特征匹配和筛选，获得第一目标帧和第二目标帧的第一特征点对集；对第一目标帧和第二目标帧进行前向追踪，获得第一目标帧和第二目标帧的第二特征点对集；对第一目标帧和第二目标帧进行后向追踪，获得第一目标帧和第二目标帧的第三特征点对集；以及根据第一目标帧和第二目标帧的第一特征点对集、第二特征点对集以及第三特征点对集的并集，计算第一目标帧和第二目标帧之间的几何变换关系。
Patent WO-2020253195-A1 (WO)
Inventor: SHI JINFEI
IPC: H02K1/22
Filed: 2019-12-24
Abstract: Provided are a direct-start synchronous reluctance electric motor rotor structure, an electric motor, and a compressor. The direct-start synchronous reluctance electric motor rotor structure comprises a rotor iron core, wherein q-axis squirrel-cage slots are provided close to an outer edge of the rotor iron core; a plurality of slit slots are provided between the q-axis squirrel-cage slots and a shaft hole of the rotor iron core; both ends of each of the slit slots are provided with a squirrel-cage slot; side walls of the squirrel-cage slots on the side of a d axis and the d axis are arranged at first included angles, and the angle of the first included angles gradually increase outwards in the radial direction of the rotor iron core. By means of the above arrangement, q-axis reluctance can be increased, q-axis inductance can be reduced, the difference between the magnetic flux of the d axis and that of the q axis is increased, a larger reluctance torque is generated, and the output and efficiency of the electric motor are improved.
Patent WO-2020135861-A1 (WO)
Inventor: LI ZHENYAN
IPC: C12N15/11
Filed: 2019-12-30
Abstract: 本发明提供了一种甲基化肿瘤标志物STAMP-EP4及其应用，属于疾病诊断标记物领域。本发明提供了甲基化肿瘤标志物STAMP-EP4在制备肿瘤诊断试剂中的应用。
Patent WO-2021056919-A1 (WO)
Inventor: TAN JINBIN
IPC: A47H1/022
Filed: 2019-12-31
Abstract: A belt (300) telescoping rail for use in curtains, comprising a first guide rail (101) and a second guide rail (102) capable of sliding with respect to each other, a rotating wheel (200), a belt (300), a first pulley (400), and a second pulley (500). In use, a first tightening device (401) and a second tightening device (501) are loosened simultaneously, and the belt (300) is disengaged from the first pulley (400) and the second pulley (500); in this case, a movable end (301) of the belt (300) is pulled, and the first guide rail (101) and the second guide rail (102) are moved, so that the length of a guide rail (100) satisfy mounting requirements; then, the first tightening device (401) and the second tightening device (501) are tightened, the belt (300) is engaged with the first pulley (400) and the second pulley (500), and the excess belt (300) extending from the through hole (103) is cut off. The belt telescoping rail has the beneficial effects that the guide rail (100) can be adjusted in the site, and no site measurement followed by customization in a workshop is needed, thereby reducing measurement workload and improving the mounting efficiency.
Patent WO-2020215871-A1 (WO)
Title: Substrat souple et dispositif d'affichage
Inventor: CAO KE
IPC: H01L27/32
Filed: 2020-02-21
Abstract: La présente invention concerne un substrat souple et un dispositif d'affichage. Le substrat souple comprend un substrat souple et une structure de liaison de circuit disposée sur le substrat souple. La structure de liaison de circuit comprend une pluralité de fils de liaison, et une matière de remplissage est disposée dans des espaces entre la pluralité de fils de liaison.
Patent WO-2020199956-A1 (WO)
Inventor: YAO KE
IPC: H04W52/14
Filed: 2020-03-23
Abstract: The present application provides a power control method, apparatus and system. The power control method comprises: obtaining an association between at least one piece of spatial domain resource information and a power control parameter; obtaining the spatial domain resource information of an uplink transmission; and determining the power control parameter of the uplink transmission according to the spatial domain resource information of the uplink transmission and the association between the at least one piece of spatial domain resource information and the power control parameter, the spatial domain resource information comprising at least one of control resource set (CORESET) information, transmitter receiver point (TRP) information, and physical uplink control channel (PUCCH) resource information.
Patent WO-2021189243-A1 (WO)
Inventor: CAO QINGHENG
IPC: B65D55/14
Filed: 2020-03-24
Abstract: L'invention concerne un dispositif connectable (10) et un système de boîte de livraison express, et un procédé pour leur utilisation, le dispositif connectable (10) de boîte de livraison express comportant une boîte (11) de livraison express, un dispositif (12) de verrouillage de boîte, un dispositif (13) de verrouillage de connexion, un dispositif (14) de commande de verrouillage de boîte et un dispositif (15) de commande de verrouillage de connexion. En utilisant le dispositif (10), le gaspillage de ressources causé par l'utilisation de boîtes jetables d'emballage de livraison express est évité. En même temps, le dispositif connectable de boîte express peut être commodément connecté à un objet fixe et est doté de fonctions de verrouillage, d'alarme et de surveillance, ce qui peut apporter commodité et sécurité aux utilisateurs en cours d'utilisation, éviter efficacement la perte/l'endommagement d'une livraison express, éviter le gaspillage de ressources, améliorer le rendement de la logistique et réduire les coûts de logistique.
Patent WO-2021128692-A1 (WO)
Inventor: LIU GUANGMENG
IPC: C12N15/85
Filed: 2020-05-05
Abstract: Liver-specific promoters and application thereof are provided. A set of small-size recombinant nucleic acid sequences for regulating high specific expression of genes in a liver system are provided. Compared with the currently reported other sequences of similar size, the said recombinant regulatory sequence fragment has the advantage that the ability of driving expression of reporter gene and human coagulation factor FVIII in the liver system is significantly enhanced, thereby being suitable for recombinant adeno-associated virus (rAAV) -mediated gene therapy.
Patent WO-2021196342-A1 (WO)
Inventor: SHI LONGQIANG
IPC: G09G3/3266
Filed: 2020-05-08
Abstract: L'invention concerne un circuit GOA, qui comprend : de multiples rangées d'unités GOA en cascade, au moins quatre lignes de signal d'horloge (CK1, CK2, CK3, CK4), et une première ligne de signal de déclenchement de démarrage. Les multiples rangées d'unités GOA comprennent des rangées impaires d'unités GOA et des rangées paires d'unités GOA, et des premières unités GOA (101, 401) sont connectées à la première ligne de signal de déclenchement de démarrage.
Patent WO-2020233498-A1 (WO)
Title: Multifunctional tissue box having support
Inventor: WANG TAO
IPC: A47K10/20
Filed: 2020-05-14
Abstract: A multifunctional tissue box having a support (2), comprising a box body (1) and the support (2). The box body (1) is provided with an accommodating cavity (3) for placing a tissue; the support (2) is disposed in the accommodating cavity (3); a first tissue pulling port (4) is provided at the bottom of the box body (1); the support (2) comprises a bottom plate (5); the bottom plate (5) is provided with a second tissue pulling port (8) matching the first tissue pulling port (4); a left inclined plate (6) and a right inclined plate (7) are further oppositely provided on two sides of the bottom plate (5); the left inclined plate (6) and the right inclined plate (7) each forms an included angle greater than 90º and less than 180º with the bottom plate (5). The support (2) is placed in a concave shape in the accommodating cavity (3) of the box body (1), and a tissue is placed on the left inclined plate (6) and the right inclined plate (7) on the support (2), thus, the tissue is located on an inclined surface, and the tissue would not be easily torn during the pulling process, thereby ensuring the integrity of the tissue and improving the experience; when a tissue needs to be pulled from above the tissue box, the support (2) is placed in a trapezoidal shape in the accommodating cavity (3) of the box body (1), so that the bottom plate (5) of the support (2) can keep a distance of 2-3 CM from the bottom of the tissue box, thereby effectively protecting the tissue from contamination or damp.
Patent WO-2020233599-A1 (WO)
Inventor: Sun tuo
IPC: H04N5/335
Filed: 2020-05-20
Abstract: An active pixel circuit comprises: a photosensitive device, a source following transistor and a compensation circuit. The photosensitive device is coupled to a first node, and the photosensitive device is configured to generate a photocurrent under irradiation of light, and transmit the photocurrent to the first node. The control electrode of the source following transistor is coupled to a floating diffusion node. The compensation circuit is coupled to the first node, and is further coupled to the floating diffusion node, a first control terminal, a second control terminal, a third control terminal, a first reference voltage terminal, a second reference voltage terminal, and a first power supply voltage terminal. The compensation circuit is configured to transmit, under the control of the voltage of the ports, a target threshold voltage to the first node, the voltage of the first node being associated with the voltage generated by the photocurrent and the target threshold voltage; storing the voltage of the first node; and acquiring a compensation voltage according to the voltage of the first node, and outputting same to the floating diffusion node. The target threshold voltage is the same as or substantially the same as the threshold voltage of of the source following transistor.
Patent WO-2021248459-A1 (WO)
Title: Method for reference signal configuration
Inventor: ZHANG NAN
IPC: H04B7/06
Filed: 2020-06-12
Abstract: A wireless communication method for use in a transmitting node is disclosed. The wireless communication method comprises transmitting, to a receiving node, a reference signal comprising N patterns allocated to at least one scheduling unit, wherein N is an integer greater than 1.
Patent WO-2021243748-A1 (WO)
Title: 扬声器箱
Inventor: LIU QING
IPC: H04R1/02
Filed: 2020-06-12
Abstract: 本实用新型提供了一种扬声器箱，其包括上盖板、盖设于上盖板并共同围成收容空间的下盖板、收容于收容空间内的发声单体以及固定于上盖板的天线柔性电路板，上盖板包括贯穿其上的第一通孔；天线柔性电路板包括贴合于上盖板远离发声单体一侧的第一段以及由第一段反向弯折延伸的第二段，第二段穿过第一通孔并贴合于上盖板靠近发声单体的一侧；下盖板包括盖设于上盖板并共同围成收容空间的下盖板本体部和由下盖板本体部的周缘向外延伸的压壁，压壁压设于第二段以将第二段固定于上盖板。与相关技术相比，本实用新型的扬声器箱简化了天线柔性电路板的装配工序的同时，降低了加工成本。
Patent WO-2021073148-A1 (WO)
Title: 一种新型有两套上料机构垃圾压缩设备
Inventor: ZHAO YUANLONG
IPC: B65F3/14
Filed: 2020-06-28
Abstract: 本发明属于垃圾处理技术领域，尤其涉及一种新型有两套上料机构垃圾压缩设备。本发明通过在压缩机合件前端设置前装式上料机构，侧面设置侧装式上料机构和桶内清理单元的方式，达到垃圾压缩设备两侧有效上料的效果。本发明具有压缩设备前端和侧面两处垃圾上料，结构合理有效，前端方便对接垃圾车，侧面方便对接垃圾桶，两种不同的上料方式灵活全面、互补，以及垃圾桶在侧面上料后对桶内清理操作简单快捷，桶内清理单元结构稳定性高、不易掉落，方便取放，零部件方便更换的优点。
Patent WO-2021031734-A1 (WO)
Inventor: JIANG WEI
IPC: E01C11/00
Filed: 2020-07-08
Abstract: 一种装配式塑料类基层沥青路面结构，包括路基（1），路基（1）上铺设有塑料类基层（2），塑料类基层（2）上铺设有隔热层（3），所述隔热层（3）上铺设有金属板过渡层（4），金属板过渡层（4）上铺设有沥青路面下面层（5），所述沥青路面下面层（5）上铺设有沥青路面上面层（6）。在路基（1）之上采用塑料类基层（2），可有效解决半刚性基层导致的反射裂缝问题，温差发电技术可实现智能化。
Patent WO-2021042896-A1 (WO)
Title: Big data-based vehicle valuation method and system, device and readable storage medium
Inventor: XIA LIANGCHAO
IPC: G06Q30/02
Filed: 2020-07-22
Abstract: A big data-based vehicle valuation method and system, a device, and a readable storage medium. The method comprises: receiving basic user information, valuation strategy selection information, basic vehicle information and historical vehicle information of an associated vehicle; obtaining multiple weight parameters corresponding to the basic vehicle information and historical vehicle information, and inputting the weight parameters into a first vehicle valuation model; obtaining a first valuation price of the associated vehicle according to the first vehicle valuation model; determining a loss level of the associated vehicle and a transaction vehicle data set on the basis of a final residual value rate corresponding to the first valuation price; valuate the associated vehicle to obtain a second valuation price on the basis of multiple transaction data in the transaction vehicle data set and the first valuation price of the associated vehicle; and determining a final valuation price of the associated vehicle on the basis of the valuation strategy selection information and the second valuation price. The vehicle can be valuated more accurately by means of the present method.
Patent WO-2021174758-A1 (WO)
Inventor: ZHANG BAO
IPC: H04L29/08
Filed: 2020-07-30
Abstract: The present application relates to inter-blockchain protocol technologies in the technical field of blockchains, and disclosed are a protocol data sharing method and apparatus, a device, and a storage medium. The method comprises: receiving protocol data uploaded by an information upload terminal, and generating an encryption identifier according to the protocol data; obtaining an encryption key of the protocol data according to the encryption identifier, and encrypting the protocol data by using the encryption key to obtain encrypted information; determining a sub-chain corresponding to the encrypted information according to an enterprise data encryption identifier, and storing the encrypted information into the sub-chain, the sub-chain being an independent storage space in a distributed ledger; and receiving a query request of a query terminal, obtaining a decryption key according to the query request, decrypting the encrypted information by using the decryption key to obtain the protocol data, and transmitting the protocol data to the query terminal. According to the present application, protocol data can be shared, and timeliness and security of protocol data sharing are improved.
Patent WO-2022027202-A1 (WO)
Inventor: LI HAITAO
IPC: H04W24/10
Filed: 2020-08-03
Abstract: 本发明实施例提供一种小区测量指示方法、终端设备及网络设备，应用于通信技术领域，本发明实施例包括：接收网络设备发送的低速移动准则的评估参数；根据评估参数和服务小区的测量结果，评估终端设备的移动状态；向网络设备上报终端设备的移动状态，以确定小区测量状态。
Patent WO-2021036762-A1 (WO)
Inventor: Han Jiceng
IPC: G01N17/00
Filed: 2020-08-07
Abstract: 本发明提供一种人工模拟强风及沿海环境下电缆破坏试验平台，包括实验台面及固定于实验台面上的一对支架，一对支架之间具有水泥杆支撑柱，一对支架之间固定有电缆，水泥杆支撑柱上部具有支撑电缆的横担，电缆与电源连接，横担上设置有绝缘子,所述实验台面上具有罩于电缆外部的隔离罩，隔离罩内设置有喷雾口，喷雾口与盐水喷雾试验机的喷雾口联通，实验台面上还设置有用于模拟电缆受风力摆动的摆动机构，本发明通过搭建的人工模拟强风及沿海环境下电缆破坏试验平台模拟电缆服役的实际情况。模拟沿海城市绞线在电杆上受风力影响来回摆动对绞线产生的损伤，找到合适的监测物理量，进而对服役过程中的电缆进行监测，可实现对电缆全寿命、全周期的监测。
Patent WO-2021169195-A1 (WO)
Inventor: SONG DEHAI
IPC: E02D7/00
Filed: 2020-08-17
Abstract: A bottom boundary layer in-situ observation system suitable for shallow-water viscous seabed, and an arrangement method therefor. By means of freely assembling stainless steel pipes, an instrument arrangement area (5) and a turbulence-free observation area (6) are constructed, integration of various instruments is achieved, and a turbulence influence of an instrument rack body on an observation space is avoided; the instrument arrangement area (5) can be adjusted and combined according to user requirements; supporting legs of a observation rack and top ends of bottom columns are systematically fixed by means of foot plates, limitation by the weight of the observation system itself is avoided, and defects of a settlement plate are overcome. All the components are convenient to replace or maintain, the cost is low, said observation system can be widely applied, and the problems in terms of full-layer, multi-parameter, continuality, stability and high costs of bottom boundary layer in-situ observation are effectively solved.
Patent WO-2022040890-A1 (WO)
Inventor: SU LIYAN
IPC: H04W72/04
Filed: 2020-08-24
Abstract: An information indication method and apparatus, used for solving the technical problem that an SRI indication field sent by a network device is too large when a terminal device supports many transmit antennas. The method comprises: a network device obtains K SRS resource subsets according to N SRS resources of a terminal device, and sets an SRI indication field to comprise at least one sub-portion to instruct the terminal device to determine, according to the at least one sub-portion and from the K SRS resource subsets, precoding used for uplink transmission. By using a combined mode of dividing the N SRS resources and changing the structure of the SRI indication field, the precoding used for uplink transmission is indicated, and as long as the N SRS resources are divided in a reasonable mode, even if the terminal device supports many transmit antennas and thus the value of N is large, the number of bits of the SRI indication field can be compressed to be less than N. Such a grouping indication mode is helpful to solve the technical problem that the SRI indication field is too large.
Patent WO-2021000971-A1 (WO)
Inventor: CHEN LIMING
IPC: G06N99/00
Filed: 2020-08-25
Abstract: The present disclosure relates to a method and a device for generation operation data and a related product, the product comprising a controller unit, and the controller unit comprising: an instruction cache unit, an instruction processing unit and a queue-storing unit. The instruction cache unit is used to store computing instructions associated with artificial neural network operations. The instruction processing unit is used to resolve the computing instructions to obtain a plurality of operation instructions. The queue-storing unit is used to store an instruction queue, which comprises: a plurality of operation instructions or computing instructions to be executed according to the front-to-rear sequence of the queue. By means of the described method, the present disclosure may improve the operation efficiency of the related product when carrying out neural network model operations.
Patent WO-2022041035-A1 (WO)
Inventor: FU YONGHONG
IPC: B23K26/70
Filed: 2020-08-27
Abstract: 一种轧辊表面激光无序均匀毛化加工方法，包括如下步骤：根据毛化点参数和轧辊参数，确定毛化点分布坐标集；根据毛化点参数确定激光功率P和激光脉宽λ；根据轧辊转动角度RA和激光光束到轧辊端面的距离Dx，确定激光毛化加工的区域；根据激光毛化加工区域内需要加工的毛化点，确定激光触发时刻tk和激光光束偏摆角度η；对轧辊表面毛化点加工。通过将轧辊展开表面二维无序均匀的毛化点分布坐标集作为激光毛化设备加工输入参数，简化控制系统硬件设备，同时输入的坐标点阵坐标参数经控制系统处理后，转化成设备各运动和执行部件的控制信号，对轧辊表面进行激光毛化处理，达到无序均匀分布的技术要求。
Patent WO-2021227315-A1 (WO)
Title: Manure treatment system
Inventor: ZHANG WEIZHEN
IPC: C02F11/12
Filed: 2020-09-10
Abstract: A manure treatment system, effectively solving the problem with implementing automation in manure treatment, at the same time, implementing auto-flipping of manure during a manure air-drying process, and utilizing a minimal space to implement cycled air-drying of manure. The technical solution is: comprising a machine frame (1), characterized in that also comprising a conveying pipe (2) for conveying manure, a conveyor belt (3) used for carrying the manure conveyed by the conveying pipe (2), a material scattering apparatus (4) used for evenly scattering the manure on the conveyor belt (3), a conveying apparatus (5) arranged below a material outlet position of the material scattering apparatus (4) and used for conveying the manure scattered by the material scattering apparatus (4), a manure clearing apparatus (6) used below the conveyor belt, a power apparatus (7) used for providing a driving force to the conveying apparatus (5), and a ventilating apparatus (8) used for ventilating the position of the conveying apparatus (5). The system not only is structurally ingenious, but also is simple and practical.
Patent WO-2021052473-A1 (WO)
Title: Communication method and communication apparatus
Inventor: ZHU HUIYING
IPC: H04W72/04
Filed: 2020-09-18
Abstract: Provided are a communication method and a communication apparatus. In the scenario where an uplink time-frequency resource or a downlink time-frequency resource of cellular communication is multiplexed during D2D communication, a network device determines a beam used by a D2D sending end UE during D2D communication, and configures same for the D2D sending end UE, which facilitates reducing or preventing the interference of D2D communication with regard to cellular communication while improving the spectrum utilization rate. The present application can be applied to a plurality of application scenarios, such as D2D, relay, Mesh, IAB, a V2X, UE cooperation, high-frequency transmission, an industrial scenario, robot cooperation and the Internet of Things.
Patent WO-2022041369-A1 (WO)
Inventor: WANG FEIYUE
IPC: B60W50/00
Filed: 2020-09-24
Abstract: An intelligent driving system (10). A vehicle-mounted subsystem (100), a road subsystem (200), and a platform subsystem (300) are provided, wherein traffic information of each road section is acquired in real time by using the road subsystem (200), and traveling paths of vehicles in each road section are obtained according to the traffic information; the platform subsystem (300) comprehensively obtains, according to the traffic information of each road section, traffic information of the entire administrative area, and the optimal traveling path; and the vehicle-mounted subsystem (100) provides a traveling path on the basis of the road subsystem (200) and the platform subsystem (300), controls an operation state of the current vehicle in view of a traveling state of itself, and performs traveling path planning according to actual road conditions of each road section, thereby improving the accuracy of traveling path planning and the safety of automatic driving.
Patent WO-2022047863-A1 (WO)
Inventor: WANG TIANHONG
IPC: G09G3/20
Filed: 2020-09-25
Abstract: Provided are a display panel and a tiled display panel. The display panel comprises: a GOA circuit, a GOA signal bus, and a flip chip film area. The present invention reduces the signal difference in GOA bus wiring by means of changing the flip chip film area from conventional two side output to a signal being outputted by each film chip.
Patent WO-2022073234-A1 (WO)
Inventor: GAO SONG
IPC: C07K19/00
Filed: 2020-10-10
Abstract: 属于生物医药领域，具体涉及一种抑制爱泼斯坦-巴尔病毒的肽和编码该肽的DNA及其应用。通过采用该肽，可以有效地抑制爱泼斯坦-巴尔病毒的复制，从而可以预防和/或治疗与爱泼斯坦-巴尔病毒相关的疾病。
Patent WO-2021093526-A1 (WO)
Title: Land-based autonomous mobile robot, and notification sound control method
Inventor: DALFRA DAVIDE
IPC: G05D1/02
Filed: 2020-10-20
Abstract: A land-based autonomous mobile robot and a notification sound control method. The land-based autonomous mobile robot (100) comprises: a monitoring unit (13) used to monitor an operation state of the land-based autonomous mobile robot (100) and output a state signal; a control unit (11) used to output a sound generation control signal corresponding to a specified state if the land-based autonomous mobile robot (100) is determined to be in the specified state according to the state signal; and a motor drive unit (12) used to drive, according to the sound generation control signal, at least one of multiple motors (20) of the land-based autonomous mobile robot (100) to generate a corresponding notification sound. The notification sound control method is capable of reducing the cost in providing a state sound notification of the land-based autonomous mobile robot (100) and simplifying the structure of the land-based autonomous mobile robot (100).