41results about How to "Achieve circumvention" patented technology

The invention relates to a track planning method of a redundant space mechanical arm for on-track catching. The catching operation of the space mechanical arm is divided into a rough catching stage and a fine catching stage, so that problems are simplified. By aiming at outstanding problems of different stages, different planning algorithms are adopted. In the rough catching stage, a track searching algorithm based on configuration space is adopted, and the algorithm is based on the test in the configuration space; and in the fine catching stage, a pseudo-inverse algorithm based on kinematics is adopted, and the final precise catching is guaranteed by compensating the relative movement of a target.

The invention discloses a real-time road-condition early warning method of an unmanned vehicle and an apparatus thereof. The method comprises the following steps of collecting driving information of the unmanned vehicle, wherein the driving information includes a destination, current time, speed information, positional information and a planning route; sending the driving information to a cloud server so that the cloud server determines road condition information related to the planning route according to the driving information; receiving the road condition information fed back by the cloud server; according to the road condition information, adjusting the planning route of the unmanned vehicle; and making the unmanned vehicle run according to the adjusted planning route. In an embodiment of the invention, circumvention of the unmanned vehicle to road congestion is realized.

The invention relates to an unmanned aerial vehicle route planning method considering arrival time constraint, and belongs to the technical field of flight path planning. Aiming at the problem that an unmanned aerial vehicle arrives at a target area at a designated moment, an arrival time constraint model and a flight path planning model are established. On the basis of the SAS algorithm idea, a specified voyage sparse A* search (GRC-SAS) algorithm is provided. In the method, a cost function and a convergence condition of the SAS algorithm are designed, so that a flight path result meets the arrival time constraint; and a node expansion scheme is improved to further improve the search efficiency of the algorithm, so that an unmanned aerial vehicle flight path meeting the constraint is quickly generated. The technical problem to be solved by the invention is as follows: according to the actual task requirement, the unmanned aerial vehicle flight path is obtained based on the appointed voyage sparse A* search algorithm, and the method has the advantages of meeting complex constraints and generating feasible flight paths in a short time, wherein the complex constraints comprise arrival time constraints, unmanned aerial vehicle kinematic constraints and obstacle avoidance constraints.

The invention discloses a smart glass cleaner and a control method thereof, and relates to a glass wiping mechanism and a control method thereof. The smart glass cleaner comprises a shell component, an advancing component arranged inside the shell component, an adsorbing component, a main control component, a sensing module component, a power supply component, a cleaning component, a lifting component and a subcontrol component. The control method includes S1, powering on an electromagnet; S2, utilizing an register F1 of an advancing control module of the main control component to start to collect and latch storage position information; S3, detecting whether running to the edge or not; S4, running and wiping glass; S5, judging whether climbing is suitable or not; S6, adjusting climbing position; S7, climbing and repeating S2 until cleaning work is finished. The smart glass cleaner is capable of climbing projections such as a window frame to expand working surface, dangerous behaviors of manually cleaning outer glass can be omitted, and manpower, material and financial resources can be saved.

The invention discloses a dual-arm robot teleoperation control system shared by two persons. By establishing a double-hand sharing operating module, operation mapping between both hands of two main hands and a robot is achieved; and then a main manipulator and an auxiliary manipulator are divided, and a main operating arm and an auxiliary operating arm are distinguished in the operating process of the main manipulator, so that operation assisting of the main manipulator is achieved. Meanwhile, the situations such as collision and misoperation of the auxiliary operating arm in the operating process of the main manipulator can be avoided, and thus barrier avoidance and double-hand fine teleoperation are achieved.

The invention is applicable to the technical field of transmission networks, and provides a transmission network physical same-route hidden danger checking and avoiding system and method, the system comprises three subsystems, namely a pipeline system, a manufacturer network management system and an integrated resource system, and the pipeline system is used for risk checking of cross-network-management same-route; the transmission optical cable link information is called through a pipeline system, and the data is integrated into a transmission optical cable segment table; meanwhile, risk traversal of the same route is carried out on the optical cables in the transmission optical cable segment table, and the risk ratio of the same route is calculated to form a same-route optical cable pair, a transmission optical cable segment table is formed, physical same-routing hidden trouble checking of the transmission network is realized; and then the manufacturer network management system modifies the port data of the optical cable according to the new transmission optical cable segment table, increases the management of the risk link group, checks and reminds the risk link group when the service configuration is passed, and issues the configuration after confirmation, thereby realizing the avoidance of the hidden trouble checking of the physical same route of the transmission network.

The invention discloses a green belt scarifier for road construction, comprising a cantilever scarifying component, a telescopic driving component, a lifting driving component, a bearing frame and a detecting component; the front end of the bearing frame is provided with the detecting component; the lifting driving component is arranged on the left side of the upper end of the bearing frame; the telescopic driving component is arranged at the lower end of the lifting driving component; the cantilever scarifying component is arranged on the left of the telescopic scarifying component; the detecting component controls the lifting driving component such that the cantilever scarifying component and the telescopic driving component can be raised from bottom to top to form a first receptacle; the detecting component controls the telescopic driving component such that the first receptacle can telescope from left to right to form a second receptacle; the second receptacle is arranged inside the bearing frame. The green belt scarifier for road construction provides mechanical scarifying for a green belt after road construction and avoids the pole obstacles in the green belt, such as streetlamp poles and utility poles; scarifying efficiency is effectively improved for the green belt after road construction, and planting of plants in the green belt in late stage is facilitated.

The invention relates to a rescue aircraft path planning method and system based on flight safety. The method comprises the steps of acquiring a terrain environment of a disaster area; based on rescueconstraint conditions, performing three-dimensional modeling on the terrain environment of the affected area to obtain an environment three-dimensional model, wherein the rescue constraint conditionscomprise rescue aircraft performance and low-altitude flight rules; acquiring a rescue model taking maximum rescue efficiency as an optimization target; based on the environment three-dimensional model and the rescue model, performing path planning by adopting an ant colony algorithm in a flight constraint condition to obtain a reference path from a starting point to a target point in a disasterarea; and smoothing the reference path to obtain a flight path of the rescue aircraft. According to the invention, the path planning efficiency can be improved and the rescue speed is accelerated.

The invention discloses a reinforcement learning attitude constraint control method considering the installation deviation of an actuating mechanism, and the method comprises the steps: firstly establishing a spacecraft kinetic model considering the installation deviation of the actuating mechanism and an interference model based on a corrected Rodrigs parameter, and carrying out the algebraization of an attitude kinematics constraint; secondly, designing a return function according to the requirements of an on-orbit attitude maneuver task; and finally, proposing a corresponding additional cost term for the installation deviation and interference, and designing a spacecraft attitude control method based on reinforcement learning in combination with a kinetic model and a return function. Therefore, by designing a return function related to a task function, designing corresponding additional cost items for installation deviation and interference, and designing a real-time parameter learning law of the controller by utilizing online data, the problem of motion constraint of the spacecraft under the conditions of installation deviation and interference is solved. And the controller isgradually improved from a simple control strategy to a suboptimal controller, so that the execution efficiency of the spacecraft on-orbit task is improved.

The invention provides a greenhouse planting device for tea seedlings, relates to the technical field of tea planting, and solves problems that grooving cannot be automatically realized in a moving process of a vehicle body through a structural improvement, intermittent feeding of tea seedlings cannot be realized in a linkage manner during the grooving, and sundries on a front side of the vehicle body cannot be automatically cleaned in an advancing process of the vehicle body through the structural improvement. The greenhouse planting device for tea seedlings comprises a vehicle body, two moving structures are arranged on the vehicle body, a cleaning structure is arranged on the vehicle body, and a mounting seat is welded to the vehicle body; the number of elastic pieces B is two, the two elastic pieces B are connected to two sliding rods B in a sleeving mode respectively, and the two elastic pieces B jointly form an elastic reset structure of a baffle plate; shifting blocks are welded on roller shafts and aligned with stress seats; and the stirring blocks are in elastic contact with the stress seats and the stirring blocks form a continuous stirring structure of the stress seats, such that intermittent feeding can be realized.

The invention discloses a risk monitoring type lane-keeping control method and system. The method comprises the following steps: collecting environmental information data, road information data and vehicle information data of a vehicle; establishing a clustering analysis model, and classifying collected data according to the established clustering analysis model, so as to obtain each type of factor influence coefficients; establishing a class influence coefficient unified model and a comprehensive influence coefficient unified model according to each factor influence coefficient, and determining a class influence coefficient and a comprehensive influence coefficient according to the established class influence coefficient unified model and comprehensive influence coefficient unified model;and carrying out intervention correction on a vehicle state during the working of a current lane-keeping system according to the class influence coefficient and the comprehensive influence coefficient. According to the method, three information including the vehicle environment, the road and the vehicle state are comprehensively considered, and the real-time intervention correction of the vehicleis carried out, so that the real-time risk monitoring and evading of the vehicle can be realized, and the driving safety and stability of the vehicle under the control of a lane-keeping function areimproved.

The invention discloses a numerical stabilization algorithm for an inverse kinematics analytical solution of an S-R-S structure seven-degree-of-freedom mechanical arm. The numerical stabilization algorithm comprises the steps of (1) forward kinematics solution, (2) reference plane solution, (3) inverse kinematics solution, (4) singular arm angle acquisition and (5) joint limiting and singular value avoidance. The core part of the numerical value stabilization algorithm is to provide a singular value avoidance and joint limiting avoidance method for subsequent numerical value stabilization aiming at the numerical value stabilization problem of direct threshold value comparison in previous methods, and the numerical value stabilization algorithm has the following excellent technical effects that (1) the inverse kinematics analytical solution of the S-R-S structure mechanical arm can be obtained, and joint limiting and singular pose avoidance are realized; (2) the whole range of a feasible redundancy angle psi meeting joint limiting and singular value avoiding can be obtained; and 3) the stability of the numerical value is guaranteed in the process of solving the analytical solution.

The invention discloses a method and system for returning formation dance step file state information to a background, a terminal and an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps that: a dance step file is downloaded, and an MD5 check value is calculated locally and stored locally; a dance step file path, a dance step file name and dance step file size information are writteninto an aircraft local configuration file, and stored; a dance step file opening state is obtained according to the stored information; and the acquired dance step file opening state information is sent to a ground station, the ground station filters and screens all aircraft dance step file information, and secondary dance step file downloading is carried out on abnormal aircrafts. According to the method, the ground station issues an abnormal aircraft dance step again, so that a formation aircraft dance step file abnormity is avoided,the problem of flight abnormity caused by non-uniform formation aircraft dance step file information is solved, and formation flight pictures are reliable.