30results about How to "Achieve precise tracking" patented technology

The invention relates to the field of environment monitoring, and discloses a mobile VOCs rapid detection and positioning system, which comprises a data acquisition module, a data fusion module, a concentration gradient analysis module, a Bayesian filtering module and a particle filtering optimization module, the data acquisition module is used for acquiring VOCs concentration data and multi-source positioning data; the data fusion module outputs high-precision position information for the positioning data; the concentration gradient analysis module is used for calculating a concentration gradient based on the VOCs concentration data and meteorological information and simulating concentration field distribution; the Bayesian filtering module dynamically updates the probability distribution of the pollution source position in combination with the concentration field distribution and the fusion position information; and the particle filtering optimization module optimizes the Bayesian filtering result. The system is suitable for various complex environments, can realize rapid detection of VOCs and high-precision positioning of pollution sources, and has good real-time performance, precision and environmental adaptability.

The invention discloses a shield tunneling machine attitude control method and system based on axis deviation, relates to the technical field of shield tunneling machine control, and solves the problem that an existing shield tunneling machine control method cannot accurately control a shield tunneling machine to advance along a tunnel design axis. The method comprises the steps that in a posture control ring, a guiding system compares current posture data of a shield tunneling machine with target posture data determined by a tunnel design axis to obtain the axis deviation of the shield tunneling machine relative to the tunnel design axis through calculation, and the axis deviation is input into a posture controller to obtain the pressure difference between upper and lower partition hydraulic cylinders or left and right partition hydraulic cylinders; therefore, the pose deviation is continuously reduced, and the shield tunneling machine advances along the tunnel design axis; according to the method, a specific mathematical model is not needed, accurate tracking of the notch horizontal / vertical deviation reference trajectory can be achieved only through I / O data in the tunneling process of the shield tunneling machine, and the problem that attitude control is difficult due to the complexity of a shield tunneling machine system is solved.

The invention relates to an intelligent water affair data monitoring management method and system, and relates to the field of water affair management, and the method comprises the steps: carrying out the alignment optimization processing of historical and current total nitrogen significance distribution and historical and current total phosphorus significance distribution, and obtaining the position deviation distribution of total nitrogen and total phosphorus; according to the position deviation of a plurality of positions in the total nitrogen and total phosphorus position deviation distribution, calculating to obtain a pollution source moving step length; according to the historical total nitrogen distribution, the historical total phosphorus distribution, the current total nitrogen distribution and the current total phosphorus distribution, the nitrogen and phosphorus change amplitude is obtained through calculation, searching is conducted in combination with the pollution source moving step length, and a pollution source searching result is obtained. The technical problem of limited treatment and removal effects of nitrogen and phosphorus compounds in the printing and dyeing wastewater in the prior art can be solved, and the technical effect of improving the water affair treatment management efficiency of the printing and dyeing wastewater is achieved.

The invention belongs to the technical field of intelligent control, and discloses a speed tracking self-adaptive iterative learning control method for an extrusion rod of an extruding machine, which comprises the following steps of: determining a dynamic model of the extrusion rod and a control target according to the physical property and the motion mode of the extrusion rod; based on an approximation theory, establishing a neural network model for an uncertain part in the extrusion rod motion model, and determining a speed tracking error system of the extrusion rod; designing virtual control input and actual control input based on a self-adaptive iterative learning control theory; based on the Lyapunov stability theorem, the stability of the controller is analyzed and designed. According to the speed tracking self-adaptive iterative learning control method for the extrusion rod of the extruding machine, limited time speed tracking of the extrusion rod can be effectively controlled, accurate motion control over the extrusion rod is achieved, and the size precision, the surface quality and the production efficiency of products are ensured.

The invention discloses a high-speed and high-precision phase locking method, which can accurately grasp the noise level, phase deviation and attenuation coefficient of a channel through quantum channel estimation, and provides important information for subsequent processing. Signal decomposition allows accurate representation of the signal on a quantum base, laying a foundation for noise suppression (S3) and signal reconstruction. And noise suppression utilizes a quantum mechanism, so that the efficiency and accuracy of signal processing are improved. Adaptive link establishment and time-sharing signal transmission aim at different transmission requirements, and the efficiency of communication link establishment and data transmission is optimized. And link monitoring ensures the stability and reliability of communication. On the whole, the method can improve the security, stability and efficiency of quantum communication, reduces the complexity of quantum signal processing, and provides powerful technical support for practicability and commercialization of quantum communication.

The invention relates to an unmanned platform autonomous navigation method, system and equipment based on a small optical module. The method is applied to an unmanned platform carrying a small optical module, and the small optical module comprises a sensor module and a three-axis servo linkage control module. A target detection image of the environment where the small target is located is obtained through the sensor module. And extracting a plurality of small target calibration object images from the target detection image through an image detection model. And extracting position information characteristics of the small target calibration object in the small target calibration object image by adopting a long-time tracking algorithm, and obtaining a predicted position of the small target calibration object according to the position information characteristics and a preset regression model. And the three-axis servo linkage control module starts a multi-closed-loop nested loop servo control system according to the predicted position, so that when the unmanned platform controls the attitude of the unmanned platform to be stable, a navigation path between the position of the unmanned platform and the predicted position is generated. By adopting the method, the stability and precision of autonomous navigation of the unmanned platform can be improved.

The invention discloses a lithium battery cover plate six-surface detection device and method, and relates to the technical field of lithium battery detection. The lithium battery cover plate six-face detection device comprises a detection device rack, a lifting elevator, a cleaning and dust removing mechanism, a film pasting mechanism, a product overturning module, a feeding transfer mechanical arm and a detection belt are arranged on the detection device rack, and the lifting elevator, the cleaning and dust removing mechanism, the film pasting mechanism, the product overturning module, the feeding transfer mechanical arm and the detection belt are arranged on the detection device rack. A camera detection unit is arranged on the detection belt, and a discharging mechanism is arranged on the detection device rack. According to the six-face detection device for the lithium battery cover plate, automatic treatment is achieved in the whole process from cleaning and dust removal, film pasting, overturning, detection to discharging, the phenomenon that the detection effect is affected by dirt is reduced, meanwhile, manual intervention is greatly reduced in the detection process, the production efficiency and consistency are improved, and the production cost is reduced. And comprehensive detection of six surfaces of the lithium battery cover plate can be realized through the multi-camera detection unit.

The application discloses a wearable split mobile computing and energy supply system based on dynamic resonance tracking and a dynamic wireless energy supply method thereof, relates to the technical field of mobile computing and wireless energy transmission, and aims to solve the problems of coupling deterioration and transmission efficiency reduction of a magnetic resonance wireless energy supply system in a receiving end motion. The system comprises a wearable host configured in a belt head form, which is internally integrated with a high-performance processing unit, a main transmitting coil unit, an adjustable matching network, a space perception module, a wireless energy supply control core, a mobile communication module, a short-distance wireless communication unit, a voice front end, a sensor unit and a touch display screen; a wearable belt internally contains a plurality of battery units to supply power to the host, and auxiliary transmitting coils are distributed on both sides of the belt to form a multi-array magnetic resonance transmitting coil array together with the main transmitting coil; and at least one interactive terminal is physically separated from the host and comprises a display unit, a magnetic resonance receiving coil, a rectification and voltage stabilization link, a buffer energy storage unit and a short-distance wireless communication module, and does not configure a main application processor. The wireless energy supply control core calculates the coupling state parameters of a magnetic resonance channel in real time based on the three-dimensional position and three-dimensional posture of the interactive terminal, generates frequency compensation instructions and power / phase distribution instructions, controls the adjustable matching network to dynamically adjust the working frequency to track the resonance point drift, controls the driving amplitude and phase of each unit of the multi-array coil array to form a directional energy beam, and realizes stable wireless energy supply in a dynamic scene.

The invention relates to the technical field of robot control, in particular to a double-arm collaborative robot fuzzy adaptive sliding mode control method, which comprises the following steps: S1, establishing a dynamic model of a double-arm collaborative robot; s2, fusing a Taylor series expansion method on the basis of the dynamic model of the double-arm collaborative robot, and establishing an improved dynamic mathematical model suitable for a time delay condition; s3, using a fuzzy algorithm and an average residence time mechanism to develop a fuzzy adaptive sliding mode tracking controller; and S4, designing a neural network tracking control scheme based on fuzzy recursion to eliminate a time delay error existing in the model. According to the control method provided by the invention, the negative influence of the time delay on the system stability can be effectively overcome while the interference influence is eliminated, and the application range of the theoretical delay value is obtained on the basis of improving the control quality of the double-arm system.

The application discloses a kind of unmanned plane flight control method, device, unmanned plane and storage medium, the method includes: obtaining IMU data, laser radar data, determine unmanned plane current position and attitude information;Obtain the depth map data of camera, convert it into point cloud data, and construct unified environment model;Based on the dynamics constraint of environment model and unmanned plane, the feasible path from current position to target point is planned out using path planning algorithm;According to the path point sequence on feasible path, generate corresponding control instruction, drive unmanned plane to fly along feasible path autonomously;Use visual image to identify target, dynamically adjust the speed and attitude of unmanned plane according to the position deviation between unmanned plane and target point, realize accurate following to target point.The above scheme significantly improves the autonomy and robustness of unmanned plane in complex dynamic environment, so that it can complete positioning, obstacle avoidance, navigation and tracking tasks stably in variable scene.

The present invention relates to a flexible satellite linear robust control method based on a dynamic observer, comprising: S1, constructing a flexible satellite attitude system with partially immeasurable states, external disturbances and parameter perturbations, and constructing a linear state space model containing convex polyhedron uncertainty and input constraints; S2, designing a linear dimension reduction dynamic observer and a linear state feedback robust controller, and obtaining a closed-loop system based on the linear dimension reduction dynamic observer and the linear state feedback robust controller and with partially immeasurable states, convex polyhedron uncertainty and external disturbances; S3, deriving the solvability conditions of the linear robust control problem of the closed-loop system based on the linear dimension reduction dynamic observer under the constraint condition of input constraints; S4, solving the solvability conditions, obtaining solutions of the linear dimension reduction dynamic observer and the state feedback robust controller for the flexible satellite attitude system, and controlling the flexible satellite through the solutions.

The invention discloses a distributed average tracking control method and system based on an adaptive neural network, and the method comprises the steps: firstly, constructing a network structure topological graph of a heterogeneous nonlinear multi-agent system, each node representing one agent, and obtaining a point set and an edge set of the graph and the neighbor information of each node; secondly, based on a state equation of the system, setting a reference signal for each node; thirdly, designing a distributed average tracking method based on an adaptive neural network; and finally, designing adaptive parameters so as to realize distributed average tracking of a plurality of time-varying signals. By combining a radial basis function neural network and an internal model driven external disturbance observer, the method successfully realizes average tracking of a plurality of time-varying reference signals under the conditions of system uncertainty and external disturbance. Therefore, the method has important theoretical and practical values in the fields of multi-robot collaboration and the like.

The invention discloses an attack time and angle control guidance method, device and equipment and a medium, and relates to the field of missile control guidance, and the method comprises the steps: building a dynamic model based on a scene in which a single missile intercepts a static target in a two-dimensional plane; based on the dynamic model, taking attack time, attack angle and maximum normal acceleration as constraints, and adopting a cubic Bezier curve to generate an expected trajectory of the missile; calculating a trajectory tracking error according to the current position and the expected trajectory of the missile; calculating an expected course angle according to the tracking error and the course angle of the expected trajectory; calculating a course angle tracking error according to the actual course angle and the expected course angle of the missile; and determining a normal overload instruction required by the missile according to the course angle tracking error and a preset time tracking guidance law. According to the application, accurate tracking of an expected trajectory is realized.

The invention provides a VOF-based numerical simulation method for a welding spot cavity of a vacuum vapor welding, which comprises the following steps: creating a BGA welding spot two-dimensional model and presetting a plurality of bubbles, simulating the flowing of a welding flux by adopting a laminar flow model, and simulating the interface of the welding flux and the bubbles by adopting a multiphase flow VOF model. A multi-area method quadrilateral mesh is adopted, and a UDF user-defined program is matched to simulate a flow field when bubbles escape from the solder; and meanwhile, by improving boundary condition setting, the calculation time is shortened, the calculation efficiency is improved, and the process that bubbles escape from the BGA welding spots in the welding process is rapidly and truly simulated.

The invention belongs to the field of magnetic nanoparticle imaging, particularly relates to a method for quantitatively distinguishing signals of magnetic nanoparticles inside and outside cells based on a magnetic particle spectrum, electronic equipment and a computer readable storage medium, and aims to solve the problem that the influence of free SPIO after death of labeled cells cannot be eliminated on a signal level without considering the influence of cell survival conditions. The method comprises the following steps: according to the periodicity of a magnetic nanoparticle signal, calculating an attenuation ratio of odd-order harmonic amplitudes in MPS, indicating the aggregation or dispersion state of SPIO in and out of cells, constructing a distribution model, calculating a proportionality coefficient, and correcting and obtaining an intracellular SPIO signal of an unwashed labeled cell sample, and extraction and separation of intracellular and extracellular SPIO signals are realized. According to the method, SPIO signals in the cells are separated and extracted, the survival labeled cells are traced through MPI, and MPI stem cell tracing is more accurate and reliable in clinical application.

The application discloses a kind of data sending method and system for distributed database, belong to distributed database technical field, the method is: obtaining the performance evaluation value of current node and the performance evaluation value of other nodes, obtains first sending node in combination with election strategy;If current node is first sending node, then the first data of local is sent to target system in batches, if it is successfully sent, then the current cut-off point of current batch data is generated, and the current cut-off point is sent to all nodes until data sending is completed;If current node is not first sending node, and first sending node satisfies election trigger condition, then second sending node is obtained by re-election, if current node is second sending node, continue to send data according to the second data of local and the current cut-off point received, until the sending of second data is completed, therefore, by implementing the application, the reliability and efficiency of data sending can be realized.

The invention belongs to the technical field of underwater vehicle control, and particularly discloses a sequential docking cooperative control method and system for multiple autonomous underwater vehicles. The sequential docking process is divided into a formation stage, a following stage and a docking stage in order to solve the problems of space-time trajectory conflict and cooperative scheduling difficulty in the docking process of multiple autonomous underwater vehicles. In the formation stage, a multi-body relative motion model is constructed based on a navigation-following strategy, and the topological stability of the formation pattern is maintained; in the following stage, an expected heading angle is dynamically solved by adopting a self-adaptive sight angle guidance law, a reduced-order expansion state observer is designed based on a yawing model, and accurate tracking of a target path is realized; and in the docking stage, orderly scheduling of the autonomous underwater vehicles is realized according to the real-time formation, and the target autonomous underwater vehicles are guided to realize docking in sequence. According to the invention, mutual interference among the underwater vehicles is effectively avoided, safe and ordered sequential docking of the multiple autonomous underwater vehicles is realized, and cluster docking efficiency is remarkably improved.

The invention discloses an unmanned aerial vehicle automatic identification and tracking system and method, and belongs to the technical field of photoelectric automatic zooming, and the method comprises the steps: employing a detection module to detect a target object, and obtaining the azimuth angle, pitch angle and distance of the target object; the azimuth angle and the pitch angle of the recognition module are adjusted through the rotary table, so that the azimuth angle and the pitch angle of the recognition module and the target object are within a set deviation range; automatic zooming and automatic focusing are carried out on the coarse television of the identification module, so that the target object is located in the field of view of the coarse television; performing coarse tracking on the target object; and performing fine tracking on the target object. According to the automatic tracking identification method for the unmanned aerial vehicle, preliminary detection of the target object, coarse tracking of the target object and fine tracking of the target object are connected in series, all the steps are automatically processed, the operation process and control time of automatic tracking of the target object are greatly simplified, manual intervention is avoided, and the identification efficiency and accuracy of the target object are greatly improved.

The present invention proposes a method for dynamic altitude control of an underwater robot based on DVL information, which belongs to the field of underwater robot control technology. The method includes: estimating the horizontal distance and vertical water depth of the beam detection area according to the real-time information of two forward beams of DVL and the real-time inclination information of the underwater robot; fitting the historical horizontal distance and vertical water depth of the forward area by a quadratic polynomial, and generating an altitude trajectory in combination with the expected altitude; discretizing the fitted trajectory, and determining the preview distance in combination with the expected speed and the comprehensive curvature, and smoothly adjusting the preview distance by a moving average method; calculating the expected pitch angle of the underwater robot according to the longitudinal error between the preview point position and the current position, adjusting the inclination of the underwater robot in real time, and realizing accurate altitude path tracking. By implementing the method of the embodiment of the present invention, the underwater robot can be controlled to track the undulating navigation of the seabed with high precision and high safety, so as to improve its near-seabed altitude observation capability.

The invention provides a quail health state early warning and management method based on individual behavior monitoring, and belongs to the field of animal health monitoring, and the method comprises the steps: constructing a multi-modal monitoring scheme, synchronously collecting quail data, building identity mapping, carrying out the early warning through an edge end and a cloud end model after preprocessing and feature extraction and screening, and carrying out the early warning through a cloud end model. And then dynamically calibrating a threshold value, tracing pathology and grading, and finally implementing individual and group level intervention according to a result to form a closed loop. According to the quail health state early warning and management method based on individual behavior monitoring, early recognition of the quail health state, disease cause tracing and accurate management are achieved, and the breeding efficiency is improved.

The present invention discloses a method for attitude control of a quadrotor aircraft in a strong gust interference environment on Mars. An attitude dynamics model of the quadrotor aircraft is constructed and its inherent characteristics are analyzed. On this basis, a dual-loop anti-disturbance nonlinear controller is designed. External disturbances are compensated through expanded state observers of inner and outer loops, so that the quadrotor aircraft can accurately track a set desired attitude angle, thereby completing the attitude control of the quadrotor aircraft.

The present application belongs to the technical field of transformers, and particularly relates to a transformer winding deformation online detection method and system based on impedance spectrum scanning, comprising the following steps: collecting complex frequency domain impedance data of a transformer winding in a set frequency scanning interval, and constructing a real part and imaginary part combined sequence in ascending order of frequency; based on a logarithmic relaxation time coordinate, establishing a discrete integral mapping matrix between the impedance spectrum and the relaxation time distribution, and constructing a frequency weight according to the frequency point distribution density to obtain a weighted inversion model; and reconstructing the discrete integral mapping matrix using a preset non-uniform relaxation time discrete step length. The present application deeply explores the microscopic change law of the impedance spectrum from multiple dimensions, improves the sensitivity and evaluation accuracy of the transformer winding small deformation detection, and reduces the misjudgment risk caused by single feature discrimination.

The present application relates to a kind of photovoltaic positioning tracking control systems based on environmental perception function, belong to photovoltaic tracking control technical field.The system is built by distributed intelligent sensing module distributed sensing network, and the local measurement value is exchanged by node adjacent communication, and the whole field environment situation map is constructed and cloud shadow movement is predicted;Intelligent decision module runs core local rule, introduces virtual leader node mechanism, and the compound instruction set is output by node calculation tracking income and mechanical wear risk;Dynamic cluster tracking module is based on topological potential field theory and forms dynamic tracking cluster, and the difference angle adjustment instruction is generated by cluster evolution mechanism and edge shadow prediction compensation;Distributed health perception module obtains execution state data, identifies component deterioration trend and realizes node health information exchange and evaluation.The system realizes the distributed collaborative control of photovoltaic tracking, improves tracking accuracy and system reliability, and adapts to complex outdoor environment changes.

The present application relates to an IMU / GNSS fusion method, computer equipment and storage medium based on Kalman filtering. The method includes: obtaining discrete observation points according to sampled data; obtaining a reference sampling segment according to the integrity of the grouping interval, comparing the forward and reverse data obtained by forward recursion and reverse recursion to obtain a recursive boundary; obtaining a predicted state value by analyzing the Kalman gain matrix; fusing IMU data and GNSS data according to the double integration result and the mapping conversion result to obtain an initial fusion amount; obtaining a mean square error value according to the inspection criterion and the change characteristics; obtaining a corrected fusion amount by recursively optimizing the corrected recursive boundary; obtaining a state amount according to the reconstructed corrected fusion amount, the characteristics of the IMU data and the GNSS data, and the reconstruction rule analysis; inputting the state amount into an extended Kalman filter, and completing the fusion of IMU data and GNSS data through a prediction-update-feedback mechanism, thereby effectively improving the positioning accuracy and reliability of the integrated navigation system.

The invention discloses an ultrasonic-guided automatic puncture method and system, and the system comprises an image collection module which is used for collecting an ultrasonic image of a puncture object during an operation; the risk detection module is used for detecting a puncture dangerous area based on the ultrasonic image and updating the position of the dangerous area in the current image; the path planning module is used for performing path planning based on the puncture dangerous area and the target spot and determining a puncture path; the state monitoring module is used for monitoring the automatic puncture process in real time and tracking the position of a puncture needle based on an optical flow field; the risk early warning module is used for carrying out risk assessment and safety response based on the multi-source information in the automatic puncture process; the puncture needle module and the mechanical arm module are used for executing puncture. According to the application, the dangerous area can be automatically identified, the risk of mistakenly puncturing blood vessels and nerves is obviously reduced, the path planning is automatically carried out, the puncture path is ensured to be optimal, the accurate tracking of the needle body posture can be realized without an electromagnetic sensor, and the equipment manufacturing cost is reduced.

The invention discloses a welding arc tracking method based on a neural network algorithm, and the method comprises the following steps: 1, collecting an electric signal of a welding arc through a welding power supply, and transmitting the collected electric signal to a signal processing unit for further processing; and 2, a signal processing unit carries out filtering processing on the arc voltage and arc current signals to remove noise and interference, carries out amplification and analog-to-digital conversion on the filtered signals, and converts the filtered signals into digital signals for subsequent processing. The electric arc electric signals are processed and analyzed through the neural network algorithm, the deviation value of the welding seam can be accurately calculated in real time, the motion trail of the welding robot is adjusted through a feedback mechanism, accurate tracking of the welding seam is achieved, and due to the fact that the neural network has the high learning ability and adaptability, the welding seam tracking precision is improved. The method can adapt to different welding environments and workpiece requirements, and the welding quality and the production efficiency are improved.

The invention provides a letter sorting machine control system based on EtherCAT double-link redundancy. The letter sorting machine control system comprises a main controller, a redundancy switching unit, a distributed slave station and branch control module, a belt transmission module and a grid display module. The main controller adopts multi-core CPU function isolation, binds different tasks to corresponding cores and allocates execution cycles; the redundancy switching unit constructs a double-link annular redundancy network, automatic switching is achieved when links are abnormal, and communication stability is guaranteed; the distributed slave stations are provided with terminal modules according to needs, are integrated in slave station boxes and are flexibly connected to execution components of all functional areas. And the lattice display module adopts a group leader-group member structure, so that the load of a main network is reduced. The system sets priorities for EtherCAT network groups based on signal real-time performance, realizes IO signal rapid response, and supports flexible expansion of slave station boxes. The reliability, the real-time performance and the expansibility of letter sorting control are improved, the method is suitable for a high-speed sorting scene, and the efficient operation requirement of the postal logistics industry is met.

The application discloses an attack time and angle control guidance method and device, equipment and medium, and relates to the field of missile control guidance. The method comprises the following steps: a dynamic model is established based on the scene of a single missile intercepting a stationary target in a two-dimensional plane; the expected trajectory of the missile is generated by adopting a cubic Bezier curve based on the dynamic model, with the attack time, attack angle and maximum normal acceleration as constraints; the trajectory tracking error is calculated according to the current position of the missile and the expected trajectory; the expected heading angle is calculated according to the tracking error and the heading angle of the expected trajectory; the heading angle tracking error is calculated according to the actual heading angle of the missile and the expected heading angle; and the normal overload instruction required by the missile is determined according to the heading angle tracking error and a preset time tracking guidance law. The application realizes accurate tracking of the expected trajectory.

The invention relates to the technical field of multi-agent system control, solves the technical problem of lack of an effective active compensation mechanism for unknown nonlinear dynamics and actuator fault problems in an underlying physical system in the traditional technology, and particularly relates to an adaptive fault-tolerant control method for heterogeneous multi-agent distributed Nash equilibrium optimization. By constructing a hierarchical game control framework, hierarchical decoupling is carried out on high-level game strategy optimization of a decision-making layer and bottom-layer trajectory tracking of a control layer; and establishing an adaptive fault-tolerant control law, and configuring adaptive update law parameters based on a Lyapunov stability theory, so that a control layer can track a Nash equilibrium reference strategy. According to the method, distributed game control of the heterogeneous multi-agent system can be realized under the condition that nonlinear uncertainty and actuator faults exist, so that tracking errors are converged to a small tight set, accurate tracking of an optimal strategy is realized, and the fault-tolerant capability and robustness of the system are improved.

The present application relates to the technical field of teaching management, and discloses a kind of artistic practice course's mixed teaching task collaborative allocation method and system, the method includes: the multi-source task sequence and teaching state data of target process are collected, and task chain is constructed based on execution constraint and dependency relationship. Available resources and role state are combined into state snapshot, according to the demand of first task, candidate role set is filtered, the role with minimum load is selected as allocation target and is set as load balancing anchor point, and cascaded successor task obtains collaborative allocation sequence. Continuously receive the attendance signal and completion signal of offline classroom and online platform, and are associated and bound according to timestamp and corresponding task node, to generate execution event track. According to the state transition mark in track, update node state, form collaborative allocation closed loop record;The present application can improve the efficiency of artistic practice course's mixed teaching task collaborative allocation.