45results about How to "Adaptable to the environment" patented technology

The invention provides a control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance. The control algorithm comprises steps of (1) when an unmanned aerial vehicle formation executes a flight task, detecting positions and speed information of the unmanned aerial vehicles and airspace obstacles through an airborne sensor, and abstracting obstacles in a flight space into ball bodies; (2) according to position information of each unmanned aerial vehicle, constructing an unmanned aerial vehicle formation communication topology, and using a distributed transmission method, achieving information interaction between neighborhood unmanned aerial vehicles in the formation; (3) constructing an unmanned aerial vehicle dynamics model; and (4) when detecting an obstacle, determining a safe distance of obstacle avoidance of the unmanned aerial vehicles, judging whether the distance between any unmanned aerial vehicle and the obstacle in the unmanned aerial vehicleformation meets requirements of the safe distance, and if not, adjusting the formation pattern and carrying out obstacle avoidance through a virtual force strategy. The control algorithm is operable and simple; cooperation formation of multiple unmanned aerial vehicles can be achieved; obstacles can be avoided quite flexibly; and the control algorithm is very important for multi-cooperative combats.

The invention relates to a system and a method for low cost motion capture and demonstration. A performer wears a suit of demonstration clothes provided with joint signalized points, and the demonstration clothes use black color as a ground color; each main joint is tied with ribbons with different colors as signalized points; a double-CCD camera acquires motion image information of the performer, and then transmits the acquired data to an embedded process through an image acquisition card; and the embedded processor captures the signalized points dynamically through a self-adapting algorithm, calculates three-dimensional coordinates of the signalized points through a binocular stereo vision technique, and stores the three-dimensional coordinates in a database, thus the reappearances of a skeleton model and three-dimensional animations are achieved on a display according to the coordinates in the database, and the current positions of the signalized points acquired by the system are exhibited intuitively for the convenience of debugging and demonstration.

The invention discloses an unmanned aerial vehicle cluster dynamic task allocation method imitating a wolf pack cooperative hunting mechanism. The method comprises the steps of 1, initializing battlefield environment setting; 2, executing a reconnaissance / strike / lead task; 3, performing attack formation pre-allocation based on a hunting stress mechanism; 4, performing first wolf / fierce wolf task allocation based on a hunting energy balance model; 5, updating a reconnaissance environment map; step 6, performing wolf detection task allocation based on an environmental stress mechanism; and step7, conducting wolf pack moving path planning. The method is oriented to an unmanned aerial vehicle cluster investigation and attack integrated cooperative combat application background in an uncertainenvironment, a distributed task allocation architecture which supports task load balance and decentralization and has task evolution characteristics is provided, and the task execution efficiency andthe autonomous ability level of the unmanned aerial vehicle cluster are further improved on the basis of reducing the design cost and improving the long-term robust decision-making ability.

The invention discloses a turbidity compensation method for COD detection based on spectrometry. The method comprises the following steps: (1) acquiring the absorption spectrum of a to-be-measured liquid; (2) calculating the absorption spectrum of the to-be-measured liquid in the step (1) under the action of current turbidity; and (3) carrying out peak drop correction on the absorption spectrum of the to-be-measured liquid in the step (1). The turbidity compensation method introduces an impact factor KN(lambda) to characterize influence of turbidity substances on the light absorption effect of organic molecules and establishes a KN(lambda) model by using an approximate linear relation between KN(lambda) and the absorbance of a standard COD liquid and a negative exponential relation between the valley value of KN(lambda) and turbidity so as to correct and directly deduct peak drop in a turbidity baseline compensation method; and the established model has environmental adaptability, so precision and flexibility of COD measurement are improved.

The invention relates to a master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination, which is used for carrying out bomb disposal and explosion elimination by imitating the action of an operator in various complex terrains. The master-slave robot is characterized in that a left clamping hand and a right tool hand are respectively arranged on a rotating disc of a rack; the left clamping hand and the right tool hand are respectively provided with seven rotating pairs designed by imitating the hand of a human; small-sized motors and bevel gears are arranged at the finger joints of the clamping hands; a tool drum of the tool hand is provided with a rack which form a gear pair together with gears of the motors; the tool hand is respectively provided with tool pliers, a tool drilling knife and a screwdriver; the two sides of the rack are provided with crawler wheels in a staggered manner; the crawler wheels are in an assembling connection with vibrators, swinging arms and rotating-angle transmission shafts; and the front wheels of the crawler wheels are driving wheels, the motors are arranged in the axial direction of the driving wheels, a big gear is arranged in the middle and bearing wheels are arranged at the two sides. The master-slave robot has the advantages that the adaptability to more complex terrains is achieved, the obstacle-crossing capability is strong, complex and accurate bomb disposal action can be realized and the tool is easy to change due to modularization.

According to the invention, the method comprises the steps: employing a PPA path search algorithm (a potential path area path search algorithm) to construct an initial decision path; employing a decision attribute factor model training method to finally output a real path restored by the algorithm; selecting five decision optimization factors, namely path travel time, path length, path turning times and path controlled signal gate number, as decision attributes, so that the decision factors for track recovery have higher environmental adaptability. The setting of the decision weight is comprehensively determined by subjective and objective data, so the method is more scientific and practical, the algorithm speed is high, and large-scale data can be processed; the method is suitable for path reconstruction of small and medium-sized road networks, can complete restoration of missing detection vehicle tracks with high precision, has good robustness, and lays a foundation for further statistics of urban traffic road network microcosmic parameters.

The invention relates to an unmanned aerial vehicle cluster cooperative confrontation control method simulating eagle pigeon intelligent game. The method comprises the following implementation steps:1, initializing battlefield environment setting; 2, performing unmanned aerial vehicle cluster confrontation motion control; 3, designing an attack and defense strategy based on the eagle pigeon intelligent game; 4, solving a red and blue payment matrix based on the eagle pigeon intelligent game; 5, solving a red and blue mixed strategy based on the eagle pigeon intelligent game; and 6, outputtinga red and blue countermeasure result. The invention provides a distributed unmanned aerial vehicle cluster cooperative combat control architecture combining cluster combat motion control and attack and defense strategy selection control for a large-scale unmanned aerial vehicle cluster cooperative combat application background in a complex combat environment, and provides a distributed unmanned aerial vehicle cluster cooperative combat control architecture based on reduction of the design cost and improvement of the long-term robust combat capability. The cooperative combat efficiency and theautonomous capability level of the unmanned aerial vehicle cluster are further improved.

The invention relates to a pantograph-catenary operation state online detection system and method based on stereoscopic vision. The pantograph-catenary operation state comprises a pantograph-catenarycontact point movement position and pantograph offset. The detection method comprises the following steps: designing a stereoscopic vision sensor structural body placed on a vehicle roof; The inertialnavigation system and the trigger device combined with the odometer are used for obtaining information such as the vehicle speed, the GPS and the deflection degree of the vehicle body at the same time of image collection. The system also comprises two high-performance servers containing a core detection algorithm and related electrical and mechanical structures. Actual operation, The detection system collects a high-speed image entering the server, an image contact point is positioned by using a detection and tracking combined method, a three-dimensional visual sensor obtains a three-dimensional track of a pantograph-catenary contact point corresponding to an image sequence according to a pre-calibration result, and meanwhile, the offset of the pantograph is solved according to information provided by inertial navigation. The method is suitable for on-line detection of bow net operation conditions in actual operation of the high-speed train.

The invention relates to a DMP-based robot workspace adaptive walking control system and method. The control system comprises: a DMP centroid track generator which generates a centroid track of a humanoid robot based on DMP training according to a planning target and feedback information; a DMP foot sole track generator which generates a foot sole track of the humanoid robot based on DMP trainingaccording to the planning target and the feedback information; and a joint mapping module which performs inverse kinematic calculation on the centroid track and the foot sole track, and uses a motionengine to map the adaptability of the workspace to a joint space, so as to achieve the adaptive walking control of the humanoid robot. The DMP centroid track generator and the DMP foot sole track generator are obtained based on the example track training study of the robot working space. Compared with the prior art, the system and the method have the advantages of adjusting the gait and body posture in real time, and enhancing the environmental adaptability of the humanoid robot walking.

The invention discloses a method for designing a transmitting directional diagram of foresight airborne radar. The problems that a designed directional diagram is poor in self adaptability in the prior art, radiation energy in a clutter area is high and the target echo signal-to-clutter ratio is low are mainly solved. The method includes the implantation steps that first, steering vectors are constructed according to target echo signals and clutter echo signals received by the airborne radar at the previous moment and foresight airborne radar parameters; second, the target echo and the clutter echo are calculated according to the steering vectors, so that a target signal average power formula and a clutter signal average power formula are obtained; third, the signal-to-clutter ratio is constructed through the target signal average power and the clutter signal average power; fourth, the maximum signal-to-clutter ratio is used as a cost function, so that a corresponding convex optimized mathematical model is established, and the optimum value of a transmitting signal correlation matrix is obtained; fifth, the transmitting directional diagram of the foresight airborne radar is figured out. The designed transmitting directional diagram can generate a low side lobe in a high clutter area, the radiation energy in the high clutter area can be lowered, and the method can be used for improving the clutter inhibiting capacity of a transmitting terminal.

The invention provides an air and land dual-purpose spherical robot. The robot is composed of a spherical outer frame, a machine frame, a connecting device, a power system, a control system and a power system and has the characteristics of both the spherical robot and a multi-axis aircraft. Through control over the size and the direction of lift force provided by two sets of transversely-arrangedrotors, motion modes of linear motion and pivot steering on the ground and take-off and landing, aerial motion and the like in the air of the robot are achieved. A user can communicate with the robotthrough a hand controller, the operation condition of the robot is monitored in real time, and the robot is controlled by a main control panel to move. A large space is arranged in the robot, variousextended function components can be installed, and various tasks can be completed. The robot can be equipped with different terminal devices to execute different types of operation. The robot is simple in structure, flexible in motion, unique in environmental adaptability and capable of moving in a complex three-dimensional environment.

The invention discloses an unmanned aerial vehicle convenient to observe, and belongs to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a main body structure part, a peripheral key component and a rotary wing assembly for driving an unmanned aerial vehicle body. The rotary wing assembly comprises at least three propellers. The spiral paddles surround the unmanned aerial vehicle body. At least the main body structure part is coated with a light absorption material coating. Due to the fact that the main body structure part comprising the unmanned aerial vehicle body and the like is coated with the light absorption material, and the peripheral key component and / or the body contour part are / is provided with active light-emitting components to prompt the position and flying state of the unmanned aerial vehicle, the distinguishing degree of the unmanned aerial vehicle which needs to be controlled within a sight distance range is greatly improved.

The invention discloses a high performance robot crashproof mobile algorithm, and the problem of low efficiency caused by the uniform speed movement mode of a current indoor robot (such as a robot cleaner and a food serving robot) is changed. Based on the distance between people and an environment barrier, the movement speed of the robot is controlled, the robot moves in a fast speed when the distance between the robot and the environment barrier is larger than a predetermined value, the movement speed is reduced when the distance between the robot and the environment barrier is smaller than the predetermined value, and the movement speed of the robot is moderate when the distance between the robot and the environment barrier is in a predetermined range. The distance between the robot and the environment barrier is detected through a ranging sensor, the movement speed of the robot can be adjusted according to the distance, the environment adaptability is high, and the movement efficiency of the robot is improved.

The invention discloses an unmanned aerial vehicle facilitating observation, and belongs to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a body structure part, peripheral key positions and a rotor wing assembly driving an unmanned aerial vehicle body. The rotor wing assembly comprises at least three sets of propellers, the propellers are arranged around the unmanned aerial vehicle body, and at least the body structure part is coated with a light absorption material coating. According to the design that a body and others of the body structure part of the unmanned aerial vehicle are coated with the light absorption material coating, meanwhile, active light emitting elements are arranged on the peripheral key positions and / or the contour part of the body to prompt the position and flying state of the unmanned aerial vehicle, and therefore the distinguishing degree of the unmanned aerial vehicle needing to be controlled within the visibility range is greatly improved.

The invention belongs to the technical field of airborne radar transmitting end clutter suppression, and discloses a method for designing a transmitting direction diagram of an airborne radar. The method for designing the transmitting direction diagram of the airborne radar comprises the steps of constructing steering vector data according to echo signals received by the airborne radar at the last moment; calculating response of a target and response of clutters according to the steering vector data, and acquiring a calculation formula for the average power of target signals and the average power of clutter signals; constructing a clutter-to-signal ratio; establishing a corresponding convex optimization mathematical model by taking the minimum clutter-to-signal ratio as a cost function; acquiring an optimal value of a correlation matrix of transmission signals; and acquiring a transmitting direction diagram of the airborne radar.

The invention discloses a hybrid integrated optical accelerometer based on Michelson interference. Light of a narrow linewidth light source passes through a spot size converter and then is coupled to enter an input waveguide, light splitting is achieved on a 2:1 type Y waveguide along a first transverse strip-shaped groove; a first light beam firstly passes through a third spherical lens, a first F-P cavity input mirror and a fourth spherical lens along a second transverse strip-shaped groove, then enters a first bent waveguide, passes through a fifth spherical lens along a longitudinal strip groove, is reflected on the rear surface of a mass block of a spring oscillator structure and is returned according to the original path; and a second light beam firstly enters a second bent waveguide along a third transverse strip-shaped groove, passes through a sixth spherical lens along the longitudinal strip-shaped groove, is reflected on the front surface of the mass block of the spring oscillator structure and is returned according to the original path; and the two beams of light are coupled into a 1:2 type Y waveguide branch and then directly coupled into a photoelectric detector. The hybrid integrated optical accelerometer is high in detection sensitivity, compact in structure, high in integration level, simple in preparation process, high in reliability and resistant to electromagnetic interference and has certain environmental adaptability.

The invention belongs to the noise filtering technical field and relates to a noise filtering method and device. The noise filtering device includes a microphone, an analog-to-digital converter, a signal processor, a digital-to-analog converter, a power amplifier and a loudspeaker; the output end of the microphone is connected with the input end of the analog-to-digital converter; the output end of the analog-to-digital converter is connected with the input end of the signal processor; the output end of the signal processor is connected with the input end of the digital-to-analog converter; the output end of the digital-to-analog converter is connected with the input end of the power amplifier; and the output end of the power amplifier is connected with the input end of the loudspeaker. With the noise filtering method and device adopted, noises specified by a user can be recorded, and the frequency-domain characteristics of the noises are analyzed, and the noises are filtered according to the frequency-domain characteristics.

The invention relates to a buffering device with a leg type structure. The buffering device comprises a device containing plate and a plurality of buffering energy-absorbing legs. According to the technology, the physiological structure and jumping characteristics of locust legs are used for reference, the contact rebound phenomenon between an aircraft and a target spacecraft is avoided, and kinetic energy is absorbed and converted into elastic potential energy to dissipate impact energy during collision contact. Therefore, the device can adapt to complex surface characteristics, has high efficiency, can effectively solve the key problems of smooth contact and stable landing of small aircrafts. In the invention, the six buffer energy-absorbing legs are uniformly distributed in the circumferential direction of a device placing plate (I); wherein the buffering and energy-absorbing legs achieve buffering and shock absorption through torsional springs and one-way bearings, rebound is avoided.The six-leg structure is adopted to increase the buffering load capacity, the buffering device can meet the requirement for non-forward collision contact buffering, and on the basis, the feet connected through the ball pairs have multiple degrees of freedom and can adapt to the irregular surface of a target object. The buffer device has universality and can provide application prospects and reference for buffering and shock absorption in other fields.

The invention relates to the technical field of express cabinets, and discloses a multi-specification integrated intelligent express cabinet. The multi-specification integrated intelligent express cabinet comprises a main cabinet body, a plurality of auxiliary cabinet bodies and a wireless network module, the main cabinet body and the auxiliary cabinet bodies are each provided with a plurality ofstorage cells used for storing goods, opening and closing doors are installed at cell openings of the storage cells, locks are further arranged at the cell openings and used for locking the opening and closing doors, the main cabinet body comprises a main control module and a display module, the main control module is connected with the locks on the main cabinet body, a client is installed on themain control module, the display module is connected with the main control module and used for displaying a client interface, the client interface is used for displaying information of the main cabinet body and the auxiliary cabinet bodies and obtaining an instruction of storing or taking the goods, and the information comprises main cabinet body information, auxiliary cabinet body information, goods information and matching information of the goods and the storage cells. The multi-specification integrated intelligent express cabinet is simple in structure, integrated installation and fixationare achieved, installation and use of the express cabinet are facilitated, and use is more convenient.

The invention provides a locomotive driver fatigue state monitoring method based on an upper body posture. The method is used for solving the problems that in the prior art, the locomotive driver fatigue state judgment accuracy and precision are not high. The invention discloses a locomotive driver fatigue state monitoring method. Comparing the fatigue label sample with the waking label sample; the method comprises the steps of obtaining a fatigue data feature set, inputting the fatigue data feature set into a DBN network to complete RBM training to obtain an optimal parameter value, taking BPNN as a classifier, performing reverse tuning to realize dichotomy so as to construct a DBN-BPNN monitoring model, and inputting monitored original data into the model to complete judgment of the fatigue state of a driver. According to the method, the local optimum and uncertainty of the original BPNN are solved, the method has real-time performance, environmental adaptability, non-contact performance and convenience, the fatigue degree of the locomotive driver is analyzed more accurately, the train safety guarantee is effectively improved, the accident occurrence probability is reduced, and the train operation cost is reduced.

The invention belongs to the technical field of photovoltaic materials, and particularly relates to a photovoltaic module panel, a preparation method thereof and a photovoltaic module. The preparationmethod of the panel comprises the steps of carrying out activating treatment on a base material; coating one surface of the activated base material with a fluorine coating on, and coating the other surface of the activated base material with a polyester coating; and depositing a barrier layer on the surface of the polyester coating by adopting a film coating process. The photovoltaic module panelprovided by the invention does not comprise a bonding layer, so that the number of layers is reduced, the cost is reduced, the problems that the bonding force between functional layers is poor and the use requirements cannot be met are solved, and the heat dissipation capability of the module is improved at the same time.

The invention relates to a master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination, which is used for carrying out bomb disposal and explosion elimination by imitating the action of an operator in various complex terrains. The master-slave robot is characterized in that a left clamping hand and a right tool hand are respectively arranged on a rotating disc of a rack; the left clamping hand and the right tool hand are respectively provided with seven rotating pairs designed by imitating the hand of a human; small-sized motors and bevel gears are arranged at the finger joints of the clamping hands; a tool drum of the tool hand is provided with a rack which form a gear pair together with gears of the motors; the tool hand is respectively provided with tool pliers, a tool drilling knife and a screwdriver; the two sides of the rack are provided with crawler wheels in a staggered manner; the crawler wheels are in an assembling connection with vibrators, swinging arms and rotating-angle transmission shafts; and the front wheels of the crawler wheels are driving wheels, the motors are arranged in the axial direction of the driving wheels, a big gear is arranged in the middle and bearing wheels are arranged at the two sides. The master-slave robot has the advantages that the adaptability to more complex terrains is achieved, the obstacle-crossing capability is strong, complex and accurate bomb disposal action can be realized and the tool is easy to change due to modularization.

The present invention is a control algorithm for multi-UAV cooperative formation obstacle avoidance, comprising the following steps: (1) When the UAV formation performs a flight mission, the position and speed of the UAV and the airspace obstacle are detected by an airborne sensor information, and abstract the obstacles in the flight space into a sphere; (2) Construct the UAV formation communication topology according to the position information of each UAV, and use the distributed transmission method to realize the communication between neighboring UAVs in the formation. (3) Establishing the UAV dynamics model; (4) When an obstacle is detected, determine the safe distance for the UAV to avoid obstacles, and judge the distance between any UAV in the UAV formation and the obstacle. Whether the spacing of the distance meets the requirements of the safety distance, if not, adjust the formation formation and avoid obstacles through the virtual force strategy. The algorithm is operable and simple, and can realize the cooperative formation of multiple UAVs and avoid obstacles more flexibly, which is of great significance to the reality of multi-cooperative operations.

The invention discloses a high-speed track state detecting method based on a linear-array planar-array double image acquiring channel. The high-speed track state detecting method is used for carrying out image processing detecting for the track state based on an implementation platform consisting of a planar-array image acquiring processing system which is composed of a planar-array camera and an image processing module, a linear-array image acquiring processing system which is composed of a linear-array camera and the image processing module, an inter-module communication system and a comprehensive data processing terminal. The high-speed track state detecting method disclosed by the invention adopts an image acquiring structure which is combined with the linear-array camera and the planar-array camera, so that on one hand, redundant data of an area outside a target in a linear-array image is effectively eliminated, and on the other hand, real-time illumination information can provide information guide for the array image identification, so that accuracy for threshold value judgment and characteristic identification is improved, and therefore, real-time performance and robustness of algorithm identification are improved.

The invention belongs to the technical field of airplane ice prevention and removal, and relates to a short wave infrared type icing sensor. The icing sensor based on the short wave infrared type comprises a probe, a supporting rod and a base, wherein the probe is mounted on the base through the supporting rod. The probe comprises a probe body, an icing rod, a protective cover, light sources and detectors, the icing rod is transversely arranged in the end of the probe body, the detectors and the light sources are arranged on the periphery of the end, on the same plane, of the icing rod in a staggered mode, and the probe body and the protective cover are of a hollow structure. And the protective cover is sleeved on the end head of the probe main body and covers the setting position of the icing rod. The end of the probe body is provided with a connecting hole communicated with the surface of the end and the air guide valve, and the light source mounting hole is communicated with the through hole of the probe body to form an air flow injection channel. A special hot air entraining mode and a detection mode are adopted, ice can be detected, meanwhile, snow can be detected, and detection on the icing condition is more comprehensive and effective.

The present invention adopts the PPA path search algorithm (potential path area path search algorithm) to construct the initial decision path, adopts the decision attribute factor model training method to finally output the real path restored by the algorithm; and selects five decision optimization factors: path travel time, path The length, the number of turns of the path, and the number of bayonets controlled by the signal are used as decision-making attributes to make the decision-making factors of trajectory restoration more adaptable to the environment; the setting of the decision-making weight of the present invention is comprehensively established by the subjective and objective data, which is more scientific and practical, and the algorithm is fast. , which can process large-scale data; it is suitable for path reconstruction of small and medium-sized road networks, can complete the recovery of missed vehicle trajectories with high precision, and has good robustness, which lays the foundation for further statistics on micro-parameters of urban traffic road networks .