33results about How to "Avoid acceleration and deceleration" patented technology

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time gap and interval strategy. A radar, a vehicle-mounted sensor and V2V (Vehicle-to-Vehicle) communication are used for determining a number of successive CACC (Cooperative Adaptive Cruise Control) vehicles which are in front of a current vehicle and are within a communication range of the current vehicle, and according to the number of the vehicles, different variable time gap strategies are adopted to determine an expected safe vehicle following interval, expected acceleration is then determined, and therefore, vehicle control is realized. The variable time gap of the invention flexibly changes along with the change of the speed of the current vehicle, a speed difference and the accelerationof a front vehicle, safety, vehicle following properties and a road traffic capacity in a driving process can be effectively balanced, in addition, vehicle cooperative driving can be controlled, a road traffic flow is improved, and journey time is shortened. Meanwhile, a vehicle speed change in the driving process is stable, and driving comfort can be improved.

The invention discloses a small self-adapting wire drawing machine with a variable disk diameter, which comprises multi-stage diameter-reducing wire drawing dies and multi-stage traction wheels, wherein each traction wheel is arranged between every two diameter-reducing dies; an annular groove is formed at the outer edge of each traction wheel; a plurality of pulleys and take-up pulleys are arranged behind the last-stage traction wheel; two brackets are arranged between two pulleys; a gap is formed between two brackets; each bracket is provided with a strip-shaped sliding groove; a wire passing wheel is positioned in the gap between two brackets; the central axis of each wire passing wheel slides up and down in each strip-shaped sliding groove; an annular groove is formed at the outer edgeof each wire passing wheel; a swinging rod seat is installed at one side of each bracket; a tension swinging rod is installed on each swinging rod seat through a rotation axis with a torsion spring;a rolling wheel is installed at the front end of each tension swinging rod; each rolling wheel is butted below the outer edge of each wire passing wheel; and an angle sensor is installed at the rotating connection point of each tension swinging rod and each rotation axis to sense the rotation angle of each tension swinging rod. The small self-adapting wire drawing machine with variable disk diameters overcomes the defects of prior wire drawing machines, ensures the consistency of the winding diameter of real-time computation and the practical winding diameter, completely solves the problems ofslow response of the large winding diameter and oscillation of the small winding diameter, shortens the production cycle and saves the cost.

The invention provides a control method and device for following running of an automatic driving vehicle. The control method comprises the steps that the instantaneous speed of a front vehicle, the instantaneous speed of a vehicle and the actual relative distance between the vehicle and the front vehicle are obtained; the instantaneous acceleration of the front vehicle is obtained, and the drivingstate of the front vehicle is judged according to the instantaneous acceleration of the front vehicle; the expected relative distance between the vehicle and the front vehicle is calculated accordingto the driving state of the front vehicle and the instantaneous speed of the front vehicle; the expected acceleration of the vehicle is calculated according to the parameters; and the vehicle is controlled to travel at the expected acceleration of the vehicle. According to the invention, the acceleration of the front vehicle is judged; according to the method, the driving state of the front vehicle is determined, different parameter values are set for the same parameter according to different driving states of the front vehicle to calculate the expected acceleration of the vehicle, the vehicle is controlled to run according to the expected acceleration of the vehicle, and the problems of vehicle following safety and poor passenger experience under the conditions of overtaking or emergencybraking and the like in the prior art are solved.

The invention discloses a ramp confluence control method for an urban expressway. The ramp confluence control method comprises the following steps: 1, collecting related motion state information of vehicles on a main road section of the whole expressway and afflux vehicles; 2, constructing a ramp confluence optimization control model; 3, optimizing the motion states of the vehicles on the main road and the afflux vehicles; 4, sending an optimized vehicle control instruction to each vehicle, and executing the control instruction by each vehicle; and 5, in the next control period, returning to continuously execute the steps 1-4. According to the ramp confluence control method for the urban expressway, unnecessary acceleration and deceleration of the main lane and ramp confluence vehicles areavoided, and the safety, economy and efficiency of diversion and confluence are effectively improved.

The invention belongs to the technical field of radar signal processing and synthetic aperture radar imaging, and particularly relates to a terahertz frequency band cylindrical spiral scanning imagingmethod and system. The method comprises the steps that a radar platform carrying a terahertz radar moves along the track of a cylindrical spiral line, in the moving process of the radar platform, thesight direction of the terahertz radar points to the center of a scene area all the time, signals are sent, and echo signals are collected for imaging. The system executes the steps of the terahertzfrequency band cylindrical spiral scanning imaging method. According to the method, a cylindrical spiral scanning mode is adopted, the acceleration and deceleration process of an existing linear scanning mode is avoided, and real-time imaging can be achieved. Due to the stability and the central symmetry of cylinder rotation scanning, imaging processing can be started from any moment of the rotation process and is not limited to the same starting point and the same terminal point. According to the imaging system, the number of array elements can be effectively reduced on the premise of ensuring high imaging resolution, and the system cost is reduced.

The invention discloses a rail traffic system belonging to the field of rail traffic. The rail traffic system disclosed by the invention comprises a primary slide rail module, a movable box body module, an inlet-outlet module and a box body transfer module, wherein the movable box body module operates circularly on the primary slide rail module and the circular operating track is a closed loop inthe horizontal plane; the box body transfer module is used for mutual transfer of the movable box body module between the inlet-outlet module and the primary slide rail module. According to the rail traffic system disclosed by the invention, one end of a connecting rod is connected to a steel wire rope while the other end of the connecting rod is fixedly connected to the rotating part of a hinge;the fixed part of the hinge is fixedly connected to the middle position of the top surface of a transmission block. The first slide block is in uniform motion on the primary slide rail all the way, sothat processes of acceleration and deceleration are avoided, the energy sources are saved, the waiting time of passengers is further shortened, and the passengers can arrive appointed stations conveniently and quickly.

The invention discloses a braking energy recovery method, a braking energy recovery device and a vehicle. The braking energy recovery method comprises the steps of obtaining obstacle information in front of a vehicle and vehicle state information, and the vehicle state information comprising the accelerator pedal state and the speed of the vehicle; determining the braking intention of a driver according to the obstacle information and the accelerator pedal state; distributing hydraulic braking force and / or motor braking force according to the braking intention, the obstacle information and thespeed of the vehicle; and acquiring the current residual electric quantity information of a battery, and recovering the braking energy according to the residual electric quantity information and thedistribution result of the hydraulic braking force and the motor braking force. According to the braking energy recovery method, the braking energy recovery device and the vehicle, the braking energyrecovery efficiency is improved.

The present invention provides a workpiece conveying device that uses a predetermined gripping mechanism to hold and convey the workpiece between punching devices that drive molds respectively, and has a conveying control mechanism that is based on a combination of punches located upstream in the conveying direction of the workpiece. The position of the above-mentioned gripping mechanism is controlled by a combined target value obtained by combining the die position of the device, that is, the position of the upstream side die, and the position of the die of the punching device on the downstream side, that is, the position of the downstream side die. The gripping mechanism moves smoothly, thereby suppressing the vibration of the workpiece conveying device in the press line.

The invention discloses a volumetric three-dimensional display device and method based on circumferential screen scanning, the device comprises a high speed projection device, a screen turning transmitting device, a screen group, a rotating speed detection device, a central control module and a PC, and the screen group comprises a plurality of screens which are fixedly arranged on the screen turning transmitting device. According to the invention, a screen moves in an imaging space at uniform speed in one direction from beginning to end, imaging complexity is greatly reduced, large depth of field can be realized, compared with reciprocating type screen translation scanning, unidirectional rotation type screen scanning has no acceleration and deceleration process, scanning rate is easily to improve, voxel quantity of three-dimensional imaging is greatly increased, so that three-dimensional imaging resolution is improved, acceleration and deceleration of reciprocating motion are avoided, vibration and loss of hardware and structure portion of the device are reduced, and service life of the device is prolonged.

The invention discloses a lifting method of a continuous elevating circulating elevator system and belongs to the field of elevators. According to the lifting method of a continuous elevating circulating elevator system, when gong upstairs function is required, the method comprises following steps: passengers enter in an inlet cabinet; the passengers enters in a passenger-carrying car; a target first slide block is searched; a car on the target first slide block is parked at a floor where the passengers are located; the passenger-carrying car is transferred to the target first slide block; the passenger-carrying car is parked at the rear of an elevator outlet door of a target floor; the passenger-carrying car is transferred to the rear of a second elevator inlet door corresponding to a gateway module. According to the method, the first slide block always moves uniformly on the hoistway, thus avoiding acceleration and deceleration, not only saving energy but also saving waiting time for passengers, so that passengers can quickly and easily reach the designated floors.

The invention discloses a respiratory support device including a turbine; the respiratory support device also includes a gas way, a gas storage unit arranged on the gas way, a first pressure sensor, aflow control valve and a second pressure sensor. The invention also discloses a control method of the respiratory support device. Compared with the prior art, the respiratory support device and the control method thereof have smaller pressure regulating delay, lower noise and smaller heating power.

The invention relates to a hybrid power assembly control system special for an automated guided vehicle. The hybrid power assembly control system comprises a driving unit, an electric generating unit,a power supply module and a main control unit; the driving unit is connected with the power supply module and the main control unit, and according to driving control signals output by the main control unit, the guided vehicle is driven to operate and rotate; the electric generating unit is connected with the power supplying module and the main control unit, and an alternating current is generatedand converted into a direct current to be output; according to electric generating control signals output by the main control unit, the electric generating unit works within a preset range of the fuel efficiency; the power supply module is connected with the main control unit, and according to power supply distributing control signals output by the main control unit, corresponding electric energyis output to the driving unit; and electric quantity information of the power supply module is further obtained by the main control unit in real time, and according to the obtained electric quantityinformation, the electric generating control signals are output to control the electric generating unit to work within the preset range of the fuel efficiency. According to the scheme, the working efficiency of the automated guided vehicle is high, and back-and-forth mechanical braking can be avoided.

The invention discloses a laser machining method and device for cooperative motion of a laser galvanometer and an air blowing device. The method comprises the steps that a moving path of the laser galvanometer is planned; scanning machining is carried out by the laser galvanometer according to a planned moving path; the air blowing device moves cooperatively along with the laser galvanometer; andthe device comprises the laser galvanometer, the air blowing device and a driving device, wherein the laser galvanometer is arranged opposite to a laser source, the air blowing device is arranged below the laser galvanometer, and the driving device is used for moving the air blowing device. According to the method, through the optimized path and the mode of block machining on the path, the problemof matching between the high-speed mobility of the galvanometer and the motion of a motor platform is solved; and meanwhile, idle stroke waiting of the galvanometer redundancy is avoided, and the waiting time of the galvanometer idle stroke is reduced to the minimum, so under the condition that the machining efficiency is guaranteed, the influence of the heat effect on the machining effect in thelaser machining process can be reduced, the problem of shielding of a galvanometer light beam in the moving process of the air blowing device is avoided, and the quality of a laser machining workpiece is improved.

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time interval strategy. Use radar, on-board sensors and V2V communication to determine the number of CACC vehicles that are continuous in front of the current vehicle and within its communication range, and use different variable time-distance strategies to determine the expected safe following distance according to the number of vehicles, and then determine the expected acceleration, so as to realize the vehicle control. The variable time distance of the present invention changes flexibly with the speed of the vehicle, the speed difference, and the acceleration of the vehicle in front, and can effectively balance the safety, car-following performance and road traffic capacity during driving, and can control the vehicle coordination Driving, improve road traffic flow, shorten travel time, and at the same time, the speed of the vehicle changes more smoothly during driving, which can improve driving comfort.

The invention relates to a smoothing method for a Cartesian space motion trail of a six-axis series industrial robot. The smoothing method comprises the following steps that a transition path between any two adjacent given motion paths is constructed by using a cubic quasi-uniform spline curve, and an actual transition radius is determined according to the lengths of the two given motion paths and a given transition radius; the position of a starting point of the transition path and the position of an ending point of the transition path are obtained according to the actual transition radius, and the position of a control point of a spline curve serving as the transition path is solved to construct a proper transition path; seven-section S-shaped speed planning is carried out to obtain a function relation between the path length and time, and finally isochronous interpolation is carried out according to the function relation between the path length and time to obtain an actual position of an interpolation point; and then the rotation angle of each joint of the six-axis series industrial robot is obtained through inverse kinematics to drive the six-axis series industrial robot to rotate continuously, so as to obtain a smooth motion trail, and meet the process requirements of actual production.

The invention discloses a rail transit system capable of achieving circular transportation and belongs to the field of traffic systems. The rail transit system capable of achieving circular transportation comprises a main sliding rail module, a moving box body module, an entrance and exit module and a box body transfer module. The moving box body module circularly operates on the main sliding rail module, and the trajectory of circular movement is a closed loop in a horizontal plane. The box body transfer module is used for transferring the moving box body module between the entrance and exit module and the main sliding rail module. According to the rail transit system capable of achieving circular transportation, first sliding blocks always move on a main sliding rail at constant speed, so that the acceleration and deceleration process is avoided, energy is saved, waiting time is further saved for passengers, and passengers can arrive at appointed stations conveniently and rapidly.

The invention discloses an urban expressway-oriented ramp merge control method, comprising the following steps: step 1, collecting relevant motion state information of vehicles in the main section of the expressway and incoming vehicles; step 2, constructing a ramp merge optimization control model; Step 3, optimize the movement state of the vehicles on the main road and incoming vehicles; Step 4, send the optimized vehicle control command to each vehicle, and each vehicle executes the control command; Step 5, in the next control cycle, return to continue to execute 1~4 step. The urban expressway-oriented ramp merge control method of the present invention avoids unnecessary acceleration and deceleration of main lanes and ramp merge vehicles, and effectively improves the safety, economy and efficiency of diverge and merge.

The invention discloses a laser machining method and device for cooperative motion of a laser galvanometer and an air blowing device. The method comprises the steps that a moving path of the laser galvanometer is planned; scanning machining is carried out by the laser galvanometer according to a planned moving path; the air blowing device moves cooperatively along with the laser galvanometer; andthe device comprises the laser galvanometer, the air blowing device and a driving device, wherein the laser galvanometer is arranged opposite to a laser source, the air blowing device is arranged below the laser galvanometer, and the driving device is used for moving the air blowing device. According to the method, through the optimized path and the mode of block machining on the path, the problemof matching between the high-speed mobility of the galvanometer and the motion of a motor platform is solved; and meanwhile, idle stroke waiting of the galvanometer redundancy is avoided, and the waiting time of the galvanometer idle stroke is reduced to the minimum, so under the condition that the machining efficiency is guaranteed, the influence of the heat effect on the machining effect in thelaser machining process can be reduced, the problem of shielding of a galvanometer light beam in the moving process of the air blowing device is avoided, and the quality of a laser machining workpiece is improved.

The invention provides a high-speed two-dimensional scanning mechanism. The high-speed two-dimensional scanning mechanism comprises a scanning mirror, a supporting frame, a first motor shaft, a first motor, a square framework, a second motor shaft, a second motor, a U-shaped frame, a third motor shaft and a third motor, wherein the scanning mirror is in rotary pair connection with the first motor by the supporting frame; the supporting frame is fixedly connected with the first motor shaft; the scanning mirror rotates along the normal direction of the scanning mirror under the driving of the first motor; the first motor is fixed on the square framework, and the square framework is in rotary pair connection with the U-shaped frame by the second motor shaft; the second motor shaft and the first motor shaft are vertical to each other and are on the same plane; the second motor is fixed on the U-shaped frame; the square framework and the scanning mirror rotate around the second motor shaft under the driving of the second motor; the U-shaped frame is in rotary pair connection with the third motor by the third motor shaft; the U-shaped frame is fixedly connected with the third motor shaft. According to the high-speed two-dimensional scanning mechanism, high-speed scanning of the scanning mechanism is easy to realize, so that real-time imaging of a terahertz imaging detection system and imaging detection of a moving target are facilitated.

The invention discloses a method and a processing device for processing by a numerical control system, comprising: the numerical control system obtains a set of required processing line segments for processing an object to be processed; the numerical control system obtains geometric parameters from the set of processing line segments All processing line segments smaller than the threshold; the numerical control system integrates all the acquired processing line segments to obtain an integrated line segment L1; the numerical control system processes the integrated line segment on the object to be processed. Through the above method, the present invention can improve processing efficiency, obtain good processing effect, and is convenient and simple to operate.

The invention relates to an AGV path planning method and device in a storage environment, belongs to the technical field of automated guided vehicles, and solves the problems of pause or detour and the like when passing through a gap in an existing local path planning method. The method comprises the following steps: acquiring a motion model and a pose of an AGV in a current state; sampling the speed of the AGV so as to simulate the moving trajectory of the AGV by using the sampled speed; calculating the total scores of the Euclidean distance, the orientation angle, the obstacle distance, the linear speed and the Manhattan distance from the starting point and the terminal point of the moving trajectory, and selecting the trajectory with the best total score as the optimal trajectory; judging whether the current point position of the AGV reaches a coordinate threshold value or not, and when the current point position of the AGV does not reach the coordinate threshold value, judging whether the AGV reaches a target coordinate position or not; and when the AGV arrives at the target coordinate position, obtaining a moving trajectory diagram of the AGV. In the path planning process, a variable end point is introduced and the position of a transit point is reasonably set, so that the accuracy of path planning is improved.

The invention provides a control method and device for following running of an automatic driving vehicle. The control method comprises the steps that the instantaneous speed of a front vehicle, the instantaneous speed of a vehicle and the actual relative distance between the vehicle and the front vehicle are obtained; the instantaneous acceleration of the front vehicle is obtained, and the drivingstate of the front vehicle is judged according to the instantaneous acceleration of the front vehicle; the expected relative distance between the vehicle and the front vehicle is calculated accordingto the driving state of the front vehicle and the instantaneous speed of the front vehicle; the expected acceleration of the vehicle is calculated according to the parameters; and the vehicle is controlled to travel at the expected acceleration of the vehicle. According to the invention, the acceleration of the front vehicle is judged; according to the method, the driving state of the front vehicle is determined, different parameter values are set for the same parameter according to different driving states of the front vehicle to calculate the expected acceleration of the vehicle, the vehicle is controlled to run according to the expected acceleration of the vehicle, and the problems of vehicle following safety and poor passenger experience under the conditions of overtaking or emergencybraking and the like in the prior art are solved.

The invention discloses a small self-adapting wire drawing machine with a variable disk diameter, which comprises multi-stage diameter-reducing wire drawing dies and multi-stage traction wheels, wherein each traction wheel is arranged between every two diameter-reducing dies; an annular groove is formed at the outer edge of each traction wheel; a plurality of pulleys and take-up pulleys are arranged behind the last-stage traction wheel; two brackets are arranged between two pulleys; a gap is formed between two brackets; each bracket is provided with a strip-shaped sliding groove; a wire passing wheel is positioned in the gap between two brackets; the central axis of each wire passing wheel slides up and down in each strip-shaped sliding groove; an annular groove is formed at the outer edge of each wire passing wheel; a swinging rod seat is installed at one side of each bracket; a tension swinging rod is installed on each swinging rod seat through a rotation axis with a torsion spring;a rolling wheel is installed at the front end of each tension swinging rod; each rolling wheel is butted below the outer edge of each wire passing wheel; and an angle sensor is installed at the rotating connection point of each tension swinging rod and each rotation axis to sense the rotation angle of each tension swinging rod. The small self-adapting wire drawing machine with variable disk diameters overcomes the defects of prior wire drawing machines, ensures the consistency of the winding diameter of real-time computation and the practical winding diameter, completely solves the problems of slow response of the large winding diameter and oscillation of the small winding diameter, shortens the production cycle and saves the cost.

The invention relates to the technical field of aerospace, in particular to a control method of a satellite execution mechanism configuration. Comprising the following steps of 1, performing flywheel heterogeneous configuration on a satellite body; step 2, calculating control moments under different use modes; 3, performing instruction distribution on the calculated control torque according to different flywheel use modes; according to the satellite execution mechanism configuration and the use strategy considering maneuvering rapidness and long service life of the satellite, the main flywheel can be used for realizing conventional attitude maneuvering and stability, and on one hand, rapid maneuvering of the satellite can be realized when the main flywheel and heterogeneous high torque are used together; on the other hand, acceleration and deceleration of the main flywheel can be avoided when the main flywheel and the heterogeneous flywheel are alternately fused for use, the utilization rate of the flywheel is reduced, and therefore the service life of a satellite is prolonged.

The invention provides a large-view-field rapid two-dimensional scanning mirror mounting structure. The large-view-field rapid two-dimensional scanning mirror mounting structure comprises upper and lower pitching driving motors which are symmetrical relative to a long axis of a scanning mirror at a zero position, wherein the two pitching driving motors drive the scanning mirror to scan in a pitching direction by the movement with the same speed and opposite directions; the large-view-field rapid two-dimensional scanning mirror mounting structure further comprises an azimuth driving motor, an angle sensor and two linear displacement sensors; the azimuth driving motor is used for driving a crank connection rod mechanism so as to drive the scanning mirror to scan in an azimuth direction; the angle sensor is used for realizing the measurement of a pitching angle of the scanning mirror; the two linear displacement sensors are used for differentially measuring linear displacement when a pitching shaft supporting frame rotates and indirectly measuring an azimuth rotary angle of the scanning mirror. Compared with an existing two-dimensional scanning machine structure, large-view-field scanning can be realized while high-speed scanning is realized, so that a terahertz imaging detection system is practical to the application to public place safety inspection.

The invention discloses a lifting method of a continuous elevating circulating elevator system and belongs to the field of elevators. According to the lifting method of a continuous elevating circulating elevator system, when gong upstairs function is required, the method comprises following steps: passengers enter in an inlet cabinet; the passengers enters in a passenger-carrying car; a target first slide block is searched; a car on the target first slide block is parked at a floor where the passengers are located; the passenger-carrying car is transferred to the target first slide block; the passenger-carrying car is parked at the rear of an elevator outlet door of a target floor; the passenger-carrying car is transferred to the rear of a second elevator inlet door corresponding to a gateway module. According to the method, the first slide block always moves uniformly on the hoistway, thus avoiding acceleration and deceleration, not only saving energy but also saving waiting time for passengers, so that passengers can quickly and easily reach the designated floors.

The invention discloses a bus ecological driving guiding method based on vehicle-road cooperation, which comprises the steps: obtaining the real-time state of an intersection signal lamp before a current bus is ready to start at a bus station, and then selecting a more ecological driving mode according to the signal state of a front intersection to pass through the intersection. Meanwhile, in combination with the passenger carrying rate threshold value and the waiting time threshold value of the public transport vehicles, the waiting time of part of the public transport vehicles which should stop at the intersection is reasonably transferred to the waiting time of the public transport vehicles at the station, so that the carrying efficiency can be improved. According to the invention, the phenomena of starting and stopping, idling, rapid deceleration, rapid acceleration and the like of the public transport vehicle at the intersection can be reduced, so that vehicle delay, fuel consumption and tail gas emission are reduced. According to the method, the environment can be protected, the safety and carrying efficiency of road driving can be improved, the ecological and environmental protection concepts are met, and sustainable development of traffic is facilitated.

The invention belongs to the field of radar signal processing technology and synthetic aperture radar imaging technology, in particular to a cylindrical spiral scanning imaging method and system in the terahertz frequency band. The method includes the steps of: a radar platform equipped with a terahertz radar moves along the trajectory of a cylindrical helix, and during the movement of the radar platform, the line of sight of the terahertz radar always points to the center of the scene area, sends signals, and collects echo signals for imaging . The system executes the steps of the terahertz frequency band cylindrical helical scanning imaging method. The cylindrical spiral scanning mode adopted by the method of the invention avoids the acceleration and deceleration process of the existing linear scanning mode, and is beneficial to realize real-time imaging. Due to the stability and central symmetry of the cylindrical rotation scan, the imaging process can be started from any moment in the rotation process, not limited to the same starting point and the same end point. The imaging system of the invention can effectively reduce the number of array elements and reduce the system cost under the premise of ensuring high imaging resolution.