3results about How to "Effective coordination" patented technology

The invention discloses a dispatching optimization method and system for a mine micro-grid, and relates to the technical field of micro-grids. The method comprises the steps of constructing a system model of the mining area comprehensive energy system; a mining area comprehensive energy operation model is constructed based on the system model, and constraint functions of the mining area comprehensive energy operation model comprise a net income maximization function, a renewable energy consumption maximization function and a carbon emission minimization function; the model is converted into a Markov decision process for determining a scheduling strategy for performing day-ahead scheduling control on the mining area integrated energy system, and the scheduling strategy comprises an output power range and an equipment state of each equipment in a day-ahead scheduling period; and under the limitation of the agreed range of the scheduling strategy and the constraint condition of the mining area comprehensive energy operation model, with the purpose of minimizing the operation cost, performing intra-day scheduling control by adopting mixed integer linear programming. Therefore, the problem that a scheduling optimization method in the prior art cannot be applied to the mine micro-grid or has many defects during application is solved.

This invention provides a method, device, and storage medium for multi-UAV collaborative four-dimensional trajectory planning, relating to the field of multi-UAV collaborative technology. Addressing complex three-dimensional terrain, spatiotemporal uncertainties, and the demands of multi-UAV collaboration, a four-dimensional executable trajectory planning framework is proposed: It employs a two-layer safety assessment mechanism combining conditional continuous collision verification and conservative propulsion CCD, introducing scenario-based risk measurement and importance sampling to achieve tail risk control; it establishes dynamic executable constraints including velocity, acceleration, lateral acceleration, climb rate, and continuous energy consumption models; it achieves multi-UAV spatiotemporal collaboration and micro-time scheduling through a unified time grid; and it proposes an optimization algorithm, employing a spherical manifold incremental encoding and distribution estimation framework, combined with progressive homotopy constraints, feasible solution consensus guidance, and tail risk-driven sampling mechanisms, to solve the trajectory planning problem under high-dimensional, strongly constrained conditions.

This invention discloses a motion planning method for a seven-DOF robotic arm system, comprising a six-DOF robotic arm and a guide rail. The method first obtains key configuration parameters, dividing the system's revolution angle around a fixed point into n regions and establishing a one-to-one mapping with n predetermined positions on the guide rail. These parameters include the boundary angles of each region, the corresponding guide rail positions, and floating thresholds set for both to suppress fluctuations in region boundary identification caused by floating-point precision. Subsequently, the current revolution angle and guide rail position are identified to determine the target revolution angle. Based on the region numbering relationship between the current and target angles and the current guide rail position, a motion path is adaptively generated. This path is achieved through asynchronous coordination of the robotic arm joint motion and the guide rail linear motion, maintaining a constant end-effector posture throughout the process. This invention avoids real-time kinematics solving through discretization and parameter mapping, improving planning stability, system adaptability, and motion efficiency.