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93results about How to "Few nodes" patented technology

EKF-based multi-sensor fusion greenhouse inspection robot tracking method

The invention discloses a multi-sensor fusion greenhouse inspection robot tracking method based on EKF. The method comprises the steps: acquiring distance information from three base stations with known coordinates to a robot in real time through a UWB distance measuring module based on a DS-TWR distance measuring technology while acquiring the acceleration and the course angle of the robot in real time through MPU6050 carried by the robot; acquiring a robot coordinate initial observation value from the three distance values by using a trilateral positioning model based on a least square method; carrying out iterative correction at an observation point by utilizing a Taylor algorithm; simultaneously transmitting the corrected coordinate observation value, and the acceleration and the course angle which are measured in real time into a CTRV motion model; fusing the sensor data through extended Kalman filtering; and outputting the extended Kalman filtering (EKF) result as the current position of the robot so as to complete the greenhouse inspection robot tracking method based on multi-sensor fusion. According to the invention, accurate positioning of a greenhouse inspection robot inan indoor environment can be realized, and the cost of greenhouse management is reduced.
Owner:JIANGSU UNIV

Electric network and communication network heterogeneous dual-network coupling modeling method under background of intelligent power grid

The invention provides an electric network and communication network heterogeneous dual-network coupling modeling method under background of an intelligent power grid. The electric network and communication network heterogeneous dual-network coupling modeling method under background of the intelligent power grid comprises the following steps: building an electric network logic diagram model according to the network characteristic of the electric network; building a communication network logic diagram model according to the network characteristic of the communication network; building a heterogeneous dual-network coupling model based on the electric network logic diagram model and the communication network logic diagram model; realizing interaction among the electric network logic diagram model, the communication network logic diagram model and the heterogeneous dual-network coupling model in time domain. The heterogeneous dual-network coupling model is built aiming at the network characteristic of the electric network and the communication network, the modeling method is mainly applied to the hybrid modeling simulation for the electric network and the communication network, the simulation result is used for estimating the reliability and safety of the intelligent substation, micro-grid and wide-area control protection system.
Owner:STATE GRID CORP OF CHINA +1

Balance bridge at entrance and exit of main and auxiliary roads and method for easing traffic jam

ActiveCN102182125AReduce congestionReduce the number of congested nodesRoadwaysInlet channelVehicle driving
The invention discloses a balance bridge at an entrance and an exit for main and auxiliary roads and a method for easing a traffic jam of the roads, the balance bridge at the entrance and the exit for the main and the auxiliary roads comprises an exit channel, an entrance channel and a balance bridge body, and the method comprises the following steps: (a) setting a driving channel under the bridge for communicating the main road with the auxiliary road; (b) setting the balance bridge body bestriding the driving channel under the bridge above the driving channel under the bridge; (c) setting abridge surface driving channel from the main road to the auxiliary road or from the auxiliary road to the main road along the upper surface of the balance bridge body; (d) enabling one of the bridge surface driving channel and the driving cannel under the bridge to be the exit channel which can only enable vehicles to drive from the main road to the auxiliary road along the vehicle driving direction, and enabling the other one to be the entrance channel which can only enable the vehicles to drive from the auxiliary road to the main road along the vehicle driving direction; and (e) enabling the vehicles to drive into the auxiliary road from the exit channel, and enabling the vehicles to drive into the main road from the entrance channel. By adopting the balance bridge and the method, the number of nodes under the jam along a demarcation line of the main road and the auxiliary road can be effectively reduced, and the status of the traffic jam of the roads can be effectively eased under the situation of not reducing the passing efficiency of entering into and exiting from the main road and/or the auxiliary road.
Owner:张凤奇

Spatial rigid frame combined by regular polyhedrons

The invention discloses a spatial rigid frame combined by regular polyhedrons comprising a truncated octahedron, a cuboctahedron and a truncated tetrahedron. A square surface of the cuboctahedron fits to a square surface of the truncated octahedron; a regular hexagonal surface of the truncated octahedron fits to a regular hexagonal surface of the truncated tetrahedron; a regular triangular surface of the truncated octahedron fits to a regular triangular surface of the cuboctahedron; and a basic unit is formed by fitting the truncated octahedron, the cuboctahedron and the truncated tetrahedron to each other. An array is formed by the basic unit along three orthogonal directions. An array rotating body is formed by rotating a spatial array around any spatial axis by any angle, thereby cutting out a building space based on boundary ridges of a building. A spatial rod system structure is formed concurrently by the finally formed ridges and the ridges of the truncated octahedron, the ridges of the cuboctahedron, and the ridges of the truncated tetrahedron. The spatial rigid frame combined by the regular polyhedrons is strong in anti-seismic property, high in repeatability, small in building difficulty, substantially short in both the working hour and the construction period, accordingly the spatial rigid frame combined by the regular polyhedrons can be applied to spatial structure buildings of small and medium spans.
Owner:王子琛
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