92results about How to "Flexible planning" patented technology

The invention discloses an omni-directional automatic forklift and a 3D stereoscopic vision navigating and positioning method. The 3D stereoscopic vision navigating and positioning method comprises the following steps: acquiring information of a 3D coordinate in the working environment of the automatic forklift; generating a 3D map; acquiring real-time images and positioning an initial position according to the 3D map; determining a target position; navigating to the target position and judging whether encountering barriers; scanning and identifying two-dimensional codes on a goods shelf; judging whether the automatic forklift is over against the goods and is aligned with the goods; enabling the automatic forklift to insert into a goods shelf tray and completing taking the goods and putting the goods. The omni-directional automatic forklift and the 3D stereoscopic vision navigating and positioning method have the benefits that the 3D map of the working environment is built by a plurality of binocular stereo cameras, the automatic forklift is capable of effectively and accurately positioning, taking the goods and putting the goods with combination of a speedometer, a laser radar and a front camera, three-freedom-degree omni-directional movement on the plane is implemented by Mecanum wheels, the automatic forklift is capable of taking the goods and putting the goods on the same goods shelf without steering, any barriers in the working environment can be effectively avoided in tine by the laser radar and an infrared sensor, and the automatic forklift can be automatically charged by communication between an upper computer and a charging box.

The invention discloses a robot for accurate diagnosis and treatment of maxillofacial diseases and belongs to the technical field of minimally invasive medical instruments. The robot comprises a robot supporting mechanism, a robot body mechanism, a universal joint and a control system. The robot supporting mechanism is used for realizing position adjustment of the robot body mechanism relative to an operating bed, namely relative to a patient, and primary positioning of a treatment portion of the patient is achieved through the position adjustment. The robot body mechanism realizes adjustment of three degrees of freedom in space, so that accurate positioning of the treatment portion of the patient is achieved by means of tail mechanisms. The universal joint is used for connecting three tail mechanisms for operative treatment. The robot can be connected with three different operative tail mechanisms to complete three different operations, is convenient to detach and flexible to operate, and has effects of reducing wounds, improving treatment effect with high accuracy and good repeatability while reducing radiation to medical staff and lowering workload thereof.

A networking method of an ad hoc network comprises the following steps: step A, in a networking stage, a PAN coordinator broadcasts a networking notice to adjacent nodes of the PAN coordinator, receives a network access request returned by each adjacent node in response to the networking notice, and selects part or all of nodes from nodes allowed to access the network as current relay nodes; stepB, the current relay node broadcasts a networking notification to the adjacent nodes, receives network access requests returned by the adjacent nodes in response to the networking notification, and sends the network access requests of the adjacent nodes to a PAN coordinator; step C, the PAN coordinator receives the network access request of each neighbor node of the current relay node to determinea newly added network access node, and selects the current relay node from the newly added network access nodes; and step D, the step B and the step C are repeated until a preset networking completion condition is met, and networking is completed. According to the networking method of the ad-hoc network, routing can be flexibly planned based on the communication condition among the nodes in the ad-hoc network during networking.

The invention discloses a movable-type static synchronous compensator with a compact structure design. The compensator has high compensation capacity and rapid adjusting speed and compact structure, is convenient for transportation, and can be rapidly transferred, installed and put into operation at the urgent place needs reactive power support, thus the planning, the arrangement and the operation of a dynamic reactive power compensation device of a power grid are more flexible and effective. The movable-type static synchronous compensator comprises three functional module containers with the same structure, an auxiliary equipment container and a movable base, wherein, the functional module container comprises a single-phase converter chain and a converter chain arrester; the auxiliary equipment container comprises a control protective system, a water-cooling system and a three-phase starting loop; and the movable base comprises a connection reactor, a main breaker, an isolation switch and an earthed switch. The compensator provided by the invention has the obvious advantages of rapid response speed, wide adjustment application, low harmonic output content, adoption of compact design, mobility, less occupation area and the like.

The invention relates to a targeted particle implanting robot suitable for clinical human lithotomy positions. The targeted particle implanting robot includes a rack, and further includes a position and posture adjusting mechanism, a contact force feedback friction wheel type targeted particle implant and a sine elastic amplification moment compensation mechanism; and the specific use steps are asfollows: S1, driving; S2, meshing; S3, swing; S4, transverse movement; S5, compensation moment; S6, linear motion; S7, rotary motion; S8, detection; and S9, transmission of information. The sine elastic amplification moment compensation mechanism is adopted to realize the compensation of lower weight moment of any position shape of a big arm, reduce fluctuation of driving moment, improve stability of tail-end low-speed operation of the robot, combined with the position and posture adjusting mechanism, an external pin of an implant can adjust an incidence angle of the external pin in a fixed-point mode, and in addition, contact force feedback friction wheel type targeted particle implant installed at the tail end of the position and posture adjusting mechanism improves the force information perception ability in the targeted particle implanting process.

The invention provides a method and a device for calcining materials. The device has a splitting type structure comprises a burning chamber, preheating chambers, a calcining chamber, cooling chambers, a heat accumulator, a gas processing unit, a material conveying machine, a feed device, a discharge device and an exhaust gas discharging system. Material to be calcined is conveyed by the material conveying machine between the preheating chambers, between the preheating chambers and the calcining chamber, between the calcining chamber and the cooling chamber and between the cooling chambers. Smoke generated by the burning in the external burning chamber is processed by the gas processing unit, and then enters the burning chamber for calcining the material. Air for cooling lime and preheating limestone material is subject to dust removing by a cyclone separator and is preheated by the heat accumulator, and then enters the burning chamber for supporting combustion. In the invention, the fuel burning and the material calcining are separated, so that the pollution of lime products caused by harmful substances can be avoided, and the quality of the lime product can be improved. The gas is subject to dust removing and then enters the heat accumulator, thus avoiding blocking a gas channel in the heat accumulator. The material conveying machine is used for conveying the material, so that the conveying efficiency is high, and the occupied space is small.

The invention provides an attitude adjusting method in imaging of an oblique strip. The attitude adjusting method has high practicability in high-resolution imaging tasks for imaging sub-satellite point tracks such as roads, coast lines, border lines which are not parallel along an oblique strip. The invention aims at a problem of no dynamic attitude adjusting method in imaging along the oblique strip, and provides the attitude adjusting method in which the sliding speed of a photographing point along a preset oblique strip is set and then imaging is performed through dynamically tracking the sliding of the photographing point through the satellite attitude and finally drift angle compensation is performed, thereby realizing imaging along a preset target oblique strip. The attitude adjusting method of the invention can satisfy a requirement of satisfying different imaging tasks through changing the sliding speed of the photographing point along the oblique strip, such as quick push-broom imaging which can realize an emergency imaging task and slow push-broom imaging with prolonged exposure time for improving an imaging quality.

The invention discloses a two-stage vibration reducing ankle-foot integrated parallel low-impact walking foot mechanism and a controlling method, which can be used for effectively reducing foot-ground impact force and are capable of performing active control. The walking foot mechanism comprises a foot-leg connecting platform, a food end bottom connecting platform, three groups of moving pairs, three groups of revolute pairs and three groups of ball pairs, a lower platform simulates the foot end of a robot, the moving pairs are driving pairs, and are used for simulating legs of the robot, an anti-vibration pad, with frictional force, is inlaid in the lower surface of the food end bottom connecting platform, and is used as first-stage vibration reduction, the three groups of moving pairs are arranged in a mirror symmetry manner, and each group of moving pair comprise a hydraulic cylinder, a spring damper, a servo valve and a controller, wherein the spring damper sleeves a cylinder piston rod of the hydraulic cylinder, and is used as second-stage vibration reduction, so that the whole mechanism forms a lower-mobility parallel mechanism with a three freedom degree structure, and two rotational freedom along the directions of x and y and a translational freedom degree along the direction of z are realized. The mechanism and method provided by the invention have the advantages that the plan and control of the robot are flexible and reliable, and the stability is high.

The invention provides a user message processing method and device, and the user message processing method and device are applied to EDs in an EVI network. The method includes the steps of setting up class-II EVI channels facing towards a public router and at least one EVI VPN channel facing towards a VPN router in an assigned EVI embodiment, inquiring a VPN to which a user router protocol message belongs, if the corresponding VPN is inquired, conducting routing learning on the VPN, if not, conducting routing learning in a public domain, inquiring a VPN to which a user data message belongs when IP forwarding is conducted on the user data message, if the corresponding VPN is inquired, forwarding the user data message according to a VPN router forwarding list, and if not, forwarding the user data message according to a public router forwarding list. According to the method and device, a user is allowed to conduct more flexible programming in a private network of the user, and the user can set up different IP networks to meet the requirements of the user.

The invention discloses a high-speed unmanned vehicle trajectory planning system and method based on multi-window sampling. According to the method, a multi-window model is used for representing a search space for motion planning of an unmanned vehicle, and a trajectory generation type model is constructed on the basis of human driving experience and a strategy of performing speed planning and path planning in sequence, so that generated candidate trajectories have relatively high dynamic obstacle processing capability and conforms to human driving habits; and finally, the trajectory with the minimum cost is selected as the optimal trajectory for planning by means of a cost function. The unmanned vehicle trajectory planning method is suitable for high-speed structured scenes mainly including dynamic obstacles, plays an important role in improving the traffic capacity of the unmanned vehicle in the actual environment, and can be widely applied to the fields of unmanned vehicle motion planning, advanced auxiliary driving technologies and the like.

A networking method of a single-frequency network in a TD-SCDMA system comprises the following: step A1: a UTRAN 110 determines a networking configuration proposal; step A2: a UTRAN completes system message setting according to the configuration of the step A1; step A3: the UTRAN sends the set system message within the coverage area; step A4: UE receives the system message sent by the UTRAN. The networking method can realize the coexistence of an N-frequency-point networking mode and a single-frequency network networking mode in a TD-SCDMA system; moreover, the networking method which has flexible planning can realize dynamic adjustment of wireless link resource between both modes according to traffic; meanwhile, the networking method is compatible with the prior frame structure and can send the configuration information of the single-frequency network and N frequency point to the UE under the condition that the prior signaling message structure is not changed; in addition, the networking method, which is simple and flexible, combines the advantages of the two networking modes and furthest increases frequency spectrum efficiency.

The invention discloses a folding slide plate luggage box which comprises a luggage box, a pulling rod, a slide plate, a motor, a battery pack, and a control system. The folding slide plate luggage box is characterized in that the slide plate is provided with a spinning wheel rollover folding structure or a spinning plate rollover folding structure, and at least one wheel set of the slide plate can be turned over and folded in a space on the luggage box or in a space in the luggage box. According to the folding slide plate luggage box, a luggage box self which is usually carried when people go out becomes a complementation traffic tool, and commuting requirements among a starting point, bus stations and a terminal point and short-distance commuting requirements of bus transfer are met. People can flexibly plan bus routes, and transfer and waiting time is reduced.

The invention relates to a production process management method and system. The invention belongs to the technical field of production process management. The method is used for reducing the possibility that production and inventory cannot be supplied for delivery or the inventory is too large to increase the cost. According to the method and the system, real-time inventory information of productsis monitored in real time, and supply demand information of the products is monitored and calculated; the producer formulates output plan information according to the real-time inventory informationand the supply demand information of the product; historical data information and implementation planning information of a production team are acquired in real time, and production efficiency information of the production team is calculated; the production team formulates the production plan information according to the production plan information formulated by the production party and the production efficiency information of the production team, so that the production plan information achieves zero inventory and negative inventory as much as possible on the basis of meeting the supply demand,and the possibility that the production and inventory cannot be supplied for delivery or the inventory is too large to increase the cost is reduced.

The invention relates to a multi-unmanned aerial vehicle complex task planning method and belongs to the unmanned aerial vehicle field. The method includes a flight task decomposition flow, a flight behavior library design flow and an XML file editing flow; according to the task decomposition flow, behavior tree decomposition is performed on a multiple-task under execution, and behavior tree decomposition is performed on obtained single tasks; according to the flight behavior library design flow, basic behavior library and customized behavior library design is performed according to flight behaviors required in the single tasks; and according to the XML file editing flow, a customized XML format language is adopted to edit behavior tree knots obtained through decomposition. With the multi-unmanned aerial vehicle complex task planning method adopted, a user can be facilitated to plan a whole task process; task decomposition is performed according to task levels; task execution is performed according to actual conditions; and the practical problem of multi-unmanned aerial vehicle complex tasks can be solved. The method has the advantages of simple principles, flexible planning, high practicability, excellent implementation effects and the like.

The invention discloses a logistics turnover box based on food fresh-keeping transportation. An air-conditioning method is employed by the logistics turnover box, and traditional cold chain devices are not needed, and food fresh-keeping transportation can be achieved. In order to implement the method, a concrete structure of the logistics turnover box is also provided. The logistics turnover box is mainly formed by a double-faced pallet, a casing plate which is movably mounted above a chassis, dispensing containers, buckling members, a strapping tape or a fresh-keeping bag, and the dispensing containers, the buckling members, the strapping tape or the fresh-keeping bag are arranged inside or outside the casing plate. The double-faced pallet is formed in a way that an upper panel and a lower panel clamp a plurality of cylindrical pallet feet and are assembled by bolt assemblies. Each dispensing container is a unit package which contains food or air-conditioning bags. The fresh-keeping bag is a hexahedral complex fiber cloth bag, and the bag body is provided with a slide fastener opening and an air exhaust opening. According to the invention, a set of brand-new package technical scheme is provided for the cold-chain logistics industry in our country.

The invention relates to a hot rolling plan arrangement method, and belongs to the technical field of metallurgical continuous rolling. The method includes: setting a constraint function, establishing a rolling plan model, solving the rolling plan model, performing programming by employing a computer programming technology, and establishing a continuous casting and rolling production, organization, and management mode. Compared with the prior art, the beneficial effects of the method are that the plan making is flexible, mixed arrangement of different steel kinds, different thicknesses, and different widths can be performed, and crossed rolling is realized; the hot direct rolling rate of hot-rolled slabs is high, the heating time of cold-rolled plates is reduced, and energy is saved; and the function of six-in-one by three machines of the casting billet can be fully achieved, the 215OASP production line realizes tight combination of three processes including steel production, continuous casting, and rolling, and the goal of promoting energy saving and consumption reduction of steel products is achieved.

The invention discloses a network access method and device of an ad hoc network, computer equipment and a storage medium. The ad hoc network comprises a plurality of nodes, wherein at least one node is a PAN coordinator. The network access method comprises the steps of detecting whether a synchronization preamble sent by any node in the ad hoc network is received or not, and if the synchronizationpreamble sent by any node in the ad hoc network is received, realizing time and frequency domain synchronization according to the synchronization preamble and the node sending the synchronization preamble; when a networking notification of the ad hoc network is received, sending a network access request to a node sending the networking notification, wherein the network access request is sent to the PAN coordinator, and the PAN coordinator judges whether to agree with the network access request or not; if the PAN coordinator agrees with the network access request, receiving a network access notification, wherein the network access notification is sent by the PAN coordinator; and communicating with other nodes in the network according to a communication rule of the ad hoc network. In the method, the PAN coordinator collects information of network access nodes when each node accesses the network so as to flexibly plan a communication route.

The invention relates to a chassis device for a cleaning device for a glass curtain wall cleaning system. The chassis device comprises a chassis and a second transverse motion mechanism. The second transverse motion mechanism can drive the chassis to transversely move relative to a wheel set. The second transverse motion mechanism comprises a second motion block arranged on the chassis, a third stretching mechanism installed on a track, a second motor and a second guiding screw rod, the second motor is installed on the third stretching mechanism, one end of the second guiding screw rod is connected with the second motor, one end of the second guiding screw rod is connected with the second motion block, the second motor can drive the second guiding screw rod to rotate to move the chassis through the second motion block, and when the third stretching mechanism can transversely move along with the wheel set, the third stretching mechanism stretches or retracts. The second transverse motion mechanism drives the chassis to move transversely by adopting the wheel set pressed on the track as the supporting point, so that transverse motion of a cleaning robot set is achieved, the cleaning path of the cleaning robot set can be conveniently changed, and the cleaning path is more flexible.

A method for a safety-oriented industrial automation component, wherein the controller is connected to the automation component by a data link includes providing, by a user, an input to the controller at a first user interface. The controller transmits a result of the input to the automation component. The result of the input is used in the automation component to calculate a first test value. The input is converted into a status display in the controller and is output at a second user interface. Here, the user or another user acknowledges the status display by inputting a confirmation, after which a second test value is formed from the status display and the confirmation in the controller, and the second test value is transmitted to the automation component. Finally, the first and second test values are compared in the automation component and the result of the input is used if the comparison is positive.

The invention discloses a map model based on an automatic driving application scene and an application method thereof. The model comprises a geographic point cloud, a network model, a road model, a traffic model and an automatic driving behavior model. The geographic point cloud comprises an environmental element layer, a road element layer and a boundary element layer, wherein the network model comprises a public network model and an ad hoc network model, the road model comprises a mathematical element layer, a geographic element layer, an auxiliary element layer and a geographic code, and the traffic model comprises a dynamic traffic model and a static traffic model; the automatic driving behavior model comprises a truck automatic driving behavior model, a passenger car automatic drivingbehavior model, a car automatic driving behavior model and a special car automatic driving behavior model. According to the map model disclosed in the invention, traffic rules are embedded into intelligent driving, so that the map model is fused with the driving depth of the automatic driving vehicle, and the map model controls the automatic driving vehicle.

The invention relates to a method and device for recognizing a key is triggered and a mobile terminal. The method for recognizing the key is triggered is used in the mobile terminal. A display screen and the key of the mobile terminal are located on the same interface, a plurality of sensors are arranged in a preset area of the mobile terminal, and the distance between the preset area and the area where the key is located is within a preset range. The method comprises the steps that if a key signal is received, the electrical signal variation of each sensor is detected; if it is detected that the variation of the electrical signal variation of at least one sensor is larger than a preset threshold, the number of the sensors with the electrical signal variation larger than the preset threshold is obtained; if the number of the sensors is larger than a preset number, it is determined that the corresponding key is mistakenly triggered; if the number of the sensors is smaller than or equal to the preset number, it is determined that the corresponding key is triggered. By means of the method and device and the mobile terminal, whether the key is triggered or not can be recognized, the implementation mode is simple and the accuracy is high.

The invention relates to the field of microchips, and discloses chip reaction device-based water quality multi-parameter detection equipment and detection method and application thereof. The water quality multi-parameter detection equipment comprises a chip reaction device, wherein the chip reaction device comprises a manual sampler and a chip, the chip comprises a runner, a reaction pool and a sampling hole, the reaction pool communicates with the sampling hole by the runner, the manual sampler comprises a sample pool, a control part and a sample outlet part, the control part is connected with the sample pool and is used for allowing the sample to enter and maintaining the sample in the sample pool or allowing the sample to be pushed out of the sample pool by the sample outlet part, the sample outlet part is arranged at a side, opposite to the control part, of the sample pool, and the manual sampler is hermetically connected with the sampling hole of the chip. By the water quality multi-parameter detection equipment, a sample flowing mode can be accurately controlled, various functions of sampling, mixing and driving can be achieved manually, the device is simplified, and the operation controllability and repeatability are conveniently provided.

The invention discloses a special filter plate and a night viewing compatible backlight optical membrane group. The substrate of the special filter plate is infrared absorption and visible light highly transparent glass, multiple layers of interference films with less number are plated on the filter plate so as to cause the infrared light to be absorbed and reflected simultaneously, furthermore, the color closely approximating to neutral color is kept. To LED backlight and CCFL backlight, the special filter plate can be selected to be close to a backlight and a liquid crystal screen according to needs, thus obtaining the night viewing compatibility with good color consistency within the range with low radiation brightness and wider angle of view; furthermore, the brightness and color of the day and night modes of the LCD can both conform with the use requirement of aviation.

The embodiment of the invention discloses a method and device for configuring the cell bandwidth, which can be used to flexibly plan the system bandwidth of each cell and suitable for frequency spectrum resources with any width. Natural isolation of the resources is utilized to allocate frequency resources, thus each cell can use own exclusive or relatively exclusive frequency resources preferentially.

The invention relates to a planning method of an active power distribution network. The planning method of the active power distribution network comprises the following steps: (1) dividing an active power distribution network coverage area into power supply areas, and determining the position of each transformer substation; (2) according to a net load curve P(t) corresponding to each power supply area, determining a complementary property parameter Cij between any two transformer substations i and j; (3) according to the complementary property parameter Cij between any two transformer substations i and j, calculating a complementary property distance Dij between any two transformer substations i and j; (4) according to the complementary property distance Dij between any two transformer substations i and j, carrying out clustering analysis on a plurality of transformer substations so as to determine A transformer substation groups which are subjected to combined operation; and (5) adopting an intelligent algorithm to independently determine an optimal wiring scheme for each transformer substation group in A transformer substation groups which are subjected to combined operation at each moment of n moments including t1, t2...tn, and determining the optimal wiring scheme of a whole active power distribution network. The planning method can fully dig adjustable complementary characteristics among the transformer substations under the active power distribution network and effectively saves resources and cost.

The invention relates to an active power distribution network planning method which comprises the following steps: (1) dividing power supply regions within a region covered by a planned active power distribution network, and determining a position of each transformer substation; (2) determining a complementary feature parameter Cij between any two transformer substations i and j according to a net load curve P(t) corresponding to each power supply region; (3) calculating a complementary feature distance Dij between any two transformer substations i and j according to the complementary feature parameter Cij between any two transformer substations i and j; (4) performing clustering analysis on the multiple transformer substations according to the complementary feature distance Dij between any two transformer substations i and j so as to determine A transformer substation groups operating in a jointed manner; (5) respectively determining an optimal wiring solution of a whole active power distribution network of each transformer substation group in the A transformer substation groups operating in the jointed manner at each moment of n moments t1, t2... and tn by adopting an intelligent algorithm. The active power distribution network planning method can fully excavate the adjustable complementary feature among the transformer substation under the active power distribution network, so that resources are effectively saved and the cost is effectively reduced.

The invention discloses a method for dismantling and splicing cast-in-place reinforced concrete frame structure building components. The method includes dismantling a frame structure into floor slabs, secondary beams, longitudinal struts and horizontal frames in a main stress direction sequentially from top to bottom; dismantling the floor slabs by marking out dismantling strips along the peripheries of the floor slabs, crushing and removing concrete within the range of the dismantling strips, and cutting off reinforcing steel bars from the middles of the dismantling strips while leaving butts of the reinforcing steel bars on the peripheries of the floor slabs and peripheral beams so as to facilitate connection during splicing; dismantling the secondary beams and the longitudinal struts sequentially in the same way; last, dismantling beams and columns of the horizontal frames along the middle disconnection positions into +-shaped, T-shaped and L-shaped joint units. The components andthe joint units can be obtained by dismantling according to the method and can be spliced into a building frame like modular furniture, and accordingly relocation of buildings is realized.

The invention discloses a network system. The network system comprises a decoding unit, a light transmitter TX, a digital / analogue converter, a FM modulator, a light receiver RX and a FM receiver, wherein the decoding unit is used for receiving a transmission stream so as to acquire a pulse coding modulation PCM code stream according to the transmission stream and provide the PCM code stream to the TX; the TX is used for converting the PCM code stream into a digital light signal, and sending the digital light signal to the RX through a digital optical fiber; the RX is used for receiving the PCM code stream and performing photoelectric conversion on the PCM code stream to obtain a digital electric signal; the FM modulator is used for modulating the digital electric signal and sending the digital electric signal to the digital / analogue converter; the digital / analogue converter is used for converting the digital electric signal into an analogue signal, and then providing the FM receiver with the analogue signal; and the FM receiver is used for receiving the analogue signal.

The present invention provides a programming method of a wireless network, including: defining a new Blocking_Target of the base station transreceiver according to respective isolations; defining the correspondingly new RS_Target of the base station transreceiver according to the new Blocking_Target of the base station transreceiver. The programming method of the wireless network provides different Blocking_Targets and RS_Targets according to the different isolations of base stations, effectively avoiding the blocking condition easily produced by base stations which isolations are not enough caused by the same blocking index of the whole network, improving the covering ability for some base stations having better isolations at the same time. The method of the invention flexibly processes network programming, sufficiently improving the use efficiency of the limited hardware resources.

The invention relates to a night-vision compatible infrared touch screen adopting an induced transmission filter plate. The night-vision compatible infrared touch screen comprises a 940nm LED (light emitting diode) transmitting tube and a light sensing detector, and the night-vision compatible infrared touch screen is characterized in that the induced transmission filter plate which can completely absorb and reflect light except the light of 930 to 950nm is mounted on the surface of the LED transmitting tube and the light sensing detector and is of a multi-layer metal-containing structure. The radiation of the night-vision compatible infrared touch screen can meet the night-vision compatible requirement, the interference of the visible light and infrared light of the environment on an infrared detector of the touch screen can be prevented, the signal-to-noise ratio of a system can be improved, the system power consumption can be reduced, and the difficulty in software control can be alleviated.