44results about How to "Guaranteed smooth execution" patented technology

The invention relates to the technical field of sickbed control, in particular to a control system of an intelligent bed and a control method thereof. The method comprises the following steps: acquiring structural data of the intelligent bed; carrying out human body fitting area gravity sensor deployment on the intelligent bed structure data to obtain sickbed sensor deployment data; performing gravity sensor data acquisition on the sickbed sensor deployment data to obtain an initial gravity sensor data set; carrying out data matrix processing on the gravity sensor data set to generate a multi-dimensional pressure sensing matrix; acquiring user pain part data and bed board motor initial position data; and performing pressure distribution mode recognition on the multi-dimensional pressure sensing matrix to obtain a uniform distribution mode and a concentrated distribution mode. According to the invention, through the personalized support regulation, global attitude optimization and real-time feedback mechanism of the intelligent bed, the control accuracy and intelligence of the intelligent bed are improved.

The invention discloses a power distribution room remote monitoring and fire-fighting inspection system based on a cloud platform, and relates to the technical field of fire-fighting safety monitoring. The system comprises a remote monitoring module, a fire safety monitoring module and an inspection task scheduling module. And the remote monitoring module acquires and stores the running state data of the power distribution equipment in real time to realize continuous monitoring. The fire safety monitoring module obtains environment data of a power distribution room through an environment sensing unit, establishes a fire prediction model through a random forest algorithm in combination with an equipment operation state, and generates a fire prediction index. And the early warning unit simulates a fire spreading process based on the fire prediction index and predicts a fire spreading direction and an influence area. And the inspection task scheduling module intelligently distributes inspection tasks and adjusts task execution strategies in real time according to the fire risk assessment result in combination with the geographic position and the working load of the inspection personnel. The fire risk is accurately predicted and the inspection task is dynamically scheduled, so that the fire-fighting potential safety hazard of the power distribution room can be timely found and eliminated.

The invention relates to the technical field of automatic control systems, in particular to an intelligent substation sequence control method and system, and the method comprises the following steps: based on an equipment operation instruction of an intelligent substation, analyzing the logic sequence of equipment operation, extracting the state change information of equipment, and carrying out the operation analysis of equipment state and time correlation; and judging the dependency relationship through the time difference of the equipment state, and generating an equipment operation dependency model. According to the method, the resource occupation condition of the equipment is monitored through a data stream compression algorithm, load balancing is carried out, the load level of the equipment is evaluated in real time, dynamic distribution and adjustment of loads are achieved, the pressure of high-load equipment is effectively relieved, potential conflicts of the equipment during parallel execution are recognized and solved in real time by introducing an operation conflict judgment mechanism, and the safety of the equipment is improved. Smooth execution of parallel tasks is guaranteed, delay and conflict possibly occurring in the equipment execution process are effectively reduced, and continuity and reliability of a power system are guaranteed.

The invention discloses an intelligent warehousing operation auxiliary system and method based on mixed reality, and relates to the technical field of warehousing management, and the system comprises a storage stack point pre-screening module, an intelligent task planning module, a task execution monitoring module, an abnormal task execution adjustment module, and an optimal carrying equipment screening module. According to the method, the optimal storage stack point can be screened, the utilization rate of the storage space is improved, cargo extrusion or space waste caused by space mismatching is avoided, the transportation efficiency is improved, the energy consumption is reduced, abnormal conditions can be found in time, and the reliability of task execution is guaranteed. When abnormity occurs, early warning can be triggered quickly, the replacement mode of the carrying equipment can be judged reasonably, continuity and high efficiency of warehousing operation are ensured, and the overall operation efficiency of the intelligent warehousing system, the goods storage quality and the scientificity of management decision are improved.

The invention relates to a resource allocation method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that in response to an arrangement operation for an assembly line, an assembly line task is constructed and obtained, and the assembly line task comprises at least one execution step, target assembly line components associated with all the execution steps and target machine architectures corresponding to all the target assembly line components; obtaining a resource group corresponding to each execution step in the pipeline task, wherein the resource group comprises at least one building machine; target building machines corresponding to the assembly line tasks are determined from all the resource groups, corresponding task instructions are issued to all the target building machines based on the execution steps corresponding to all the resource groups, service software corresponding to the target assembly line assemblies is deployed in the target building machines, and the service software corresponds to a target machine architecture. By adopting the method, the resource utilization rate and the assembly line task execution efficiency can be improved.

The application discloses an AI identification and driving control system and method of a mobile inspection device, and relates to the technical field of driving control.The system comprises an image acquisition module, a biological identification and orientation analysis module, a same-direction pursuit judgment module, a driving direction execution module, and a continuous tracking and speed adjustment module;inspection images are acquired, target organisms are identified, and escape directions are predicted according to orientation information;whether a same-direction pursuit state is formed is determined by combining the moving direction of the device and the path area position;the driving direction is adjusted so that the included angle meets the threshold requirement and driving is performed;meanwhile, the position of the organism is continuously tracked;and collaborative control is realized by adjusting the speed and dynamically updating the driving direction.The application can effectively break the same-direction pursuit phenomenon, quickly drive the organism away from the inspection path, avoid the obstruction of the inspection process, and improve the continuous inspection operation efficiency and operation stability.

The application discloses a multi-unmanned aerial vehicle cooperative search method based on a memory-enhanced artificial honeybird algorithm, and the method comprises the following steps: a mixed space environment model containing a continuous dynamics domain and a discrete probability perception domain is constructed; environment information of neighbor nodes is acquired through an established local data link, a local map fusion strategy based on a clearance priority principle is adopted, and a local discrete probability grid map is updated; the output local discrete probability grid map, output distributed dynamic communication topology and current unmanned aerial vehicle state are taken as inputs, a multi-target fitness function is constructed, a memory-enhanced MA-AHA path planning algorithm is executed, and an optimal navigation target point is generated; the optimal navigation target point is converted into a speed control instruction to drive the unmanned aerial vehicle to move; and when it is detected that the unmanned aerial vehicle appears in a motion deadlock, a multimode deadlock recovery mechanism is used to correct the speed instruction. The application can significantly reduce the average flight path length of the unmanned aerial vehicle group and effectively save the energy consumption of maneuvering.

The utility model discloses an efficient plate labeling machine with an automatic decontamination mechanism, which relates to the technical field of plate processing equipment and comprises a labeling machine body and a transmission belt arranged on the labeling machine body. A protection shell is arranged on the right side of the upper end of the transmission belt, a plate body is arranged in the protection shell, a reciprocating sweeping mechanism is arranged on the protection shell, and a driving gear is fixedly installed at the output end of the motor. The utility model discloses an efficient plate labeling machine with an automatic decontamination mechanism. The driving gear and the driven gear are meshed with each other so as to drive the driven gear to rotate, the driven gear further drives the rotating shaft to rotate, the rotating shaft drives the sweeping rod to rotate along with the rotating shaft, the driving gear further drives the straight tooth rack to rotate, the straight tooth rack moves in the guide groove, and the straight tooth rack and the driven gear are meshed with each other. And the driven gear can move in a reciprocating mode, so that the plate body is repeatedly cleaned, and it can be ensured that dust on the surface of the plate is thoroughly cleaned.

The invention discloses a weight matrix processing method and device, equipment, a storage medium and a product. The method comprises the steps that a target weight matrix is loaded; wherein the target weight matrix is a third-precision weight matrix which is arranged in a preset format and is formed by packaging a first-precision weight matrix; carrying out unpacking and inverse quantization processing on the target weight matrix to obtain a weight matrix with second precision; wherein the third precision is higher than the second precision, and the second precision is higher than the first precision; and storing the weight matrix with the second precision to an on-chip storage unit so as to be loaded to a tensor core to execute matrix multiplication operation. According to the embodiment of the invention, the weight matrix can be compatible with the operation logic of tcore, so that the matrix multiplication operation can be smoothly completed in the tcore.

The present invention provides a fusion scheduling method and device based on graph data lineage in a full-load scenario, the method comprising: when a source table triggers an update, querying the sub-tables of the source table level by level, treating the multi-level sub-tables triggered this time as the first task batch; obtaining at least one first task batch; performing a first rule check on the sub-tables in the same first task batch before scheduling execution, and the sub-tables that pass the first rule check will be scheduled for execution; for tasks in the pre-execution queue, according to the configuration rules, the N first task batches in the queue are merged to obtain a second task batch; after the task batches in the queue to be executed are completed, the second task batch is pulled for execution. The fusion scheduling method and device based on graph data lineage in a full-load scenario provided by the present invention optimize the task scheduling execution strategy according to lineage information, reduce repeated execution, and ensure the smooth operation of more tasks under limited resources.

The invention provides a system restart control device and method and network equipment. The system restart control device comprises a CPU (Central Processing Unit) and a logic processing control module, the CPU is connected with the logic processing control module through a management bus; the logic processing control module is used for transmitting the hot restart instruction to the CPU when the remote restart instruction is identified to be the hot restart instruction; the CPU is used for controlling and executing a hot restart process through the software which obtains the soft restart instruction; and the logic processing control module is also used for controlling the execution of a cold restart process when the identified remote restart instruction is the cold restart instruction. According to the method, the cold restart process can be directly executed through the logic processing control module, manual intervention is avoided, and the problem that a remote restart instruction cannot be responded due to system software abnormity is effectively solved.

The utility model discloses a multi-task cooperative control device of an intelligent truss manipulator, which comprises a bottom plate, a first conveying assembly, a second conveying assembly, a conveying-out assembly, two clamping mechanical arms and a distribution device, and is characterized in that the first conveying assembly and the second conveying assembly are arranged on the bottom plate side by side; the conveying-out assembly is arranged at the other end of the bottom plate in parallel. The two clamping mechanical arms are arranged at one end of the first conveying assembly and one end of the second conveying assembly correspondingly. The distribution device comprises a supporting frame, a distribution assembly and a control assembly, and the supporting frame is arranged on the bottom plate; the distribution assembly is arranged on the supporting frame in a sliding mode. The control assembly is arranged on the distribution assembly. Therefore, the problems that in the prior art, an intelligent truss mechanical arm is low in efficiency, poor in collaboration, insufficient in flexibility, weak in conflict processing capacity and the like in the aspect of multi-task cooperative control are effectively solved, efficient, flexible and safe material conveying and operation are achieved, and remarkable advantages are brought to industrial automatic production.

The invention discloses a quadruped robot control method, device and equipment and a medium, and relates to the field of rail train operation and maintaining.The method comprises the steps that current operation state information and current external disturbance of a quadruped robot are obtained; estimating external disturbance at the next moment through a sliding mode observer based on the current operation state information and the current external disturbance to obtain estimated external disturbance; based on the estimated external disturbance and the current operation state information, predicting the operation state of the next moment by using a model prediction control algorithm to obtain predicted operation state information; and mapping the current operation state information and the estimated external disturbance to a joint space through an inverse dynamic model to obtain a predicted joint torque, and driving the joint to rotate according to the predicted joint torque. According to the method, the traffic capacity and the posture of the robot in a complex scene can be kept, and the risks of forward inclination and backward inclination are effectively restrained.

The invention discloses a robot tail end trajectory planning method based on dynamic visual feedback, which belongs to the field of industrial robots, and comprises the following steps: firstly, shooting two adjacent images by using a camera carried at the tail end of a robot in a moving process, and forming a dynamic stereoscopic vision system through the movement of a single camera; the positions of virtual optical axes of the two images are continuously rotated and recovered through a reset method, reset calibration of corresponding epipolar lines is achieved, denoising of the three-dimensional images is achieved by continuously using a Gaussian filter, a mean filter and a Laplacian filter, detail features are sharpened, a parallax map is generated through a staged decision matching method, and the three-dimensional image is obtained. And finally, taking parallax map information as limit-level parameters and taking information such as positions, postures, speeds and accelerations of all joints and the tail end of the robot as input to be incorporated into a Faster-R-CNN deep network, accurately determining a candidate data set through an RPN layer, improving the optimization speed, and rapidly obtaining the optimal trajectory of the tail end operation of the robot.

This application relates to a vehicle-side software architecture, a vehicle's electronic and electrical architecture, and a vehicle, falling under the field of vehicle technology. The vehicle-side software architecture includes a cross-domain service layer, an enhanced service layer, an atomic service layer, and a device abstraction layer deployed on the vehicle's area controller and communicating sequentially, as well as an electronic control layer that communicates with the enhanced service layer. The cross-domain service layer is used for communication between the area controller and other vehicle domain controllers. The enhanced service layer performs logical judgments on control request signal groups and transmits target control signals to the cross-domain service layer and the atomic service layer. The atomic service layer, based on the target component control service pointed to by the target control signal, calls the device abstraction layer to control the corresponding vehicle components to perform control functions. The device abstraction layer provides a standard abstraction of hardware interfaces to enable communication between components and the atomic service layer. The electronic control layer provides a standard interface for communication protocol interfaces to enable communication between components and the enhanced service layer. This approach is beneficial for improving the overall vehicle intelligence level and development efficiency.

The invention relates to the technical field of remote control and communication, and discloses an unmanned ship cluster remote control method and system, and the method comprises the following steps: building a communication link among a console, a remote control server and unmanned ships based on a communication technology; according to task requirements, the cluster console or the single-boat console is matched with the unmanned boat through the remote control server, and connection between the cluster console or the single-boat console and the predetermined unmanned boat is determined; dividing the task into a plurality of sub-tasks through a hierarchical planning method, and allocating the divided sub-tasks to the corresponding unmanned surface vehicles by using a graph neural network algorithm to generate corresponding control instructions; the cluster console or the single boat console sends a control instruction to the corresponding unmanned boat through the remote control server, and the unmanned boat receives the control instruction and executes a corresponding control action. According to the invention, flexible and efficient control of the unmanned ship cluster is realized, so that the working efficiency and task coordination can be effectively improved.

The utility model belongs to the technical field of lithium ion batteries, and particularly relates to a surface hot melt adhesive pasting device for a soft package lithium ion battery pole group. Comprising a hot melt adhesive pasting mechanism, an adhesive pulling clamping jaw, a hot melt adhesive clamping clamping jaw, a ceramic passing roller, a tension control roller, a digital display position adjusting hand wheel, an adhesive pasting mechanism base, an adhesive pasting mechanism mounting plate, a hot melt adhesive unwinding roll, an adhesive tape unwinding motor, a damping controller and a release paper winding roll. According to the device, the pasting accuracy and stability of the hot melt adhesive tape on the surface of the soft package lithium ion battery pole group are remarkably improved. The three-channel adhesive suction plate sequentially blows air to the air channels according to the adhesive tape pasting length, the undesirable situation that the hot melting adhesive tape is wrinkled during adhesive tape pasting can be effectively reduced, it is ensured that the adhesive tape is tightly and flatly pasted, and the pasting quality is improved.

The present invention provides a mining equipment power intelligent control method and system, and relates to the technical field of mining equipment. The method comprises: obtaining the power and multiple current data of the mining equipment, as well as the environmental data of the mining area; determining the overload score; determining the safety score; obtaining the mining volume and the remaining target mining volume; determining the completion score; determining whether the power of the mining equipment in the next control cycle needs to be adjusted according to the overload score, the safety score and the completion score; if the power of the mining equipment in the next control cycle needs to be adjusted, then determining the power of the adjusted mining equipment according to the power, current data, environmental data, mining volume and the remaining target mining volume of the mining equipment in the current control cycle; at the beginning of the next control cycle, setting the power of the mining equipment to the power of the adjusted mining equipment. According to the present invention, the power of the mining equipment can be adjusted to improve the efficiency of the mining equipment.

The application provides a SQL statement processing method and device and electronic equipment, and relates to the technical field of databases. The method comprises the following steps: obtaining an untyped syntax tree of a SQL statement; the untyped syntax tree comprises a plurality of nodes; determining a target node to be bound in the plurality of nodes according to a pre-obtained node binding sequence diagram; determining a previous node of the target node according to a node reference relationship diagram; obtaining a virtual table of the previous node; binding the target node based on the virtual table of the previous node, and determining a next target node to be bound until the binding of all nodes, so as to convert the untyped syntax tree into a typed syntax tree. The device is used for executing the above method. The SQL binding process in the SQL compiling process is independently implemented, and during the binding, the data type assignment and semantic verification are implemented according to the virtual table of the previous node. Since the binding methods of each node are the same, the code complexity can be reduced, and the expansibility and maintainability of the code are improved.

The invention relates to the technical field of heterogeneous task scheduling, in particular to an edge computing node-oriented heterogeneous task adaptive scheduling system, which comprises the following modules: a task monitoring module, which is used for collecting the resource state and task execution information of each edge node in real time and generating corresponding task execution state data; and the task graph construction module is used for constructing a task execution graph according to the task execution state data, nodes represent calculation units, edges represent task dependency relationships, the task execution graph is dynamically adjusted according to the real-time state of each node, and the execution sequence and the dependency relationships of the tasks are reconstructed. In the invention, the task graph construction module and the mode adjustment module are used for realizing the self-adaptive reconstruction of the task execution mode, the task can be split into parallel subtasks or staged tasks under the condition of resource limitation or node load fluctuation, and an approximate model is established for an approximate calculation task for processing; therefore, the key task can be smoothly executed in a complex resource environment.

This utility model relates to the field of antenna assembly production equipment technology, and in particular to an antenna assembly transfer carrier device, comprising: a carrier base plate, wherein there are two carrier base plates, and the two carrier base plates are arranged vertically to form a transfer carrier; a reference base, wherein the reference base is fixed on the upper surface of the upper carrier base plate, and a plurality of limiting blocks are fixedly installed on each reference base; a driving component is arranged between the carrier base plates; and terminals, inserts, and die-cast parts are also arranged on the reference base. The inserts are arranged between the plurality of limiting blocks, the terminals are arranged between the inserts, and the die-cast parts are arranged on one side of the limiting blocks. The mechanical cooperation between the positioning pins on the transfer carrier and the positioning holes opened on the bottom of the inserts, combined with the positioning constraints of the reference base and the limiting blocks, achieves high-precision positioning of the inserts, terminals, and die-cast parts throughout the assembly process, thereby effectively reducing assembly errors and ensuring the consistency of antenna assembly component assembly and product quality.

The invention relates to the technical field of welding automation and vision measurement, in particular to a gantry spot welding laser measurement and self-adaptive deviation correction method and equipment. The method aims at solving the problem that welding spot positioning is inaccurate due to manual installation and machining errors. The method comprises the following steps: acquiring an image of a welding part through a laser tracking sensor, extracting feature points from the image by adopting a horizontal intersection method, and converting the feature points into actual three-dimensional coordinates; standard coordinates in the formula are read, deviation is calculated, and three-level state judgment is carried out; the electrode holder is automatically driven to rectify deviation or enter a man-machine cooperation exception handling process according to a judgment result; and after deviation rectification, retesting is triggered, and final welding or reprocessing is decided according to a retesting result. Equipment for realizing the method comprises a sensor unit and an integrated control cabinet which are arranged on the welding tongs. Accurate positioning and self-adaptive closed-loop deviation correction of welding spots can be achieved, and the welding quality, efficiency and automation level are remarkably improved.

This utility model discloses a sound insulation and noise reduction device for an air conditioning room, including a cabinet. A cabinet door is rotatably mounted on one side of the cabinet. Sound insulation panels are mounted on both the side of the cabinet door and the inside of the cabinet. Quick-lock sleeves are mounted on both the outside of the cabinet and the outside of the cabinet door. A quick-lock rod is mounted inside the quick-lock sleeve. A rotating plate is rotatably mounted on the outside of the quick-lock sleeve. An arc-shaped groove and a round hole are opened on the rotating plate, with the round hole at one end of the arc-shaped groove. A limiting sleeve is slidably mounted on the outside of the quick-lock sleeve. A round rod is mounted on one side of the limiting sleeve, and a round plate is mounted on the round rod. A rotating sleeve is rotatably mounted on the outside of the quick-lock sleeve. A release groove is opened inside the rotating sleeve with a variable diameter. A rotating frame is mounted on one side of the rotating sleeve. A limiting rod is slidably mounted in the rotating frame. A limiting plate is mounted at one end of the limiting rod. A release plate is slidably mounted in the release groove. A movable groove is opened on the outside of the quick-lock rod, and a quick-lock plate is mounted in the movable groove. Rotating shafts are located on both sides of the quick-lock plate. This utility model enables convenient disassembly and assembly of the sound insulation panels without the need for tools and ensures the installation stability of the sound insulation panels.

The invention relates to the technical field of mobile communication, in particular to a digital human image downloading method and device, computer equipment and a storage medium. The method comprises the following steps: in a digital human communication process, receiving a digital human image downloading request sent by a first terminal; wherein the digital human image downloading request carries a target digital human identifier corresponding to the first terminal and first terminal identity identifier information; after the digital human image downloading request passes the verification, downloading a target digital human image corresponding to the target digital human identifier; and sending the target digital human image to the first terminal, so that the verification process for the digital human communication authority is perfected in the process of downloading the digital human image, and the situation that the digital human communication of the terminal is abnormal due to the fact that the terminal lacks the digital human communication authority and / or the target digital human image use authority is prevented; the digital human communication process of the terminal is ensured to be carried out smoothly, and the digital human communication function is ensured to be carried out smoothly.

The invention discloses a robot joint motor actuator. The robot joint motor actuator comprises a shell; a motion unit; the torsion multiplication assembly is arranged in the shell; the torsion multiplication assembly comprises an output unit, the output unit comprises a connecting rod, and the connecting rod is connected with a first driven gear and a second driven gear; a first torque multiplication unit engaged with the first driven gear to amplify a torque transmitted from the first torque multiplication unit to the output unit; a second torque multiplication unit engaged with the second driven gear to amplify the torque transmitted from the second torque multiplication unit to the output unit; and the motion unit is simultaneously in power transmission connection with the connecting rod and the second driven gear to drive an external mechanism to move. The output torque of the joint motor actuator is increased, the overall transmission efficiency and stability of the robot can be improved, the working efficiency is optimized, and the application range is widened.

The application discloses a hot oil abrasion test equipment for a rolling friction sleeve of an electronic disconnector, which comprises a tool seat, a tool frame and a main shaft shafting, the friction sleeve is detachably connected to the main shaft shafting, an oil bath heating box for placing the friction sleeve is arranged on the tool seat, a driving piece for driving the main shaft shafting to rotate is arranged on the tool frame, a secondary friction assembly for cooperating with the friction sleeve is arranged on the oil bath heating box, a loading structure for providing a controllable loading force to the secondary friction assembly and accurately detecting the micro-abrasion displacement of the secondary friction assembly is arranged on the tool frame, and an eccentric posture adjusting structure for adjusting the relative position and angle of the secondary friction assembly is arranged on the oil bath heating box. The application solves the problem that the prior art lacks a special test equipment for the rolling friction sleeve of the electronic disconnector of a new energy vehicle, so that the high-temperature hot oil lubrication, rotating operation, controllable load and eccentric posture multi-parameter coupling working conditions of the real work cannot be reproduced synchronously.

The invention discloses a ship electronic information system task reliability qualitative analysis method and device, a medium and a product, and relates to the field of task reliability analysis. The method comprises the steps that after an SFT model is constructed based on external influence factors, features and a probability function equation are solved; constructing a reliability block diagram of each stage based on a solving result and the internal influence factors, converting the reliability block diagram into an SFT model, and performing equivalence on the SFT model based on an infinitesimal substitution principle and performing integration to obtain an ISFT model of the whole stage; representing a structure function as a Boolean function based on an overall stage ISFT model, and obtaining system reliability through non-intersection; a basic event is determined based on system reliability, an AHP model is established, after an AHP judgment matrix is obtained, the weight of each layer in the AHP model is determined, hierarchical sorting and consistency verification are carried out, and qualitative analysis of task reliability is achieved. The problems that an existing reliability analysis method is poor in qualitative effect, incomplete in analysis and the like can be solved.

The embodiment of the invention provides an information processing method and device, electronic equipment, a storage medium and a program product. The method comprises the steps of determining an application node of a target lending service and a configuration rule of the application node according to identity information and service place information of the target lending service applied by a first applicant; generating and displaying an application filling interface according to the application node and a configuration rule of the application node; in response to an input operation of the first applicant on the application filling interface, obtaining application information of the application object; authentication information is sent to the first applicant and the second applicant according to the first authentication approach information and the second authentication approach information in the declaration information; receiving authentication result information fed back by the first applicant and the second applicant according to the authentication information; and executing the target lending service according to the authentication result information. The method is used for achieving the effect of improving the business handling efficiency.

The invention discloses an all-terrain multifunctional vehicle satellite navigation method and system, relates to the field of all-terrain multifunctional vehicle satellite navigation, is used for improving the navigation reliability and safety of an all-terrain multifunctional vehicle in a complex terrain, and comprises the following steps: obtaining the current position of the vehicle and the actual signal characteristics of a satellite signal received by the vehicle; calculating an expected signal characteristic of the satellite signal according to the current position of the vehicle and preset known environment data; according to the actual signal characteristics and the expected signal characteristics, determining whether signal abnormity exists or not; under the condition that the signal is abnormal, determining whether an abnormal area exists in a preset path going to the destination or not; and under the condition that the abnormal area exists in the preset path, generating an alternative path for avoiding the abnormal area so as to go to the destination.