74results about How to "Increase autonomy" patented technology

The invention discloses a satellite autonomous task planning method and system based on a ground digital mirror image, and belongs to the technical field of spacecraft measurement and control. Through the states of a satellite-ground link synchronous satellite and a ground digital mirror image, a task request is received in the ground digital mirror image, a planning algorithm is operated, a candidate scheme is generated for high-fidelity simulation deduction and verification, a feasible scheme is evaluated and selected and converted into an instruction sequence to be uploaded to a satellite, the satellite executes an instruction and feeds back the state, and a closed loop is formed. According to the method, a complex planning and verification process is placed in a ground digital mirror image, the efficiency and reliability of task planning are remarkably improved by using the strong computing power of the ground, meanwhile, the autonomous operation capability of a satellite is improved, and the problems that traditional satellite task planning is slow in response and poor in reliability, and the autonomous planning capability of a pure satellite is weak can be solved.

This application discloses a method, device, electronic device, and storage medium for obstacle avoidance navigation for the blind, relating to the field of computer technology. The method includes: performing target detection on the current environmental image of a preset environmental area to obtain the obstacle type of each obstacle; determining the obstacle weight factor of the corresponding obstacle based on the obstacle type of each obstacle; and determining the speed sensitivity coefficient of the corresponding obstacle based on the current obstacle data of each obstacle and the historical obstacle data of the corresponding obstacle; determining the noise interference coefficient of the preset environmental area at the current moment based on the current signal strength in the current voice data of the preset environmental area; and determining the obstacle avoidance risk index of the corresponding obstacle based on the noise interference coefficient, the current obstacle data of each obstacle, the obstacle weight factor, and the speed sensitivity coefficient; and performing graded obstacle avoidance navigation for the blind based on the obstacle avoidance risk index of each obstacle, which can effectively help the blind avoid dangers in complex environments.

The utility model relates to a cleaning robot and a cleaning system. The cleaning robot comprises a body and a lifting mechanism, and the lifting mechanism is arranged on the body and used for driving at least one side of the body to be lifted. The lifting mechanism comprises at least two walking assemblies, a transmission assembly and a driving assembly, each walking assembly comprises a wheel shell and a wheel rotationally arranged on the wheel shell, the wheel shells are connected with the body, the transmission assembly is connected with the at least two wheel shells, and the driving assembly is connected with the transmission assembly. In the process that the driving assembly drives the transmission assembly to move from the first position to the second position, the transmission assembly applies acting force facing the target face to at least one of the at least two wheel shells, so that the first side of the body is driven to be lifted relative to the target face when the at least two wheel bodies are supported on the target face. The cleaning robot in the embodiment of the utility model can autonomously get out of trouble and pass through the obstacle through the lifting mechanism, a user does not need to frequently intervene manually, and the use experience of the user is improved.

The application discloses a kind of based on layered multi-agent deep reinforcement learning's unmanned aerial vehicle cluster task planning algorithm and its evaluation method, belong to unmanned aerial vehicle technical field, solve the current unmanned aerial vehicle cluster collaborative task planning problem solving algorithm generally exists online solving efficiency is low, large amount of computation, poor stability, difficult to apply to complex dynamic scene etc.The application first establishes the cluster task allocation and flight path planning problem part Markov decision process model respectively;Second, a layered deep reinforcement learning framework based on multi-agent deep reinforcement learning is proposed, through coupled training, hierarchical solving method, the task allocation and flight path planning associated coupling problem is solved simultaneously;Also based on UE4 and Airsim build unmanned aerial vehicle cluster combat simulation environment, design evaluation index, the result shows that the application has good performance in cluster task planning, can effectively improve the intelligentization and actual combat level of cluster combat.

A method for autonomously detecting high-pressure gas path leaks in a propulsion system over a long lifespan is presented. This method solves the problem of satellites autonomously determining whether high-pressure gas path leaks based on their own on-orbit operating conditions in real time. It is applicable to the autonomous fault diagnosis of high-pressure gas path leaks in bi-component propulsion systems during long-term on-orbit operation. This invention calculates propulsion consumption in real time using the BK method, and then calculates the amount of compressed gas entering the storage tank through the high-pressure gas path system to obtain the remaining compressed gas pressure. If the pressure is significantly lower than the calculated value, a leak is detected in the high-pressure gas path system, thus achieving real-time monitoring of high-pressure gas path system leaks. This method requires minimal computation and resources, is highly operable, and only needs to utilize current satellite telemetry data. Through the calculation method for autonomously detecting high-pressure gas path leaks in the propulsion system, it achieves effective detection of gas path leaks over a long lifespan, saving significant manpower and resources for periodically checking for high-pressure gas path leaks.

This invention belongs to the field of robotic vacuum cleaner technology, specifically relating to an adaptive cleaning method and system for robotic vacuum cleaners based on debris recognition. The invention includes generating a deviation cleaning path from an initial cleaning path. Specifically, this involves acquiring images of debris within the cleaning area, determining the distribution location information of the debris based on the images, generating an initial cleaning path based on the distribution location information, identifying the intersection area between the initial cleaning path and the debris distribution location information, and generating a deviation cleaning path to cover the debris corresponding to the intersection area. By generating a deviation cleaning path, this invention achieves precise cleaning of the debris's distribution location information, thereby improving the cleaning task coverage and ensuring thorough cleaning of the debris area. Simultaneously, the closed-loop optimization process established in this invention enables the robotic vacuum cleaner to possess adaptive learning and continuous optimization capabilities, enhancing its autonomy and robustness in complex environments.

The invention provides a dual-core hemispherical inertial navigation voltage sensitivity coefficient online identification and self-calibration method, which comprises the following steps: respectively constructing equivalent virtual angular rate excitation under electrostatic driving for each hemispherical resonator gyroscope, and determining a driving voltage for calibration; excitation is applied to the two coaxial hemispherical resonator gyroscopes according to a preset rule, and the output angular velocity and the standing wave azimuth angle are collected; establishing a difference observation model; establishing a Kalman filtering equation based on the difference observation model, wherein the Kalman filtering equation comprises an observation matrix, observed quantity and state quantity; kalman filtering is carried out on angular velocities and standing wave azimuth angles output by the two coaxial hemispherical resonator gyroscopes based on the established Kalman filtering equation, and a voltage sensitivity coefficient and a zero offset coefficient are solved. And writing the calculated voltage sensitivity coefficient and zero offset coefficient into a calibration register of the corresponding hemispherical resonator gyroscope. According to the technical scheme, the technical problem that in the prior art, a single gyroscope is prone to external interference, and consequently calibration precision is poor is solved.

The application belongs to the technical field of robots, and discloses a three-dimensional force sensing-based detection and balance control method and system for a legged robot. The method comprises the following steps: determining the number of the leg of the multi-legged robot that slips according to a three-dimensional force signal of the multi-legged robot in contact with the ground; and adjusting the multi-legged robot in the following manner when slipping occurs: (1) adjusting the height of the center of mass of the multi-legged robot; (2) for the leg that slips, actively adjusting the joint stiffness and joint damping of the leg to relieve instantaneous impact; applying foot end acceleration and adjusting normal support force to suppress slipping; and adjusting the target foot landing point at the next time. Through the application, the balance of the robot can be quickly restored after slipping occurs, the risk of instability is reduced, and the stability of the robot in a complex environment is ensured.

The utility model relates to the technical field of modeling toys, in particular to a modeling toy capable of swinging leftwards and rightwards, which comprises a front shell and a rear shell, a machine core is arranged in the front shell and the rear shell, a machine core fixing part upper shell is sleeved at the upper end of the machine core, and a machine core fixing part bottom shell is sleeved at the lower end of the machine core. A driving gear is rotationally connected to the outer surface of the machine core fixing piece upper shell, a screw is connected between the driving gear and the machine core fixing piece upper shell, a machine core protection piece ratchet wheel is embedded in the other side of the machine core, a driving piece is fixed to the outer surface of the machine core protection piece ratchet wheel, and through mutual transmission between the driving gear and the driving gear, the machine core protection piece ratchet wheel is driven to rotate. According to the utility model, the function of swinging the shell of the product is achieved by matching with the power output of the machine core, the modeling can be spliced and expanded by matching with the assembling column outside the product, the autonomy of children is increased in the playing process, the intelligence of the children is promoted, the children feel more fun, and the diversification of the modeling is realized.

The utility model discloses a speed changer of toy car, including speed changer body and drive arrangement, speed changer body includes driving rod, conversion subassembly, first gear train subassembly and second gear train subassembly, first gear train subassembly, conversion subassembly and second gear train subassembly are sequentially inserted on driving rod, the output of drive arrangement is connected with the input of driving rod, wherein, when first gear train subassembly is connected with conversion subassembly, driving rod drives first gear train subassembly to rotate, and first gear train subassembly is connected first output through first drive link, and speed changer is in acceleration state, when second gear train subassembly is connected with conversion subassembly, driving rod drives second gear train subassembly to rotate, and second gear train subassembly is connected second output through second drive link, and speed changer is in deceleration state. Children observe the rotation and switching process of gear intuitively in playing. Cultivate their interest in science and technology in the form of play.

The limb measuring assembly comprises a standing plate, the left end and the right end of the bottom of the standing plate are each fixedly provided with an anti-skid pad, the anti-skid pads are symmetrically arranged front and back relative to the vertical central axis of the standing plate, the standing plate is arranged in an L-shaped structure state, and a first measuring plate is rotationally connected to the rear end of the standing plate; the rear end of the first measuring plate is rotatably connected with a first fixing bolt, the first fixing bolt penetrates through the first measuring plate and is fixedly connected with the standing plate, the interior of the first measuring plate is rotatably connected with a threaded rod, a rod body of the threaded rod is slidably connected with a connecting block, and the left end of the front of the first measuring plate is provided with a second measuring plate. According to the limb measurement assembly, measurement can be independently completed through standing of a measured person without assistance of other people, meanwhile, a more stable posture can be provided through standing, more accurate limb data can be obtained, and therefore autonomy and convenience of measurement are enhanced.

This application discloses a control method, apparatus, and self-moving device for a mobile device. The self-moving device includes a main body with a height-adjustable ranging component mounted on its top. The main body also includes a spatial information sensor. The control method for the self-moving device includes: acquiring real-time location information of the self-moving device; and controlling the lifting state of the ranging component based on historical map information and the real-time location information. The historical map information includes the location information and height information of the low-lying space. By intelligently controlling the lifting state of the ranging component using historical map information and real-time location information, the self-moving device can adapt to environments at different heights without relying on additional distance sensors, preventing the self-moving device from bumping into the ranging component when passing through low-lying spaces.

This application relates to the fields of power technology and energy storage technology, and in particular to a method, apparatus, equipment, and medium for scheduling a grid-connected distributed energy system. The system includes at least one edge energy node, a distribution bus, and an energy metering device. When any edge energy node enters the current cycle, the system acquires the net external power collected by the energy metering device and compares it with the target power to obtain a power deviation value. Based on the power deviation value and the energy state information of the edge energy node, droop control calculation is performed to obtain the current energy storage output power. Based on the current energy storage output power, power output is executed and the cycle repeats. This application establishes independent control of each edge energy node in the grid-connected distributed energy system through droop control calculation. It effectively achieves coordinated control of system-level power without the need for a central controller, improving the reliability, autonomy, adaptability, and real-time performance of the grid-connected distributed energy system control.

This utility model relates to a novel high-voltage cable coupler, comprising a coupler plug, a coupler socket, a measurement module, and an energy harvesting module. Windows and / or aviation sockets are provided on both the coupler plug and the coupler socket. The measurement module and the energy harvesting module are encapsulated within the entire cable coupler. The high-voltage cable coupler in this design has windows for wireless communication, optical detection, and image recognition functions. This design detects the ambient temperature and humidity, arc light, contact temperature, electrical quantities, and internal temperature of the high-voltage cable coupler, providing support for intelligent monitoring and status judgment, fault detection, and location of the high-voltage cable coupler. The energy harvesting module in this design features adaptive energy management, adapting to various complex environments, eliminating the need for an external power source, freeing it from energy constraints, improving equipment autonomy, reliability, and sustainability, and reducing maintenance costs.

The utility model relates to the field of old people health auxiliary technology discloses an old people bedside handrail of convenient storage, including limiting mechanism, storage mechanism and auxiliary mechanism, the limiting mechanism is located inside the storage mechanism, the storage mechanism is located the both sides of auxiliary mechanism, the limiting mechanism includes handrail body, the inner wall fixedly connected with fixed plate of handrail body, the surface fixedly connected with fixed column on the limiting plate upper end, the upper end fixedly connected with the sliding block of fixed column, the inner wall sliding connection with the limiting block of handrail body, the bottom fixedly connected with the long board of limiting block, the utility model discloses through the cooperation of limiting mechanism and storage mechanism, when not needing using handrail body, the old people pull sliding block and remove the limiting of link column, thereby smoothly put handrail body into the storage box inside, rotate long board and put it into auxiliary box, whole operation process is convenient and fast, ensures the safety and reliability in the use process.

A method for planning an autonomous landing safe trajectory suitable for UAV inspection is proposed. After the UAV takes off, it acquires the current pose of the UAV, the point cloud map information of the surrounding environment, and the spatial orientation of the target point. By establishing the spatial transformation relationship between the camera coordinate system and the body coordinate system, the orientation vector relative to the ground target is calculated, and the target point is generated within the radar-sensible area. Based on the generated target point, an optimization function that minimizes the fourth derivative is constructed based on multiple high-order polynomials to generate a smooth trajectory with continuous position, velocity, and acceleration. The initial trajectory is transformed into a B-spline curve, and local trajectory segments with collision risk are optimized. A segmented penalty mechanism is designed based on the boundary threshold to guide the trajectory away from the boundary area. The time span is adjusted by calculating the trajectory derivative over-limit ratio, and a trajectory similarity cost function is introduced to ensure that the final optimized trajectory maintains the original geometric structure, thereby achieving trajectory control optimization and safe landing of the UAV.

The utility model belongs to the technical field of photovoltaic panel cleaning, and particularly relates to a novel photovoltaic cleaning robot which comprises a photovoltaic cleaning robot body, and the photovoltaic cleaning robot body is composed of an adjustable supporting mechanism, a driving mechanism, a walking mechanism and a cleaning device. The adjustable supporting mechanism comprises a first supporting plate, a second supporting plate, a third supporting plate, a sectional material, two connecting frame bodies and two guide wheels, the sectional material penetrates through rectangular holes in the first supporting plate, the second supporting plate and the third supporting plate, and the two connecting frame bodies are fixedly connected with the first supporting plate and the third supporting plate correspondingly; guide wheels are mounted on one surfaces of the two connecting frame bodies; by designing the walking mechanism, the walking mechanism is located on the upper portions of the photovoltaic panels, and the photovoltaic cleaning robot can move front and back no matter the adjacent photovoltaic panels are installed in a staggered mode or the installation heights are inconsistent. And meanwhile, guide wheels are mounted on the left side and the right side of the photovoltaic cleaning robot, so that the photovoltaic cleaning robot can smoothly span when the photovoltaic panel is mounted in a staggered manner.

The invention discloses an inertial navigation device and method integrating an optical flow sensor and a barometer, and relates to the technical field of inertial navigation positioning. Comprising a main controller module, an inertial navigation module, an optical flow sensor module and a barometer module. The method is characterized in that inertial trajectory capture is realized on the basis of a six-axis IMU attitude sensor module IM600. The IM600 is not provided with a magnetometer, so that drift of a yaw axis can be caused in attitude settlement, and the optical flow module, the barometer and the attitude sensor module are selected for data fusion to compensate possible errors. The main controller uses an STM32F1 series chip to realize data communication and fusion of the sensors, and finally realizes output of data of the last three positions. The optical flow data is creatively utilized to compensate the course angle drift of the IMU without the magnetometer, the vertical precision is improved by combining with the barometer, high-precision and autonomous three-dimensional navigation independent of geomagnetism and GPS is realized, and the method is suitable for positioning of unmanned aerial vehicles, robots and the like in complex environments.

The embodiment of the invention provides a control method and device of self-moving equipment, equipment, a medium and a program product, and relates to the technical field of intelligent control. The method comprises the following steps: if a pulse signal is detected from sensing signals acquired by a pressure sensor, determining a characteristic value of the pulse signal; wherein the characteristic value is used for representing a rainfall state in an environment where the self-moving equipment is located; and controlling the movement of the self-moving device based on the characteristic value. According to the embodiment of the invention, the self-moving equipment can actively sense the rainfall environment, and the robustness and autonomy of the self-moving equipment in the outdoor environment are improved.

The invention discloses an unmanned aerial vehicle control method, electronic equipment, a storage medium and a system. The method comprises the following steps: acquiring state data and environment data of an unmanned aerial vehicle through a flight control module; the state data and the environment data are transmitted to an edge computing power module through a first communication link, and the first communication link is a broadband communication link; the state data and the environment data are processed through an edge computing power module, and a decision instruction is generated; the decision instruction is sent to a flight control module through a second communication link, and the second communication link is a real-time communication link; and executing the decision instruction through the flight control module to drive an execution mechanism of the unmanned aerial vehicle.

The application discloses a kind of unmanned plane flight control method, device, unmanned plane and storage medium, the method includes: obtaining IMU data, laser radar data, determine unmanned plane current position and attitude information;Obtain the depth map data of camera, convert it into point cloud data, and construct unified environment model;Based on the dynamics constraint of environment model and unmanned plane, the feasible path from current position to target point is planned out using path planning algorithm;According to the path point sequence on feasible path, generate corresponding control instruction, drive unmanned plane to fly along feasible path autonomously;Use visual image to identify target, dynamically adjust the speed and attitude of unmanned plane according to the position deviation between unmanned plane and target point, realize accurate following to target point.The above scheme significantly improves the autonomy and robustness of unmanned plane in complex dynamic environment, so that it can complete positioning, obstacle avoidance, navigation and tracking tasks stably in variable scene.

The application discloses a financial risk intelligent risk control middle platform system and method based on multi-dimensional data integration, and belongs to the field of financial risk intelligent risk control. The financial risk intelligent risk control middle platform system based on multi-dimensional data integration comprises a data processing module, a model construction module, a decision construction module and a scheme formulation module. The application solves the problems of poor system integration, high maintenance cost, low availability, insufficient expansibility, low information transparency and great management difficulty in the prior art, greatly shortens the strategy iteration cycle, meets the demand of high-concurrency business scenarios, improves the accuracy of fraud identification and credit evaluation, reduces the misjudgment rate, can adapt to market changes, reduces repeated development through unified variable management, improves the data asset reuse rate, improves business autonomy, flexibly outputs the risk control capability to support personalized product design, and realizes the best balance between risk and benefit through the deep cooperation of risk control and business.

The invention discloses a task decomposition system and method for an intelligent robot with a body based on physical state deduction, and relates to the technical field of artificial intelligence robots. The system comprises a task instruction receiving and initial decomposition module, a state sensing and formatting input module, a task feasibility deduction module, a feedback and optimization closed loop module and a decision and output module. According to the method, a technical framework of sensing, deducing and optimizing a closed loop is constructed, so that the robot can perform virtual rehearsal on a task sequence before executing actual physical actions, thereby identifying environment state conflicts and execution path risks in advance, and fundamentally improving the task execution mode from passive response depending on trial and error, and improving the task execution efficiency. The method is converted into active reliable planning based on physical state deduction, and the adaptability, the safety and the deployment efficiency of the robot for executing complex tasks in an open environment are remarkably improved.

The invention discloses a power and information collaboration method for a full-direct-current wind power collection system. The method comprises the following steps: acquiring a baseband signal containing information to be transmitted; superposing the baseband signal into a preset modulated wave to obtain a target signal containing the information to be transmitted; comparing the target signal with a carrier wave to obtain a control signal containing the information to be transmitted; and voltage output by the wind generating set is regulated based on the control signal, so that the regulated voltage contains the to-be-transmitted information. According to the embodiment of the invention, the method can achieve the coupling of the to-be-transmitted information, and reduces the complexity, cost and maintenance difficulty of a full-DC wind power collection system.

This invention discloses a grinding wheel dressing method for machining cycloidal gears using a worm gear grinding machine. The key feature is the use of a worm gear grinding machine that integrates cycloidal gear machining and grinding wheel dressing functions to achieve rapid and precise grinding wheel dressing. The worm gear grinding machine, with an adjustable central axis swivel angle for the dresser, increases the dresser's freedom of movement during dressing, reducing the impact of changes in the grinding wheel tooth profile, controlling errors during dressing, and improving machine tool stability. A contact vibration sensor is installed on the grinding wheel; by sensing vibration data, the machine tool automatically adjusts the dresser's alignment, simplifying manual operation, improving dressing accuracy, and saving time. After the initial alignment, the dresser does not need to be aligned again, improving dressing efficiency. By differentiating the two-stage machining process of dressing the grinding wheel, the roughing stage quickly removes excess material from the grinding wheel while the finishing stage maintains a good surface morphology.

The utility model discloses a kind of power generation systems based on water floating island, belong to wave energy generation field, including floating island, power conversion component, storage tank, impeller and generator set. Power conversion component is installed to floating island, can adopt "rocker arm-connecting rod-piston cylinder" or "push arm-piston cylinder" structure, through inverted conical platform shape floating ball capture wave reciprocating motion conversion into high-pressure fluid;Storage tank is equipped with discharge pressure control valve to realize pressure stabilization, discharge outlet spouts fluid and drives impeller rotation, and then drives generator set to generate electricity. The system can maximize the use of platform space by optimizing the layout of storage tank. The electricity generated meets the needs of floating island, and the surplus electricity can also be transmitted to land. The floating island is a detachable wave floating island with a wave-releasing chamfer at the bottom, and has strong stability. The system is suitable for different wave conditions, with efficient energy conversion, stable power supply, low cost per kilowatt-hour, and no dependence on external power grid. It is suitable for multiple scene applications and has significant practical value and economic benefits.

The application is suitable for the field of walking aid technology, and provides a dynamic adaptation walking aid system, which comprises a main bearing frame, left and right split seat supporting pads and a wheel-track composite passing mechanism, and the lower part of the main bearing frame is provided with the wheel-track composite passing mechanism, wherein: a sitting-standing conversion mechanism is used for adjusting the height, front and back position and turning angle of the left and right split seat supporting pads, and is used for adapting to a sitting mode, a sitting-standing switching mode, a standing walking aid mode, a low-speed following mode and a back-to-sitting mode; the wheel-track composite passing mechanism is used for wheel walking on ordinary flat roads and track high-low difference passing on complex terrains. Through the cooperation of the sitting-standing conversion mechanism and the wheel-track composite passing mechanism, when the user needs to move in a sitting position, stand up, walk in a standing position, sit back after fatigue, cross a threshold, a step and other high-low difference terrains, switching between different devices and assistance of nursing personnel are not needed, the use is simple, and the use continuity and autonomy of the user can be improved.

The invention discloses a path planning method and system based on an improved self-adaptive ant colony algorithm, and the method comprises the following steps: initializing, loading traveling salesman problem instance data of a plurality of places based on basic parameters and dynamic parameters of the improved self-adaptive ant colony algorithm, constructing a distance matrix between the places based on Euclidean distance, and performing path planning on the distance matrix. Initializing a symmetric pheromone matrix; iterative optimization is carried out, each ant starts from a randomly selected initial site, a complete path is constructed step by step through an improved state transition probability rule, the path length of each ant is calculated, and the current iterative optimal path and the length thereof are recorded; iteration is terminated, and when the number of iterations reaches the preset value, the algorithm stops running; according to the method, statistics is carried out on results of multiple rounds of operation, the average optimal distance of the multiple rounds of operation and the minimum distance in the multiple rounds of operation are obtained, namely, the optimal planning path is obtained, a self-adaptive volatilization mechanism is introduced, the pheromone volatilization rate is dynamically adjusted according to the number of iterations, and the local optimum problem is solved.

The application discloses a robot falling self-recovery method and device, and relates to the technical field of robots. The method comprises the following steps: detecting the current posture of the robot; in the case that the current posture meets preset conditions, determining the current parameter sequence of the robot according to the current posture, and obtaining the preset parameter sequence of the robot; inputting the current parameter sequence and the preset parameter sequence into a falling recovery model to output a self-recovery strategy of the robot, wherein the falling recovery model is obtained through pre-training by means of imitation learning and reinforcement learning; and executing the self-recovery strategy to make the robot recover to a standing posture, so that the problem that the existing traditional robot falling recovery method has obvious limitations is solved, and the autonomous, stable, robust and human-like falling recovery capability of the humanoid robot is improved.

The application relates to the technical field of power dispatch, in particular to a robust optimization dispatching method and system for multiple microgrids participating in an electricity auxiliary market. The method comprises the following steps: constructing a three-layer dispatching architecture; establishing a multi-market clearing model based on a supply-side price quota curve and a demand-side price quota curve; selecting the supply-side price quota curve or the demand-side price quota curve according to the net load state of the microgrid in the next time period t to participate in the bidding of the electricity auxiliary market, and obtaining the market result; establishing a power distribution optimization dispatching model of the active distribution network layer, wherein the power distribution optimization dispatching model takes minimizing the total operation cost of the distribution network system as the target; respectively establishing an optimization dispatching model of each microgrid, wherein the optimization dispatching model of each microgrid takes minimizing the operation cost of the microgrid as the target; and generating a real-time dispatching strategy of the microgrid according to the optimization dispatching model of each microgrid, and executing the real-time dispatching strategy of the microgrid in the next time period t.