6results about How to "Maintain smoothness" patented technology

The invention provides a four-steering-wheel chassis motion control method and system. The method belongs to the field of steering wheel chassis control, and comprises the following steps: calculating the total traction required by a chassis based on the required acceleration, the whole vehicle mass and the chassis and environment interaction force information obtained by the feedback of a sensor; according to the total traction force, target torques of the four motors are calculated and output through a preset torque distribution method; calculating a target steering angle of each steering wheel based on the turning radius and the chassis advancing direction angle; according to the difference value between the target steering angle and the actual steering angle of each steering wheel, the acceleration required by each motor is calculated and output in real time; and synchronously outputting the target torque and the acceleration required by the motor to the corresponding motor controller, and collecting the speed, steering angle and IMU data of each steering wheel encoder to form closed-loop feedback for updating the calculation of the next control period. According to the invention, the control mode is smoother, the anti-interference capability is stronger, and the control is more synchronous.

The invention discloses a power generation power prediction method, a control device and a power grid system, the power generation power prediction method is applied to the power grid system, and the method comprises the steps: obtaining historical power generation data of the power grid system in a first preset time period, the historical power generation data comprising historical power generation power and meteorological data, constructing a feature matrix according to the historical power generation data of the first preset time period; performing feature processing on the feature matrix to obtain a training data set; training a deep learning hybrid model based on time sequence prediction through the training data set to obtain a prediction model; and according to different time steps of a time sliding window of the prediction model, predicting the historical power generation data of the second preset time period to obtain a power generation power prediction result obtained by predicting at different time steps. According to the embodiment of the invention, the accuracy of power prediction can be improved.

This invention relates to the field of computer-aided engineering technology and discloses a method for generating unstructured meshes based on graph convolutional networks (GCNs) and high-order size fields. It aims to solve the problems of striping artifacts easily generated when generating size fields from STL background meshes, and the excessive computational burden caused by global encryption. The method first generates an initial size field based on an STL mesh; then, it constructs a GCN model to extract features and classifies edges to identify striped edges; next, it employs a "detection-selective order-upgrading" strategy, inserting high-order nodes only on striped mesh edges to construct a high-order background mesh; finally, it uses a hybrid interpolation strategy, employing linear interpolation for non-striped mesh edges and cubic spline interpolation for high-order edges to calculate size values. This invention efficiently eliminates artifacts without changing the global topology, enabling the generation of high-quality unstructured meshes.

The utility model belongs to the field of inorganic millstones, particularly relates to a luminous inorganic millstone for a basement, and aims to solve the problems that the existing luminous inorganic millstone is relatively weak in wear resistance, durability and adaptability to long-term stress change, the surface of a terrace is easy to wear and crack, and the service life is shortened. The inorganic millstone comprises an inorganic millstone body, and the inorganic millstone body comprises a wear-resistant layer, a luminous layer, a pigment layer, an anti-crack cushion layer and a mixed base layer from top to bottom. Through the combination of the anti-crack cushion layer and the wear-resistant layer, the wear resistance and durability of the terrace are greatly improved, the friction caused by long-term vehicle driving and personnel treading is effectively resisted, the adaptive capacity of the terrace to stress change is remarkably enhanced, cracks are reduced, the service life of the terrace is prolonged, and the service life of the terrace is prolonged. And the later maintenance cost is reduced, and a safer and more reliable ground is provided for complex environments such as basements.

The utility model relates to the field of water heaters, and provides a water heater inner container and a water heater. The water heater inner container comprises an inner container body, a reinforcing layer and a container opening flange, the inner container body comprises a container body and a container opening outward turning structure which are integrally connected, a container opening is defined by the container opening outward turning structure, the outer surface of the container body is smoothly arranged, the reinforcing layer covers the periphery of the container body, and a clamping part is arranged at the end, facing the container opening outward turning structure, of the reinforcing layer; a clamping gap is formed between the clamping part and the container body, the container opening flange comprises a base and a flange plate which are integrally connected, the flange plate is arranged on the container opening outward turning structure in a sleeving mode, and at least part of the base is embedded in the clamping gap and attached to the container body and the reinforcing layer. According to the inner container of the water heater, an annular containing groove does not need to be formed in the container body, so that the surface of the container body does not have structural sudden change, a stress concentration area does not exist, the problem of deformation or damage caused by stress concentration is effectively avoided, and the stability and reliability of the inner container under the high-temperature or high-pressure condition are improved.

The invention relates to the technical field of rail transit train operation control and navigation positioning, and discloses a seamless integrated positioning system and method in a complex railway tunnel environment, and the system employs a three-dimensional laser radar to construct a local environment map in real time, detects the physical shielding condition of an ultra-wideband signal propagation path through a light tracing technology, and achieves the real-time positioning of the ultra-wideband signal. And the non-line-of-sight propagation state is accurately identified. And based on an identification result, the system dynamically adjusts a measurement noise covariance, reduces the weight of non-line-of-sight measurement under a factor graph optimization framework, and fuses IMU pre-integration and LiDAR odometer data to carry out real-time pose calculation. In addition, high-precision satellite positioning states of the entrance and exit of the tunnel are used as double-end boundary constraints, and global adjustment is carried out on the whole-process track of the tunnel. According to the method, the non-line-of-sight error is effectively inhibited from the physical level, dead reckoning accumulated drifting is eliminated, and the positioning robustness and precision of the train in the complex tunnel environment are improved.