2results about How to "Optimize trajectory" patented technology

The application relates to an environment perception-based mechanical arm obstacle avoidance trajectory planning method and system, which comprises the following steps: acquiring joint angle data and end effector position data of a mechanical arm, establishing a joint space for mechanical arm work according to the joint angle data and the end effector position data; acquiring environment point cloud data, extracting obstacle information based on the environment point cloud data, and acquiring a safe operation space of the mechanical arm through the obstacle information; acquiring a current joint angle combination of the mechanical arm, converting a position difference between the current joint angle combination and a target position into an angle increment in the joint space, and adjusting an angle value exceeding the boundary of the safe operation space, so as to complete obstacle avoidance trajectory planning of the mechanical arm. The application can realize a grabbing task while avoiding obstacles.

The present application relates to the field of oil and gas field development research, and provides a method for improving target radius in drilling, comprising the following steps: step 1, determining the main layer of the target block, and determining the production capacity of the main layer; step 2, determining the sweet spot distribution of the well site deployment area based on at least the production capacity of the main layer, and determining the main layer plane and the longitudinal distribution trend of the main layer of the well site deployment area; step 3, determining the well point position based on at least the main layer plane and the longitudinal distribution trend of the main layer of the well site deployment area, and determining the well pattern; step 4, determining the target area range based on at least the well pattern, designing the target point, and designing the target point with the depth of the main layer as the target area range; and step 5, determining the directional well trajectory. The present application takes the depth of the main layer as the design target point, and considers the regular well pattern, so that the directional error of the well trajectory can be effectively reduced, the target accuracy can be improved, the well trajectory can be optimized, the footage can be further reduced, the drilling cycle can be shortened, the field operation efficiency can be improved, and the investment can be saved.