29results about How to "Prevent malfunction" patented technology

The invention provides a dripping speed detection and alarm device for an infusion apparatus, and belongs to the technical field of medical instruments. The device comprises a fixing frame, a clamping assembly is installed on one side of the fixing frame, the clamping assembly is used for clamping a drip cup part on an infusion tube, the clamping assembly comprises two clamping plates, and a piezoelectric sensor is embedded in the inner wall of one clamping plate; a spring rope is fixedly installed at the lower end of the fixing frame, a connecting block is fixedly installed at the lower end of the spring rope, a single-chip microcomputer is installed on the upper side in the connecting block, and the piezoelectric sensor is connected with the single-chip microcomputer through a wire. A cavity is formed in the lower side in the connecting block, a trigger assembly is installed in the cavity, the single-chip microcomputer is in linkage with the trigger assembly, and first switches are fixedly installed at the two ends of the inner wall of the cavity; an alarm is fixedly mounted at the upper end of the connecting block; a body temperature detection assembly is installed at the lower end of the connecting block and is in linkage with the triggering assembly. The dripping speed of the liquid medicine or the detected body temperature can trigger the first switch, so that the alarm gives an alarm to remind to adjust the dripping speed, and the risk is reduced.

The invention relates to the technical field of oil delivery, in particular to an oil delivery pipeline valve and a pipeline leakage emergency system.The oil delivery pipeline valve comprises a valve body, a valve seat, a gate plate, a valve deck, a sealing assembly, a valve rod and a worm and gear speed reducing motor, the worm and gear speed reducing motor is electrically connected with the pipeline sealing emergency system, and a gap is formed between the gate plate and the end face of the valve seat; a pushing device for pushing the two gate plates to move horizontally is arranged at the lower end of the valve rod; the gate plate is connected to the bottom of the valve rod through the pushing device, the gaps exist between the working face of the gate plate and the oil inlet and the oil outlet, and the gate plate is horizontally pushed through the pushing device in the downward movement process of the valve rod so that the gate plate can be attached to the oil inlet and the oil outlet; in this way, friction between the working face of the flashboard and the end faces of the oil inlet and the oil outlet is reduced, and the problem that the sealing face of the gate valve is prone to abrasion in the opening and closing process of the gate valve is solved.

This utility model discloses a mobile emergency drainage device for garbage pits, including a mobile platform, a garbage pit, and a receiving trolley. The receiving trolley is slidably mounted on the upper surface of the mobile platform. A support rod is fixedly connected to the top of the receiving trolley, and a support plate is fixedly connected to the top of the support rod. An electric hoist that moves horizontally is mounted on the lower surface of the support plate. This utility model relates to the field of garbage pit drainage technology. This mobile emergency drainage device for garbage pits, after the pumping mechanism operates, can extract leachate from the bottom of the garbage pit cavity into a sewage discharge pipe on the mobile platform. The water injection mechanism can wash the surface of the filter screen, improving the stability of the leachate extraction process, preventing the filter screen from becoming clogged due to excessive garbage in the garbage pit, thus ensuring timely drainage of leachate, increasing the calorific value of the garbage, and guaranteeing normal and efficient garbage incineration.

This invention relates to the field of waste collection technology. The invention discloses a waste collection device for baking pan processing, comprising: a machine body, with crushing rollers symmetrically arranged on the inner wall of the machine body, and guide plates symmetrically arranged on the inner wall of the machine body near the crushing rollers; and a feeding bin fixedly connected to the outer wall of the machine body. The waste collection device further includes: an adjustment mechanism for evenly distributing waste above the crushing rollers; the outer wall of the auxiliary component is fixedly connected to the inner wall of the machine body away from the guide plates. By setting up the feeding mechanism, this invention separates small pieces of debris and smaller waste residue from large pieces of waste, preventing smaller pieces from being crushed again by the crushing rollers, which would lead to over-crushing of the waste, making it difficult to collect and easily generating dust. The device also crushes the waste, reducing gaps between pieces and preventing long strips of waste from bending at the inlet due to external force when entering the machine body.

This invention provides an AI real-time prediction method and apparatus. The method includes: obtaining a physical plan based on an AI-related SQL statement; obtaining a configured AI engine based on the physical plan and real-time AI metadata; using the configured AI engine to predict data to be predicted and obtaining prediction results; the amount of data to be predicted is dynamically adjusted according to data backlog. This invention seamlessly integrates an AI framework based on SQL statements, supports AI models trained in different modeling environments, avoids AI models failing to execute due to environmental differences, and eliminates the need for code development using programming languages ​​such as Java and Python. It achieves data stream preprocessing and real-time AI model prediction, improving the usability of real-time AI prediction solutions.

The utility model provides a photovoltaic greenhouse agricultural shed support which comprises a support body, the support body comprises a plurality of stand columns and a plurality of girders erected on the stand columns, the girders are arranged side by side, a plurality of purlines are arranged on the surfaces of the upper sides of the girders at intervals, and photovoltaic panels are installed on the purlines; first angle aluminum is arranged on the opposite surfaces of every two adjacent girders, a sunlight plate is connected between the first angle aluminum arranged on the opposite surfaces of every two adjacent girders, second angle aluminum is arranged on the opposite surfaces of every two adjacent stand columns, and a sunlight plate is connected between the two second angle aluminum arranged on the opposite surfaces of every two adjacent stand columns. The sunlight plates are fixed through the angle aluminum to replace traditional plastic cloth, the problems that the plastic cloth is prone to aging and needs to be replaced frequently are solved, the durability of materials is remarkably improved, and the splicing connection mode of the sunlight plates and the angle aluminum avoids the problem that girders and purlines cannot interfere with covering installation films due to the fact that photovoltaic plates need to be installed.

The application relates to an intelligent infusion device, which comprises a monitoring box, a display instrument panel, a starting switch and an adjusting knob, the display instrument panel, the starting switch and the adjusting knob are arranged on the side wall of the monitoring box, a supporting hook is arranged on the upper end surface of the monitoring box, an intelligent infusion mechanism is arranged on the lower end surface of the monitoring box, an infusion hose is arranged on the intelligent infusion mechanism, and a flow rate regulator is arranged on the infusion hose. The intelligent infusion device can avoid the problem that the existing infusion process cannot timely replace the bottle, so that the working strength of nursing staff can be reduced in the actual working process, and the time reminding function can be realized after the infusion is completed, so that the nursing staff can timely obtain the effect that the infusion is completed, and the nursing staff can timely replace the bottle, thereby avoiding the problem of medical disputes.

The application discloses a secure communication trajectory planning method for unmanned aerial vehicles with integrated control of an adaptive antenna, constructs an air-ground secure communication model containing rigid body dynamics constraints, and determines that the attitude of the unmanned aerial vehicle body is uniquely determined by the translational acceleration vector and the gravity acceleration; for horizontal-horizontal (HH) and vertical-vertical (VV) two kinds of airborne antenna configurations, an explicit coupling model of the antenna gain with respect to the acceleration is established; a non-convex trajectory optimization problem is constructed to maximize the average secrecy capacity; a sequential convex approximation combined with a convex difference programming strategy is adopted for solving, wherein the implicit function differentiation method is adopted to solve the gradient singularity problem of the VV antenna null point; and finally, a flight strategy containing an optimal acceleration sequence is output. The application utilizes the active change of the flight attitude of the unmanned aerial vehicle to realize mechanical beamforming, significantly improves the secrecy capacity through "active drift" or "null alignment" maneuvering, and the generated trajectory strictly satisfies the physical feasibility.

The application discloses a kind of packaging unit quality detection device diagnostic method and system, comprising: obtaining stop alarm database table and shielding alarm database table;In stop alarm database table and shielding alarm database table respectively screen out fault data, and the quality detection device corresponding to fault data is matched with target quality detection device, if there is at least one piece of fault data matching success, then trigger alarm prompt;For the target quality detection device of triggering alarm prompt, judge whether there is still matching successful fault data in stop alarm database table or shielding alarm database table, if all do not exist, then cancel alarm prompt.Real-time acquisition packaging unit in quality detection device related stop alarm database table and shielding alarm database table, by real-time comparison analysis, identify abnormal condition, avoid on-site personnel cannot find and correct problem in time, realize the failure of automatic diagnostic identification sensor.

The application discloses a kind of hot spot temperature anomaly early warning methods of insulated bus duct, belong to the online monitoring technical field of electric power equipment.For the problem that existing bus duct temperature monitoring only relies on fixed absolute threshold, early warning is seriously lagging behind, the real-time temperature data of bus duct connector is obtained, the change rate of temperature with time is calculated, including short-term change rate and long-term change rate;When long-term change rate is positive and exceeds the preset aging rate threshold, a first early warning signal is generated;At the same time, according to real-time temperature data and long-term change rate, the predicted threshold below the absolute temperature threshold is dynamically calculated, and a second early warning signal is generated when the real-time temperature reaches the predicted threshold.The application combines trend analysis with dynamic threshold, realizes early identification of early signs of insulation aging and prior prediction of thermal runaway risk, effectively solves the problem of early warning lag in the prior art, and significantly improves the operation reliability and operation efficiency of bus duct power supply system.

This utility model discloses a pluggable wiring structure for a residual current device (RCD), relating to the field of RCD wiring technology. It includes a female connector with several sockets on top and a male connector with several columnar pins on the bottom. The female connector is positioned at the input and output terminals of the RCD and electrically connects to it. The male connector has spaced positioning protrusions on both sides of its terminal portion. A barrier is provided on one side of the top of the female connector, with a comb-like groove on the inner wall of the barrier. A skirt surrounds the pins on the bottom of the male connector, and a receiving groove adapted to the skirt is provided on the top of the female connector. An operator connects the cables to the pins of the male connector, and the barrier restricts the entry of the male connector. The operator only needs to push the male connector to engage with the female connector to complete the connection of all cables to the RCD, simplifying the operation while ensuring that all cables are independent and do not directly contact each other, but are connected to the same RCD.

The invention relates to the technical field of fault identification, in particular to a line protection fault identification method and system, which can sample current on two sides of a target line in real time in the target line to obtain a sampling current sequence on the opposite side; sampling value integration is carried out on a sampling current sequence obtained through sampling, and a corresponding integral current sequence is obtained; calculating a three-phase current correlation coefficient of the integral current sequences on the two sides by using a waveform similarity algorithm; and if the current correlation coefficient of a certain phase meets a protection criterion, the phase is a fault phase, otherwise, the phase is a non-fault phase. It can be understood that the technical scheme removes the influence of high-frequency components by performing short-time integral sampling on the current, is not restricted by small amplitude of fault current in a new energy scene, has strong adaptability to transition resistance, and has better high-frequency endurance capability than a common waveform similarity algorithm; fault maloperation outside a line protection area can be prevented in the scene that the high-frequency content of a new energy transmission line is large.

This invention provides an adaptive inspection and early warning method for cable trenches using unmanned aerial vehicles (UAVs), belonging to the technical field of UAV inspection and early warning for cable trenches. To address the shortcomings of current UAVs in cable trench inspection processes, such as insufficient spatial adaptive planning, dynamic frequency allocation, and multi-source early warning linkage, a 3D laser scanner is used to scan along the cable trench axis to acquire dense point cloud data of the trench's internal structure. After denoising, registration, and stitching of the acquired data, internal structural parameters are extracted, including width, height, bend radius, branch locations, fire door locations, and ventilation opening locations. Obstacle areas and communication signal attenuation areas are then marked to construct a 3D spatial constraint model of the cable trench, generating a weighted 3D flyable area map. Historical fault records, equipment operating parameters, and environmental monitoring data for each inspection area are collected. This invention is used for UAV inspection of cable trenches.

The utility model relates to sewage treatment field especially sewage denitrification treatment device, including aerobic tank, the fixedly connected with main pipe in aerobic tank, the fixedly connected with a plurality of annular pipes on main pipe, a plurality of annular pipes all with aerobic tank coaxial, every annular pipe all is set up a plurality of injection ports, a plurality of annular pipes are evenly distributed from below to above on main pipe, the middle part of aerobic tank is provided with the casing, the rotatable connection is established in casing and the shaft, the fixedly connected with the impeller on the shaft, the air inlet is seted up on casing upper end, main pipe one end is fixedly connected on the lateral wall of casing, the fixedly connected with crossbeam on aerobic tank upper end, the fixedly connected with drive motor on crossbeam, the output shaft on drive motor is fixedly connected with the shaft, casing is fixedly connected on crossbeam, the treatment device of the application can make bubble and sewage contact fully, avoid appearing the phenomenon that dead angle cannot contact bubble.

The utility model provides a time-sharing linkage insole heat transfer printing machine which comprises a workbench, a hot pressing head and a transmission assembly, the transmission assembly comprises a transmission shaft, a first rotating shaft, a second rotating shaft and a cam, and the transmission shaft is provided with a half gear and a driving gear. During working, an operator drives the transmission shaft to rotate by one circle, so that the front half circle half gear of the transmission shaft is meshed with the first rotating shaft to drive the winding disc to wind the transfer film, and the cam is synchronously driven to prepare for positioning; and the rear half-cycle transmission of the transmission shaft drives the gear to mesh with the second rotating shaft to drive the cam to press the connecting rod to force the hot-pressing head to overcome the resistance of the first elastic piece to press to complete heat transfer printing. According to the time-sharing linkage design, complete process circulation is achieved only through movement cooperation between mechanical components, program dependence of an electronic sensor is avoided, and the phenomenon that signal interference is likely to happen in the production environment, and consequently the hot-pressing head operates mistakenly is avoided. And meanwhile, the energy consumption economy of the equipment can be remarkably improved in a manner of directly driving the transmission shaft to rotate by an operator.

The invention discloses a method and system for opening distance protection of a line protection device, and the method comprises the steps: enabling the line protection device to judge whether the function state of longitudinal current differential protection is effective or not in real time, calculating the differential current in real time if the function state is effective after the protection is started, enabling the distance protection to select the fault phase in real time, and judging the direction, judging whether the differential current of the fault phase is greater than or equal to a threshold, if so, directly opening distance protection, and if not, opening distance protection when the distance protection judgment direction is a positive direction after delaying threshold time; if the function state is invalid, the distance protection selects the fault phase in real time and discriminates the direction, the fault after coincidence and the fault after manual closing are distinguished, and the distance protection is opened under other conditions. The condition of incorrect action of distance protection is effectively prevented.

This invention discloses a heat exchanger and heat exchange method, in which the water chambers of a first thin-walled barrel-type heat exchanger, a second thin-walled barrel-type heat exchanger, and a third thin-walled barrel-type heat exchanger are sequentially connected. The water chamber of the first thin-walled barrel-type heat exchanger is connected to a steam outlet pipe, and the water chamber of the third thin-walled barrel-type heat exchanger is connected to a third water inlet pipe. Water in the third water inlet pipe can pass through the three water chambers and then be discharged through the steam outlet pipe. The inner chamber of the first thin-walled barrel-type heat exchanger is a first flue gas chamber, a second flue gas chamber is provided between the second and first thin-walled barrel-type heat exchangers, and a third flue gas chamber is provided between the third and second thin-walled barrel-type heat exchangers. The first, second, and third flue gas chambers are sequentially connected. The flue gas generated by the burner can enter the first, second, and third flue gas chambers and exchange heat with the water in the three water chambers. This improves the heat exchange efficiency.

The utility model discloses a transfer device for refrigeration house equipment, which comprises two support frames, two lifting seats are arranged on the surfaces of the top ends of the support frames, a servo motor is arranged on one side of each lifting seat, and transmission rollers are arranged at the top ends of the two lifting seats on one side of the servo motor. A conveyor belt is arranged on the surface of the outer wall of the transmission roller, a heat shield is arranged above the two sides of the lifting base, an infrared sensor is arranged on the inner side of the heat shield, indicator lamps are arranged at the two ends of the heat shield, inclined panels are arranged on the upper sides of the two ends of the heat shield, a mounting frame is arranged on the surface of the lower end of each inclined panel, and an air blower is arranged at one end of each mounting frame. The heat insulation cover and the air blower are arranged, the temperature of the environment where goods in the transfer channel are located is isolated from the outside under protection of the heat insulation cover, the air blower blows cold air in the refrigeration house into the channel formed by the heat insulation cover and the conveying belt, and the channel environment of the transfer equipment can be rapidly cooled and protected.

The utility model relates to nylon polymerization wastewater treatment technical field especially relates to a kind of nylon polymerization wastewater treatment device, comprising: treatment pond, rotating motor is fixedly installed on the treatment pond, the output shaft of rotating motor is fixedly installed with reciprocating lead screw, reciprocating lead screw is threadedly sleeved with moving block, opening is opened on the moving block, two groups of bubble scraping structure are installed in the opening, the bubble scraping structure includes multiple pivot one rotationally installed in opening, multiple pivot one are uniformly fixedly installed with spur gear one, multiple adjacent spur gear one are mutually engaged transmission, rack is fixedly installed in the treatment pond, rack is engaged with one spur gear one, the lower end of multiple pivot one is equipped with scraper.

The utility model relates to the field of PDU components, and discloses a PDU component convenient to install, which comprises a PDU component shell, an installation mechanism is arranged on the PDU component shell, the installation mechanism comprises an installation plate, a T-shaped groove is arranged in the installation plate, a T-shaped block is slidably connected in the T-shaped groove, a fastening plate is fixedly connected on the T-shaped block, and the fastening plate is fixedly connected on the PDU component shell. And a transmission mechanism is arranged on the PDU assembly shell. According to the utility model, through the arrangement of the transmission mechanism, two groups of different use modes are provided in the process of transversely adjusting the bolt hole sites formed in the mounting plates, so that the two groups of mounting plates can be simultaneously adjusted to change the transverse positions of the two groups of bolt hole sites, and one group of mounting plates can also be independently adjusted according to field conditions; the adaptability of the device is improved, the problem that the PDU assembly cannot be aligned with the mounting hole position is avoided by adjusting the bolt hole position, and the convenience in the mounting process is improved.

The utility model provides a kind of anti-dismantling anti-winding joint structure, including pipe fitting, limit ring and nut.The limit ring rotationally covers and is set on the annular groove of pipe fitting end portion outer periphery, and end portion forms the support portion of cladding pipe fitting end portion outer circle, and the end portion of the support portion exceeds the end portion of pipe fitting.The nut includes nut main body and sleeve shell.The nut main body rotationally covers and is set on pipe fitting end portion and limit ring outer periphery, the limit step of accommodating support portion is equipped in the nut main body, and the one end end portion of the nut main body towards pipe fitting is equipped with positioning groove.The sleeve shell rotationally covers and is set on the outer peripheral portion of nut main body, and the one end of the sleeve shell towards pipe fitting is equipped with the connecting channel opposite to positioning groove.The shower fitting structure provided by the utility model, after installation, shower inlet end only presses limit ring, pipe fitting and shower can relatively rotate, avoid winding, and nut is composed of relatively rotating nut main body and sleeve shell, so that shower fitting has anti-dismantling function.

The application relates to the technical field of signal processing plate production, and particularly discloses a high-precision high-density circuit impedance signal processing plate pressing device, the side surface of a main body is fixedly connected with a feeding component, the side, away from the feeding component, of the main body is fixedly connected with a discharging component, and the top of the feeding component and the discharging component is fixedly connected with clamping components. The high-precision high-density circuit impedance signal processing plate pressing device is provided with a striking assembly, in the pressing process, the circuit board may be slightly adhered at the inner cavity of the placing seat, the adhesion can be effectively broken through striking vibration, the circuit board can be smoothly separated from the inner cavity of the placing seat, the discharging efficiency is improved, and the problem of poor discharging or material jamming caused by adhesion is avoided; if the circuit board is jammed in the placing seat due to adhesion in production, manual intervention is needed, and the continuity of production is reduced, and the vibration design can effectively avoid such a situation.

The utility model relates to water conservancy pipeline connection technical field, and disclose a pipeline connecting device for hydraulic engineering, including first pipeline and second pipeline, first pipeline one end is connected with first connector, second pipeline one end is connected with second connector, second connector extends into first connector inside and is matched with first connector. Through the design of detection mechanism, if the situation of leaking appears when first pipeline and second pipeline are connected well, then the leaked water will be absorbed by the sponge block and the sponge strip, the weight of the absorbed sponge block and the sponge strip will increase, prompting the overall downward movement of the rectangular block, prompting the control panel to push the double -colored ring, at this moment, the area of different color on the double -colored ring before stays in the through -groove position, the user can directly know the leakage situation after pipeline connection through the change of double -colored ring extension, avoid the condition of not being discovered in time because of slight leakage.

The utility model discloses a high-temperature protection device for a wire cut electrical discharge machining tool, which belongs to the technical field of wire cut electrical discharge machining and comprises an operation bin with an open top surface, a top plate is fixedly connected to one side of the top surface of the operation bin, a vent hole is formed in the top surface of the top plate in a penetrating manner, and a filter box with an open bottom surface is fixedly connected to the top surface above the vent hole. And a gas filtering plate is arranged in the filtering box. According to the high-temperature protection device for the wire cut electrical discharge machine tool, circulation of cooling liquid from the operation bin to the liquid discharge pipe is achieved through the water pump, cooling of the used cooling liquid is achieved through cooperation of the cooler and the fan, and meanwhile, negative pressure is formed around the vent holes through cooperation of the filter box and the vent pipe; waste gas generated by wire cutting is sucked into the filter box and is filtered in cooperation with the gas filter plate, compared with an existing device, the problems that cooling liquid cannot be cooled in time and the waste gas drifts away are solved, and the protection performance is improved.

The utility model discloses an adjustable dust sticking roller, including installation frame, installation frame inside fixed setting has installation top board, installation top board top is provided with elevating type adjusting assembly, installation top board bottom is provided with moving frame through elevating type adjusting assembly, moving frame slidingly arranged in the inside of installation frame, moving frame surface and installation frame surface all are provided with dust sticking roller assembly, and the movement is driven through elevating type adjusting assembly, makes simultaneously drive multiple dust sticking roller and moves, makes multiple dust sticking roller can move in synchronization, makes multiple dust sticking roller distance of moving same, avoided the emergence multiple dust sticking roller adjustment height after inharmonious leads to dust sticking roller unable to contact the condition of dust removal article, and avoided needing to the distance of multiple dust sticking roller movement in turn measures to make dust sticking roller adjustment speed faster.

The application discloses a train operation state-based energy management method for a mass transit energy storage device, which comprises the following steps: S1, setting an initial charging threshold and an initial discharging threshold, and ensuring that the initial charging threshold is always higher than the initial discharging threshold; S2, acquiring a train power sum and judging a train operation state according to the train power sum; and S3, formulating an energy storage energy management strategy according to the train operation state. The train operation state-based energy management method for the mass transit energy storage device can improve the charging and discharging thresholds when the train is being pulled, so that the energy storage system can be timely discharged, and the problems of the energy storage system being unable to be timely discharged and the energy storage system being unbalancedly utilized and having poor energy-saving effects are effectively avoided.

The utility model discloses an automatic replacement structure for a quick-release finger of a cylinder, which belongs to the technical field of mechanical claw replacement, is applied to a finger and a pneumatic claw, comprises a supporting plate for placing the pneumatic claw, and further comprises a clamping component which is arranged in the finger and the pneumatic claw, is used for clamping the finger and the pneumatic claw, and comprises two groups of clamping grooves formed in the lower side of the pneumatic claw, limiting balls are movably arranged in the fingers, and the clamping grooves are located in the limiting balls when the fingers and the pneumatic claw are clamped. The auxiliary assembly is arranged on the supporting plate and used for limiting the fingers when the fingers and the pneumatic claw are clamped and separated, and the auxiliary assembly comprises an auxiliary clamping claw movably arranged on the supporting plate; the placing tables are arranged on the supporting plate in an equal-angle rotating mode and used for placing fingers, and when the auxiliary clamping jaw moves upwards, the multiple placing tables are driven to rotate, so that equipment is more convenient to replace, and the equipment replacing efficiency is further improved.

This application discloses a data source management method, apparatus, device, and storage medium, relating to the field of data processing technology. The data source management method includes: monitoring the data source interface connected to at least one data source in a data source management platform, and storing the obtained monitoring data in the data source interface storage area; determining all indicator data within the target data source corresponding to the query instruction based on the monitoring data, and storing the indicator data in an abnormal indicator storage area, the indicator data including successful query data and report detail data; determining the indicator result based on the query instruction and the indicator data in the abnormal indicator storage area, and storing the indicator result in the data source indicator result storage area; detecting whether the indicator result in the data source indicator result storage area matches the abnormal rules in the abnormal rule storage area; if a matching abnormal rule exists, determining that there is an abnormal event in the target data source, and outputting an abnormal alarm message. This application achieves effective supervision of data sources.

The application relates to an automatic drift planning and control method and device for emergency obstacle avoidance. The method describes the longitudinal, lateral and yaw responses of a vehicle under high side slip conditions by establishing a nonlinear vehicle dynamics model. Next, under the obstacle and safety constraint conditions, the MPPI algorithm is used to randomly sample the control sequence and generate an optimal candidate obstacle avoidance trajectory. Then, the optimal candidate trajectory is segmented and circularly arc-fitted, and a discrete reference drift sequence is constructed by combining and solving the drift equilibrium point. In order to reduce the equilibrium point solving time, the network output based on contrast learning is introduced as the numerical solving initial value. Finally, the vehicle model is locally linearized around each reference drift point, and the MPC controller is used to track the reference trajectory and the reference drift state, so that a complete planning-solution-control closed loop is formed, and the active safety capability and the maneuvering boundary of the automatic driving system under extreme conditions are improved.