174results about How to "Productive time" patented technology

The invention discloses a track planning method for robot joint space conveyor belt following movement. The method enables a robot to track a target object on a conveyor belt quickly and to move synchronously with the target object, so that dynamic following is realized and therefore related application functions such as grasping and the like can be implemented. According to the invention, the initial position and speed of the target object are determined through a visual system and the position of the target object is predicated in real time. Then conversion into the joint space is realized through inverse kinematics and track planning on different joints of the robot in the joint space is made. Therefore, dynamic following is realized. According to the invention, only joint restriction conditions need to be considered and the restriction conditions are simple. Besides, the method is the dynamic track planning method with optimal time and can ensure that the robot can track the target object in the shortest time. The method is simple and is high in following efficiency.

The invention discloses a super-dense edge computing network mobility management method based on deep reinforcement learning. The super-dense edge computing network mobility management method includesthe steps: establishing a communication time delay model, a computing model, a QoS model and a service cost migration model according to environment information and processing resource information; establishing a mobile management model according to the established model information, simplifying the problem by adopting a dynamic loss queue technology and a Lyapunov optimization method, and abstractly describing a dynamic change process of an ultra-dense edge computing environment of the mobile management model by adopting a discrete time Markov decision process; and establishing an algorithmbased on deep reinforcement learning according to the abstract model and obtaining an optimal mobility management decision. According to the super-dense edge computing network mobility management method, for a super-dense edge computing network, the mobility management decision is small in limitation and good in mobility, and on the premise of considering the integrity, dynamics and balance of thesystem, the optimal decision of the association network and task allocation in the user moving process is realized.

The invention discloses a processing method of an instant seasoning lotus root, which comprises the steps that a fresh lotus root is cleaned, peeled, sliced, then subjected to primary color protection and crisp keeping, rinsed, seasoned, subjected to secondary color protection and crisp keeping, seasoned, packaged and sterilized at a high temperature, and the instant seasoning lotus root is obtained. The processing method is simple and efficient; the color protection and crisp keeping are conducted simultaneously in the primary color protection and crisp keeping step; the secondary color protection and crisp keeping step is merged into the seasoning step, so that the time is saved and the effect is good. As a vacuum curing method is adopted, the curing time is saved; the appearance of an obtained lotus root sheet is creamy white; and the lotus root sheet has luster and a delicious and crisp taste. Compared with the prior art, the delicious and crisp taste is improved, and the lustrousness is better.

The invention discloses a time optimal rapid three-dimensional obstacle avoidance path planning method, particularly relates to an unmanned aerial vehicle obstacle avoidance path planning method, andbelongs to the field of unmanned aerial vehicle path planning. According to the invention, the method comprises the steps: establishing an unmanned optimal control model which takes the acceleration in each direction as a control variable and contains the flight time sum through considering the maximum acceleration and obstacle constraint conditions; loosening an original non-convex nonlinear optimization problem into a second-order cone programming problem; and finally, solving a series of second-order cone programming problems through iteration to obtain a solution of an original problem andobtain an optimal change strategy in the speed direction. In other words, the obstacle avoidance path planning with the optimal time is realized by coordinating the flight time and the flight speed direction, the online planning of the obstacle avoidance path and the related control quantity can be realized, and the task response capability of the unmanned aerial vehicle can be further improved through the optimized flight path with the optimal time.

The invention relates to a variable-speed dynamic lane changing track planning method based on a vehicle driving rule. The driving safety and comfort of the vehicle are controlled through the acceleration and the jerk; and a speed change rule is fused into a trajectory planning method, a cycloid * and a circular curve * are adopted as motion primitive planning lane change trajectories, so that thelane change trajectory of the automatic driving vehicle is consistent with an automatic cruise trajectory, and the lane change trajectory is dynamically updated in real time in combination with the latest position and the safety distance of the vehicle until the automatic driving vehicle completes lane change. A speed change rule is originally introduced into lane change motion, and the vehicle lane change efficiency is improved; the acceleration and jerk required by comfort and safety are considered while the trajectory is generated, the process of searching for the optimal trajectory by setting an optimization target in the past is omitted, the optimal trajectory is directly calculated under constraint, and the efficiency is remarkably improved. After a certain time interval, dynamic iteration is carried out to recalculate the planning trajectory, thereby ensuring that the end point of the vehicle planning trajectory is beyond the safe distance in real time, and effectively correcting the error of path tracking.

The invention provides a robot time optimal trajectory planning method, and belongs to the technical field of robot control. The trajectory planning method solves the problem that in the prior art, atrack planning method is poor in practical applicability. The robot time optimal trajectory planning method comprises the steps of obtaining and discretizing a task path and obtaining coordinates of discrete points, and further comprises the steps of A, obtaining kinematics parameters; B, determining variables and constraint conditions, and establishing a constraint inequality; C, calculating to obtain an optimal variable constraint maximum value and an actually allowable optimal solution; D, acquiring information of each discrete point, and generating a discrete point interpolation array; andE, regenerating a discrete point sequence about time, and calculating and outputting joint information about time, so that the adaptability of method application is improved, the calculation difficulty is reduced, and the working efficiency is improved.

The invention provides a handrail driving force monitoring device of passenger conveying device capable of reducing the cost of the monitoring system and ensuring the excellent diagnostic accuracy; wherein, the device is equipped with a handrail mean velocity calculating unit (14) which calculates the mean velocity V1 of the handrail (8) by utilizing the output signal 1 of the handrail speed detector (13); a handrail speed amplitude calculating unit (15) which calculates the speed amplitude value delta V of the handrail by utilizing the output signal 1; a motor rotational speed calculating unit (17) which judges the rotational speed driving the motor (1) according to the information driving the torque control device (4); a passenger load ratio calculating unit (21) which calculates the passenger load ratio according to the information driving the torque control device; and a diagnostic unit (19) which diagnosticates whether the handrail driving force is normal according to the mean velocity V1 and the speed amplitude value delta V; wherein, the mean velocity V1 is calculated by utilizing the output signal 1 output lower than the preset passenger load ratio and the output signal 2 of the step speed detector (12).

The invention relates to a high-speed laser three-dimensional scanning system. The system comprises a laser, a laser alignment unit, a laser shaping unit, a laser steering unit, a vertical scanning unit, a horizontal scanning unit, an echo receiving convergence and filtering unit, n array photoelectric detection units, n signal synchronous processing and transmission units and an upper data storage and computing unit, wherein the laser, the laser alignment unit, the laser shaping unit, the laser steering unit and the vertical scanning unit are orderly arranged on the horizontal scanning unit, the echo receiving convergence and filtering unit, the n array photoelectric detection units, the n signal synchronous processing and transmission units and the upper computer data storage and computing unit are connected in order. Compared with the prior art, for the high-speed laser three-dimensional scanning system, the efficiency of laser scanning is improved, so that the laser three-dimensional scanning system is more suitable for actual engineering application having strict requirements on the operation time, and can play the effect of reducing the cost and stabilizing the performance.

The invention belongs to hatching egg screening and embryo fertility detecting technology, and particularly relates to an imaging method and an imaging device, which can detect the survival status of an embryo through a complete eggshell in a non-invasive manner in the hatching process of poultry. The imaging method comprises the following steps of: irradiating a detected hatching egg by using a near infrared laser beam as a light source; by a photoelectronic imaging system, continuously acquiring a plurality of frames of images of the hatching egg irradiated by the laser beam; for each frame of acquired image, calculating a statistic C which represents that light intensity is changed with time on the same pixel; and traversing all the pixels and finally, constructing an egg embryo fertility image by respectively using the C value corresponding to each pixel as a gray level. The device comprises the laser beam, the hatching egg, the photoelectronic imaging system and a computer. The survival status of the embryo in the egg can be monitored in a real-time, dynamic, high time resolution and high space resolution manner through the complete eggshell and the eggshell does not need to be broken or pierced. The imaging method and the imaging device have the advantages of no damage, early detection and convenience for automatically identifying fertility of the egg embryo.

The invention discloses an epitaxial structure of a semiconductor. The epitaxial structure of the semiconductor comprises a nitride nucleating layer formed on a silicon or silicon carbide substrate, a nitride layer on the nitride nucleating layer and an insertion layer inside the nitride layer. The insertion layer comprises a first insertion layer and a second insertion layer placed above the first insertion layer, the first insertion layer is an aluminum gallium nitrogen layer, the second insertion layer is an aluminum gallium nitrogen layer or an aluminum nitride layer, and the average content of aluminum in the first insertion layer is lower than the average content of aluminum in the second insertion layer. The invention also discloses a growth method of the epitaxial structure of the semiconductor. According to the epitaxial structure of the semiconductor disclosed by the invention, the crystal quality can be prevented from dropping when compressive stress is being applied, and a cracking effect or drop of the surface quality possibly caused by the temperature variation can be avoided. In addition, the whole epitaxial layer grows at a high temperature, so that repeated cooling and heating operations are not needed, and the complexity of the process can be reduced.

The invention discloses a processing method and a processing system for real-time exporting a report form of mass data. The method comprises the following steps of exporting analytic and statistical data by a server according to a command and a request of a user, putting the data into a session, and checking the processing status of the report form through an ID (identification) of the session; and carrying out downloading according to the file name of the report form in the session and report form documents saved in a path downloading thread by the server, and deleting the report form documents saved in the server at the same time. By adopting the comprehensive application of multi-thread technology and AJAX (asynchronous java script and XML) technology, interaction with the server in exceeding time is enabled to be realized, the problem of connection overtime with the server is solved fundamentally, meanwhile the requirement of a client on exporting the report form of mass data in any time period is met, the data is real-time and high-efficient, the cost of learning is low, the system can be enclosed to form a public module for development and application, the working efficiency of a developer is increased, and the average response time of a report form demand is reduced from 2 days to 0.8 days.

The invention, which belongs to the technical field of computer application, discloses an electric vehicle charging path selection method with consideration a nonlinear charging function. The method comprises: step one, constructing an optimization problem model of charging vehicle path selection and describing an optimal path selection problem of a charging vehicle; step two, acquiring charging pile data, establishing a mathematical model, and constructing an optimal problem mathematical model for charging vehicle path selection by combining relevant influencing factors and constraint conditions; and step three, determining a path algorithm and a distribution algorithm, determining influence factors by combining the constraint conditions according to the mathematical model of the step two, and providing an optimal path selection algorithm for the charging vehicle. According to the invention, the position information of the charging pile is collected based on actual situations; a needed charging function is calculated based on a machine learning algorithm and needed charging time required in the path is calculated through the charging function; and the shortest feasible path of thecharging vehicle is calculated, the overall travel time is minimized, and the path planning with optimal time is realized.

The invention discloses a preparation method of polyaniline and its derivative nanofiber. By a high speed centrifugal polymerization method, polyaniline and its derivative nanofiber are prepared by one step. The preparation method comprises the following steps: adding aniline and its derivative monomer into an acid solution doped with hydrochloric acid, sulfuric acid, nitric acid, citric acid and the like at a certain temperature to form a protonated salt solution, rapidly adding quantitative oxidants such as ammonium persulfate, hydrogen peroxide, ferric trichloride, potassium persulphate and the like into the protonated salt solution and mixing, placing the mixture into a centrifuge tube having a certain rotate speed and reacting for 0.1-1.0 h, removing a clear liquid, and drying polyaniline and its derivative at 60 DEG C in vacuum for 12 h so as to prepare the high-quality polyaniline and its derivative nanofiber. According to the method, reaction and separation are carried out simultaneously. The preparation method is simple and easy to operate, has advantages of high yield, low time consumption and low cost, and is easy to realize industrial production.

The invention discloses a Bang-bang control strategy-based optimal time tracking and capturing system and a Bang-bang control strategy-based optimal time tracking and capturing method. The system comprises a positioning module, a decoupling module, a communication module, an algorithm analysis module and a pursuit robot control module, wherein the positioning module, the decoupling module, the communication module, the algorithm analysis module and the pursuit robot control module are connected in turn. By the Bang-bang control strategy-based optimal time tracking and capturing system, a control algorithm is applied to an intelligent-agent robot for tracking and capturing an invader, the capturing time is the shortest under the condition that the invader linearly moves, the invader and a pursuer are positioned through visual information, the acquired position information is transmitted to a pursuit robot through wireless sensor node communication, and a rule of applying controlled quantity is obtained by the pursuit robot through algorithm analysis so as to control the pursuit robot itself and finish tracking and capturing.

The invention relates to a time optimal online trajectory planning method based on S-type velocity planning. The time optimal online trajectory planning method comprises the steps of inputting calculation parameters, calculating a critical value, determining an acceleration curve type, and solving trajectory parameters. The time optimal online trajectory planning method ensures that the time is optimal within constraint conditions, can be used for adjusting a trajectory in real time online, can input initial acceleration arbitrarily, represents a displacement error function by using process parameters, solves a system of linear equations through analyzing the error function, and is stable and efficient.

The invention discloses a mechanical arm track planning and optimization method based on genetic algorithm. The method mainly comprises the following steps of making a plan for a mechanical arm trackbelow a joint space through the method of "parabolic interpolation, quintic spline interpolation and parabolic interpolation"; making optimization treatment to the running time of the mechanical arm track by adopting a genetic algorithm model for fitness function optimization on the basis of the current track planning, so that the time of the mechanical arm in the running process is optimal. According to the method, the optimized mechanical arm track result can be generated, and the running time of the mechanical arm is reduced; and the working efficiency of the mechanical arm is improved, andit is ensured that the mechanical arm is stably moved without shaking in the rotating process. Meanwhile, the solution process of the track algorithm is easier, and the real-time control of the mechanical arm can be achieved more easily.

The invention relates to a method for preparing a fully-biodegradable agricultural film, and the method comprises the following specific steps of: firstly, adding polylactic acid and additive into a reaction tank, and mixing and modifying the polylactic acid and the additive, wherein the additive comprises the ingredients of glycerol (glycerin), poly(lactic acid-glycolic acid) and liquorice; then, uniformly stirring the modified polylactic acid and packing, preparing the mixture into fully-biodegradable polylactic acid polymer particles by virtue of a granulator; and finally, casting the polylactic acid polymer particles into a film by virtue of a film casting machine, and cutting the film by virtue of a slitting machine according to specification requirements, so as to obtain the agricultural film of the required specificatio. The agricultural film has the effects of being lower in production cost, completely substituting for the existing plastic films and realizing a full biodegradation effect within specific time according to the requirements.

The invention discloses a method for solving video question-answer problems by using a multi-granularity convolutional network self-attention context network mechanism. The method mainly comprises thefollowing steps that: 1) for a group of videos, frame-level and segment-level video expressions are obtained by using a pre-trained VGG network and a 3D-Conv network; 2) for question word embedding and answer word embedding of dialogue histories and new questions, the multi-granularity convolution self-attention network mechanism and a sentence-level context attention mechanism are adopted to obtain joint expressions related to the questions; and 3) a question-level time attention mechanism and a fused attention network mechanism are adopted to obtain joint video expressions related to the questions and generate answers to the questions asked about the videos. Compared with a common video question-answer solution, the method is advantageous in that the multi-granularity convolutional self-attention network is utilized, so that visible information and dialogue historical information can be combined to generate answers which better meet requirements. The method achieves a better effectin the video question-answer problems compared with a traditional method.