144results about How to "Quick planning" patented technology

The invention discloses a method and system for processing travel route planning. The method comprises the following steps: creating sets corresponding to different traffic strategies through utilizing the geographical information of the current city and the traffic strategies within the geographical information range of the city; and carrying out calculation, analysis and arrangement based on traffic route information and historical traffic data records in advance, then creating an optimal travel route planning database, and completing the planning of optimal routes. In addition, under the condition that the traffic strategy is determined, the optimal travel route is acquired from the optimal travel route planning database, i.e. a route with lowest travel cost is selected. By using the method and system disclosed by the invention, through calculating dynamic actual congestion state values and a predicted congestion state value, and comparing the dynamic actual congestion state valueswith the predicted congestion state value, an optimal travel route between a starting point and an end point can be determined, thereby achieving the purposes that the real-time congestion state parameters can be supported, the route planning is quick and accurate, the superiority of time selection is high, and the condition of the determined travel route is good.

The invention discloses a multi-UAV route planning and dynamic obstacle avoiding method based on combination of a Voronoi ant colony algorithm with an artificial potential field method. According to the method, modules like a laser radar and a camera are used for acquiring a position of a static obstacle in an environment; the static environment is divided based on a Voronoi diagram and offline planning of optimal paths of all unmanned aerial vehicles is carried out based on an improved ant colony algorithm; and when all unmanned aerial vehicles fly along the offline planned paths, dynamic obstacles are monitored by ultrasonic sensors in real time, a gravitational force and repulsive force model of the unmanned aerial vehicles is established by using the dynamic obstacles as threat sources, combined forces on the unmanned aerial vehicles are calculated based on the gravitational forces and repulsive forces, the unmanned aerial vehicles fly to static routes and fly continuously along the offline planned paths, circulation is carried out based on the method until all unmanned aerial vehicles fly to target destinations. With the disclosed method, optimal routes for avoiding all staticobstacles are planned for the multi-UAV formation and the iteration time is short; the dynamic obstacles can be monitored in real time; and local routes can be planned timely to avoid collisions.

The invention discloses a prediction energy management method of a networked hybrid electric vehicle. The prediction energy management method comprises the following steps that S1, a target vehicle uploads the own driving condition information to a data processing center through a vehicle-mounted terminal device; S2, the data processing center plans an optimal driving path of the target vehicle incombination with the collected road surface information and estimates a complete vehicle speed curve of the target vehicle; S3, the target vehicle receives the information feedback of the data processing center and sends the information feedback to a VCU for optimal energy distribution in combination with the real-time state information acquired by the target vehicle; S4, the VCU performs quick response planning on the received working condition based on a constructed two-layer feedforward neural network model to obtain a corresponding optimal global SoC trajectory; S5, the VCU follows the planned SoC trajectory through an MPC method, and obtaining an approximately optimal fuel economy energy distribution effect at a real-time control level. The method provided by the invention can ensurethat a real-time energy management strategy obtains the globally optimal fuel economy.

The invention belongs to the technical field of three-dimensionalpath planning for underwater vehicles, particularly relates to animproved fireflyalgorithm based AUV (autonomous underwater vehicle) three-dimensional track planning method and provides an improved fireflyalgorithm based AUV three-dimensional path planning method. The method comprises the steps as follows: performing modeling and fireflypopulation initialization on the three-dimensionalpath planning for the underwater vehicles; calculating objective function values; calculating self-adaptive parameters; comparing thebrightness among fireflies, and updating positions of the fireflies; adding auxiliary planning operators; outputting optimal pathswhen meeting algorithmiteration stop conditions, ending the three-dimensionalpath planning for the underwater vehicles, and outputting an optimal path of the last iteration. Themethodis more flexiblethan a traditional path search algorithm, the auxiliary planning operators are added, and quick planning of AUV three-dimensional paths can be realized.

The invention discloses a geometric-programming-based gliding aircraft terminal area energy management trajectory planning method which is used for solving the technical problem that an existing gliding aircraft terminal area energy management trajectory planning method is poor in practicability. According to the technical scheme, on the basis of the state of an aircraft entering a TAEM section, a geometric programming method is utilized for rapidly planning a reasonable and feasible TAEM plane trajectory; on the basis of the TAEM plane trajectory planning, height deduction is performed, and therefore a complete trajectory planning strategy is given. Due to the fact that the aircraft enters an entry of an automatic landing section in a spiral-line mode in the geographic planning process, the sudden overload change phenomenon is effectively avoided, and therefore the requirement for the aircraft maneuverability is lowered; meanwhile, during trajectory planning, the state of the aircraft at the TAEM section at the initial moment is considered, corresponding flight paths are planned in a classified mode for the entering state of the aircraft, the reasonable trajectory can be rapidly planned, the requirements for different entering directions are met, and the planning speed is high through simulation verification.

The present invention relates to devices and methods for tracking movement in a marine environment. At least one tracking device that is adapted to be deployed on a surface of the water, wherein the tracking device is capable of moving along the same trajectory of a desired object. Data from the tracking devices are received by at least one satellite, transmitted to a database, and used to determine the forecasted trajectory of the desired object. All data collected from deployed tracking devices may be integrated into a spatial data repository for analysis and reporting using GIS and associated information technologies, thereby allowing for more accurate decision-making and asset deployment during a fluid spill or similar marine contamination event. The present invention also allows for the collection and modeling of accurate localized sea current data, which may assist with marine and coastal engineering works such as shoreline protection and port dredging.

The invention discloses a method and equipment for avoiding obstacles, in order to solve the problem of low planning speed when an obstacle avoiding path is planned in the process of performing edge detection on the obstacles in the prior art. The method comprises the following steps of: aiming at any obstacle on a planned path, determining an expanded obstacle area of the obstacle; determining aconnection line between an entry point and an exit point of the planned path passing through the expanded obstacle area; dividing the connection line according to a set first distance to obtain a plurality of dividing points; determining boundary points of the expanded obstacle area with by using the division point as a starting point; and connecting the boundary points on the same side of the expanded obstacle area to determine a path avoiding the obstacle. According to the method of the invention, in the process of detecting the edge of the obstacle, when the path avoiding the obstacle is determined according to the boundary points of the expanded obstacle area, the path avoiding the obstacle can be quickly planned.

The invention relates to a biological antenna model-based multi-robot underwater target searching method and device. After an underwater detection ship carrying multiple underwater robots reaches a target searching area, all the underwater robots are driven to move by biological antenna models and send detected environmental information data to the underwater detection ship; according to the environmental information data, the underwater detection ship updates a raster map in real time and broadcasts to all the underwater robots; when one certain underwater robot finds a target, information is broadcast to the other underwater robots and the underwater detection ship; the underwater detection ship grabs the target by a mechanical arm after arriving the position of the target, and the other underwater robots board on the underwater detection ship after moving to the position of the target. The invention provides the method and the device which have the advantages that the robots are driven to move by the biological antenna models so as to complete a target searching task by the multiple robots in an unknown environment, and the target searching efficiency of the underwater robots can be greatly improved.

The invention provides an unmanned aerial vehicle static and dynamic path planning method based on a digital map, and relates to the technical field of unmanned aerial vehicle path planning. The method comprises the steps of: constructing an unmanned aerial vehicle flight three-dimensional digital map; setting initial and end position coordinates of flight of an unmanned aerial vehicle, and initializing an unmanned aerial vehicle path planning constraint condition; according to a hybrid particle swarm simulated annealing algorithm, updating a speed and positions of particles; drawing an unmanned aerial vehicle global static optimal flight path; judging whether the unmanned aerial vehicle encounters an emergent threat, and if yes, according to the hybrid particle swarm simulated annealing algorithm, re-planning a static flight path; and drawing an unmanned aerial vehicle global dynamic optimal flight path. By the method, in a static case, an accurate global flight track can be rapidly planned; and in a case of the emergent threat in the flight process, the threat can be rapidly avoided to effectively carry out path re-planning so as to guarantee flight safety of the unmanned aerialvehicle.

The invention relates to a hybrid path planning method for a mobile robot. A global map is constructed, and on the basis of the global map, hybrid path planning is conducted through a combination of arapid exploring random tree algorithm and a time elastic band algorithm. The hybrid path planning method for the mobile robot combines global path planning and local path planning to achieve mutual compensation under a constraint condition and improve quality and efficiency of a path planning solution; and compared with a single planning method, the hybrid path planning method for the mobile robot has the characteristics that a global path can be quickly planned, dynamic planning and obstacle avoidance functions are realized, and real-time capability and safety of a mobile robot in motion areensured.

The invention discloses a fuzzy neural network control method for an omni-directional intelligent wheelchair to avoid an obstacle. An obstacle avoidance algorithm on the basis of an improved fuzzy neural network is combined with a strategy transforming mechanism and a state control variable is added to solve the problem of an obstacle avoidance condition with the motion direction out of an angle of a view field. The state control variable is adopted to record a motion state of a user in the moving process; a path planning result is guaranteed to be close to an original motion direction of the user as far as possible; automatic obstacle avoidance navigation of the omni-directional intelligent wheelchair is implemented. Compared with a conventional obstacle avoidance algorithm, when facing the same obstacle, the fuzzy neural network control method can well forecast the moving direction and the moving speed of the dynamic obstacle so as to rapidly plan an obstacle avoidance path; the obstacle avoidance method provided by the invention enables the wheelchair to carry out obstacle avoidance path planning according to the intention of the user to the greatest degree and not only optimizes the obstacle avoidance path, but also shows humanistic care for the user.

The invention discloses a flying path planning method of unmanned plane capable of intelligently identifying threat types. The unmanned plane flying path planning method can intelligently identify threat types and search the best flying path under mixed environment. The method comprises a detection period and an operation period. The detection period is that a plurality of detection bodies conduct detection together to complete the basic cognition of the search area. The method mainly comprises the steps of node information value update, dynamic threat identification, and static threat avoidance, and the forming of basic optimization route. The operation period is that a single unmanned plane completes practical path searching. By means of the basic cognition formed at the detection period, the static threat can be accurately prevented in a practical executing period, the dynamic threat can be identified at an early stage, and the optimized route can be planned rapidly. Accordingly, the unmanned plane can arrive at destination safely and rapidly.

The invention provides a comprehensive bearing capacity assessment and decision system for a coastal zone, which comprises a model bank, an ecological asset assessment unit, a bearing capacity calculation unit, a main body functional area planning unit, a knowledge base and a database. The invention also provides an operating method for the comprehensive bearing capacity assessment and decision system for the coastal zone. Ecological asset and bearing capacity are combined into a main body functional area planning model to guide reasonable planning development of the coastal zone and realize intelligent and scientific coastal zone development.

The invention discloses a vehicle path planning method based on an improved bidirectional informed-RRT *. The method comprises the steps: 1, building a grid map, and determining a starting point and a target point; 2, sampling by utilizing a combined extension strategy and fusing a bidirectional RRT * algorithm to obtain an initial path; 3, obtaining an elliptical state subset space by using an improved bidirectional informed-RRT * algorithm, and obtaining sampling points; 4, optimizing the initial path by using a target gravity fusion bidirectional RRT * algorithm to obtain an optimized path, updating an elliptical region according to the length of the optimized path, and sampling in the updated elliptical region to obtain sampling points; 5, repeating the step 4 to obtain a final path; and 6, after pruning the final path, smoothing by using a fourth-order Bezier curve. Sampling randomness is reduced, convergence efficiency is improved, and the generated path is optimal and meets vehicle dynamic constraints, so that a vehicle can successfully avoid obstacles and quickly reach a target point.

The invention discloses an electric power GIS (geographic information system) data collecting method based on mobile equipment. The method includes: acquiring a collecting operation packet containing power grid pattern data and equipment attribute data from a data category of a power grid GIS platform; collecting electric power equipment attribute data, and marking electric power equipment and the attribute data thereof on a map according to the power grid pattern data; using a GPS (global positioning system) to collect electric power equipment spatial data and drawing the same on the map; synchronizing the electric power equipment spatial data and attribute data serving as the collecting results to the data category of the power grid GIS platform. The invention further discloses an electric power GIS data collecting system based on the mobile equipment.

The invention relates to a TSP problem path planning method. The method comprises the following steps: initializing; reading the position and calculating the distance; initializing a population through a greedy algorithm; replacing the worst individuals with randomly generated individuals; calculating the fitness; selecting; crossing; performing variation; randomly performing simulated annealing on the plurality of individuals; calculating the fitness; giving the contemporary optimal solution and the variant solution thereof to the first individual and the second individual respectively; and iterating until the termination condition is met. The population generated by the greedy algorithm has randomness and high quality, and optimization can be accelerated. A plurality of worst individualsare replaced by randomly generated individuals, so that the influence of differential solutions is reduced, and precocity is avoided. Some better solutions can be found through simulated annealing, and precocity and local optimization are avoided. The storage of the optimal solution and the variant solution of the optimal solution retains excellent information and increases population diversity.According to the invention, a shortest access path can be effectively and quickly planned, so that the method is an effective method capable of providing path planning for the TSP problem.

The invention proposes a method for planning an escape path in a toxic gas leakage state in a chemical industry park. A geographical coordinate of a leakage source point is obtained, a Cartesian coordinate system is established by using the leakage source as an original point, and a chemical industry park is transformed into a node network map; on the basis of an improved Gaussian diffusion model,a large-range harmful gas concentration after gas leakage is calculated; a method for calculating a safe area after toxic gas leakage is put forward based on a gas diffusion range and the national safety standard and an improved method for toxic load calculation is also put forward to realize quantification of the harm on the human body, and an optimal path to the safety area by evacuated peopleis planned by using the toxic load as a weight based on a Dijkstra's shortest path algorithm. According to the invention, proper safety shelters can be planned for people in different areas timely soas to avoid a crowding situation in the shelter. Moreover, the simple calculation method is provided, the operation speed is increased, and an optimal path to the shelter is found time based on quantification of the harm on the human body by the toxic gas.

The present invention discloses a method and system for clock tree planning for an ASIC, the method comprising: determining a netlist and a timing constraint file of the ASIC; creating a sequential device undirected graph for sequential devices in the netlist according to connection relationships of the sequential devices in the netlist and timing constraint relationships of the sequential devices in the timing constraint file; grouping the sequential devices in the netlist according to the sequential device undirected graph, such that the sequential devices in one group do not have a timing constraint relationship with the sequential devices in another group. The ASIC design method improved by using this method will reduce the design cycle from weeks to days, and enable designer to quickly plan the clock tree, thus reducing the design time and improving the design efficiency.

The invention discloses a medical mobile robot path planning method, system, and equipment based on RRT-Connect improvement, and a medium. According to the method, the distance between a starting point and a target point is judged according to a distance cost function; and a second starting point and a second target point with equal distances are sampled simultaneously between the starting pointand the target point through a middle node sampling function, so that the improved algorithm can simultaneously grow six random trees from the starting point, the target point, the second starting point and the second target point, and each random tree simultaneously and quickly expands towards the respective target direction. Meanwhile, a self-adaptive obstacle avoidance resampling principle is added into the algorithm; when a sampling point of the middle node sampling function collides with an obstacle or is located in the obstacle, sampling of the node is abandoned, and then resampling is carried out at the center positions of the node and an adjacent node according to the sampling position of the middle node. Therefore, problems that in a complex environment, a medical mobile robot ishigh in path planning time cost, and a target point is difficult to find in a short time are solved.

The invention provides an unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device, and belongs to the field of unmanned aerial vehicle inspection, and the unmanned aerial vehicle inspection path planning method comprises the steps: building a three-dimensional model of an inspection region, wherein the three-dimensional model comprises the point cloud dataof equipment in the inspection region; determining a three-dimensional inspection safety area according to the three-dimensional model and a no-fly strategy; determining a first inspection target taskpoint set according to the inspection plan and the three-dimensional model; and establishing a first inspection path according to the three-dimensional inspection safety area, the first inspection target task point set and the unmanned aerial vehicle information. According to the embodiment, absolute safety of the unmanned aerial vehicle during inspection can be guaranteed, the method has the characteristic of small calculation amount, the inspection path can be planned quickly, accurately and automatically, so that the unmanned aerial vehicle is feasible in the inspection area, obstacles areprevented from being collided, and flight safety and flight efficiency of inspection operation of the unmanned aerial vehicle in the inspection area are improved.

The invention discloses a three-dimensional digital earth platform construction method suitable for hydraulic engineering application. The method comprises the following steps that 1, a resource manager is constructed and used for supporting data resources; 2, a digital earth browser is constructed so as to achieve rendering for a virtual digital earth; 3, a network resource server is constructed, deployment is carried out through the network, basic sources are deployed to the server, and a client side browses corresponding resources through the network; 4, a water conservancy scene editor is constructed and used for editing and developing a water conservancy three-dimensional scene. The method has the advantages that by means of the method for representing hydraulic engineering through the digital earth technology, a hydraulic engineering editing environment is provided, and a real-effect hydraulic engineering can be rapidly planned on a three-dimensional platform. By means of the high-precision mixed terrain technology, and the engineering is allowed to be expressed based on the optimal ultrahigh precision terrain; if design parameters of a channel are given, the terrain containing the corresponding channel can be generated; in addition, a user-defined image layer is overlaid on a satellite image, and therefore a mapping effect with higher precision is achieved.

The invention relates to a double-track online automatic dispensing machine and a control method thereof. The double-track online automatic dispensing machine comprises a rack, a three-axis visual dispensing mechanism, a multi-track conveying mechanism and PCB positioning mechanisms, wherein the three-axis visual dispensing mechanism, the multi-track conveying mechanism and the PCB positioning mechanisms are arranged on the rack; the three-axis visual dispensing mechanism is erected on the multi-track conveying mechanism and can move in the X-axis direction, the Y-axis direction and the Z-axis direction relative to the multi-track conveying mechanism to achieve dispensing operation on PCBs; the multi-track conveying mechanism is provided with multiple conveying tracks and can convey multiple PCBs to move back and forth in the length direction of the conveying tracks, and each conveying track is provided with an automatic width adjusting structure capable of adjusting the width of the conveying track and multiple position detection sensors for detecting the positions of the PCBs on the conveying track; and the PCB positioning mechanisms are arranged between the conveying tracks, and the PCBs can be positioned and fixed so as to achieve dispensing operation of the PCBs. The double-track online automatic dispensing machine has the advantages of being good in compatibility, high in dispensing precision and high in production efficiency.