1072results about How to "Reduce operational risk" patented technology

The invention relates to the technical field of logistics transportation scheduling, in particular to a logistics management system based on intelligent scheduling, which comprises a data acquisition module, a demand analysis module, an intelligent scheduling module, a path planning module, a monitoring and feedback module, an optimization module and the like. The data acquisition module is used for collecting information such as goods, vehicles, storage, customer demands and traffic road conditions; the demand analysis module predicts logistics demands by using a time sequence analysis or machine learning algorithm; the intelligent scheduling module adopts a greedy and dynamic programming mixed algorithm to allocate resources; the path planning module calculates an optimal path according to road conditions and starting and ending points; the monitoring and feedback module monitors logistics parameters in real time and feeds back abnormity; and the optimization module optimizes the scheduling scheme according to the fitness function based on the genetic algorithm. According to the invention, data and resources of all links of logistics are effectively integrated, accurate demand prediction, efficient resource configuration, transportation path optimization, real-time monitoring feedback and overall performance improvement of the system are realized, the logistics cost is significantly reduced, and the transportation efficiency and the service quality are improved.

The invention discloses an energy storage control and adjustment method and system for distributed photovoltaic consumption, and relates to the technical field of renewable energy sources, and the method comprises the steps: obtaining illumination intensity, temperature data and historical load data, and predicting the future photovoltaic power generation amount and load demand changes; analyzing the voltage fluctuation of the power grid and the charging demand of the energy storage system based on the prediction results of the photovoltaic generating capacity and the load demand; according to the health state of the energy storage battery, optimizing the charging and discharging depth, and outputting an energy storage adjustment plan; dynamically optimizing the charging and discharging plan and reactive power regulation of the energy storage system by using a multi-objective optimization algorithm, and generating an optimal reactive power regulation instruction; according to the reactive power adjustment instruction, performing transformer area self-adaptive cooperative control to obtain a cooperative control result; according to the invention, through an area adaptive cooperative control mechanism, the reactive power regulation capability of the adjacent areas can be automatically coordinated when the regulation capability of the local energy storage system is insufficient, and the stability of the power grid and the utilization efficiency of the energy storage system are further enhanced.

The invention discloses an unmanned aerial vehicle inspection and power transmission operation control method and system based on path planning. The method comprises the following steps: constructing a three-dimensional environment model of a target area; constructing a total cost function at the cost of distance, weather risk, energy consumption and electromagnetic interference; taking the minimum total cost function as a target, and obtaining an inspection path of the unmanned aerial vehicle in the target area, so that the unmanned aerial vehicle flies based on the inspection path; in the flight process of the unmanned aerial vehicle, the inspection path is corrected in combination with the dynamic obstacle influence factors; the dynamic obstacle influence factor is determined by the distance between the unmanned aerial vehicle and the dynamic obstacle, the speed of the dynamic obstacle and the acceleration of the dynamic obstacle; in the flight process of the unmanned aerial vehicle, the airborne electricity testing device is controlled to measure the line voltage, and the airborne ground wire hanging and dismounting device is controlled to carry out ground wire hanging and dismounting operation according to the measured line voltage. According to the embodiment of the invention, dynamic obstacles encountered by the unmanned aerial vehicle in the flight process can be avoided, and collision is avoided.

The invention relates to the technical field of bolt mounting equipment, in particular to an angle steel tower bolt perforation mounting method. By means of autonomous navigation of the installation robot and flexible operation of the mechanical arm, rapid positioning and taking-out of bolts and nuts are achieved, and the risk of manual climbing and operation is reduced. Accurate insertion and preliminary positioning of the bolt are ensured through accurate control of the mechanical arm, then the fastening effect is enhanced by combining impact tightening with the intermittent hammering technology, the fit clearance between the angle steel is effectively eliminated, and the bolt is prevented from loosening. The whole process is highly automatic, personal errors are reduced, and the mounting quality and the working safety are improved.

The invention provides a method and system for virtual power plant resource allocation optimization and computing equipment, and is applied to the technical field of new energy prediction. The method comprises the following steps: collecting data of a distributed energy production and elimination main body through a centralized control center; establishing prediction data by using the prediction model; forming an internal scheduling plan by using a master-slave game model so as to determine the output and income of each distributed energy production and elimination main body; the operation state of the distributed energy production and elimination main body is monitored in real time through a sensor, intelligent metering equipment and a communication network, and the internal scheduling plan is dynamically adjusted according to the operation state, so that the stability and economy of the system are ensured. By using the method and the system of the invention, flexibility and economy of internal and external resource allocation of the virtual power plant can be improved.

The invention discloses an unmanned aerial vehicle routing inspection path planning method and device, and the method comprises the steps: obtaining a three-dimensional routing inspection map of a target routing inspection region, the three-dimensional routing inspection map comprising routing inspection equipment and obstacles; constructing a target function based on the inspection coverage rate, the inspection energy consumption and the inspection efficiency of the unmanned aerial vehicle in the target inspection area; constructing constraint conditions based on the inspection speed and the inspection time of the unmanned aerial vehicle and the shooting limitation of the unmanned aerial vehicle; based on the objective function and the constraint condition, adopting a local optimization strategy to obtain an initial planning path; and optimizing the initial planning path by adopting a global optimization strategy to complete the path planning of the unmanned aerial vehicle inspection. Through the method, automatic, efficient and accurate route planning of the inspection unmanned aerial vehicle in the target inspection area is realized, blind areas of inspection equipment are reduced to the maximum extent, the integrity and reliability of inspection are enhanced, the inspection efficiency is improved, and the operation risk is reduced.

The invention provides a low-altitude logistics multi-unmanned aerial vehicle cooperative distribution method based on deep reinforcement learning, and the method comprises the steps: obtaining a distribution task and multi-level dynamic airspace information, and distributing the distribution task to idle unmanned aerial vehicles according to a task distribution mechanism; based on the multi-level dynamic airspace information, an airspace scheduling mechanism is constructed, and the airspace scheduling mechanism comprises an airspace scheduling height level selector and a multi-unmanned aerial vehicle cooperative path-finding solver; the airspace scheduling height level selector determines the flight height level of the unmanned aerial vehicle according to the distribution task and the multi-level dynamic airspace information to obtain a height level decision; the multi-unmanned aerial vehicle cooperative path-finding solver performs cooperative path planning in a horizontal range at each height layer to obtain a path decision; and the unmanned aerial vehicle executes a distribution task according to the height layer decision and the path decision. According to the method provided by the invention, the high-throughput and low-delay delivery target is realized in a complex urban scene, and the operation risk caused by airspace conflicts is reduced.

The invention provides a catheter tip accurate positioning method and system based on electrocardiogram guidance. The method is applied to a control module of a catheter tip accurate positioning device. The method comprises the following steps: acquiring a standard electrocardiogram corresponding to a to-be-positioned patient, and constructing P-wave baseline features of the patient according to the standard electrocardiogram; when the catheter is inserted into a preset area of a patient, electrocardiogram detection information sent by an electrocardiogram sensing module of the device is obtained and analyzed, and waveform information of P waves is obtained; obtaining first change information and second change information according to the P-wave baseline characteristics and the waveform information so as to obtain first position information corresponding to the catheter; if it is confirmed that the P wave is obviously increased when the catheter is inserted according to the P wave variability information and it is confirmed that the distance between the catheter and the right atrium is smaller than the preset distance according to the first position information, pushing of the catheter is stopped, and accurate positioning of the catheter tip is completed. The accuracy of catheterization is improved through electrocardiogram guidance, and the safety and accuracy of overall operation are improved.

The method comprises the following steps: constructing a thermal shock test environment, carrying out a thermal shock cycle test on the refractory material, and collecting thermal shock cycle data; monitoring and recording the performance change of the material in the thermal shock cycle process; based on the thermal shock cycle data, a thermal shock historical memory model of the refractory material is established, and the change rule of the performance of the refractory material along with thermal shock cycle is analyzed; constructing a life prediction model, and predicting the service life of the material under a specific working condition; comprehensively evaluating the heat resistance and earthquake resistance of the material according to a model analysis result, and outputting an evaluation result. By monitoring the temperature gradient, the residual stress and the crack propagation in the thermal shock cycle in real time, the cumulative damage model and the service life prediction model are established, and accurate quantitative evaluation of the heat resistance and shock resistance of the refractory material is realized. The scientificity and dynamic adaptability of material performance evaluation are remarkably improved, and technical support is provided for material optimization design and high-temperature environment application.

The embodiment of the invention relates to the technical field of hydraulic power plant equipment management, provides a hydraulic power plant equipment operation state management system and method based on data analysis, and adopts an artificial intelligence technology based on deep learning to carry out real-time monitoring and data analysis on the operation condition of hydraulic power plant equipment. According to the method, the temperature time sequence change trend and the equipment vibration mode of the hydraulic power plant equipment in the operation process can be captured, then cross-modal gating conjoint analysis is carried out on the temperature characteristics and the vibration characteristics of the equipment, potential abnormal conditions of the equipment are excavated, and therefore abnormal early warning of the operation state of the equipment is achieved. The stability and efficiency of hydraulic power plant equipment operation can be improved, and the operation cost and the maintenance risk can be effectively reduced.

The invention discloses an unmanned aerial vehicle mechanical arm control system and method based on machine vision, and relates to the technical field of mechanical arm control. The system comprises an image acquisition module, a feature point extraction and matching module, a pose analysis module, a control parameter calculation and adjustment module and a motion control and execution module. The image data acquisition module acquires target area image data; the feature point extraction and matching module is used for extracting feature points of a target object from a reference image, constructing a feature set, extracting and matching the feature points of real-time image data, and screening effective matching points; the pose estimation module analyzes the actual pose of the unmanned aerial vehicle mechanical arm according to the matching points and calculates the actual pose and the expected pose through an optimization algorithm; the control parameter calculation and adjustment module is used for calculating the deviation between the expected pose and the actual pose, setting a control gain and updating a motion control parameter; and the motion control and execution module updates the motion track of the unmanned aerial vehicle mechanical arm in real time based on the adjusted control parameters.

The invention relates to the technical field of industrial automation and intelligent detection, and discloses a multi-mode industrial line inspection robot and system.The robot comprises a crawler saddle, a machine body is installed at the top of the crawler saddle, and mechanical arms are arranged at the driving ends of the two sides of the machine body and used for controlling a detection assembly to make contact with the outer wall of a rail and the outer wall of a pipeline; a cleaning assembly is arranged on the front side of the detection assembly, the cleaning assembly is used for removing dirt on the outer wall of a to-be-detected part before detection, and the system comprises a main control and navigation module used for robot path monitoring, environment perception and dynamic obstacle avoidance and achieving autonomous navigation and path adjustment in a complex environment in combination with GPS and IMU data. Through ground and high-altitude division cooperation and multi-modal detection, all-directional inspection in a complex scene is realized, the applicability, the detection precision and the inspection efficiency are improved, the problem of insufficient applicability of a single scene in the prior art is solved, and an efficient scheme is provided for intelligent maintenance of industrial lines.

The invention belongs to the technical field of medical instruments, and discloses a dynamic pressure adjusting thoracic surgery anti-blocking drainage system which comprises a drainage tube, a drainage bag, a backflow tube, a positioning disc, an electric rotating disc, a blade, an electric vacuum pump and a monitoring mechanism. A drainage tube and a return tube are arranged on the special-shaped tee joint; the tail end of the return pipe is connected with the input end of the electric vacuum pump; the output end of the electric vacuum pump communicates with the drainage bag; a protective shell is arranged on the positioning disc; an electric turntable is arranged on the protective shell, a plurality of blades are arranged at the tail end of a movable rod of the multi-stage medical electric push rod, and a monitoring mechanism is arranged on the protective shell. The internal pressure of the thoracic cavity is monitored in real time, the drainage process is accurately controlled in combination with other physical sign data, and the proper pressure of the thoracic cavity is maintained to improve drainage efficiency; a real-time monitoring and abnormity identification function can timely perceive drainage abnormity; normal saline flushing and mechanical crushing are combined, so that the drainage tube is smooth; the drainage process is comprehensively evaluated in combination with various monitoring data, and potential risks are found as early as possible.

The invention relates to the technical field of power equipment monitoring, in particular to a live equipment real-time detection and fault early warning system which comprises a corona detection module, an environment monitoring module, a data integration and transmission module, a data analysis module, a fault prediction module and an early warning module. Wherein the corona detection module is used for capturing a corona discharge phenomenon on the surface of equipment; the data integration and transmission module is used for synchronizing and integrating output data of the two modules; the data analysis module is used for quantifying the discharge intensity and range and performing correction based on the environmental data; the fault prediction module is used for generating a discharge trend prediction result; the early warning module is used for triggering an early warning signal and automatically generating an early warning information report; according to the invention, through real-time monitoring, environment correction, trend prediction and multi-channel early warning, the problems of real-time performance, accuracy and foresight of corona discharge detection are solved, and the operation safety and fault prevention capability of live equipment are significantly improved.

The utility model discloses a disassembling and assembling tool for an automobile shock absorber spring, and belongs to the technical field of vehicle maintenance tools. Comprising a supporting frame and a supporting column, the supporting column is installed above the supporting frame, a sliding block is installed on the supporting column in a sliding mode, a compression assembly used for compressing a shock absorber spring is installed on the sliding block, a driving assembly used for driving the sliding block to slide in the axial direction of the supporting column is installed on the sliding block, and a clamping assembly used for clamping a shock absorber body is installed on the supporting frame. The compression assembly comprises a cross arm which can rotate around a horizontal shaft and is installed on the sliding block, side arms are installed at the two ends of the cross arm in a sliding mode, clamping jaws are installed on the two side arms in a rotating mode, the clamping jaws are fixed relative to the side arms through clamping jaw locking pieces, the clamping jaws rotate to enable the force application faces of the clamping jaws to be attached to the spring, and a shock absorber supporting assembly is installed below the clamping assembly. The tool has the advantages that the clamping jaw can rotate to a proper angle so as to be better attached to the spring, the shock absorber supporting assembly plays a role in bearing the shock absorber, and the reliability of the tool is improved.

The invention discloses a limited space operation intelligent monitoring system based on multi-sensor fusion, and relates to the technical field of intelligent monitoring. Compared with a previous intelligent monitoring system, the system solves the problems that the space limitation degree and the environment complexity in a limited space are relatively high, and the operation safety risk is relatively high; a traditional monitoring method carries out monitoring based on a single sensor and lacks real-time performance and accuracy. The condition in a limited space is sensed and monitored in real time by fusing data of various sensors, so that the operation safety and the normal operation of equipment are ensured; intelligent mobile equipment is also integrated, so that the position and the state of an operator in a limited space can be accurately determined in real time; behavior recognition is carried out on people, vehicles, non-motor vehicles and the like through a behavior detection method, corresponding alarm and enhanced management are carried out, and the operation safety is further improved; and remote real-time monitoring of limited space operation is realized in combination with the Internet of Things technology, and all-around safety guarantee is provided for the limited space operation.

The invention relates to the technical field of industrial equipment fault diagnosis and intelligent control, and discloses an industrial equipment fault diagnosis system and method based on image recognition, and the system comprises a data collection module which is used for collecting the multi-modal data of industrial equipment, and the multi-modal data comprise equipment state data, environment data and image data; and the data preprocessing module is connected with the data acquisition module and is used for preprocessing the acquired multi-modal data, including smoothing, denoising and anomaly detection processing of the equipment state data, the environment data and the image data. The environment data, the equipment state data and the image data are subjected to weighted fusion through an attention mechanism, so that feature weights of different data sources can be dynamically adjusted, the actual state of the equipment can be reflected more accurately, a feedback control module is integrated, the running state of the equipment is dynamically adjusted according to a real-time fault diagnosis result, and the fault diagnosis accuracy is improved. And the closed-loop design realizes self-adaptive adjustment of the equipment state, so that the fault risk is effectively reduced.

The invention relates to the technical field of sulfur hexafluoride gas thermocatalytic conversion, and discloses a supported catalyst for SF6 thermocatalytic conversion and a preparation method thereof, and the preparation method comprises the following steps: titanium dioxide is supported on the surface of SiC in a nanoscale particle form, and the mass ratio of titanium dioxide to silicon carbide is 1: 5. The catalyst and the preparation method provide possibility for harmless treatment of SF6 under milder conditions, and the provided preparation method has the advantages of high loading efficiency, simple preparation device, reduction of the preparation cost, increase of the effective reaction area of the catalyst, and good application potential and popularization prospect.

The invention relates to the field of robot technology, machine vision, deep learning, computer graphics and digital twinning, in particular to a mechanical arm action recognition and control method based on the machine vision and the digital twinning technology. The motion state and environment information of the mechanical arm are captured in real time through the machine vision technology, high-precision recognition of the motion of the mechanical arm can be achieved in combination with an image processing algorithm, and a control strategy is adjusted in real time according to the recognition result; based on the digital twin model, the state change of the mechanical arm can be monitored in real time, and the mechanical arm and the virtual model are synchronously driven, so that the action of the mechanical arm is ensured to be consistent with the expected action; through intelligent identification and automatic adjustment, manual operation errors are reduced, the working efficiency and the production precision are improved, and the complexity of system maintenance is reduced; real-time optimization of the operation process of the mechanical arm can be achieved through combination of digital twinning and machine vision, potential faults are avoided through simulation and prediction, and stable operation of a production line is ensured.

The invention discloses a method, a system and equipment for compiling a power generation plan of a water-wind-light complementary system, and relates to the crossing field of renewable energy utilization and reservoir scheduling. Adopting a multi-dimensional synchronous back substitution reduction algorithm to determine a typical scene and an occurrence probability thereof; in the second stage, the first stage is used as a boundary condition, the minimum operation risk, the optimal peak regulation performance and the maximum power generation amount and residual energy storage of the water-wind-light complementary system are used as objective functions, and the construction of a water-wind-light multi-energy complementary risk-benefit balance multi-objective scheduling model is completed according to the required constraint condition; and solving the model by using a non-dominated sorting differential evolution algorithm, and screening an equilibrium solution by using a multi-attribute decision-making method to obtain a monthly typical daily power generation plan of the water-wind-light complementary system considering the uncertainty of the system. The method can provide a basis for scientific formulation of the power transmission curve of the water-wind-light complementary system.

The invention provides a nuclear power station flow channel joint dredging robot applying an image recognition algorithm. The robot comprises an image recognition sensing system, a robot moving navigation system, a dredging operation system and a safety monitoring system. The image recognition sensing system is used for collecting an image in the flow channel through a high-resolution camera and analyzing and recognizing sludge and sundries in the flow channel according to the image; the robot mobile navigation system is used for realizing positioning, path planning and autonomous movement of the robot; the desilting operation system is used for removing and collecting sludge and sundries in the flow channel; the safety monitoring system is used for monitoring the running state and the working environment of the robot in real time and ensuring the safety and the reliability of the dredging process of the robot; by integrating image recognition, automatic navigation and a safety monitoring system, efficient, accurate and safe flow channel dredging operation is achieved.

The invention relates to the technical field of rolling of road rollers, in particular to an identification method and system for a rolling operation track of a road roller. The method comprises the following steps: acquiring a target rolling area; performing geographic space data acquisition on the target rolling area to obtain geographic environment data of the operation area; positioning the road roller to obtain position coordinates of the road roller; sensing the working environment of the road roller in real time to obtain a working environment three-dimensional model; performing topographic feature recognition on the three-dimensional model of the working environment to obtain environmental topographic feature mapping data; performing geographic topology analysis on the target rolling area based on the environmental topographic feature mapping data to obtain an operation area topology model; and carrying out matching analysis on the position coordinates of the road roller and the working area topology model to obtain a road roller working path candidate set. According to the invention, the workload that an operator needs to frequently stop to check and adjust the position of the road roller is reduced, so that the operation process is smoother.

The invention discloses a power distribution network reconstruction-oriented mobile energy storage vehicle scheduling optimization method and system, and the method comprises the steps: carrying out the pre-layout of the configuration number and position of mobile energy storage in a pre-disaster prevention stage; in the post-disaster recovery stage, the influence of disasters on traffic network passing time is considered, dynamic scheduling and time sequence output characteristics of mobile energy storage and electric vehicles are combined, and a multi-source collaborative post-disaster recovery scheduling optimization model matched with post-disaster power distribution network reconstruction is established by taking the minimum load reduction power within fault duration as a target; and solving the post-disaster recovery scheduling optimization model to obtain a scheduling optimization scheme of the output position and the output time of the mobile energy storage and electric vehicle resources in each scheduling period. By setting a two-stage guarantee power supply strategy of pre-disaster mobile energy storage pre-layout and post-disaster dynamic scheduling, the power failure load recovery amount can be increased after large-area power failure of the power distribution network, the transportation time of the mobile resource vehicle is shortened, the resource utilization efficiency is improved, and the toughness of the power distribution network is enhanced.

The invention relates to the technical field of tunnel construction, in particular to an integrated monitoring and early warning method and equipment for a tunnel excavation face, the equipment integrates at least a laser radar, a camera, at least one gas sensor, a processor and other electronic components, and three-dimensional point cloud data of the tunnel excavation face are collected through the laser radar; early warning is carried out on surrounding rock disasters of the tunnel excavation face; real-time image data of a tunnel excavation face are collected through a camera and are submitted to a deep learning model to carry out flowing water area identification so as to carry out early warning of mud burst and water burst disasters; at least one gas sensor is arranged to detect concentration values of different types of gases in a tunnel where a tunnel excavation face is located so as to carry out gas disaster early warning; according to the scheme, multiple functions are integrated, surrounding rock disaster early warning, mud burst and water burst disaster early warning and gas disaster early warning can be achieved through one device, higher intelligence and convenience are achieved, and the operation risk of site construction personnel is effectively reduced.

The invention discloses a universal liquid carrier rocket launching pad technology. A satellite general assembly test subsystem realizes recovery and detection of a satellite and forms a star cover assembly; the rocket horizontal final assembly test subsystem realizes subsystem test, matching test and total inspection test of a first-stage rocket body and a second-stage rocket body in a horizontal state, and the first-stage rocket body, the second-stage rocket body and a star cover combination body form a whole rocket in the horizontal state; the rocket horizontal transfer subsystem transfers the whole rocket to the fixed launching platform in a horizontal state; the rocket launching subsystem erects the whole rocket and achieves testing, filling and launching of the whole rocket. According to the universal liquid carrier rocket launching pad technology, by adopting a three-plane test launching mode of horizontal final assembly testing, horizontal transferring and vertical launching, the construction cost of a rocket launching site is effectively reduced, the operation process is simplified, the rocket launching efficiency and frequency are improved, and the requirement for rapid and batch launching is met.

The invention provides a new energy automobile battery temperature control system which comprises a battery pack, a battery pack, a liquid cooling pipeline, a backflow pipeline, an expansion water tank, a first circulating pump, a heat exchange body, a second circulating pump, a heat pump system, a resistance heater and a PTC heater. The battery pack is arranged in an inner cavity of the battery pack, the liquid cooling pipeline and the backflow pipeline are both located in the inner cavity of the battery pack and surround the battery pack, and a temperature sensor is arranged in the inner cavity of the battery pack; the liquid cooling pipeline and the backflow pipeline are provided with a plurality of branches, and each branch is provided with a temperature sensor. A three-way valve is arranged at one end of the liquid cooling pipeline and one end of the backflow pipeline; the liquid cooling pipeline is connected with the first circulating pump and penetrates through the heat exchange body to form a circulating loop with the expansion water tank, the heat exchange body is connected with the second circulating pump, the other end of the backflow pipeline is connected with the heat pump system, the other end of the heat pump system is connected with the PTC heater, and one end of the first circulating pump is connected with the resistance heater.

The invention discloses a method for preparing a porous ceramic filter ball from electrolytic manganese residues, and relates to the technical field of environmental protection and ceramic materials, and the method comprises the following steps: (1) raw material treatment: crushing the electrolytic manganese residues into particles of 2-3 cm, drying by using a dryer, and after drying, carrying out ball milling and sieving on the electrolytic manganese residues by using a planetary ball mill to obtain a raw material; (2) weighing and proportioning raw materials: weighing and proportioning the raw materials in percentage by weight: 50-80% of electrolytic manganese residues, 20-50% of calcined kaolin, 0-10% of an additional cosolvent and 0-10% of a pore-forming agent; (3) mixing the raw materials; and (4) granulating and aging the mixture. According to the method for preparing the porous ceramic filter balls from the electrolytic manganese residues, a brand new path is developed for comprehensive utilization of the electrolytic manganese residues, the path enables the utilization rate of the electrolytic manganese residues to be greatly increased, the path becomes an extremely effective path for consuming the electrolytic manganese residues, the electrolytic manganese residues can be fully utilized due to the characteristic of high utilization rate, and efficient cyclic utilization of resources is achieved.

The invention relates to the technical field of unmanned aerial vehicle flight path planning, and discloses an unmanned aerial vehicle cluster four-dimensional flight path planning method for a high-density operation scene, and the method comprises the steps: constructing an urban airspace four-dimensional grid model, and completing the four-dimensional spatio-temporal data reconstruction of an unmanned aerial vehicle; the urban airspace four-dimensional grid model comprises a fixed four-dimensional body model, an unmanned aerial vehicle four-dimensional point model and a track four-dimensional line model; constructing a four-dimensional flight path planning model of the unmanned aerial vehicle; improving an adaptive heuristic function based on a 4D-A * search algorithm; and obtaining the optimal flight path of the unmanned aerial vehicle based on the operation cost and the operation risk obtained by the improved adaptive heuristic function. According to the method, high-density operation conflict-free real-time four-dimensional flight path planning of the urban unmanned aerial vehicle cluster can be effectively completed, the operation efficiency is improved, and the operation risk is reduced.

The invention provides an unmanned aerial vehicle knocking deicing method and system, and relates to the field of unmanned aerial vehicle deicing, and the method comprises the steps: S1, obtaining the icing state of a power transmission line through a monitoring system, if the icing state is that deicing is needed, entering a step S2, and otherwise, repeating the step S1; s2, acquiring icing data of the power transmission line through the monitoring system, and setting deicing parameters, deicing paths and wiring modes of the deicing unmanned aerial vehicle according to the icing data; s3, the control system controls the deicing unmanned aerial vehicle to conduct deicing operation on the power transmission line according to the deicing parameters, the deicing path and the wiring mode, if the deicing operation is completed, the step S1 is executed again, and if not, the step S3 is repeated. The unmanned aerial vehicle is adopted to suspend the impact rod for deicing, so that the deicing efficiency is greatly improved, the safety risk is remarkably reduced, and the applicability is greatly enhanced.

The invention relates to the technical field of liquid ammonia liquid level meters, in particular to a liquid ammonia liquid level meter capable of automatically cleaning impurities and a method thereof.The liquid ammonia liquid level meter comprises a sampling pipe and a floating ball liquid level sensor installed in the sampling pipe, the floating ball liquid level sensor is used for detecting the position of a floating ball and the height of the liquid level, and the floating ball liquid level sensor transmits detection data to a processor; a heat tracing pipe is arranged on the outer wall of the sampling pipe, a flow meter for introducing inert gas is arranged at the upper end of the sampling pipe, and a blow-down valve is arranged at the lower end of the sampling pipe. Whether the floating ball is stuck or not is judged by automatically detecting the position of the floating ball, then cleaning is achieved by heating and nitrogen introduction for purging under the condition that the floating ball is stuck, and due to the integrated automation technology, the accuracy of liquid level measurement of liquid ammonia and the stability of the system are remarkably improved. According to the device, impurities attached to the liquid level meter can be removed in time, the floating ball is prevented from being jammed, and accuracy and reliability of liquid level measurement data are ensured.