29results about How to "Reduce path length" patented technology

The invention relates to a vertical orientation ceramic fiber / polymer composite solid electrolyte membrane and a preparation method and application thereof, the vertical orientation ceramic fiber / polymer composite solid electrolyte membrane is composed of an inorganic framework material with a vertical orientation structure and a toughening matrix material filled in the inorganic framework material, the inorganic framework material is an inorganic ceramic nanofiber with high lithium ion conductivity, the toughening matrix material is a polymer / lithium salt compound with relatively high lithium ion conductivity. The composite solid electrolyte membrane combines high modulus of an inorganic skeleton and high toughness of a polymer, has excellent mechanical properties, and can form good contact with a positive electrode and a negative electrode of a battery. More importantly, the unique vertical orientation fiber structure of the inorganic skeleton can greatly reduce the actual transmission path of ions in the operation process of the battery, and the ionic conductivity of the composite solid electrolyte membrane is greatly improved.

The invention relates to a self-adaptive weight adjustment artificial potential field method obstacle avoidance method and system and a sanitation vehicle. The method comprises the steps that a laser radar and an ultrasonic sensor are used for collecting environment data around the vehicle; carrying out denoising, fusion and normalization processing on the collected data; establishing an attraction potential field and a repulsion potential field between the target and the obstacle; dynamically adjusting the weight of the attraction potential field and the weight of the rejection potential field according to the current position of the vehicle and the environment information; calculating a total resultant force field according to the adjusted weight, the attraction potential field and the rejection potential field, and searching an optimal path from the current position to the target point by using a path search algorithm based on the total resultant force field; and controlling the driving direction and speed of the vehicle according to the calculated optimal path. According to the invention, the weights of the attraction potential field and the repulsion potential field are dynamically adjusted, so that the vehicle can make an optimal obstacle avoidance decision according to the current environment and state, and the obstacle avoidance efficiency and safety are improved.

A compact light source for coupling to a movable optical probe may include a light emitting diode (LED) to generate a probe signal of a first bandwidth; an optical coupler disposed adjacent to the LED and arranged to couple a probe signal into the movable probe; and a narrowband-pass filter configured to receive the probe signal of the first bandwidth and output the probe signal in the movable probe at a second bandwidth smaller than the first bandwidth.

The invention discloses a device for preparing graphene by air flow pulverization, and relates to the technical field of graphene pulverization. The invention vertically fixes an inner tube in the middle position inside an air flow pulverization bin, sleeves an outer tube on the outside of the air flow pulverization bin, and connects the inner tube and the outer tube with a feeding tube through a shunt tube, so that part of the graphene raw material is injected into the air flow pulverization bin from outside to inside through an outer nozzle fixed on the outer tube, and part of the graphene raw material is injected into the air flow pulverization bin from inside to outside through an inner nozzle fixed on the inner tube, which can greatly reduce the distance between the correspondingly arranged outer nozzle and inner nozzle, and to a certain extent reduce the loss of kinetic energy of the graphene raw material when it moves a long distance after being injected, which is beneficial to improve the intensity of the initial collision of the graphene raw material after it is injected into the air flow pulverization bin, and further beneficial to improve the efficiency and effect of the graphene raw material being pulverized by the air flow in the air flow pulverization bin.

The invention discloses a positive electrode slurry and a preparation method thereof in the technical field of lithium batteries, and a lithium battery positive plate prepared from the positive electrode slurry, which adopt a dry mixing and wet mixing mode, firstly, a positive electrode active material, a conductive agent and an adhesive are added and stirred and mixed to obtain powder, and then N-methyl-2-pyrrolidone is added and kneaded to obtain powder dough; and then adding a dispersing agent and N-methyl-2-pyrrolidone into the obtained powder dough, and stirring to obtain the positive electrode slurry. According to the invention, the problem that the polycrystalline positive electrode active material with high specific surface area is easy to agglomerate in the pulping process is solved; in the wet mixing and stirring process, N-methyl-2-pyrrolidone (NMP) is added to control the liquid-solid ratio, viscosity and other parameters of the slurry, so that the stability and uniformity of the final slurry are realized. The addition of the dispersing agent assists the uniform dispersion of the conductive agent, a unique three-dimensional conductive network is constructed, ions / electrons are rapidly propagated, and the soft package battery prepared from the obtained positive plate has high energy density and high power density and realizes the double-high characteristic of the battery.

This invention discloses a multi-robot path planning method in complex environments based on multi-strategy self-learning, belonging to the field of multi-robot path planning technology. This method employs the Spiral Forward Adaptive Multi-Objective Artificial Hummingbird Algorithm (SFA-MOAHA) for path planning, enhancing the algorithm's local exploitation and global exploration capabilities by fusing a spiral approximation strategy and a forward fusion learning strategy. Simultaneously, a deep reinforcement learning mechanism is introduced to adaptively select the optimal search strategy based on population state and environmental feedback during the iteration process. Compared to existing technologies, this invention can efficiently solve multi-robot path planning problems in complex dynamic environments, generating high-quality collision-free cooperative paths. It not only effectively avoids collisions between robots and between robots and static / dynamic obstacles, but also significantly shortens the overall path length and improves task completion efficiency, thereby enhancing the safety and robustness of the multi-robot system.

The application provides an atomization device, and relates to the technical field of atomization. The atomization device comprises an atomization assembly, a suction nozzle, a sealing assembly, a first cavity and an airflow sensor. The sealing assembly is sealingly connected between the atomization assembly and the suction nozzle. The atomization device is provided with an airflow channel which penetrates through the atomization assembly, the sealing assembly and the suction nozzle. At least part of the first cavity is located between the side of the sealing assembly which is away from the atomization assembly and the suction nozzle. The sealing assembly is further provided with a detection air channel. One end of the detection air channel is communicated with the first cavity, and the other end is communicated with the airflow channel. The airflow sensor is arranged on the sealing assembly and is in air path communication with the detection air channel through the first cavity. In the atomization device provided by the application, the airflow sensor is arranged at the position of the suction nozzle, the path length from the airflow sensor to the airflow channel is shortened, and the detection accuracy is improved. The sealing assembly can prevent the condensed liquid from entering the first cavity, and the risk of damage to the airflow sensor is reduced.

The application relates to the technical field of radio frequency microwave devices, in particular to a W-waveband wide-frequency RF MEMS multi-blade multi-pole switch which comprises a silicon substrate, a plurality of input / output ports and a MEMS cantilever beam switch unit, the MEMS cantilever beam switch unit is provided with a driving electrode, and the communication and disconnection of the radio frequency signal path between the corresponding input port and the output port can be controlled by applying voltage to the driving electrode. The application realizes the on-off of the radio frequency signal path by electrostatic driving control of the deformation of the cantilever beam, and the driving mode has the advantages of low power consumption, high speed and easy integration. Compared with the common single-blade structure, the application can realize more complex signal routing in a compact unit, improves the system integration and functional flexibility, realizes interference-free crossing by using the slot structure through the horizontal swing type structure and the vertical lifting type structure, significantly reduces the high-frequency parasitic effect, and ensures the transmission quality of the millimeter wave signal in the W waveband.

The invention discloses a deep reinforcement learning path planning method based on local environment driving, belongs to the technical field of mobile robots, and is used for autonomous navigation and obstacle avoidance of a mobile robot in a complex environment. The method comprises the following steps: firstly, constructing an obstacle contour model according to obstacle point information in a local environment; then constructing a local environment graph structure between the obstacle and the robot by adopting an undirected graph, and extracting spatial feature and deep feature information in a local environment by utilizing a graph attention network; acquiring an optimal local target point by using a local target driving mechanism; and finally, fusing deep reinforcement learning to train an optimal path planning strategy. According to the method, key features in a local environment are learned through local target point guidance and graph attention network reinforcement, the local environment perception ability of the robot is improved, the path planning ability of the robot in a complex environment is enhanced, the average path length can be remarkably shortened while the navigation success rate is improved, and the track smoothness is enhanced.

The invention provides an electric power inspection robot path planning method and system, and relates to the technical field of path planning. The method comprises the following steps: carrying out grid processing on an inspection environment; determining a search neighborhood range of the current point according to the coordinates of the current point and the terminal point; according to collision detection and a path cost penalty function, calculating the total cost of the to-be-searched nodes in the current point search neighborhood, taking the node with the minimum total cost as the next node, and taking the next node as the current point to continue path finding; the path cost penalty function is used for representing a position relation between a connecting line of a current point and a next node and an obstacle area; and obtaining an initial path based on all the child nodes, and smoothing the initial path by using an improved third-order Bezier curve to obtain an optimal path. According to the improved algorithm, the path length can be effectively reduced, the turning frequency is reduced, and the safety of the path is improved, so that the inspection path with higher quality is obtained.

This invention provides a collaborative path planning method for ground-based multi-unmanned systems in leader mode. It addresses two scenarios: turning and straight-line movement of the leader node. For turning, a consistency deviation index parameter is introduced to adjust the position of unmanned nodes, implementing a "shortcut" behavior to keep up with the leader node as much as possible while maintaining the basic formation. For straight-line movement, since the leader node and unmanned nodes have the same speed, the algorithm only fine-tunes the angle to reduce formation distance deviation. The autonomous path planning algorithm proposed in this invention, which allows unmanned nodes to follow manned nodes in weak network environments, can adaptively adjust the formation by changing its own direction of travel while maintaining the formation to the greatest extent possible. The planned path is smooth and can meet the special requirements of turning during unmanned system movement.

This invention relates to a novel path planning method based on three-level communication and a forward and reverse expansion search strategy. First, the factory is divided into different areas and sensors are deployed. Then, the sensors collect various parameters of a vehicle and send the collected information to the main control platform. The main control platform analyzes the collected information to determine if there are obstacles threatening the forward path, and decides whether to adjust the vehicle's path. When the vehicle's path needs adjustment, the main control platform uses a forward and reverse expansion search algorithm to plan the vehicle's path, obtaining a planned path. The above steps are repeated to obtain multiple planned paths. Finally, a comprehensive evaluation function is constructed to evaluate the multiple planned paths, and the planned path with the highest evaluation is selected as the optimal path.

A mechanical arm path planning method and system based on adaptive expansion sampling belong to the technical field of path planning, and solve the problems of slow sampling rate, slow convergence speed and poor initial path quality caused by too random sampling area and unsuitable expansion step length selection when planning the path of the mechanical arm under the prior art; the adaptive expansion sampling strategy provided by the present application introduces a target bias force to correct the growth direction of the random tree based on the F-RRT* optimization algorithm, so that it is biased towards the target point, optimizes the inflection point, makes the generated path smoother, introduces the concept of target point gravity deviation, adaptively expands the strategy according to the complexity of obstacles in the environment, and expands with a dynamic step length, improves the stability and precision of the trajectory, and reduces the length of the generated path, the sampling times and the convergence time.

The invention provides an unmanned surface vehicle path planning method and verification method based on an improved Bi-RRT * algorithm, and the method comprises the following steps: S1, improving a random point sampling mechanism of the Bi-RRT * algorithm, employing a target bias strategy, and enabling the random point probability to fall in a target region; s2, when a new node is selected, introducing an intelligent sample insertion algorithm; and S3, according to the steering performance requirement of the USV, the steering angle constraint is increased. The verification method comprises the following steps: carrying out simulation experiments in simple, complex and special water area environments; and comparing path planning effects of the PIB-RRT * algorithm, the Bi-RRT * algorithm and the RRT * algorithm, evaluating the algorithms by adopting planning time and path length as indexes, and counting an average value of each algorithm index. The directivity of node generation is defined; the speed at which the algorithm converges to the optimal solution is increased, and the requirement for high real-time performance of the USV during navigation is met; the steering angle constraint is increased, and the path is further smoothed, so that the motion constraint and the power constraint of the USV can be better met.

This invention belongs to the fields of cultural relic protection and computer vision technology. Addressing the problems of low efficiency, poor accuracy, and lack of spatial positioning in traditional methods for detecting defects in ancient city walls, this invention discloses an intelligent detection method and system for surface defects of ancient city walls based on 3D reconstruction. The method includes: processing the texture information of a loaded 3D reconstructed model of the ancient city wall using a multi-strategy texture restoration method; analyzing the model's geometric structure to determine the wall's orientation and dimensional parameters; generating virtual camera positions based on geometric features and a meshed serpentine scanning strategy; rendering RGB and depth images at each virtual camera position; performing defect detection using a YOLO model; mapping the 2D detection results to 3D space to generate 3D defect marker color blocks; and fusing multi-viewpoint results to output the detection results of surface defects on the ancient city wall. This invention achieves efficient, accurate, and automated detection of defects in ancient city walls, providing effective technical support for cultural relic protection.

A chip interconnection packaging structure and a packaging method thereof, the packaging method comprising the following steps: forming a first circuit layer and a second circuit layer on opposite surfaces of a substrate and electrically connecting the first circuit layer and the second circuit layer; arranging a motherboard connecting bump along the periphery of a sub-plate unit on the first circuit layer; cutting along the periphery of the sub-plate unit to expose the side of the motherboard connecting bump; and arranging soldering material on the side of the motherboard connecting bump; and arranging a first chip and a second chip on the first circuit layer and the second circuit layer to form electrical connection between the first chip and the second chip. The chip interconnection packaging structure of the present application connects two chips through the circuit layer of a sub-plate, and the circuit layer of the sub-plate is directly connected with the side of a mother plate through the motherboard connecting bump, thereby saving the area of the sub-plate on the mother plate, reducing the path length of the interconnection between the chips, improving the communication quality and the space utilization efficiency.

This invention discloses a spray air intake device for a tubular PECVD equipment, comprising a reaction chamber, and an air intake spray plate, a graphite boat, and an exhaust plate disposed within the reaction chamber. The air intake spray plate and the exhaust plate are respectively installed above and below the graphite boat, or respectively installed below and above the graphite boat. The air intake end of the air intake spray plate extends to the outside of the furnace opening and the outside of the furnace tail of the reaction chamber. The front end of the reaction chamber is provided with a furnace door flange, and the rear end of the reaction chamber is provided with a furnace tail flange, which has multiple exhaust ports. During the process, the process gas is transported into the reaction chamber through the air intake spray plate, flows downward through the graphite boat, enters the exhaust plate, and is finally discharged through the exhaust ports on the furnace tail flange. This invention features a compact structure, convenient operation, high safety, and high gas distribution uniformity, effectively reducing the waste of process gas.

This invention discloses a continuous cooling buffer conveying mechanism, including a vertical frame with a horizontal frame disposed on one side of the bottom of the vertical frame. The continuous cooling buffer conveying mechanism also includes a buffer conveying component disposed inside the vertical frame. This invention relates to the field of workpiece conveying technology. Through the cooperation of the vertical frame, horizontal frame, buffer conveying component, material transfer component, and air-cooling component, and by adopting a design combining vertical layered conveying and air-cooling, it achieves continuous conveying, efficient cooling, and dynamic buffering of high-temperature workpieces in vertical space. This significantly shortens the path length required for traditional horizontal conveying, effectively buffers the production rhythm differences between preceding and following processes, and improves the cooling efficiency and quality of high-temperature workpieces, thereby enhancing the continuity and stability of overall production and meeting the dual requirements of high-precision production for workpiece temperature and production rhythm.

The current invention affords new formulations which deliver reversible and irreversible covalent kinase inhibitors, in particular BTK inhibitors, into the small intestine and specifically into the ileum and jejunum of the small intestine.

The present disclosure relates to the technical field of display, and discloses a display panel and a display device. The display panel comprises a display area and a first area surrounding the bottom of the display area, and comprises a substrate and a multilayer film layer structure. The multilayer film layer structure comprises a first metal layer, a first flat layer, a first electrode layer, a pixel definition layer and a second electrode layer arranged in sequence. A first sub part of the first flat layer is provided with a first channel penetrating in a first direction. A first sub part of the first electrode layer is electrically connected with a part of the first sub part of the first metal layer serving as a negative power voltage trace through the first channel. A first sub part of the pixel definition layer is provided with a second channel penetrating in the first direction. The second electrode layer is opposite in polarity to the first electrode layer, and a first sub part of the second electrode layer is electrically connected with the first sub part of the first electrode layer through the second channel. The display panel can effectively reduce the VSS line impedance without increasing the width of the frame, and solve the problem of high-brightness burn.

The invention discloses a reversely-coated BaCe < 1-x > Gd < x > O < 3-delta > (at) Ce < 1-x > Gd < x > O < 2-delta > core-shell structure composite ceramic and a preparation method thereof, and belongs to the field of solid electrolyte materials. The preparation method comprises the following steps: by taking (CH3COO) 2Ba, Ce (NO3) 3.6 H2O and Gd (NO3) 3.6 H2O as raw materials, dropwise adding a precipitator and a surfactant, mixing the obtained solution with precursor solutions of Ce (NO3) 3.6 H2O and Gd (NO3) 3.6 H2O, adding the precipitator and a dispersant, pre-calcining to obtain core-shell powder, adding a binder, and sintering to obtain the BaCe1-xGdxO3-delta-at Ce1-xGdxO2-delta core-shell structure multiphase ceramic. The core-shell structure is constructed, the BCG serves as the inner core, the GDC serves as the outer shell, the BCG / DGC two-phase interface proportion and the two-phase continuity are improved, an ion transmission high-speed channel is constructed, and the ion conductivity is improved; according to the invention, (NH4) 2CO3 is used as a novel precipitator, finer core-shell structure multiphase ceramic powder is obtained, sintering densification of a core-shell structure ceramic block is promoted, the prepared BCG (at) GDC core-shell structure multiphase ceramic has relatively high ionic conductivity, and the conductivity in an air atmosphere of 600 DEG C can reach 1.07 * 10 <-2 > S / cm.

The utility model discloses an end cap mould structure, including upper die body, lower die body, upper forming part, lower forming part and hot runner upper forming part fixed setting on the upper die body, and lower forming part sets up on the lower die body, when the upper die body is combined with the lower die body, and the lower forming part is inserted at least partially in the upper forming part and is provided with the cavity between both, hot runner sets up on the upper die body, and hot runner has integrated heating source, and hot runner is provided with runner inlet and runner outlet, and runner outlet and cavity intercommunication each other. Hot runner has integrated heating source, can make the molten raw material in the runner keep the molten state, avoid solidifying in the runner and form too much water mouth material. Runner outlet directly communicates with cavity, reduces the path length of raw material from runner into cavity, further reduces the production amount of water mouth material, significantly reduces raw material waste, and reduces the raw material cost of production.

The present application relates to the field of silicon processing technology, and in particular to an integrated device for automatic chamfering and cleaning of silicon wafers, comprising: a transfer mechanism, a detection mechanism, a chamfering mechanism and a cleaning mechanism arranged along the circumference of the transfer mechanism, the chamfering mechanism being adjacent to the detection mechanism; the cleaning mechanism being adjacent to the chamfering mechanism; a loading mechanism, comprising a first loading unit having a first receiving part and a second receiving part and a second loading unit having a third receiving part, the second receiving part being used to obtain the processed silicon wafers and transport them to the first interaction point, at the first interaction point, the first receiving part receives the silicon wafers on the receiving part, and after the receiving part transfers the obtained silicon wafers to the first receiving part, it simultaneously receives the silicon wafers on the second receiving part; the third receiving part receives the silicon wafers on the first receiving part and transports them to the mechanism paired with the first loading unit. The structure of the integrated device is simplified, the silicon wafer transportation path is shortened, the silicon wafer transportation speed is improved, the idleness of the mechanism is effectively avoided, and the overall processing speed of the silicon wafer is improved.

The invention relates to the technical field of intelligent manufacturing and industrial robots, in particular to an intelligent welding method based on deep learning and three-dimensional reconstruction. Comprising the steps that point cloud data of a to-be-welded workpiece is obtained, a welding seam area is recognized through preprocessing and a point cloud segmentation network, and welding seam track information including welding seam space coordinates and a welding gun posture is obtained; optimizing the motion track of the robot through a global optimization algorithm and a local obstacle avoidance algorithm, and generating a planned track; welding seam position information is obtained in real time in the welding process, the real-time welding seam position is obtained through filtering of a state estimation algorithm and compared with a planned track, and position deviation is obtained and dynamically corrected; performing defect detection on the weld seam image, and combining process parameter analysis and case matching to generate a quality evaluation result; and closed-loop self-adaptive control is carried out based on the real-time welding seam position and the quality evaluation result. By means of the method, high-precision automatic extraction of the welding seam track, optimal planning of the movement track, real-time accurate tracking of the welding seam position and intelligent evaluation of the welding quality can be achieved.

The application discloses a kind of self-adapting standard frame adjustment and through-hole optimization fast wiring method, including the following steps: initialization division is carried out to chip area, and initialization region is obtained;Congestion assessment operation is carried out to initialization region;Whether congestion assessment result reaches the condition of re-division is judged, if the condition of secondary division is reached, then this division region is classified, and then the standard frame of region is dynamically adjusted and divided again;Wiring operation is carried out, and weighted through-hole influence evaluation model is used in wiring process, to guide wiring operation to preferentially select the wiring path of reducing through-hole.The mechanism of the application is based on real-time congestion data dynamically adjusting the size of standard frame, reduces DRC violation, significantly improves wiring efficiency;Through weighted through-hole influence evaluation model, by increasing the weight of through-hole use, more accurately measure the influence of through-hole on wiring quality, guide wiring algorithm to preferentially select the wiring path of reducing through-hole, so as to optimize DRC violation and the number of through-hole.

The utility model relates to a kind of measurement unmanned ship floating dock device of side lifting, including the hoisting mechanism and basket mechanism of the one side of the ship side of dredging construction ship, hoisting mechanism includes lifting assembly and fixed frame, lifting assembly can make the measurement unmanned ship above fixed frame reciprocating movement along longitudinal direction, basket mechanism includes the accommodation basket connected in the upper of fixed frame, accommodation basket side opening, for measurement unmanned ship enters or leaves the basket mechanism.The utility model arranges hoisting mechanism, basket mechanism on dredging construction ship, provides a kind of safe, convenient, efficient and adaptable hoisting and recycling mode, avoid the deficiency of artificial pulling or traditional dock, simultaneously need not be carried out shore to and fro, in construction water area can replace battery, handle data, collect sample, facilitate to complete maintenance and data processing on ship, improve the overall efficiency and reliability of unmanned ship application in dredging construction.

The application provides an ultra-deep vertical shaft secondary conversion shaft mouth gangue discharging system and a gangue discharging method. The system comprises a conversion trestle; a concentrated gangue stacking area is formed at the bottom of the conversion trestle; a cage is arranged in the vertical shaft in a liftable manner; at least two tracks and a cross transition turnout are arranged on the conversion trestle, one end of the track corresponds to the entrance and exit of the cage, and the at least two tracks are communicated through the cross transition turnout; a gangue turning operation assembly is arranged at one end of the track running conversion assembly away from the cage and corresponds to the concentrated gangue stacking area; and a ground transfer assembly is arranged in the concentrated gangue stacking area and is used for gangue external transportation. In the application, the track is used for the running of the mine car, there is no long-distance ring track, the land occupation area is reduced, the compact field area is adapted, the empty mine car after discharging of the gangue can return to the original path or return to other tracks through the cross transition turnout; under the premise of not reducing the operation continuity of the mine car entering and exiting the cage, the running distance of the mine car is shortened, and the gangue turning and discharging efficiency is improved.

The invention discloses a sensor node positioning method based on path planning and transmission power control, belongs to the technical field of wireless sensor network nodes, and designs a new moving path, a new transmission power control scheme and a new obstacle processing mechanism for a mobile anchor node. The objective of the invention is to reduce the path length of mobile anchor nodes and the number of beacon points, thereby reducing energy consumption and reducing positioning time. Full coverage of the mobile anchor node on a monitoring area is realized, the number of collinear beacon points is reduced, and the positioning success rate is ensured; the transmission power of the mobile anchor node is controlled, and the transmission number of unnecessary beacon points is reduced, so that the energy consumption is further reduced, and the positioning precision is improved; the obstacle processing mechanism reduces the influence of obstacles on positioning, and ensures that all unknown nodes are positioned as much as possible.