44results 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 the technical field of batteries, in particular to a battery cell and a battery comprising the same. The battery cell comprises a positive plate, a diaphragm and a negative plate, the diaphragm is located between the positive plate and the negative plate and comprises a base material and gluing layers, the gluing layers are located on the two sides of the base material or located on the side, close to the positive plate, of the base material, the battery cell comprises a straight area and a bent area, and the diaphragm comprises a first area and a second area corresponding to the straight area. The second area is an area where the diaphragm is overlapped with the projection of the positive plate, the first area is an area where the diaphragm is not overlapped with the projection of the positive plate, the thickness of the gluing layer in the first area is H1, the thickness of the gluing layer in the second area is H2, and the battery cell meets the following relational expression: 1 < H1 / H2 < = 10. The battery disclosed by the invention is high in cycling stability and good in high and low temperature performance.

The invention discloses a mechanical arm path planning method and system based on self-adaptive expansion sampling, belongs to the technical field of path planning, and solves the problems of low sampling rate, low convergence rate and poor initial path quality caused by too random sampling area and improper selection of expansion step length during path planning of a mechanical arm in the prior art. According to the self-adaptive expansion sampling strategy provided by the invention, on the basis of the F-RRT * optimization algorithm, the growth direction of the random tree is corrected by introducing the target bias force, so that the random tree deviates to the target point, the inflection point is optimized, the generated path is smoother, and by introducing the concept of target point gravity deviation, the optimal path is obtained. A strategy is adaptively expanded according to the obstacle complexity in the environment, and expansion is performed by dynamic step length, so that the stability and precision of the trajectory are improved, and the length of the generated path, the sampling frequency and the convergence time are reduced.

The invention discloses a mechanical arm obstacle avoidance path planning method which comprises the following steps: setting a starting point and a target point, adding a starting point tree and terminal point tree set, and initializing collision detection failure times; dynamically adjusting a sampling strategy according to the number of failures, and switching between constraint sampling and random sampling to generate sampling points; nodes are expanded in the starting point tree and the terminal point tree respectively, collision detection is carried out, if no obstacle exists, a corresponding tree set is added, and the number of failures is reset; if the obstacle exists, the failure frequency is increased, and sampling is carried out again; bidirectionally connecting the starting point tree and the ending point tree, finding a path if the starting point tree is communicated with the ending point tree, and ending planning; if the communication path is not communicated, selecting a tree with fewer nodes for expansion, and returning to re-sampling until the communication path is found; according to the method, the path planning efficiency and success rate of the mechanical arm in a complex environment are remarkably improved, and meanwhile the path length and energy consumption are reduced.

The invention provides an unmanned vehicle obstacle avoidance path planning method, and relates to an unmanned vehicle path planning method, which comprises the following steps of: adding an improved gravitational potential field to a target point, adding an improved repulsive potential field to an obstacle, meanwhile, a road boundary potential field and a speed repulsion potential field are introduced to ensure that the unmanned vehicle does not collide with a road boundary and can avoid static and dynamic obstacles; when the path nodes are beyond the maximum influence distance of the obstacle, a traditional gravitational potential field is added to the two adjacent path nodes in the bat position updating formula, and the path length is shortened; in the updating process of the local new solution of the bat algorithm, two strategies of Gaussian distribution and Cauchy distribution are used for searching to generate the local new solution, so that the searching speed and the searching precision are improved. Based on the improvement, static and dynamic obstacle avoidance can be realized while the path is ensured to be as short as possible in the driving process of the unmanned vehicle, and a smooth path is generated.

The invention discloses an unloading valve and a hydraulic system, and relates to the technical field of valves, a first valve cavity is formed in a valve body, an input port, an output port and a discharge port which are communicated with the first valve cavity are formed in the valve body, the input port is connected with input equipment, the output port is communicated with an actuator, and the discharge port is connected with working medium storage equipment; the first valve element is located in the first valve cavity. The unloading valve is arranged close to the actuator, and the distance between the actuator and the unloading valve is smaller than the distance between the actuator and the input device, so that the working medium in the actuator can be discharged from the unloading valve only by flowing through a short distance, and the unloading valve is not easy to discharge due to the fact that the input port is disconnected from the output port when the unloading valve is in the pressure relief state. Therefore, a working medium in the actuator can be discharged from the unloading valve at a high flow speed, then the pressure relief efficiency of a hydraulic system adopting the unloading valve is improved, and the probability of safety accidents around the actuator caused by untimely pressure relief of the hydraulic system is reduced.

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.

The invention relates to the field of artificial intelligence, in particular to an intelligent security system integrating video monitoring and patrol path optimization, which comprises a video collection module, a patrol path optimization module, a data analysis and prediction module and a control and communication module. The dual-enhanced chimpanzee optimization algorithm is used for initial path planning and optimization, so that the local optimal solution problem is effectively avoided, and a more globally optimal path is found; in a double-enhanced chimpanzee optimization algorithm, global search enhancement is performed by introducing an enhancement factor R1, a search space is expanded, local search enhancement is performed by introducing an enhancement factor R2, more detailed exploration is performed in a local area of the search space, the quality of an existing solution is optimized, and the precision and efficiency of local search are improved.

The invention provides a flexible direct current transmission converter valve tower. The flexible direct current transmission converter valve tower comprises a bottom insulation supporting column, two rows of power assemblies symmetrically arranged on the bottom insulation supporting column, a voltage-sharing shielding mechanism, a cooling water pipeline and an optical fiber. The two columns of power assemblies are connected at intervals in an insulating manner, each power assembly comprises a plurality of layers of layer units which are connected at intervals in an insulating manner, each layer unit comprises a plurality of valve sections, and all the valve sections of the two columns of power assemblies form spiral electrical primary series connection along the peripheral side of the valve tower through connecting busbars; according to the valve tower, all the valve sections in the valve tower are arranged to be of a series connection structure, the connecting busbars in the whole valve tower are spirally arranged in a rising mode along the outer side of the valve tower, the path length of the connecting busbars is greatly reduced, the line stray feeling in the valve tower is reduced, and the connecting busbar cost is reduced; and the valve tower connecting busbar is arranged on the outer side of the valve tower, so that an infrared temperature monitoring instrument and a camera in the flexible straight valve hall can detect the temperature at the joint of the valve tower connecting busbar and the head operation condition of the power sub-module in real time, and operation and maintenance management of field personnel is facilitated.

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.

The present invention provides a method and system for optimizing the layout design of a complex equipment pipeline system, including: step 1: establishing a layout space; step 2: meshing the layout space according to a preset granularity, simplifying the equipment according to the axis-parallel bounding box method, and setting the start and end points of the pipeline; step 3: setting the parameters of the ant colony algorithm; step 4: solving the optimal path for pipeline layout and obtaining the optimal pipeline layout result; step 5: generating a three-dimensional solid model of the pipeline. The present invention proposes an improved scheme for heuristic information, which increases the tendency of ants to move to the end point and the tendency to move by inertia, improves the convergence speed, reduces the formation of elbows, and improves the stability of the pipeline system.

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 present invention belongs to the field of waste gas treatment technology or device, and in particular to an integrated reducible activated carbon filter cartridge waste gas treatment device. It includes a shell for supporting the overall structure and guiding the flow of waste gas, and an activated carbon waste gas treatment component arranged inside the shell; the shell is surrounded by a closed shell plate, and a guide plate is arranged on the upper inner side of the shell, and a guide hole is arranged on the guide plate. The lower part of the guide hole is surrounded by a split chamber and a filter chamber in turn by the shell plate, and the split chamber and the filter chamber are divided into two parts, left and right, and a catalytic channel area is arranged in the middle of the two parts; a catalytic air intake channel and a catalytic air outlet channel are arranged in the catalytic channel area, and the catalytic air intake channel is arranged near the filter chamber, and the catalytic air outlet channel is arranged near the split chamber. The present invention reduces various types of inlet and outlet pipes, as well as most valves, to achieve intensive integration, and the cost, volume and weight of the entire equipment are greatly reduced.

The embodiment of the invention provides a multi-robot collaborative regional exploration intelligent decision-making method and device. The method comprises the following steps: regarding exploration of a to-be-explored area as establishment of a two-dimensional cost map of the to-be-explored area, and setting a variable weight cost function for a multi-robot environment exploration decision process; the method comprises the following steps of: modeling a multi-robot environment exploration decision process into a multi-agent part observable Markov decision process model by taking each robot as an agent; a distributed execution MADDPG framework is trained in a centralized mode through multi-agent reinforcement learning, the agents are made to continuously interact with the environment, transition is regarded as experience to be stored in an experience pool, and during the period, various parameters in a value network and a strategy network of the agents are trained based on the MADDPG framework; and after parameter solidification, decision making is carried out on each weight item in a variable weight cost function of the intelligent agent based on a strategy network, so that an optimal leading edge point is selected as a target point of a next step in an environment exploration process, and exploration is carried out based on the optimal leading edge point.

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.

The present invention proposes an unmanned vehicle path planning method and system based on an improved A*-TEB fusion algorithm, relates to the field of unmanned vehicle path planning, constructs a static grid map, and specifies the global starting point and the global target point of the unmanned vehicle in the static grid map; adopts the improved A* global path planning method to construct a global optimal path from the global starting point to the global target point in the static grid map; in the process of moving along the global optimal path, continuously intercepts local paths within a preset range from the unmanned vehicle, and replans the local paths, so that the unmanned vehicle continuously moves towards the local target point until reaching the final global target point; the present invention integrates the improved A* algorithm and the improved TEB algorithm, effectively solves the problems of single global path, poor dynamic performance and local path easily falling into local optimum, thereby realizing complementary advantages and improving the path planning efficiency, global optimality and real-time obstacle avoidance performance of the unmanned vehicle.

The invention discloses a printed chip resistor and a manufacturing method thereof. The printed chip resistor comprises a substrate, a resistance layer, a lower electrode and an upper electrode. Wherein the resistive layer is arranged on the top surface of the substrate, the lower electrode is arranged between the substrate and the resistive layer, and the resistive layer is arranged between the upper electrode and the lower electrode. The specific structure of the printed chip resistor is favorable for improving the conduction sectional area of the resistor and shortening the path length of the resistor, so that the application requirement of low resistance value can be met, and the heat dissipation effect of the printed chip resistor is improved.

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.

The utility model relates to a battery module, energy storage equipment and a power utilization device, the battery module comprises a battery unit, the battery unit comprises a first battery monomer and a second battery monomer, the first battery monomer and the second battery monomer are arranged in sequence, the first battery monomer comprises a first pole, and the second battery monomer comprises a second pole. The second battery monomer comprises a second pole arranged adjacent to the first pole, and at least one of the first pole and the second pole is of an elliptical structure; the sheet is provided with a first welding part and a second welding part, the first welding part is welded with the first pole column, the second welding part is welded with the second pole column, and current is transmitted between the first pole column and the second pole column through the sheet. And the elliptical long axis of the first pole and / or the second pole is perpendicular to the direction from the first welding part to the second welding part of the bar or is arranged at a preset included angle with the direction from the first welding part to the second welding part of the bar.