9results about How to "Reduce path length" patented technology

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.

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.

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.

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 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 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.