58results about How to "Short path" patented technology

A mobile robot path planning method based on an SAC algorithm belongs to the technical field of deep reinforcement learning and mobile robot navigation, integrates the thought of hierarchical reinforcement learning skill combination into the SAC algorithm, and uses a time sequence abstraction method to integrate low-level fine-grained actions, so as to improve the precision of the SAC algorithm. A higher-level coarse-grained action with definite semantics can be learned; in reinforcement learning training, a distributed soft strategy iteration method is used, maximum entropy reinforcement learning is expanded into a distributed learning version, and variance and overestimation of a Q value are reasonably controlled through a learning state-action return distribution function, so that the overall strategy quality of robot path planning is improved. According to the method, training and testing are carried out in a simulation environment Image-Env, and the performance of the algorithm is verified on Turtlebot2. The method can efficiently avoid obstacles, is short in path, and has a good obstacle avoidance effect in a complex dynamic environment.

An anchoring buoy system connected with an underwater vehicle comprises an anchoring buoy and a connecting device, the anchoring buoy comprises a buoy body and a gravity anchor, the buoy body floats on the water surface and is connected with the connecting device located underwater, and a power generation device is installed on the buoy body; the power generation device comprises a solar generator, is electrically connected with the connection device and is used for charging the connection device; the gravity anchor falls on a ground bed at the water bottom and is connected with the buoy body through the fixing cable; a device body of the connection device is provided with a fixed connection unit and a movable connection unit. The anchoring buoy system for connecting the underwater vehicle is located at the position of the upper layer of a water body, in the energy charging process, the path is short, energy consumption is low, damage is not likely to happen, the requirement for the terrain in arrangement is low, signal transmission is good, control delay is small, and the diversity of connecting modes is improved.

The invention relates to a mobile robot path planning method based on an improved eagle optimization algorithm, and belongs to the technical field of robot path planning, and the method comprises the following steps: S1, constructing a two-dimensional grid map according to map information, and marking a starting point, a target point and an obstacle; s2, constructing a multi-objective function, and evaluating the advantages and disadvantages of the path according to the path length and the path smoothness; s3, using uniformly distributed Logistic chaotic mapping and combining with an LOS sight line detection algorithm to initialize a population; s4, improving an egret optimization algorithm by adopting a self-adaptive nonlinear inertia factor and a doliolaria group algorithm, selecting a corresponding global search mode and a local search mode according to different iterations, and updating the position and the target function value of an egret individual; and S5, outputting the optimal path.

The invention relates to the technical field of semiconductor laser manufacturing. The invention particularly relates to a semiconductor laser chip structure and a manufacturing method thereof. The semiconductor laser chip structure provided by the invention comprises a laser substrate and a heavily doped table, and the heavily doped table is arranged on the surface of one side, opposite to a substrate layer, of an upper limiting layer of the laser substrate and comprises a first ohmic contact layer, a second ohmic contact layer and a resistance control layer; the heavily doped table is provided with a current injection region, and is provided with a first current injection window and a second current injection window; a current path from the first current injection window to the substrate layer does not pass through the resistance control layer, and a current path from the second current injection window to the substrate layer passes through the resistance control layer; the second current injection window is at least arranged on one side of the current injection region close to the rear cavity surface. According to the semiconductor laser chip structure provided by the invention, carrier injection of the front cavity surface and the rear cavity surface can be effectively balanced, so that local failure of the front cavity surface is avoided, and the device efficiency can be improved.

The invention is suitable for the technical field of automation equipment control and path planning, and provides a wafer extraction path optimization method based on adaptive heuristic and hierarchical search, comprising the following steps: Step 1, initialization; step 2, heuristic value calculation: calculating an adaptive heuristic function value according to the current node to guide search; step 3, judging whether an end point is reached or not; step 4, path cost calculation is carried out; step 5, judging node expansion: judging whether to expand a current node according to a self-adaptive expansion condition, and preferentially expanding a node which is most likely to approach an end point; step 6, layered search of paths: layered search is carried out gradually from the outer layer to the inner layer, independent path planning is carried out on each layer, and the search range is reduced; step 7, path backtracking is carried out; step 8, updating a search area; step 9, continuing or terminating the search; and step 10, outputting a result. On the premise of ensuring the shortest path, the start-stop frequency of the motor is reduced, the operation efficiency of automatic equipment is improved, the service life of the equipment is prolonged, and the energy consumption is reduced.

The invention relates to a high-integration-power module system composed of plastic package single tubes and capable of expanding wiring. The high-integration-power module system comprises a PCB and at least one plastic package single tube. The plastic package single tube is embedded in the PCB; the surface of the PCB is provided with wiring terminal groups, and the wiring terminals in each wiring terminal group are electrically connected with the corresponding pins in the corresponding plastic package single tube. The power density is high, high voltage and large current can be covered, and multiple dies are connected in parallel; the expansibility is high, and the range of industrial and vehicle gauge power modules can be covered; the cost can be reduced; the integration level is high, and active and passive devices can be integrated; the parasitic stray inductance is very low and can be about 1nH, and the loss can be reduced; meanwhile, the thermal resistance can be further reduced.

The application discloses a method for co-production of aviation kerosene precursor and carbon nanotubes from waste oil, which comprises the following steps: catalytic pyrolysis: under an inert atmosphere, oil compounds are subjected to catalytic pyrolysis under the action of a catalyst, and products are condensed to obtain non-condensable gas and liquid aviation kerosene precursor; non-condensable gas purification: CO2 and moisture in the non-condensable gas are removed to obtain purified gas; chemical vapor deposition: under the action of a foamed metal catalyst, the purified gas is subjected to chemical vapor deposition to obtain carbon nanotubes. The application realizes preparation of aviation kerosene precursor with hydrocarbon selectivity over 80% through catalytic pyrolysis, and has strong practicability in fuel deoxygenation; through reforming and upgrading of the non-condensable gas, preparation of carbon nanotubes is realized, and the added value of pyrolysis products is greatly improved. The application has a short path and low pollution degree, realizes resource utilization of waste oil, achieves the purpose of environmental protection, and has application value in the fields of energy and environmental protection.

The invention relates to the technical field of lithium ion batteries, in particular to a preparation method of a boron-doped porous silicon material, the porous silicon material and application. The preparation method of the boron-doped porous silicon material comprises the following steps: mixing Mg powder, Si powder and B2O3 serving as raw materials, and carrying out alloying reaction on the mixed raw materials in a protective atmosphere to prepare B-doped Mg2Si; the B-doped Mg2Si and nitrogen are subjected to a dealloying reaction, and an Mg3N2 / B-Si compound is prepared; and carrying out acid pickling on the Mg3N2 / B-Si compound to obtain the boron-doped porous silicon material. The boron element is introduced in situ while the micron porous silicon is synthesized, bulk phase uniform doping of B to Si is achieved, the used raw materials are low in cost and easy to obtain, the preparation process is simple and easy to implement, and the method has the industrial large-scale production potential.

The utility model provides an air cooling temperature control energy storage battery pack which comprises a box body and a main heat dissipation plate arranged at the bottom of the box body, a closed cavity is formed by the main heat dissipation plate and the bottom of the box body, a battery pack is installed on the main heat dissipation plate, and a battery cell air guide heat dissipation plate is installed between two battery cells of the battery pack. And the ventilating duct of the battery cell air guide radiating plate is communicated with the cavity at the bottom of the main radiating plate. According to the energy storage battery pack provided by the utility model, the heat dissipation area of the battery cell is increased, and the heat dissipation efficiency is improved, so that the service life of the battery cell is prolonged. According to the utility model, the ventilation path is simple, and ventilation ducts on two sides of the battery pack are removed, so that the installation density is improved, the overall volume is reduced, and the production cost is reduced. The panel is detachable, and later operation and maintenance are facilitated.

The invention relates to an ore pulp thickening tank, and belongs to the technical field of ore pulp treatment. The ore pulp thickening tank comprises a first tank body, a second tank body and a third tank body, a partition plate is arranged in the first tank body and divides the inner space of the first tank body into a first cavity and a second cavity, and the side wall of the first cavity is provided with a liquid inlet used for injecting ore pulp and a first discharging port used for discharging silt; the second tank body is communicated with the second cavity through a first overflow port, the second tank body is communicated with the third tank body through a second overflow port, and the third tank body is provided with a first liquid outlet; wherein the partition plate is provided with a plurality of flow guide pipes, the flow guide pipes are bent pipes penetrating through the partition plate, the two ends of each flow guide pipe extend towards the bottom wall of the first tank body, and the flow guide pipes arranged on the partition plate are the first flow guide pipe, the second flow guide pipe and the third flow guide pipe respectively from the bottom wall of the first tank body to the opening of the first tank body. The ore pulp thickening tank provided by the embodiment of the invention can improve the water quality of the obtained liquid.

The global path planning method based on potential energy guidance fast search random tree algorithm belongs to the technical field of intelligent vehicle path planning, and solves the technical problem that the traditional fast search random tree algorithm can cause the planned trajectory to travel close to the obstacles. First, the position of the obstacles and the start and end positions are determined through the two-dimensional space map planned by the vehicle. For any point in the map, the potential energy value thereof is calculated, and the potential energy values of all the obstacles are superimposed to obtain the potential energy value of the arbitrary point. The potential energy values of all the arbitrary points in the two-dimensional space map are obtained in the same way. Then, the potential energy values of each point of the whole map are normalized to obtain a potential energy map matrix. The potential energy map matrix is introduced into the fast search random tree algorithm, a potential energy threshold is set, and the randomly generated points are screened. After screening, the potential energy values are introduced into the cost function of the fast search random tree algorithm, and rewiring optimization is performed, so as to perform vehicle path planning.

This utility model provides a multi-compartment underground integrated utility tunnel multi-functional node, relating to the field of municipal infrastructure construction technology. The multi-compartment underground integrated utility tunnel multi-functional node includes an integrated utility tunnel layer, an equipment layer, and a ground level, with the equipment layer located between the integrated utility tunnel layer and the ground level. The equipment layer includes multiple functional areas, each independently separated. The integrated utility tunnel layer includes various functional utility tunnel compartments, each independently separated and arranged side-by-side along the width of the integrated utility tunnel layer. The functional equipment installed in each functional area corresponds to the functional utility tunnel compartment. The equipment layer is connected to both the ground level and the integrated utility tunnel layer via fire escape ladders. The ground level includes exposed escape routes.

The application provides a tour route planning method and device, belonging to the technical field of path planning, the method comprises the following steps: step 1: constructing a GIS map of a recreation place, marking the entrance, intersection and play point as a point with a unique identifier; step 2: connecting each point to generate a directed path, the directed path includes a one-way path and a two-way path; step 3: calculating the shortest path between any two points by using the Floyd algorithm to generate a shortest route set RS; step 4: receiving the starting point, ending point and traversal point set input by the user, and generating a planned route through the optimal path point bridging and correction algorithm. The tour route planning method and device provided by the application can quickly generate a tour route covering all specified points, with the shortest path, the least repetition and dynamic requirements.

The utility model relates to kitchen small household electrical appliance technical field, concretely relates to a kind of compact air fryer of high-efficiency heating, including shell, upper pot body component, lower pot body component, heating mechanism, air deflector etc., upper pot body component and lower pot body component are arranged up and down in vertical direction, not traditional side by side, this makes equipment more compact in width direction, heating mechanism is centrally arranged in shell, the heating mechanism includes the heating pipe generating heat and fan driving air circulation, air deflector is arranged in front of the air outlet of heating mechanism, is the core component of high-efficiency heating, the air deflector is designed with the lower air deflector channel of downwardly inclined extension, the air outlet of lower air deflector channel is accurately aligned with the air inlet of pot body component, hot air is efficiently guided to upper pot cooking space, the utility model overcomes the problem that existing double-pot air fryer is designed more left and right, leading to equipment overall width is larger, occupies kitchen countertop space more, not enough compact.

The invention provides a membrane electrode for an electrochemical hydrogen pump and a preparation method of the membrane electrode, and belongs to the technical field of hydrogen separation and compression. The preparation method of the membrane electrode for the electrochemical hydrogen pump comprises the following steps: providing the gas diffusion layer; preparing a chemical deposition solution; immersing the gas diffusion layer in a chemical deposition solution and carrying out a reaction under a heating condition so as to grow a catalyst in situ on the surface and the interior of the gas diffusion layer in a redox deposition manner to obtain a membrane electrode precursor; the membrane electrode precursor and a proton membrane are assembled to obtain the membrane electrode for the electrochemical hydrogen pump, and the membrane electrode for the electrochemical hydrogen pump prepared through the method has the advantages that a catalyst is not prone to falling off, the catalytic efficiency of the catalyst is high, and an airflow channel path is short.

The invention relates to a data packet forwarding method and device, electronic equipment and a storage medium, and the data packet forwarding method is applied to any node in a wireless Mesh network, and comprises the steps: obtaining a plurality of candidate forwarding paths corresponding to a target data packet; obtaining evaluation scores corresponding to the plurality of candidate forwarding paths, wherein the evaluation scores are determined according to the distance condition and the energy consumption condition of each candidate forwarding path; determining a target forwarding path in the plurality of candidate forwarding paths according to the evaluation score; and forwarding the target data packet by using the target forwarding path. According to the embodiment of the invention, in the process of forwarding the target data packet, the distance and the energy consumption are comprehensively considered, and the optimal target forwarding path is selected to forward the target data packet, so that the shortest path and the minimum energy consumption are ensured while the energy consumption balance of each node is realized, a part of nodes are prevented from exhausting energy too early, and the energy consumption is reduced. The stability and the service life of the wireless Mesh network are improved, and the overall performance is improved.

The present invention provides a method for intelligent return of drones based on a drone mother vehicle, including: when the drone triggers a return command during flight, after the drone mother vehicle receives the return command, the flight trajectory of the drone is obtained from historical records, the return path of the drone is calculated and sent to the drone, the drone predicts the current position in real time, and adjusts the flight path to match the return path; after the GPS signal fails, the real-time flight position of the drone is predicted by inertial navigation and image matching methods, and the flight route is adjusted along the return path to the parking path mark point, and the parking field mark set on the roof of the drone mother vehicle is used to guide the drone to land. In the technical solution provided by the present invention, it can ensure that the drone intelligent return is successful and the path is the shortest under different conditions including GPS failure.

The embodiment of the invention provides a beam splitter, a manufacturing method thereof, a multi-beam charged particle system and a multi-beam charged particle device, and relates to the technical field of electron optics. The beam splitter comprises a substrate layer and a first metal film layer. The first metal film layer is stacked on one side surface of the substrate layer. The substrate layer is connected with the first metal film layer and used for supporting the first metal film layer. The first metal film layer is provided with a porous array, the porous array comprises a plurality of mutually spaced through holes, and the through holes penetrate through the first metal film layer in the thickness direction of the first metal film layer. The substrate layer is provided with a window, the window penetrates through the substrate layer in the thickness direction of the substrate layer, and the projection of the through hole in the thickness direction of the first metal film layer is located in the projection of the window in the thickness direction of the first metal film layer, so that the through hole is communicated with the window. In this way, the through holes in the porous array can be formed in the beam splitter through the photoetching technology, and the multiple through holes with good consistency can be formed in the beam splitter easily.

The invention relates to an exhaust brake electromagnetic valve. According to the electromagnetic valve, a main gas circuit unit, a proportional electromagnetic driving structure, a gas circuit switching structure and a gas pressure detection structure are integrated. Continuous and linear accurate adjustment of output air pressure is realized through a proportional electromagnetic driving structure; the gas path switching structure can intelligently switch gas flow between the first gas outlet and the second gas outlet according to an instruction; the pressure sensor integrated in the valve body monitors the actual output air pressure in real time, closed-loop feedback control is formed, and accurate matching of braking force is ensured. The system is compact in structure, remarkably reduces external pipelines and leakage points, has the advantages of being rapid in response, accurate in control, high in reliability and high in adaptability, and remarkably improves the smoothness and safety of vehicle braking.

The invention provides a liquid container and an image forming device.The liquid container is installed in the image forming device.The liquid container comprises a first liquid storage part and a plurality of partition plates, the first liquid storage part is provided with a plurality of containing cavities used for storing liquid of different colors, and the partition plates are used for partitioning the inner space of the first liquid storage part to form the containing cavities; a plurality of spraying heads are further included, the multiple containing cavities communicate with the multiple spraying heads correspondingly, and liquid in the containing cavities flows out of the spraying heads; the multiple containing cavities comprise the first containing cavity used for containing black liquid, and the first containing cavity can meet more black printing requirements. The multiple ejection heads comprise the first ejection head communicating with the first containing cavity in the width direction of the liquid container, and the first ejection head is closer to the first containing cavity than other ejection heads, so that the path of black liquid flowing to the first ejection head is shorter, black liquid supply is faster, and smooth supply of black ink with the maximum requirement is guaranteed.

The invention provides an automatic tool magazine, and is applied to the technical field of automatic tool magazines. The automatic tool magazine comprises a shell, an operation window is formed in a front plate of the shell, and the bottom end of a shell top plate of the shell is fixedly connected with the top end of the main magazine frame. The main garage frame comprises a first garage frame, a second garage frame, a third garage frame and a fourth garage frame; the first garage frame is provided with a plurality of first garage frame columns, and the first garage frame columns are fixedly connected with the first garage frame plate; the first garage frame and the second garage frame are adjacent and aligned, the third garage frame and the fourth garage frame are adjacent and aligned, and the length direction of the first garage frame is parallel to the length direction of the fourth garage frame; a sliding rail is arranged between the first garage frame and the fourth garage frame, the length direction of the sliding rail is parallel to the length direction of the first garage frame, the sliding rail is slidably connected with the bottom end of a sliding base, and the top end of the sliding base is fixedly connected with the bottom end of a six-axis robot. A clamp frame is arranged between the sliding rail and the fourth library frame; the inner end face of the shell front plate is fixedly connected with the transfer table. In this way, the tool storage efficiency can be improved.

The utility model discloses a kind of intelligent card CSP module structure and intelligent card, the module structure aims at solving the problem of complex, low reliability of traditional intelligent card module structure. The module includes substrate, integrated circuit chip, multi-turn coil, conductive blind hole and external contact pad. Chip is directly bonded on the upper surface of substrate by fan-out and flip-chip bonding process. Coil is integrated on the upper surface of substrate and surrounds chip. The utility model is characterized in that, the second radio frequency solder ball of chip and the second terminal of coil are connected to the same spare external contact pad on the lower surface of substrate through the conductive blind hole inside substrate, thereby simply forming the radio frequency loop of near field communication, and the antenna wire bonding process is saved. The module structure is compact, reliable connection, especially suitable for high thickness and reliability requirements of intelligent card product.

This invention discloses an intelligent grain silo sampling method and robot based on multi-point automatic planning, belonging to the field of grain silo sampling technology. The method involves a main control unit calculating and planning a compliant sampling point sequence and a global navigation path, supporting dynamic adjustment of the point sequence and replanning of the remaining path. Multimodal perception and obstacle avoidance algorithms enable autonomous robot navigation, obstacle detour, and path regression. Subsequently, grain surface perception, main control parameter adjustment, and resistance feedback complete adaptive sampling of the grain surface, and a unique identifier is generated for each grain sample. Finally, multi-dimensional data from the equipment and environment are collected throughout the process, and the main control unit determines anomalies, issues graded warnings, and responds to remote emergency commands, achieving full-process safety monitoring and emergency intervention. Using the above method and structure, precise sampling point planning, autonomous robot navigation and obstacle avoidance, adaptive grain surface sampling, traceable grain sample information, and full-process safety monitoring, early warning, and emergency intervention are achieved.

The application provides a flat compact generator, and belongs to the technical field of generators, which solves the problems of large volume, complex structure and low heat dissipation efficiency of the existing generator. The generator comprises a front end cover, a casing, a rear end cover and a rear cover cover. The outer part of the front end cover is provided with an air outlet mesh cover. The outer part of the upper end of the casing is provided with a wiring board and a wire outlet box. The inner side of the wire outlet box is provided with an automatic voltage regulator. The inner part of the casing is fixedly provided with a main stator. The front end of the rear end cover is provided with an excitation stator. The rear cover cover is arranged at the rear end of the rear end cover. The inner part of the rear end cover is provided with a bearing. The inner ring of the bearing is fixedly provided with a main shaft. A plurality of closely arranged disc couplings and a locking plate are sequentially arranged on the front end surface of the main shaft from back to front by locking screws. A heat dissipation fan blade, a main rotor and an excitation rotor are sequentially arranged on the main shaft from front to back. The rear side end surface of the excitation rotor is provided with a rectifier bridge. The application realizes flat and compact design, and optimizes the smoothness of the internal cooling air duct to improve the heat dissipation efficiency.

The present invention discloses an AGV path planning method of an improved HHO algorithm fused with a neural network. The path smoothing process adopts a Bezier curve, which can eliminate sharp inflection points to make it more suitable for actual use of AGV. The environment modeling is modeled by a visual graph method, which uses convex polygons to fit the obstacle information of the mapping, thereby simplifying the path planning problem to the problem of finding the shortest route under constraints. The beneficial effects of the present invention are: the AGV path planning method of the improved HHO algorithm fused with a neural network, the improved HHO algorithm converges faster than the HHO algorithm, and obtains a shorter and smoother path.

The invention discloses a local networking method for Internet of Things equipment, relates to the technical field of electric power Internet of Things, and solves the technical problems that the quantity of data reported by a sensor network at the same time is limited, and the link transmission efficiency is relatively low. The method comprises the following steps of: based on a tree topology or a multi-hop topology, initiating by an access node, gradually diffusing to all network nodes, and carrying out topology establishment of network node networking; based on the scheduling of the new network node, sending a beacon and the intensity of a beacon frame signal, and selecting an existing sink node or an access node to carry out a registration request; routing configuration, static routing address updating and dynamic routing address updating of the sensor network are carried out based on the uplink routing and the downlink routing of the sensor network; and the slave node in the sensor network performs time slot synchronization according to the received BCH frame parameter of the master node, and performs local networking of the Internet of Things equipment. The sensors form a star-shaped network, the path is shortest, the number of sensors capable of being contained and reported concurrently is large, and therefore the link transmission efficiency is improved.

The invention discloses a noise reduction food processor which comprises an air outlet structure arranged in an air outlet channel, the air outlet structure comprises at least two flow channels, each flow channel is internally provided with at least two communicated valve units, each valve unit comprises a flow distribution column, a first enclosure wall and a second enclosure wall, and the first enclosure wall and the second enclosure wall are arranged on the two sides of the flow distribution column. A first branch flow channel is formed between the first surrounding wall and the flow dividing column, a second branch flow channel is formed between the second surrounding wall and the flow dividing column, a flow dividing position is formed at an inlet of the valve unit, and an obtuse included angle is formed between a tangential path extending from the flow dividing position to the first branch flow channel and a tangential path extending from the flow dividing position to the second branch flow channel. The airflow flowing in from the flow dividing position comprises main airflow flowing along the first branch flow channel and auxiliary airflow flowing along the second branch flow channel, and the main airflow and the auxiliary airflow intersect at an acute angle. According to the food processor, the optimized air outlet structure is adopted, and the heat dissipation effect and the noise reduction effect can be optimized in the heat dissipation process of the motor.

The present invention discloses an automatic rounding forming counting device, which aims to provide an automatic rounding forming counting device that improves processing efficiency and realizes workpiece management. It includes an operating table, the operating table is provided with a feed trough, the feed trough is connected with a counting and collecting component, the operating table is surrounded by the feed trough and is sequentially connected with a rounding component, a feeding component and a limit component, a feed plate is provided below the rounding component, the feeding component includes an automatic feeding plate and a sorting push table, the automatic feeding plate is connected to the operating table by lifting, the sorting push table is connected to the operating table by movement, the sorting push table is movably connected to the automatic feeding plate, the rounding component includes a supporting roller and a rounding disc, the counting and collecting component includes a sensor, a collecting guide plate and a collecting frame, and the operating table is provided with a discharging channel and a collecting trough. The beneficial effects of the present invention are: improving workpiece processing efficiency; realizing automatic counting and management of workpieces; enhancing the functionality of the device; the device has a high degree of automation; the operation is smooth and efficient, thus facilitating continuous processing and production of batch workpieces.

This invention provides a path planning method belonging to the field of robot path planning, comprising: constructing a non-uniform dynamic partitioning strategy based on the obstacle distribution density within the workspace, prioritizing the selection of key areas that the path may traverse, and reducing the generation of redundant nodes and edges; constructing a weighted sampling strategy based on the comprehensive distance between sampling points and obstacles, increasing the sampling density of obstacle boundaries and narrow passage areas, and reducing invalid sampling in free space; constructing an adaptive variable step-size connection strategy based on the regional obstacle distribution characteristics, dynamically adjusting the node connection step size to enhance the connectivity of the route graph and reduce redundant edges; and performing path querying using a graph search algorithm based on the constructed probabilistic route graph, and performing cubic spline interpolation smoothing on the generated original path to obtain a smooth final path. This method is applicable to path planning in two-dimensional and three-dimensional spaces and for multi-degree-of-freedom robotic arms, and can effectively shorten path length and reduce planning time.

The utility model discloses an HUD (Head Up Display) liquid crystal display module for improving antistatic capacity, which comprises a surface iron frame and a rear iron frame, and lower TFT (Thin Film Transistor) glass, upper TFT glass, a bottom polaroid, a shipping layer and a surface polaroid are arranged between the surface iron frame and the rear iron frame; the shielding layer is connected to one side of the upper-layer TFT glass, the surface polaroid is arranged on one side of the shielding layer, the top and the bottom of one side of the shielding layer are bonded with conductive double-faced adhesive tapes, and the inner side of the surface iron frame is bonded with the conductive double-faced adhesive tapes; the shipping layer is exposed, the conductive double-faced adhesive tape with the corresponding size is additionally attached to the exposed position, through the adjustment, silver paste does not need to be dispensed, ITO of the shipping layer can be directly conducted with the surface iron frame, the conduction area is large, resistance is low, the path is extremely short, and when the surface of the liquid crystal display screen receives static electricity, the surface of the liquid crystal display screen is not prone to static electricity leakage. When the HUD display module is used, the static electricity can be quickly released to the surface iron frame through the conductive double-faced adhesive tape and then quickly released to equipment such as a client shell, so that the static electricity resistance of the HUD display module is enhanced to a greater extent.