22results about How to "Short path" patented technology

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 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.

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.

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 application discloses a heterogeneous oxidation reaction system, comprising the following units: an oxidation gas preparation unit, an oxidation reaction unit, a regeneration unit and a tail gas treatment unit. The application further discloses an application method of the high-concentration ozone water preparation system.

The utility model discloses a track reinforced operation laser smoke's removal device including two for the laser head group of alignment track execution operation, two blow -off pipes are set up corresponding to the laser head group, a fan for driving gas, first blow -off pipe and second blow -off pipe are set up in the just below of two laser head groups away from each other, and the length direction of laser head group is extended simultaneously, first lens area and second lens area are located between first blow -off pipe and second blow -off pipe, when the fan is sealed intercommunication with any blow -off pipe, the blow -off pipe blows out the airflow to corresponding lens area through its blow -off hole and forms the air curtain, and the air curtain can synchronize the smoke that the first row laser head group, the second row laser head group generated when operation blows off the lens area of two groups of laser heads, advantage utilizes the airflow that single fan and single blow -off pipe work when, can synchronize the lens of two rows of laser heads, and the smoke removal efficiency is very high.

This invention belongs to the field of new energy technology and discloses a main unit of a dual-airflow, dual-refrigeration system with orthogonally arranged air inlet and outlet surfaces. The main unit includes a housing, two sets of refrigerant circulation systems disposed within the housing, and an exhaust chamber. Each set of refrigerant circulation systems has an independent external heat exchanger negative pressure chamber and an exhaust chamber. The external heat exchanger negative pressure chamber consists of an external heat exchanger, part of the housing, and a back plate. Several air outlets for the external heat exchanger negative pressure chamber are provided on the back plate, corresponding to the air inlets of vertically arranged fans. The air outlets connect to the exhaust chamber. The exhaust outlet of the exhaust chamber is located on the side plate of the housing and orthogonally arranged to the air inlet surface of the housing. This invention constructs a low-resistance external heat exchanger airflow path through the louvers of the exterior facade, constructs an external heat exchanger assembly structure, improves the energy density of the main unit, reduces the number of devices, simplifies the spatial structure, and reduces the floor space required.

The application discloses an automatic pipe storage method and device, and relates to the technical field of oil and gas exploitation supporting equipment. The automatic pipe storage method comprises the following steps: step 1, two storage racks are horizontally moved to a working position with a certain distance; step 2, the storage racks are rotated so that the continuous feeding storage mechanisms on the two storage racks are turned to the inner side and oppositely arranged; step 3, a manipulator carries a pipe column to the continuous feeding storage mechanism; step 4, the continuous feeding storage mechanism transports the pipe column from one side of the storage rack to the other side; step 5, steps 3 and 4 are repeated until the pipe column is placed or the oil pipe is fully placed in the pipe storage mechanism; and step 6, after the oil pipes on the pipe storage mechanism are all removed, the storage racks are rotated to be parallel to the bottom frame, and the distance between the two is reset to the storage position. The application is convenient for storage and transportation of pipe columns with different sizes, and the cooperation of the carrying manipulator and the continuous feeding storage mechanism improves the continuity and operation efficiency of the automatic pipe storage operation.

The application relates to application of an iron porphyrin compound in preparation of a tumor metastasis inhibiting drug and belongs to the technical field of biological medicines. The iron porphyrin compound of the application inhibits tumor metastasis through a triple synergistic mechanism: first, the non-enzymatic catalysis mode is used to improve the intracellular NAD + level, the tumor cell metabolism is changed from glycolysis to oxidative phosphorylation, and the tumor cell metabolic flexibility is broken; second, keratin and intermediate filament protein overexpression is induced, the cell skeleton mechanical rigidity is enhanced, and the tumor cell deformation and migration are limited; and third, CD8 + T cells and M1 type macrophages are activated, the tissue immune surveillance is strengthened, the whole-chain metastasis process of tumor dissociation, intravasation, circulation survival, extravasation and colonization is blocked from the source, and the tumor metastasis key link is comprehensively inhibited.

This invention relates to a phased array antenna subarray, comprising an external interface layer, a beamforming network layer, an amplitude and phase multifunction layer, a low-noise amplifier (LNOA) layer, and an antenna layer. The antenna layer and the LNOA layer are disposed on a first metal-based PCB board, while the amplitude and phase multifunction layer, the LNOA layer, and the antenna layer are disposed on a second metal-based PCB board. The bottom layer of the first metal-based PCB board and the top layer of the second metal-based PCB board are connected together, achieving integrated encapsulation of the external interface layer, beamforming network layer, amplitude and phase multifunction layer, LNOA layer, and antenna layer. Both the first and second metal-based PCB boards are provided with multiple grounding and heat-conducting vias. This invention enables the phased array antenna to be lightweight, small, and thin while also possessing excellent heat dissipation and good scalability, allowing for expansion of the number of elements and frequency bands.

The invention relates to an electrically actuatable solenoid valve, in particular for controlling and / or adjusting a pressure medium connection in a hydraulic unit of an electronically slip-adjustable vehicle brake system. A solenoid valve known for this purpose has a valve mounting part (12) consisting of a lower part (14) with a control cross-section (22) and an upper part (16) for guiding a tappet (24). A closure (24a) is coupled with the push rod (24) for controlling the control cross-section (22). In order to actuate the valve, the electromagnetic coil acts on a magnetic armature (34), which actuates the plunger (24) against the force of the restoring element (26). According to the invention, a lower part (14) with an end section (14a) is proposed, which end section is introduced into a lower receptacle (16a) of the upper part (16). The end section (14a) has at least one recess (44) which opens towards the upper part (16) and which runs through the wall of the lower part (14) in the radial direction. The proposed lower part (14) reduces the structural height of the valve mount (12) in the housing block (40) without affecting the flow resistance, the magnetic transition or the stability of the valve mount (12) of the solenoid valve, and furthermore enables a cost-effective production of a hydraulic unit.

A high-voltage three-phase bridge gate drive circuit relates to the technical field of high-voltage integrated circuits and comprises a logic input circuit, a narrow pulse generation circuit, a high-side circuit and a low-side circuit. The logic input circuit is provided with three high-side signal output ends and three low-side signal output ends; the narrow pulse generation circuit comprises three narrow pulse branches; the high-side circuit comprises three high-side branches, and the low-side circuit comprises three low-side branches. The method has the characteristics of good channel consistency, high reliability and the like.

The application discloses a method for recycling lithium in leaching solution of waste lithium ion battery and application thereof, and comprises the following steps: removing copper and iron aluminum from the leaching solution of the waste lithium ion battery to obtain a post-removing impurity solution; preparing a calcium sulfate solution; adding sodium fluoride, ammonium fluoride and a dispersing agent into the calcium sulfate solution; heating and reacting the obtained mixed solution; obtaining calcium-doped sodium fluoride crystals after cooling; adding the calcium-doped sodium fluoride crystals into the post-removing impurity solution; performing lithium precipitation under low-speed stirring; and performing solid-liquid separation to obtain lithium fluoride residue and post-lithium precipitation solution. The method uses calcium-doped sodium fluoride solid to precipitate lithium in the leaching solution at one time, so that the lithium in the leaching solution is enriched in the lithium fluoride residue, the recovery rate of the lithium is improved, the content of nickel, cobalt and manganese metals in the lithium fluoride residue is reduced, the difficulty in preparing battery-grade lithium carbonate from the lithium fluoride residue is reduced, and the subsequent treatment process of the nickel, cobalt and manganese metal solution is simplified.

The invention discloses a system for measuring a material level state by using microwave intensity, and the system comprises a microwave transmitter which is used for transmitting microwaves with preset intensity; the microwave probe is arranged opposite to the microwave emitter and is used for receiving direct microwaves which are emitted by the microwave emitter and penetrate through a material layer to be detected and converting intensity signals of the received microwaves into electric signals; the microcomputer is connected with the microwave probe and is used for receiving the electric signal and calculating the thickness of the material layer based on the attenuation characteristic of the microwave in the detected material layer so as to determine the state of the material level; the display unit is connected with the microcomputer and is used for displaying a processing result of the microcomputer; and the central control computer is connected with the microcomputer and is used for transmitting a processing result to the central control computer. According to the invention, the problems that the signal of the traditional level gage is easily interfered, the equipment is easily damaged and the traditional level gage depends on manual work are solved, and high-reliability, high-precision, strong-adaptability and intelligent continuous level monitoring is realized.

The application relates to the field of unmanned aerial vehicle control and artificial intelligence, in particular to a multi-unmanned aerial vehicle cooperative path planning method and system, a computing module and a storage medium, the method comprising environment perception and state collection, non-expert strategy guidance, CVAE strategy distillation, disturbance network exploration enhancement, multi-agent reinforcement learning cooperation, path execution and iterative optimization; through combination of non-expert strategy guidance and individualized distillation technology, learning efficiency and strategy quality are improved.