27results about How to "Smooth path" patented technology

The invention belongs to the technical field of unmanned aerial vehicles, and particularly provides a transformer substation unmanned aerial vehicle autonomous inspection route generation method based on an optimization A star algorithm. According to the method, a heuristic function is improved, the Euclidean distance between a target point and a current node is comprehensively considered, obstacle avoidance processing is carried out, and a safer and more efficient inspection route is generated. And by calculating the total cost of each node, the node with the minimum total cost is selected for expansion until a target node is found. According to the improved A star algorithm, the unmanned aerial vehicle can be effectively prevented from flying into an obstacle dense area, the obstacle keeps a safe distance, and the flying safety is remarkably improved. The distance and the obstacle density are comprehensively considered, the generated inspection route is smoother and more efficient, and unnecessary flight distance and energy consumption are reduced.

The invention discloses a path planning method for a mine rescue robot, relates to the field of path planning of an intelligent algorithm, plans an optimal path of the mine rescue robot on a rasterized map, and aims to solve the problems of low search efficiency, multiple turning times, path redundancy and easiness in falling into a local optimal solution in the initial stage of iteration. The method comprises the following steps: establishing a grid map environment model; changing a heuristic function of a pseudo-random probability ACS algorithm to obtain an initial path; performing non-uniform distribution on initial pheromones through the initial path, and performing iteration; obtaining a neighborhood search mechanism according to a map environment, and selecting path nodes to form a path; smoothing each path successfully reaching the end point; a pheromone reward and punishment mechanism is added, and arrangement of pheromones is changed; and next iteration is carried out to obtain a final optimal path. The method is suitable for path planning in the fields of Internet of Things, cloud computing and the like, and an innovative solution is provided for path planning of the mine rescue robot.

The invention relates to the technical field of inter-city cargo splicing and loading, in particular to an inter-city cargo splicing and loading transportation path optimization algorithm based on large model optimization, and solves the problems that in the prior art, an optimization algorithm based on a large model generally relates to a complex calculation process and needs a large amount of calculation resources and time, and especially in a real-time path planning scene, the calculation process is complicated. And the calculation delay can influence the transportation efficiency. The invention discloses an inter-city cargo splicing transportation path optimization algorithm based on large model optimization. The algorithm comprises data collection and preprocessing, model construction and training, algorithm optimization and verification, path optimization calculation, result evaluation and feedback, and algorithm deployment and application. According to the method, various possible transportation paths are analyzed and compared through an algorithm, the optimal path is selected, unnecessary detour and waiting time is reduced, so that the transportation efficiency is improved, and the algorithm can perform intelligent scheduling and reasonable arrangement of transportation vehicles and routes according to real-time traffic conditions, cargo demands, vehicle states and other information.

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 utility model relates to a heat dissipation type new energy automobile battery shell, relates to the technical field of battery shells, and aims to solve the problem of poor heat dissipation of a battery shell, the heat dissipation type new energy automobile battery shell comprises a main shell body, the two ends of the main shell body are open, heat dissipation end covers are arranged at the two ends of the main shell body, and any heat dissipation end cover comprises a base and a flow guide outer cover; the base is arranged on the side, close to the main shell, of the flow guide outer cover, the base and the flow guide outer cover are each of a hollow structure and communicate with the interior of the main shell, flow guide through holes are formed in the four side walls of the base in a penetrating mode, and a fan module is arranged in the main shell. And a fan notch for air flow to circulate is formed in the main shell. The battery pack has the effects of effectively absorbing heat generated by the battery and quickly dissipating the heat.

The present invention discloses an underwater unmanned vehicle operation planning algorithm and system based on artificial intelligence, and relates to the technical field of underwater vehicles. The technical key points of the scheme are: the energy consumption factor is calculated by the speed and steering angle of the underwater unmanned vehicle relative to the water flow; the node with the smallest heuristic function value is selected as the current node, until the current node is the target node, and the shortest path is generated by backtracking; the angle between adjacent nodes is calculated by point product and vector length, and compared with the angle threshold to determine whether smoothing is required; for the smoothed path, the speed of the underwater unmanned vehicle is recorded, and the speed fluctuation coefficient of the underwater unmanned vehicle is calculated, and according to the speed fluctuation coefficient, the position and number of arc nodes are automatically adjusted by an artificial intelligence algorithm to optimize the path. The present invention can reduce energy consumption, extend the operation time, and improve the safety of the vehicle.

The utility model discloses an automatic feeding device for wastewater treatment, and relates to the field of wastewater treatment. The device comprises a reaction barrel and a medicament barrel, stirring rods and stirring blades are arranged in the reaction barrel and the medicament barrel, and pipe bodies are connected to the reaction barrel and the medicament barrel. According to the automatic feeding device for wastewater treatment, the filter plate is arranged at the joint of the pipe body and the barrel body, so that impurities attached to a medicament are filtered by the filter plate, and a scraper plate is arranged at one end of the stirring blade, so that the stirring blade can drive the scraper plate to clean the impurities blocked on the filter plate while performing stirring operation in the barrel body; a smooth path between the pipe body and the barrel body is achieved, and stable and automatic feeding of chemicals is facilitated.

The present invention relates to the field of aviation technology, specifically to a transfer device for an aircraft lubricating oil system, comprising a mounting seat, a stand fixed on the mounting seat, a filter box and a heat sink, wherein a pump wheel 1 is fixed on the filter box, a cantilever is fixed on the stand, a pump wheel 2 is fixed on the cantilever, a shaft rod is connected to the heat sink for fixed axis rotation, the upper end of the shaft rod is vertical and fixedly connected to one end of a swing rod, the pump wheel 1, the pump wheel 2, the filter box and the heat sink are connected through pipelines, a filter purification mechanism is arranged in the filter box, a heat dissipation structure is arranged on the heat sink, a circulation mechanism is arranged on the stand, the pump wheel 1 and the pump wheel 2 are connected through a sprocket assembly, the pump wheel 2 is connected to the filter purification mechanism, the sprocket assembly is connected to the swing rod, and the circulation mechanism is connected through the swing rod. The transfer device for an aircraft lubricating oil system can remove impurities in the lubricating oil and cool it down, thereby improving the service life and working reliability and stability of each component.

The invention provides a multi-source sensor obstacle recognition and obstacle avoidance method for low-altitude logistics, and relates to the technical field of low-altitude logistics. The method comprises the following steps: S1, synchronously acquiring data through a laser radar and a binocular camera, respectively performing distortion correction, exposure control and depth map generation on binocular vision data, and performing segmentation denoising and Kalman-particle hybrid filtering denoising on point cloud data; s2, adopting a YOLOv5s network to extract a barrier feature vector; s3, carrying out obstacle fusion association; S4, fusing historical features and laser radar coordinates based on an LSTM model, and predicting a future trajectory of a dynamic obstacle; and S5, generating an obstacle avoidance path in combination with an A * algorithm and an artificial potential field method, and correcting the obstacle avoidance path in real time. The problems of missing detection or misjudgment of low-texture obstacles, sensor data fault, dynamic obstacle prediction deviation and path oscillation are solved, and the obstacle recognition precision and the obstacle avoidance reliability are improved. The method is high in real-time performance and adapts to low-altitude logistics complex scenes.

The utility model discloses a hoisting type heat recovery fresh air machine which comprises a machine shell, an outdoor air inlet and an outdoor air outlet are formed in the side wall of the machine shell, and a first inserting groove and a second inserting groove are formed in the machine shell. The first inserting groove is located in the inner side of the outdoor air inlet and communicated with the outdoor air inlet. The second inserting groove is positioned on the inner side of the outdoor air outlet and is communicated with the outdoor air outlet; a first filter element and a second filter element are respectively inserted into the first inserting groove and the second inserting groove; outdoor fresh air passes through the outdoor air inlet and the first filter element and then enters the machine shell. And indoor air in the machine shell passes through the second filter element and then is exhausted from the outdoor air outlet. The hoisting type heat recovery fresh air machine can solve the problems that when the filter element of the hoisting type fresh air machine is replaced, the cover plate needs to be dismantled, and operation is inconvenient, and the filter element replacement process is simpler, more convenient and faster.

The utility model relates to the technical field of pest control box, disclose a corn is with field pest control box, including main box, the bottom fixedly connected with the chassis of main box, the top of chassis is provided with automatic mechanism, the top fixedly connected with the funnel frame of main box, the inner wall of main box is provided with the falling mechanism, automatic mechanism includes the feed tank, the bottom fixedly connected in the top of chassis of feed tank, the inner wall fixedly connected with the timing telescopic link of feed tank, the top fixedly connected with the bottom plate of timing telescopic link, the top fixedly connected with polyethylene pad of bottom plate, the inner wall of feed tank is set up with the storage groove. In the utility model, through material flow transfer timing telescopic link setting time telescopic, drive bottom plate to lift, polyethylene pad reduces bottom plate corrosion, through the conveying pipe with the storage tank in material outward transfer, support plate and sliding page cooperation simultaneously, guide material flow direction, reduced artificial cost.

The invention discloses an optimal path dynamic planning method for a crawler-type unmanned vehicle field environment, and the method comprises the steps: 1, cost calculation: discretizing the environment where an unmanned vehicle is located into a grid map comprising a plurality of grids, and taking the central point of each grid as a path planning node; the method comprises the following steps: firstly, executing a dynamic grid granularity self-adaptive operation driven by a slip risk, and then calculating the moving cost from a current node to any subsequent node; step 2, calculating and updating the cost value of the current node based on the movement cost and the cost value of the subsequent node, and determining an optimal subsequent node K, the cost value being based on the estimated cost value calculated by the subsequent node; step 3, a turning limit checking step: after the optimal subsequent node K is determined, checking and setting a limit mark for judging whether the current node S turns or not; step 4, starting from the starting node, sequentially checking the turning limit mark of each node s; and performing a path reconstruction step until the target node is reached.

The application provides a single battery and a battery pack. According to the single battery provided by the application, when uncontrolled gas production occurs in the electrode assembly of the single battery, especially when the electrode assembly produces gas violently, the single battery provided by the application not only guides the gas to the explosion-proof valve through the exhaust hole, but also guides the exhaust gas to the explosion-proof hole of the explosion-proof valve through the gas guide groove on the top cover sheet, so that timely exhaust is ensured, the internal gas pressure of the single battery is prevented from being too large, and the risk of explosion of the single battery is reduced.

The utility model provides a low-loss lens optical fiber array unit, which comprises a substrate, a cover plate and an optical fiber, the optical fiber is arranged between the substrate and the cover plate, the front end of the substrate is provided with a total reflection surface and a lens, the optical fiber reflects light signals to the lens through the total reflection surface, the front end of the substrate is provided with a light-permeable convex part, and the convex part is provided with a lens. The total reflection surface is arranged on the first side of the lug boss; the optical fiber is arranged on the second side of the lug boss; optical fiber matching paste is filled between the end surface of the optical fiber and the surface of the lug boss; the utility model can reduce the energy loss of optical signals and improve the performance of an optical system.

The present invention provides a method for controlling an unmanned boat cooperative formation, which acquires static and dynamic environmental data of the ocean in real time through multiple sensors deployed, performs time synchronization, coordinate conversion, data denoising and data fusion on the acquired data, obtains the total data set after fusion, constructs a three-dimensional grid map, and divides the environment into fixed grid units; generates a real-time optimal path for the unmanned boat formation through a motion planning module, performs obstacle avoidance based on an obstacle avoidance mechanism module and ensures that the unmanned boat can gradually return to the predetermined path after obstacle avoidance; and enables the unmanned boat to stably follow the adjusted path based on a path tracking and control module. The present invention realizes comprehensive environmental perception, and the motion planning module design can adapt to complex environments, the obstacle avoidance mechanism module design improves the flexibility of obstacle avoidance, and the path tracking and control module design ensures that the unmanned boat can stably follow the path without excessive heading deviation due to changes in the external environment.

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.

The invention discloses an automatic injection molding part taking manipulator and a part taking stroke control method. The automatic injection molding part taking manipulator comprises a base, a part suction seat is installed on the front face of the base in an embedded mode, a part groove matched with an injection molding part is formed in the front face of the part suction seat, and an angle adjusting mechanism is arranged on the back face of the base; the mechanical arm further comprises a negative pressure mechanism, the negative pressure mechanism comprises a negative pressure cavity formed in the base and first through holes communicated with the negative pressure cavity, the negative pressure cavity is communicated with external negative pressure equipment, and second through holes in one-to-one correspondence with the first through holes are formed in the suction piece base. The front face of the part suction base is aligned with the injection part and enables the injection part to be embedded into the part groove, the negative pressure equipment enables the negative pressure cavity to form negative pressure, and the injection part is sucked through the negative pressure under communication of the first through hole and the second through hole and attached to the part groove. The negative-pressure automatic part taking mode is adopted, excessive pressure cannot be applied to the injection molding part, and therefore damage to the injection molding part can be effectively reduced.

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

The invention discloses a mobile robot path planning method and device based on a B spline, a storage medium and electronic equipment. The method comprises the following steps: initializing a grid map, and determining the position of each node; constructing an RRT * algorithm, removing redundant points generated by the RRT * algorithm based on a node pruning strategy to obtain an improved RRT * algorithm, and performing global optimal path planning on the mobile robot based on the improved RRT * algorithm to obtain a global optimal path; key nodes in the global optimal path are extracted, the key nodes serve as local target points of an improved DWA algorithm, and the optimal path of the mobile robot is determined through the improved DWA algorithm. According to the method, the RRT * algorithm is improved, redundant points are removed, the calculation amount can be reduced, the route planning distance can be shortened, and the route can be smoother by processing the global optimal route through the B spline curve. The global optimal path is optimized through the improved RRT * algorithm, so that local dynamic obstacle avoidance can be realized, and falling into local optimum is avoided.

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 application discloses an automatic obstacle avoidance method and system for a Beidou-based artificial intelligence unmanned ship, and relates to the field of computer vision, which comprises the following steps: collecting visible light images and near-infrared images of a water surface environment and performing reflection suppression processing; performing feature fusion on the images to generate an environment perception map; extracting obstacle features through a cascaded hollow convolution structure to obtain pixel-level semantic segmentation results of the obstacles; constructing an obstacle motion prediction model to obtain predicted obstacle motion trajectories; obtaining motion trajectory data of the unmanned ship based on Beidou positioning and electronic chart data; establishing a space-time collision detection model to calculate collision parameters and generate a collision data set; and generating an obstacle avoidance path through a dynamic potential field method to obtain a rudder angle instruction and a propeller speed instruction. The application has the advantages that: through Beidou positioning and technology, the unmanned ship can accurately perceive, predict the motion of and intelligently avoid obstacles on the water surface, thereby improving the safety and intelligent level of navigation.

The invention discloses a cigarette holder. The cigarette holder comprises a cigarette holder body of a tubular structure. The tail end of the cigarette holder body is provided with a connecting part which can be detachably and fixedly connected with a bent pipe; smoking holes are formed in the circumferential face of the smoking nozzle body, and a high-temperature-resistant transparent glass blocking cover is arranged above the smoking holes. The novel cigarette holder body is installed at the front end of the gun barrel, the novel cigarette holder body and the high-temperature-resistant transparent glass blocking cover are installed above the cigarette smoking hole and connected into a whole through high-temperature-resistant glue to form a cigarette smoking opening with a focusing cigarette smoking area, the transparent glass cover extends to prevent air except smoke from entering the cigarette holder, and the smoke smoking effect is enhanced. The smoke suction effect is further improved through the variable cross-section channel.

The invention belongs to the technical field of automatic driving, and particularly relates to an automatic parking path planning method based on target planning, which comprises the following steps: presetting a plurality of performance indexes # imgabs0 # for automatic parking path planning; according to the specific parameters of the path planning vehicle or robot, calculating the theoretical optimal value # imgabs1 # of each performance index; a target function is constructed, the deviation # imgabs4 # between each performance index # imgabs2 # and a theoretical optimal value # imgabs3 # is minimized, a path planning trajectory equation is generated and specifically is # imgabs5 #, # imgabs6 # is a weight coefficient and meets # imgabs7 #, and a path planning trajectory equation is generated; and solving the objective function by using a solver to obtain an automatic parking driving path. According to the path planning method taking the plurality of performance indexes as the objective function, the optimization of the plurality of performance indexes is realized by utilizing the objective planning method, and the path planning method has a better effect on solving the path planning problem with the requirements of the plurality of performance indexes.

The invention relates to the technical field of outboard engines, and discloses an outboard engine vertical remote control box operating system which comprises an operating table, a single-machine remote control box body and a double-machine remote control box body are installed in the middle of the operating table and comprise top covers, and limiting baffles are connected to the bottoms of the top covers through screws. A remote control box shock pad is connected to the bottom of the limiting baffle through screws, a remote control box shell is connected to the bottom of the top cover through bolts, a shock pad is installed on the right side of the top cover, a control rod is installed on the right side of the top cover, a cross recessed pan head screw is installed on the right side of the control rod, and driving teeth are installed on the inner side of the remote control box shell. According to the vertical remote control box operating system of the outboard engine, most of the remote control box is hidden below an operating table, and the effects that space is saved, and the operating table looks neater and more attractive are achieved.

The food processor comprises a main machine and a cup body which is installed on the main machine and provided with a smashing cavity, the cup body is provided with a cup body water inlet nozzle, the cup body water inlet nozzle communicates with the smashing cavity, a water pump, an air pump and a three-way pipe are arranged in the main machine, and the three-way pipe comprises a first input end, a second input end and an output end; the water pump is connected with the first input end, the air pump is connected with the second input end, the output end is connected with the cup body water inlet nozzle, the water pump and the air pump are alternatively communicated with the crushing cavity, the water pump is provided with a water pump driving end and a water pump connecting end, and the air pump is provided with an air pump driving end and an air pump connecting end; the water pump driving end and the air pump driving end are arranged towards the two opposite side walls of the machine shell respectively, and the three-way pipe is arranged between the water pump connecting end and the air pump connecting end. By adopting the three-way pipe, the parallel arrangement of the water path and the gas path can be realized, and the problems of water inlet or gas inlet blockage and pipeline suffocation can be prevented by improving the arrangement of the water path and the gas path.

The invention discloses an unmanned cluster collaborative path planning method fusing an improved RRT * algorithm and quadratic programming, and belongs to the technical field of path planning. A dynamic sampling strategy is adopted, and a sampling area is adjusted according to the direction of a target point where obstacles are distributed; designing a self-adaptive step length adjustment mechanism, and optimizing the step length according to the search state and the environment complexity; an enhanced reconnection mechanism is constructed, and the search range of high-quality father nodes is expanded to reduce the path cost; a greedy algorithm simplification strategy is introduced, and redundant nodes are proposed to shorten the path length. In an unmanned aerial vehicle cluster collaborative path planning scene, an improved RRT * algorithm is combined with an anti-collision strategy and a time collaborative model to construct a collaborative path planning strategy, and a quadratic programming optimization method is integrated, so that the global optimality and collaborative safety of a cluster path are guaranteed.

The embodiment of the specification discloses a preparation method of a carbon fiber-tungsten sulfide-graphene compound for a sodium ion battery, which comprises the following steps: S1, dissolving sodium tungstate, hydroxylamine hydrochloride, thiourea and sodium hydroxide in deionized water, and uniformly stirring to prepare a reaction solution; s2, mixing the reaction liquid obtained in the step S1 with carbon fibers and graphene in a reaction kettle, and carrying out hydrothermal reaction at a constant temperature; s3, filtering, cleaning and drying a product obtained in the step S2 to obtain a composite material precursor; and S4, carrying out calcination treatment on the composite material precursor in an inert gas atmosphere at 800-950 DEG C to obtain the carbon fiber-tungsten sulfide-graphene composite material.