295results about How to "Smooth switching" patented technology

The invention discloses a robot indoor and outdoor navigation switching method and system based on a large language model, and the method comprises the steps: obtaining multi-dimensional data of an environment where a robot is located through employing a multi-mode sensor, and the multi-dimensional data comprise a visual image, a laser radar point cloud, a GPS signal, and IMU data; the preprocessed image is input into a visual encoder, and key visual features are extracted. And the big language model performs reasoning by using the characteristics, and outputs a scene judgment result in combination with an internal scene knowledge base. In order to enhance the accuracy of scene judgment, the change trend of multi-frame image features is analyzed based on a time sliding window. An extended Kalman filter is adopted in an indoor and outdoor transition area to carry out weighted fusion on multi-mode sensor data, a dual-mode parallel operation mechanism is adopted during navigation mode switching, and SLAM and GPS navigation modes are activated at the same time in the indoor and outdoor transition area. And by dynamically adjusting the weights of the SLAM and the GPS, gradually transitioning to a target navigation mode at a data fusion level, so that smooth switching is realized.

The invention provides an intelligent optimization control method and platform under variable load operation of a coal-fired power plant, and relates to the technical field of intelligent optimization control, and the method comprises the steps: calling historical operation data, carrying out the load trend change analysis, and completing the construction of a control analysis module; analyzing and outputting instantaneous PID control parameters according to the real-time load data; after the instantaneous PID control parameters are switched to, a flue gas emission acquisition module is activated; real-time flue gas emission parameters are obtained; performing denitration control optimization to obtain a real-time PID control parameter, and switching to the real-time PID control parameter; presetting a flue gas emission window, dynamically updating real-time flue gas emission parameters, dynamically updating real-time PID (Proportion Integration Differentiation) control parameters and performing seamless switching control on an SCR (Selective Catalytic Reduction) system. The control method solves the technical problem that when a control method in the prior art is used for dealing with an SCR system, efficient control is difficult to achieve under the dynamically-changing load condition, and then the denitration effect and the system stability are affected.

The invention relates to the technical field of electronic devices, in particular to a monomolecular electric memristor based on dipole control and a preparation method thereof.The monomolecular electric memristor comprises a molecular heterojunction, and the molecular heterojunction is formed by connecting dipole molecules and graphene point electrodes through amido bonds; the dipole molecule comprises an amide structure based on a carbazole nitrogen-containing heterocyclic ring unit, under the action of an external electric field, a side chain chemical bond of the dipole molecule can rapidly rotate, the size and direction of an intramolecular dipole moment can be changed, the molecule can be rapidly and stably switched among different resistance states, and the read-write speed of the memristor is remarkably improved; the storage state is stably kept under the power-off condition, and the long-term stability and reliability of the memristor function are ensured. The preparation method comprises the processes of introducing dipole molecules and forming amido bonds between the dipole molecules and the graphene point electrode, and the preparation method is simple and convenient to operate, mild in condition and beneficial to large-scale production.

The invention relates to the technical field of equipment control, in particular to a self-adaptive switching method and system of a current transformer. The method comprises the following steps: collecting primary side parameters and secondary side parameters of a current transformer to obtain primary side collection parameters of the current transformer and secondary side collection parameters of the current transformer; performing current transformer state segmentation initialization according to the current transformer primary side acquisition parameters and the current transformer secondary side acquisition parameters so as to generate a current transformer operation state classification result; switching result judgment is conducted on the current transformers according to the current transformer operation state classification result, and when the current transformer operation state classification result is a current transformer critical state section, parallel buffering is conducted on the current transformers, and critical current transformer switching data are generated. According to the invention, through accurate state classification, a dynamic switching mechanism, time sequence optimization and visual display, the switching sensitivity and stability of the current transformer are improved.

The invention relates to the field of locomotive control, and provides a locomotive control equipment redundancy and stable switching method, system, equipment and medium, and the method comprises the steps: setting mutually redundant hardware equipment in each controller, and initializing the hardware equipment into master equipment and slave equipment during power-on; the master device interacts with the slave device and devices of other controllers through network communication, and synchronizes data to the slave device; in response to the fact that the master device is abnormal or the master device is empty, the slave device is upgraded to the master device; and in response to the abnormity of the master device or the slave device rising to the master device, the master device retreats from the slave device. Hardware among redundant devices is completely independent, normal operation of the system is not affected when any device breaks down, the stability of the system is high, continuous and stable work of the whole system is guaranteed through redundancy configuration and automatic switching, different control strategies are generated according to fault conditions, and stable switching is achieved.

The utility model discloses a rotary valve structure of a dust cup of a dust collector, which comprises an outer dust cup, a plurality of first cavities are arranged in the outer dust cup, a first communication hole is arranged on a partition plate, and the outer dust cup is provided with a first dust discharge port corresponding to a dust discharge channel of a base station of the dust collector; and the inner dust cup is rotationally connected to the partition plate and provided with a second communicating hole and a second dust discharging opening, and a linkage piece corresponding to a rotary guide groove in the dust collector base station is arranged on the outer side of the inner dust cup. The outer dust cup and the inner dust cup form a rotary valve structure, so that when the dust collector host and a base station are assembled in a butt joint manner, the linkage piece is matched with the rotary guide groove to rotate the inner dust cup, each dust collection cavity and a corresponding filtering structure are blocked, and dust is prevented from flowing reversely when garbage in the dust cups is discharged and recycled; and dust, hair and dirt with different particle sizes intercepted by the dust collection cavities are discharged respectively, dirt and garbage blockage in the dust discharge channel is avoided, and therefore it is guaranteed that the dust collector is used neatly, conveniently and efficiently.

The invention provides a dual-fuel combustion nozzle which comprises a nozzle shell connected with a cooling plate. A hydrogen fuel gas collecting cavity and a liquid hydrocarbon fuel pipe which are coaxial are arranged in the nozzle shell; a first air channel is formed between the inner wall of the hydrogen fuel gas collecting cavity and the liquid hydrocarbon fuel pipe, and a swirler is arranged in the first air channel; a second air channel is formed between the outer wall of the hydrogen fuel gas collecting cavity and the inner shell of the nozzle shell; a liquid hydrocarbon spray hole is formed in the outlet end of the liquid hydrocarbon fuel pipe and is positioned in a space formed by the expansion section of the venturi structure; a hydrogen spray hole is formed in the side wall, close to the top end, of the hydrogen fuel collecting cavity. The invention further provides an engine combustion chamber comprising the combustion nozzle. According to the invention, efficient mixing of hydrocarbon fuel and hydrogen fuel can be realized, the phenomenon of backfire spontaneous combustion is avoided, the flameout boundary is widened, and stable switching of multiple working modes is realized.

The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a diagnosis-free adaptive fault-tolerant control method and system for a six-phase permanent magnet synchronous motor under an open-circuit fault, and discloses the following steps: S1, converting the voltage and current of the six-phase permanent magnet synchronous motor from a three-phase static coordinate system to a two-phase static coordinate system through Clark conversion, voltage and current in the two-phase static coordinate system are converted into a two-phase synchronous rotating coordinate system through Park conversion; s2, acquiring a current relation between q-axis current of the six-phase permanent magnet synchronous motor and the two-phase static coordinate system according to the two-phase synchronous rotating coordinate system, and further acquiring two-phase static coordinate system reference current for realizing fault tolerance under an open-circuit fault; and S3, optimizing the control signal of the reference current through a phase-locked loop of a second-order generalized integrator. According to the method, diagnosis-free adaptive fault-tolerant control under the open-circuit fault of the six-phase permanent magnet synchronous motor can be realized, and the problems of misdiagnosis and time delay are reduced.

The invention belongs to the technical field of automobile steering control, and particularly relates to an EPS power-assisted mode and return mode switching process control method which is composed of a steering mode switching judgment module, a switching time determination module, a torque curve processing module and a switching compensation torque determination module. By designing the switching time length determination module, the return time is determined according to the steering angle of the steering wheel and the vehicle speed at the current moment, the expectation of a driver is better met, the expected value of the switching compensation torque is obtained through torque processing of the Bizier curve according to calculation of different switching conditions, and therefore the accuracy of the switching compensation torque is improved. The switching compensation torque at any switching moment is obtained by tracking the switching torque curve graph, so that the steering mode switching process of the vehicle under different working conditions is smoother, and the steering comfort of a driver is greatly improved; the problem of pause caused by sudden change of hand torque felt by a driver when the power-assisted mode and the aligning mode of the current electric power-assisted steering automobile are switched is solved, and the driving experience is improved.

The invention relates to the field of power system monitoring and management, and particularly discloses an intelligent power monitoring and management system, which evaluates the operation performance of a power supply and distribution system in various power supply modes by acquiring operation information of the power supply and distribution system in a mains supply mode, an uninterruptible power supply mode and an emergency generator power supply mode in a data center. Potential fault hidden dangers of various power supply modes of the power supply and distribution system can be found in time, and maintenance measures are taken in advance; the action duration, the voltage transient amplitude, the frequency transient amplitude and the switching success rate of switching between the power supply modes of the power supply and distribution system of the data center are collected, the performance of switching between the power supply modes of the power supply and distribution system is evaluated, then it is ensured that the power supply and distribution system can be rapidly and stably switched under different power supply conditions, and the continuity of power supply is guaranteed; the performance health condition of the power supply and distribution system is comprehensively evaluated by combining the independent operation and coordinated operation performance of the power supply and distribution system, so that the reliable operation of the power supply and distribution system is ensured.

The invention relates to the technical field of guardrail breakdown van, and discloses a high-stable-support guardrail breakdown van which comprises a van body and a storage frame, the storage frame is fixedly connected to the middle of the van body, a telescopic plate is slidably connected to the inner wall of the storage frame, and a guide rail is rotatably connected to the middle of the side, away from the storage frame, of the telescopic plate; a hydraulic hammer head is slidably connected to the middle of the inner wall of the guide rail, through the arrangement of the first-aid repair and exchange mechanism, in the process of piling installation of a guardrail pile body, a damaged guardrail can be repaired in a targeted and selected mode, first-aid repair and trimming are correspondingly conducted according to the guardrail damage degree, and the safety of the guardrail is improved. And the trimmed guardrail is cleaned and maintained, and finally the trimmed guardrail is returned to a position required by site construction for use, so that the waste guardrail does not need to be collected and transferred, the overall first-aid repair time is shortened, and related road facilities can be recovered and used in time.

The invention provides a single-electrode silica gel sheet test circuit, device and method for physical therapy. The single-electrode silica gel sheet test circuit comprises a microcontroller, a Darlington tube array chip circuit, a relay array, a signal conditioning circuit and the like. The microcontroller controls the Darlington array to amplify low-power signals, drives the relay array to achieve selection of different test paths, collects and processes test data, and transmits the test data to the computer through a serial port. The relay array alternately switches paths to complete each test item; the signal conditioning circuit is used for adjusting a test signal to meet the AD sampling requirement; the digital control analog switch realizes multiplexing of multiple paths of signals, and a single AD port acquires multiple paths of signals; and the state indicating circuit displays the test result and gives an alarm prompt. The system is specially used for a single electrode plate test scheme, the installation complexity can be remarkably reduced, the stability is improved, and the efficiency is greatly improved.

The invention relates to a multi-shaft compressor unit and a control method thereof, in particular to a steam-electricity double-drive multi-shaft compressor unit connected with double clutches and a control method of the steam-electricity double-drive multi-shaft compressor unit. The technical problems that in the prior art, a pure electricity mode, a pure steam mode and a steam-electricity double-drive mode cannot be switched on line, and when steam is sufficient, a motor cannot be disengaged, so that energy is wasted are solved. The system comprises a multi-shaft compressor, a steam turbine, a motor, a first clutch, a second clutch, a steam flow sensor, a controller and a rotating speed sensor. The multi-shaft compressor comprises a driving shaft; the driving shaft is provided with two driving ends which are respectively a first driving end and a second driving end; the output shaft of the steam turbine is coaxially connected with the first driving end through a first clutch; an output shaft of the motor is coaxially connected with the second driving end through the second clutch; and rotating speed sensors are arranged on the first driving end, the second driving end, the steam turbine and the output shaft of the motor.

The invention relates to the technical field of farming machinery, in particular to a multifunctional mini-tiller which comprises a rotary tillage tool bit and a switching mechanism, the rotary tillage tool bit is rotationally installed on a machine body and comprises a driving shaft and two rotary tillage tool sets, the driving shaft is in transmission connection with an engine, and the rotary tillage tool sets are symmetrically installed at the two ends of the driving shaft; the rotary blade group comprises a plurality of blades which are arranged in the annular direction of the driving shaft, handle parts of the blades are provided with inserting grooves, the switching mechanism comprises a plurality of limiting parts which are arranged corresponding to the blades, when the limiting parts are inserted into the corresponding inserting grooves, the corresponding blades are locked for rotary tillage work, and when the limiting parts are separated from the inserting grooves, the corresponding blades are adjusted in a floating mode. According to the invention, through the cooperation of the rotary tillage tool bit and the switching mechanism, the effect of flexibly adjusting the working state of the blade under different working conditions is achieved, the obstacle is effectively avoided, the damage risk of equipment is reduced, the maintenance cost and the downtime are reduced, and meanwhile, the safety of operators is also ensured.

The invention discloses a pressure matching system of a normal-pressure heat storage tank and a regulation and control method. The pressure matching system comprises the normal-pressure heat storage tank, a water supply hot side system, a water return cold side system, an analysis decision module and a control module. The water supply hot side system comprises a hot side pipe, and an electric valve, an electric control valve, a hot side turbine, a booster pump and a check valve which are arranged on the hot side pipe, the water return cold side system comprises a cold side pipe, and an electric valve and a cold side turbine which are arranged on the cold side pipe, and the cold side turbine is connected with the hot side turbine through a transmission shaft. Under the heat storage working condition, the residual pressure head between the heat network water supply pipe and the top hot water side of the heat storage tank is used for boosting cold water at the bottom of the heat storage tank to the heat network water return pipe to provide power; under the heat release working condition, the residual pressure head between the heat supply network water return pipe and the cold water side at the bottom of the heat storage tank is used for providing power for boosting of hot water at the top of the heat storage tank to the heat supply network water supply pipe, throttling loss energy of the normal-pressure heat storage tank in the heat storage and heat release process is recycled, and the operation energy consumption of the heat storage tank is reduced.

The invention relates to the technical field of wireless communication, in particular to a communication network switching method and device, computer equipment and a storage medium. The method comprises the following steps: under the condition that a target terminal expects to access a wireless communication network of a target area, determining an affiliation area of a cellular communication network currently accessed by the target terminal; wherein the target area is an area where the target terminal is located currently; and under the condition that the attribution area is an adjacent area of the target area, determining a network address of an access session management function (V-SMF) network element of the adjacent area, and switching the target terminal from a cellular communication network of the adjacent area to a wireless communication network of the target area based on the network address. According to the method and the device, the situation that the target terminal is smoothly switched from the cellular communication network to the wireless communication network due to the fact that the network address of the V-SMF network element of the adjacent area cannot be obtained can be prevented, and call drop of a voice / video call carried out by a user through the target terminal is prevented.

The invention provides a beauty microneedle with a rotary adjusting gear. The beauty microneedle comprises a holding handle, a shell, a needle seat, a microneedle body and the like. An annular track is arranged on the inner side of the rear cover cap, gear grooves with different depths are formed in the track and matched with a gear shaft at the rear end of the driving rod, and the extending and retracting length of the microneedle can be accurately controlled. The spring in the channel provides retraction force for the driving rod, skin injury is avoided, and gear adjustment is stabilized. The rear cap and the holding handle are axially fixed and rotate circumferentially, so that structural stability and convenience in operation are guaranteed. The track is connected with the rear cap through a connecting strip, so that secondary use of the microneedle is prevented. And due to the arc guide surfaces between the adjacent gear grooves, the gear switching is smoother, and the operation smoothness and the structural stability are improved. And the gear mark outside the rear cover cap corresponds to the indication mark on the holding handle, so that a user can know the current gear conveniently. The beauty microneedle provides an efficient, accurate, safe and convenient skin beauty tool for a user.

The invention discloses a self-adaptive sliding-mode observer control method based on a novel composite approach rate, and belongs to the field of direct-current synchronous motor control. According to the method, a composite reaching law is constructed based on an exponential function and a power function, and when a system state is far away from a sliding mode surface, the composite reaching law converges towards the sliding mode surface through an exponential reaching item and a power tangent saturation reaching item; when the system state is close to the sliding mode surface, the composite reaching law converges towards the sliding mode surface through an exponential reaching item and a power hyperbolic tangent reaching item, and the method can restrain buffeting of the motor under the high-speed working condition and improve the convergence speed and the control precision. Furthermore, the invention further discloses a full-speed-section position-sensorless compound control method, in the low-speed operation stage of the permanent magnet synchronous motor, pulsating high-frequency voltage injection control is utilized, and the self-adaptive sliding-mode observer is adopted for control in the medium-high-speed stage. Meanwhile, a weighted average switching strategy is used for designing an optimal switching interval between a medium-high speed algorithm and a low-speed algorithm, and efficient and stable control over the full-speed section is achieved.

The invention discloses a vertical take-off and landing control method for a distributed power tandem wing unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle flight control. An inner ring power unit and an outer ring power unit of the unmanned aerial vehicle are arranged at the front edges of the front wing and the rear wing of the tandem wing unmanned aerial vehicle; lifting ailerons are symmetrically hinged to the rear edges of the two ends of the rear wing; the front wing and the rear wing are connected into a tandem wing with a space height difference through a connecting assembly; the control method comprises the steps of controlling jumping take-off, transition flight, cruise flight and vertical landing, and performing accelerator quantity distribution on the inner ring power unit and the outer ring power unit for jumping take-off, cruise flight and vertical landing; a continuous climbing transition mode is adopted in the transition flight stage, and the flight state is controlled to be converted into a cruise level flight state after transition is completed. According to the unmanned aerial vehicle, the functions of large-angle jump take-off and 90-degree autonomous vertical landing of the tandem wing unmanned aerial vehicle are achieved, distributed power of the unmanned aerial vehicle is controlled and distributed, the energy utilization rate is increased, and the endurance time is prolonged.

The invention relates to the technical field of mobile communication, in particular to a communication network switching method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring wireless local area WiFi network signal strength and long term evolution LTE network signal strength of a target terminal; performing signal prediction according to the WiFi network signal strength and the LTE network signal strength based on a signal strength prediction model to obtain a new wireless NR network signal strength; and performing communication network switching on the target terminal according to the LTE network signal strength and the NR network signal strength. According to the invention, the communication network switching of the target terminal can be realized according to the actual conditions of the LTE network signal strength and the NR network signal strength, the situation that the communication network is frequently switched when the target terminal receives the WiFi network signal, the LTE network signal and the NR network signal at the same time is prevented, the stable switching of the communication network of the target terminal is ensured, and the user experience is improved. And the communication quality of the user is ensured not to be influenced by frequent switching of the communication network.

The utility model discloses an anti-icing refrigerator air door, which is characterized in that an air door driving motor is configured to have a third mode, and in the third mode, when an air door blade closes an air door through hole, an output shaft of the air door driving motor drives the air door blade to repeatedly swing slightly relative to the air door through hole; therefore, water attached between the air door blade and the air door through hole is effectively prevented from freezing and bonding the air door blade and the air door through hole, and the problem that in the prior art, when the air door through hole needs to be opened, an air door driving motor cannot drive the air door blade to be opened is solved. The technical scheme is different from the technical scheme that in the prior art, normal opening of the air door blades is guaranteed in a heating mode, so that the scheme is more energy-saving, it is effectively guaranteed that the refrigerating chamber can supply cold air in time for preservation, and meanwhile the service life of the air door driving motor is prolonged.

The invention relates to a fuel photovoltaic hybrid power supply system and a control method, and belongs to the technical field of photovoltaic power generation. The fuel and photovoltaic hybrid power supply system comprises a photovoltaic power generation module, an energy storage module, a fuel generator module, an energy conversion module and a control module. The invention also relates to a control method of the fuel-photovoltaic hybrid power supply system, and the control method comprises the steps: determining the working parameters of the fuel generator module based on the power generation parameters of the photovoltaic power generation module when monitoring that the load parameters of the load and the power generation parameters of the photovoltaic power generation module meet a first condition; and controlling the fuel generator module to supply power to a load through the energy conversion module based on the working parameters of the fuel generator module. The power supply stability of the system can be improved when the load is increased.

The invention discloses a force control method and system based on industrial robot practical operation and a storage medium, and relates to the field of robot control, and the method comprises the steps: generating a motion change curve based on a displacement target and a speed limit value inputted by a user, and determining a six-dimensional position control displacement; generating a torque change curve based on a torque target and a torque limit value input by a user, calculating an external torque deviation value according to an actual contact torque value, and determining six-dimensional force control displacement based on an impedance calculation formula; determining a displacement control strategy and a force control strategy based on a motion control option selected by a user, and superposing the six-dimensional position control displacement and the six-dimensional force control displacement to generate system resultant displacement; carrying out inverse calculation solution on the system synthetic displacement to obtain a motion angle of each joint of the robot, and determining a joint pulse signal; and a joint pulse signal is sent to a servo system, so that the robot moves according to the system resultant displacement. By implementing the method, a unified model of motion control and various force control can be established, and various control modes are realized.

The invention discloses an upper cover assembly applied to a breathing humidifying therapeutic apparatus and a machine body arranged on the breathing humidifying therapeutic apparatus, the upper cover assembly comprises a cover body and further comprises a lifting part movably connected with the cover body, the lifting part comprises a holding part and a connecting part rotatably connected with the cover body, the lifting part has a lifting position and a storage position, and the holding part is connected with the connecting part. The lifting piece can be switched from the storage position to the lifting position in the first rotating direction and can be switched from the lifting position to the storage position in the second rotating direction. When the lifting piece is located at the lifting position, the projection of the holding part in the vertical direction coincides with the gravity center of the machine body. When the lifting piece is located at the lifting position, the projection of the holding part in the vertical direction coincides with the gravity center of the machine body, so that when a user lifts the therapeutic instrument to move, the force application position of the user on the lifting piece and the gravity center of the machine body are located on the same vertical plane, and the stability of the therapeutic instrument in the transferring process is improved; therefore, the therapeutic apparatus is prevented from shaking and even toppling due to the unbalanced torque effect.

The invention relates to the technical field of converter control, and particularly discloses a network following and network construction proportion mixed voltage source type converter control system and method, and the system comprises a data obtaining module which is configured to obtain a grid connection point voltage, a GFM control reference voltage, and a GFL control reference voltage; the GFM control module is configured to calculate the grid-connected point voltage of the GFM and the current output to the power grid by the GFM, and obtain the target voltage of the GFM based on the selected control method; the GFL control module is configured to calculate the grid-connected point voltage of the GFL and the current output by the GFL to the power grid, and obtain the target voltage of the GFL based on the selected control method; and the mixing module is configured to mix the target voltage of the GFM and the target voltage of the GFL according to a selected mixing ratio in response to the switching control instruction to obtain the target voltage required by the voltage source type converter. According to the invention, constant-speed switching among different control methods can be realized; and fluctuation caused by control sudden change is avoided.

The invention discloses a starting method of a permanent magnet synchronous motor without a position sensor, which relates to the field of motors and comprises the following steps of: 1, determining an initial position of a motor rotor; 2, an IF linear function curve is set, the independent variable of the IF linear function curve is frequency (rotating speed), the dependent variable of the IF linear function curve is current, and a motor is dragged to rotate; step 3, the given operation frequency is gradually reduced, and meanwhile, the current given value is also reduced, so that the angle estimated by the observer slowly coincides with the open-loop angle; and step 4, when the rotating speed of the motor reaches a second threshold rotating speed and the difference between the open-loop angle and the angle observed by the observer is smaller than a second set value, compared with the prior art, the method has the beneficial effects that an IF current closed-loop and rotating speed open-loop quick starting strategy is provided, the transition stage switching between open-loop starting and closed-loop control is smooth, and the stability of the motor is improved. The motor operation effect is good, the current is effectively controlled, and the starting is reliable under the condition of voltage fluctuation.

The invention discloses a multivariable robust adaptive control method for an aero-engine. According to the method, an augmented linear quadratic regulation control method and a model reference self-adaptive control method are organically combined, dynamic self-adaptive compensation is carried out on output of an augmented linear quadratic regulation control loop by utilizing output of a model reference self-adaptive control loop, and whether self-adaptive compensation is started or not is judged according to a control error. The invention further discloses a multivariable robust self-adaptive control system for the aero-engine. Compared with the prior art, the dynamic response characteristic of the control system at a non-design point can be improved on the premise that the steady-state control performance is not changed.

The invention relates to the technical field of communication, and particularly provides a communication switching method and device, a base station, a vehicle, a system, a medium and a product. In the invention, after the computing power sinking device receives the first message that the receiving terminal requests to switch the communication mode, when the first message meets the preset first condition, the computing power sinking device sends the second message to the receiving terminal and the sending terminal; the second message is used for indicating the receiving terminal to communicate with the sending terminal through the second communication mode; wherein the first condition is used for indicating the communication condition of the second communication mode. In conclusion, according to the technical scheme provided by the invention, the stable switching of the communication modes between the terminals can be realized, the occupation of a large amount of computing power and resources of the terminals can be avoided, the adverse effect on the communication quality of the terminals is avoided, and the failure rate is relatively low.