20results about How to "Strong autonomy" patented technology

The invention relates to the technical field of unmanned aerial vehicle clusters, in particular to an unmanned aerial vehicle cluster formation method. Comprising the following steps: system initialization and configuration, cluster communication and data exchange, collaborative algorithm calculation and control input, positioning and navigation assistance, global and dynamic task planning setting, energy management and optimization strategy implementation, and biological enlightenment formation control application. Compared with a traditional formation operation method, the unmanned aerial vehicle cluster formation method is higher in autonomy, and the unmanned aerial vehicle cluster formation is more accurate through an advanced autonomous flight control system and a sensor technology. Information sharing and cooperative actions among the unmanned aerial vehicles in the cluster formation are realized through an efficient communication technology, and even if part of the unmanned aerial vehicles fail, other unmanned aerial vehicles can still continue to execute tasks.

The invention discloses a reservoir bank slope inspection method and system based on an unmanned aerial vehicle laser radar, and relates to the technical field of unmanned aerial vehicle reservoir bank slope inspection, and the method comprises the following steps: 1, guaranteeing the normal working state of an unmanned aerial vehicle, starting the laser radar, connecting a ground GNSS reference station on the shore, calibrating the position of the unmanned aerial vehicle and a communication signal, an inspection area boundary and flight parameters are set; navigation data provided by a shoreside base station is utilized. According to the reservoir bank slope inspection method and system based on the unmanned aerial vehicle laser radar, the inspection efficiency is improved, and the endurance time is prolonged; the system is high in autonomy, reduces the labor cost, achieves the whole-course autonomous navigation, path optimization, obstacle avoidance and dynamic adjustment, does not need manual intervention, effectively reduces the workload and operation difficulty of inspection personnel, reduces the labor cost, improves the intelligent level of inspection tasks, and improves the autonomous adaptability of the unmanned aerial vehicle to complex terrains.

The invention relates to a flexible rubber tapping device which comprises a quick change mechanism, an angle compensation mechanism, a flexible centering mechanism, a visual system, an annular feeding mechanism and a floating tool bit mechanism. The flexible centering mechanism comprises an opposite-direction moving assembly, clamping plates are symmetrically arranged on the opposite-direction moving assembly, the two clamping plates are each provided with two clamping bottom plates, the opposite faces of the clamping bottom plates on the two sides are arc-shaped faces, and protective ball assemblies are evenly arranged on the arc-shaped faces. The first visual system is used for identifying and positioning a rubber tree, and the second visual identification system is used for identifying and positioning a cutter starting point; the annular feeding mechanism comprises a lifting assembly used for driving the floating tool bit mechanism to ascend and descend and an annular movement assembly used for driving the lifting assembly to do annular movement. The floating tool bit mechanism comprises a rubber tapping tool bit, a guide roller and a floating assembly in the feeding direction of the rubber tapping tool bit. The intelligent rubber tapping machine has the advantages of intelligence, uniform rubber tapping and high autonomy.

The invention belongs to the technical field of fire-fighting quadruped robots, and particularly relates to a fire-fighting fire extinguishing system suitable for a quadruped robot, which comprises a quadruped robot, a double-layer mounting frame is arranged on the upper part of the quadruped robot, and an industrial personal computer, an edge computer and a voltage stabilizer are mounted on the first layer of the double-layer mounting frame; a direct-current power source, a switch, a positioning camera and a fire extinguisher are installed on the second layer of the double-layer installation frame, a supporting frame is further installed at the end of the second layer of the double-layer installation frame, a laser radar is arranged at the upper end of the supporting frame, and a binocular depth camera is installed on the side of the upper end of the supporting frame. The outlet end of the fire extinguisher is connected with a first pipeline, the end of the first pipeline penetrates through the partition plate of the double-layer mounting frame to be connected with a pressure stabilizer, and the output end of the pressure stabilizer is connected with a spray pipe. The unmanned aerial vehicle can keep excellent maneuverability and stability, can stably work in a high-temperature environment, effectively resists smoke interference, and easily deals with various complex terrains.

The invention belongs to the technical field of fuel oil, and particularly relates to hydrogen energy engine fuel oil taking coal-to-oil as a base material and a preparation method of the hydrogen energy engine fuel oil. Comprising the following components: 35-45 parts of coal-based Fischer-Tropsch synthesis crude liquid wax, 5-15 parts of white oil, 2-8 parts of heavy wax, 15-25 parts of hydrogenated anthracene oil, 2-8 parts of fatty acid methyl ester, 15-25 parts of hydrogenated coal diesel oil and 1-5 parts of an additive. The preparation method comprises the following steps: S1, weighing the raw materials according to the proportion of the fuel oil of the hydrogen energy engine; and S2, adding the raw materials into a stirring container, and uniformly stirring to obtain the hydrogen energy engine fuel oil. The fuel oil does not belong to dangerous chemicals, the ignition performance of the fuel oil is superior to that of current national 6 diesel oil, the terminal sale price of the fuel oil is lower than that of the diesel oil, and market requirements are met.

The invention discloses a security optimization method, device and system for terminal chip key initialization, a chip and a storage medium, and belongs to the technical field of embedded system security. The method is applied to an equipment manufacturing end and comprises the steps that a target equipment key is created, and the target equipment key is used for being injected into a chip security area of an equipment end to serve as a core key of the equipment end; obtaining a first key pair, the first key pair being a key pair of an equipment manufacturing end and comprising a first root private key and a first root public key; receiving a target chip root public key, wherein the target chip root public key is a chip root public key sent by a manufacturing end of a chip of the equipment end; constructing a target key encryption key based on the first root private key and the target chip root public key; encrypting the target device key based on the target key encryption key to generate a target ciphertext; and writing the target ciphertext into the device end. According to the invention, the security of key initialization of the terminal chip is improved, and the complexity is reduced at the same time.

This invention provides an autonomous control method for a drone swarm based on VGG16 and virtual game theory. The drones utilize a pre-trained attitude recognition model to identify the historical movement information of their opponents and calculate the opponent's strategy tendency at the previous moment based on this information. Then, the drones select a candidate action from a set of potential actions, calculating the opponent's strategy tendency and probability of choosing that action according to the game theory formula. A reward function is designed, and the drones select their own action based on the obtained opponent's strategy probability using the optimal response decision rule, observing the changes in the opponent's actions until the entire drone swarm reaches a stable state. This enables the analysis and game theory of multiple surrounding drones. When encountering signal interference, this invention allows some drone units to malfunction while the drone itself can adjust its movement attitude, maintaining relative stability for the entire swarm.

The invention relates to the technical field of sealing technologies, in particular to a deep stratum CO2 adsorption, sealing and isolation failure self-coupling repairing method which comprises the following steps: S10, spraying a Li salt culture medium and Li-CO2 sensitive salt-tolerant anaerobic fungi at the position 5 meters thick on the outer vertical surface of an isolation layer of a CO2 adsorption layer to form an isolation layer technology implementation area; s20, an initial Li salt culture medium contains high-concentration insoluble Li2CO3, but the concentration of water-soluble LiHCO3 and CO2 in an isolation layer technology implementation area is too low, and the growth conditions of Li-CO2 sensitive salt-tolerant anaerobic fungi are not met; s30, when a CO2 adsorption layer is isolated to generate cracks, a large amount of adsorbed CO2 escapes, when the CO2 passes through a spraying layer, the escaped CO2 accelerates the hydrolysis of Li2CO3 into LiHCO3 and forms diffusion around the LiHCO3, the concentration of Li and the concentration of CO2 in a liquid-phase environment are increased at the same time, and elements such as N, P and K of a Li salt culture medium in a low-lithium salt state are supplemented; the method has the advantages of simplicity and convenience in operation, low cost, environmental protection and high efficiency, and solves the problem of isolation weakening or failure caused by pile aging or geological activity in the underground CO2 adsorption and storage process.

The present invention belongs to the field of navigation technology, and specifically relates to a Doppler radar assisted strapdown inertial navigation motion base rough alignment method under large azimuth misalignment angle. Step 1: define gyro constant drift and accelerometer constant error, establish the coordinate transformation matrix from ideal navigation coordinate system n to actual navigation coordinate system n′ and the mathematical platform attitude error equation and velocity error equation of strapdown inertial navigation under large azimuth misalignment angle; Step 2: establish the state equation of strapdown inertial navigation motion base rough alignment under large azimuth misalignment angle, and obtain the state matrix; Step 3: construct the measurement of Doppler velocity radar assisted strapdown inertial navigation rough alignment, and then combine it with the coordinate transformation matrix of step 1 to obtain the measurement equation and measurement matrix of strapdown inertial navigation motion base rough alignment under large azimuth misalignment angle; Step 4: use t k Measurement of time Z k The Kalman filter is used to realize the rough alignment filtering solution of the strapdown inertial navigation system moving base under large azimuth misalignment angle, thereby realizing the rough alignment of the strapdown inertial navigation system.

The present invention discloses a method and a smart terminal for preventing children from being addicted to games. The method is used for a smart terminal that uses a game account to execute game functions, and includes the following steps: A. During the establishment of a game account, the player's individual identification information and the player's physical characteristic information are obtained, the game account information is associated with the player's individual identification information and the player's physical characteristic information, and the player's physical characteristic information is used to distinguish whether the game account corresponds to a child player or an adult player; B. During the use of the game account, the game account information is matched according to the player's individual identification information, and according to the player distinction result of the game account, game addiction prevention measures are taken for the game account belonging to a child player. The method and smart terminal for preventing children from being addicted to games of the present invention can accurately and effectively prevent children from being addicted to games and protect the physical and mental health of children.

The present invention discloses a current transformer with detachable inlet and outlet terminals, which relates to the field of current transformers, and includes a frame and a card. An arc-shaped adjustment slot is provided on the left side of the top of the frame, and a cylindrical fitting slot is provided on the right side of the top of the frame. The card is attached to the left side of the frame, and the size of the slot is matched with the shape of the frame. The problem that the inlet and outlet terminals of the current transformer in the prior art cannot be adjusted or disassembled is solved. Usually, after the coil is wound on the frame, one end of the coil is directly welded to the pin. However, whether it is manual welding or mechanical welding, it is very likely to affect the welding end of the coil and the pin, causing a cold weld between the coil and the pin, thereby causing quality problems. A current transformer with detachable inlet and outlet terminals is provided, which is plugged into the frame through an array card, and the copper wire is wound on the card to facilitate welding with the terminal, thereby facilitating the rapid installation of the current transformer on the circuit board.

The invention belongs to the technical field of robot control, and particularly relates to a multidirectional underwater robot obstacle avoidance method and related equipment, and the method comprises the steps: transmitting detection sound waves in different detection directions in different time periods; acquiring echo conditions of each detection direction, judging whether obstacles exist in a plurality of detection directions according to the echo conditions, and if the obstacles exist in the plurality of detection directions, determining the obstacle distance between the obstacle and the underwater robot in the corresponding detection direction and the position of the obstacle based on the echo data reflected in each detection direction; determining the obstacle avoidance level of the obstacle in each detection direction according to the obstacle distance and the planned path of the underwater robot; and performing obstacle avoidance on the underwater robot in each detection direction according to the obstacle avoidance level and position of the obstacle in each detection direction. The obstacle avoidance requirement can be met more quickly based on short-time multi-directional detection, and the task execution efficiency can be improved; and obstacle avoidance is carried out based on the obstacle avoidance level of the obstacle, so that the emergency capability is stronger.

The invention relates to an aircraft attitude measurement method based on apparent acceleration coordinate system registration, which is suitable for a sensor limited or external signal interference environment. The method comprises the following steps: firstly, acquiring an apparent acceleration point set of an aircraft under a body coordinate system and an east-north-sky coordinate system, and carrying out centroid calculation and decentration processing to obtain standardized data; obtaining an optimal rotation matrix of the two coordinate systems through covariance matrix construction and singular value decomposition; and finally, the pitch angle, the yaw angle and the rolling angle of the aircraft are solved through the rotation matrix by taking Z-Y-X as a rotation sequence. The method does not depend on an external satellite signal and a high-precision inertial device, avoids the accumulative error of a traditional inertial navigation system and the anti-interference defect of a satellite navigation system, and has the advantages of high measurement precision (the error is less than or equal to + / -1 degree), high stability, wide adaptability and good engineering realizability; the method can be widely applied to attitude measurement of various aircrafts such as unmanned aerial vehicles, satellites and missiles.

The invention discloses a Faster RCNN-based roof tray identification method and system in an underground roadway complex environment, and relates to the field of underground roadway roof target identification, and the method comprises the steps: obtaining a to-be-identified tray image; and inputting the to-be-identified tray image into a pre-trained tray identification model, and outputting an identification result of the to-be-identified tray image. A feature extraction network, an RPN network branch and a detection network branch are used as a network structure of a tray identification model, feature extraction is performed on a tray image through the feature extraction network, and an extracted tray feature map is used as shared input of the RPN network branch and the detection network branch; according to the method, a tray image is acquired, then an RPN network branch is utilized to extract a suggested area as input of a detection network branch, so that an identification result of the tray image is acquired, environmental influences of dark underground light, dust and the like are overcome, the method has the characteristics of high autonomy and high precision, and technical support is provided for implementation of position and posture detection and automatic anchoring protection of tunneling equipment based on machine vision.

This invention discloses a hydrogen production power supply, a renewable energy hydrogen production system, and a hydrogen production power supply control method. The hydrogen production power supply includes a first-stage AC / DC converter and a second-stage DC / DC converter. The input terminal of the first-stage AC / DC converter is connected to the output terminal of a grid-type converter, and the input terminal of the second-stage DC / DC converter is connected to the output terminal of the first-stage AC / DC converter. Its output terminal is connected to the input terminal of an electrolyzer. The hydrogen production power supply is configured to automatically adjust its output power according to the voltage frequency and / or voltage amplitude at the output terminal of the grid-type converter to maintain the stability of the voltage frequency and / or voltage amplitude at the output terminal of the grid-type converter. The hydrogen production power supply of this application can autonomously maintain the stability of the AC bus when the renewable energy power fluctuates, avoiding the shutdown of the hydrogen production system due to power shortage, ensuring the continuity of hydrogen production operations, and extending the service life of the electrolyzer.

The invention discloses a cable type underwater robot path planning system and method, and belongs to the technical field of underwater robot path planning, and the method comprises the following steps: obtaining target position information, and obtaining the course of a robot through a path planning algorithm based on the target position information; starting along the obtained course, scanning a target moving range of the robot based on sonar, and obtaining obstacle position information; in combination with the obstacle position information acquired in the current course, performing narrowing processing on the target moving range; and continuing to perform path planning in the narrowed target moving range, and obtaining new heading forward motion again until the target moves out of the range where the obstacle is located and reaches the target position. According to the invention, the path planning tends to approach the obstacle to avoid the obstacle during obstacle avoidance, so that the obstacle information can be shot during the obstacle avoidance process, the method is more suitable for an automatic underwater shooting task, and the path quality and the planning speed are ensured.

The invention belongs to the field of ship navigation, and provides a ship automatic obstacle avoidance and intelligent navigation control system which comprises an environment sensing module used for collecting environment information around a ship, a data processing module used for analyzing data collected by the environment sensing module, an obstacle detection module used for identifying potential navigation obstacles and a route planning module. The navigation path planning module is used for planning a safe navigation path based on obstacle information, the navigation execution module is used for controlling a ship to travel according to a planned route, and the monitoring and feedback module is used for monitoring the state of the ship in real time and providing feedback; by integrating an advanced environment sensing module and an obstacle detection algorithm, the surrounding environment of the ship can be monitored in real time, and potential navigation obstacles can be accurately identified. And by combining an intelligent route planning and automatic navigation execution module, the system can automatically avoid risks, and the collision and accident risks caused by human factors or environmental changes are remarkably reduced.

The utility model provides memory bank test equipment. The memory bank test equipment comprises a shell and a test module, the shell comprises a memory bank slot, and a plurality of test channels are arranged in the memory bank slot. The test module is arranged in the shell and comprises a processing module and a switch module electrically connected with the processing module, and the switch module is electrically connected with the plurality of test channels; when the memory bank is inserted into the memory bank slot and is in contact with the plurality of test channels for testing, the processing module controls the switch module to conduct one of the test channels, so that the processing module tests the memory bank. The memory bank test equipment is used as independent test equipment, does not need to depend on or depend on external computer equipment, and is high in autonomy, high in test efficiency and accuracy, small in size, free of occupying too much space, good in mobility and flexibility, simple in structure and low in cost and power consumption.

The present invention relates to the field of positioning and navigation of auxiliary transportation vehicles in underground coal mines, and specifically to a multi-source information fusion positioning system and method for trackless rubber-tyred vehicles in underground coal mines. The method establishes a wheel odometer kinematic model of the trackless rubber-tyred vehicle by installing an encoder module on the non-steering wheel of the trackless rubber-tyred vehicle. The heading angle solved by the kinematic model and the heading angle solved by the strapdown inertial navigation are fused by using an extended Kalman filter, and a dead reckoning algorithm based on multiple encoders and strapdown inertial navigation is obtained from the wheel mileage information and the fused heading angle, thereby improving the accuracy of dead reckoning. A strapdown inertial navigation / dead reckoning combined positioning model is established based on an improved adaptive extended Kalman filter to achieve secondary fusion of the encoder and the strapdown inertial navigation. A combined positioning fault-tolerant model is constructed to achieve detection and isolation of abnormal driving conditions such as slipping or sliding of the trackless rubber-tyred vehicle. The camera module on the trackless rubber-tyred vehicle and the QR code arranged in the lane are used to achieve staged calibration of the positioning information of the trackless rubber-tyred vehicle.

The invention relates to the technical field of material management systems, in particular to a customizable coding system. A customizable coding system comprises a coding operation platform, a code generation module, a user management module, a material management module, an information input module and an information database are arranged under the coding operation platform, the code generation module comprises a code sending module and a code reading module, and the code reading module is connected with a bar code recognition device. An information editing module is arranged in the information input module, a bar code reading module is arranged below the material management module, the stock management module is externally connected with a bar code scanning device through the bar code reading module, the bar code scanning device scans and identifies bar codes, and serial numbers are input into the material management module and the information input module through the bar code reading module. And the material management module calls the material information table in the information database according to the serial number and executes warehouse-in and warehouse-out operation.