15 results about "Bidirectional search" patented technology

The application belongs to the technical field of mechanical arm motion planning, and provides a kind of adaptive sampling and multi-channel expansion mechanical arm path planning method, first, the environment obstacle set is constructed, the point to obstacle distance, the clearance configuration and the segment level minimum clearance are established, and the unified safety criterion is constructed;Subsequently, according to the approximation state of bidirectional search tree, the sampling window is adaptively updated, and the random reference sample is generated in combination with the stagnation detection mechanism;On this basis, the hierarchical multi-channel expansion mechanism of direct pointing expansion, bypass expansion, potential field wall expansion and global bottom expansion is used to generate candidate new nodes;When a feasible new node is generated, it is connected to the current search tree and real meeting detection is carried out, if the double trees are successfully connected, path backtracking, splicing, simplification and full path safety review are further executed, and the final executable path is output.The application can improve the safety, search efficiency and environmental adaptability of the path planning of the mechanical arm in the complex limited environment.

This invention provides a path planning method for industrial robotic arms based on potential field perception and experience-based adaptation, relating to the fields of robot motion planning and intelligent manufacturing technology. Based on the path planning framework of the RRT-Connect algorithm, this method constructs a bidirectional search tree within the search space. It uses the calculated safety margin of the direction-aware space as the initial environmental safety margin for nodes, employs an artificial potential field lateral deflection direction guidance strategy to determine the expansion direction, and uses a parameter adaptive adjustment method with a clearly bounded mapping relationship to adaptively determine the node expansion parameters based on the environmental safety margin of the parent node. This achieves efficient and stable collision-free path planning in complex assembly environments. This method is applicable to path planning problems for multi-degree-of-freedom industrial robotic arms and can significantly improve path planning efficiency and path quality in complex assembly environments.

This invention discloses a collaborative operation system and method for a drone and a robotic dog in a mining scenario. The system includes a drone, a robotic dog, and a wireless communication module. The drone and the robotic dog transmit data through the wireless communication module. The drone includes a laser terrain scanner, and the robotic dog is equipped with a high-definition camera and an infrared sensor. The laser terrain scanner is used to perform a global terrain scan of the mining blasting area to obtain laser point cloud data. The high-definition camera is used to identify obstacle elevation values, and the external sensors are used to collect road slope data. This invention utilizes a bidirectional BFS search algorithm combined with adjacent grid selection weights and priorities to generate multiple planned paths. The drone sends the planned paths to the robotic dog in advance, and the robotic dog only needs to select the optimal path based on the actual road conditions. The lightweight MobileNet model improves the robotic dog's computation speed and time, and the selection of the optimal path based on actual road conditions requires low hardware computing power.

The application discloses a substation secondary circuit path identification method, device, equipment and medium, and belongs to the field of power systems, the method is: obtaining the first connection relationship of each screen cabinet and each element to construct the first connection relationship matrix, determining the simplified judgment result according to the element quantity and the connection density corresponding to the screen cabinet and simplifying the first connection relationship matrix to obtain the second connection relationship matrix, and then performing bidirectional search in the second connection relationship matrix according to the positive power supply node and the negative power supply node by using a bidirectional depth-first search algorithm to obtain the secondary circuit path, so that the problem of low path identification efficiency of the substation secondary circuit in the prior art can be solved by implementing the application.

The application discloses a kind of uterine myoelectricity signal classification method based on multivariate empirical mode decomposition, comprising: 1, using multichannel surface electrode acquisition a period of uterine contraction within uterine myoelectricity signal and carries out denoising pretreatment;2, using multivariate empirical mode decomposition to extend the uterine myoelectricity signal after denoising pretreatment to time-frequency domain, obtain the intrinsic mode component containing different time scale of uterine myoelectricity signal, according to variance contribution and correlation coefficient select effective component therein;3, to the intrinsic mode component after screening, sliding window is carried out, and six characteristic values are calculated;4, using chi-square test pre-screening and sequence bidirectional search combination feature selection algorithm, select optimal feature subset;5, based on support vector machine model, classify normal and abnormal activity in uterine myoelectricity signal.The application can utilize the local information of uterine myoelectricity signal in time-frequency domain, filter out irrelevant noise and redundant features, to complete the abnormal activity identification in uterine myoelectricity signal.

The application discloses a kind of intelligent driving car path planning methods based on multi-algorithm cooperation, belong to intelligent driving technical field, including: by the improved Bi-RRT* algorithm initialization two respectively from start point and target point growth search tree and carry out bidirectional search;Dynamic detection two search tree node distance, when meeting condition, trigger the strategy of opposite bias, and carry out global path generation;In global path generation, improved artificial potential field method is used to carry out local path planning, and new node is expanded;When expansion failure, trigger ray projection navigation mechanism, detect the feasible path in front through sector area, select optimal intersection and expand, when the node of two search trees meets connection condition and path has no collision, realize bidirectional connection, generate initial complete path;The initial complete path generated is handled with path cooperation optimization and smoothing, generates final path, and the path planning ability of intelligent driving vehicle in complex environment is improved by the method.

This invention discloses a bidirectional heuristic path planning method and system based on fixed-period switching, belonging to the field of path planning technology. The method includes the following steps: initializing forward and reverse searches, starting from the beginning and end points of the path planning respectively; controlling the search direction to alternately switch between the forward and reverse searches based on a preset fixed period N; evaluating and expanding nodes based on a consistency heuristic function in each search step; and merging the two paths to generate the final planned path when the paths of the forward and reverse searches intersect at a node. This invention employs a fixed-period switching strategy, completely avoiding the computational overhead of dynamic judgment and eliminating the resulting uncertainty. The balanced bidirectional search effectively controls the depth and breadth of the search tree, reducing the number of nodes simultaneously existing in memory.

This invention relates to a method for scheduling coke pushing plans in a disordered state in a coke oven based on a bidirectional Dijkstra algorithm. The method includes constructing initial and target state nodes, constructing forward and backward state transition graphs, calculating the edge weights of each directed edge, initializing the forward and backward search starting nodes, performing a bidirectional Dijkstra search and identifying candidate meeting nodes, calculating the total cumulative penalty value and selecting the final meeting node, and concatenating the forward and backward state sequences to obtain a coke pushing plan that restores the current disordered state to a normal sequence state. This method for scheduling coke pushing plans in a disordered state in a coke oven, based on a bidirectional Dijkstra algorithm, solves the problems of existing scheduling methods being easily affected by differences in operator experience, having long solution times, and being unfavorable for timely handling of disordered conditions on the production floor.

The application discloses a mechanical arm path planning method based on an improved fast extended random tree and belongs to the technical field of industrial robot control. According to a set safety distance, a collision-free six-axis joint value sequence set from a starting point to an end point is quickly obtained. In initial path searching, a space preset tree strategy is used to guarantee the connection between an explored mechanical arm pose and initial and final mechanical arm poses and to make different poses as possible as to spread in space; in a path searching algorithm, a bidirectional search tree algorithm, a target bias, a greedy strategy and a variable step length strategy are used to accelerate algorithm convergence; a loop pruning algorithm is used in path optimization to greatly reduce a redundant path and to guarantee the local optimality of the path in an iteration process. The method improves the path planning efficiency of the mechanical arm in a three-dimensional space, solves the problems of long kinematics solving time of the mechanical arm in a multi-dimensional space and a redundant path and realizes a collision-free motion task in a joint space.

The application provides a hydrofoil cargo transportation path planning method and device, a storage medium, and relates to the field of marine ship cargo transportation path planning.The method comprises the following steps: constructing a gridded work map according to an actual marine operation environment of hydrofoil cargo transportation; constructing a forward search set and a backward search set based on a bidirectional A search framework; simultaneously performing forward search and backward search, adaptively cutting a node neighborhood according to the position of a current node in each round of search; calculating a dynamic weight based on the coordinate dispersion of the current node and the neighborhood node, adjusting the comprehensive value of the heuristic function by substituting the dynamic weight into the heuristic function; and when it is detected that the forward search and the backward search have a node overlap, terminating the search, splicing the forward search path and the backward search path, and obtaining an optimal hydrofoil cargo transportation path. The application improves the time and efficiency of hydrofoil cargo transportation path planning, and improves the path planning accuracy.

This invention proposes a method for identifying feature points and detecting forming dimensions of cladding passes in arc additive manufacturing based on 3D visual full-morphology point cloud information. The method includes the following steps: using a high-precision 3D scanner to perform omnidirectional scanning of each cladding pass layer, and preprocessing the point cloud data such as filtering, 3D surface reconstruction, point cloud refinement, and feature fitting alignment to obtain effective point cloud data; performing dimensionality reduction on the effective point cloud, and using the DW-GCT method to bidirectionally approximate and search for weld toe feature points of the first cladding pass layer; employing a heterogeneous region adaptive interpolation method to search for edge convex and non-edge convex regions and obtain cladding pass interpolation contours that retain small surface features; and combining this with a layer intersection point dynamic positioning method to bidirectionally search for bite points in the incomplete fusion zone between adjacent layers. The method proposed in this invention can effectively solve the problems of lack of cladding pass side point cloud information, depth of field error, and breakpoint error in existing technologies, and provides a method for extracting the top-layer cladding pass dimension data using the full-morphology 3D point cloud contour information of the cladding pass.

The application discloses an unmanned vehicle path planning method, and relates to the technical field of automatic driving.The method comprises the following steps: acquiring spatial environment information and generating a grid map containing obstacle grids and non-obstacle grids according to the spatial environment information; performing random sampling in the non-obstacle area of the grid map to generate a set of sampling points; based on a probabilistic roadmap algorithm, initiating bidirectional search from an initial point and a target point respectively for the set of sampling points, and excluding intersecting lines with obstacles to construct a path set; using a heuristic search algorithm to traverse and splice effective connecting lines in the path set, and extracting an optimal polyline path connecting the start point and the end point; and using a non-uniform rational B-spline curve algorithm to perform smoothing processing on the optimal polyline path.The application can output a planning path meeting the stability requirement of vehicle driving and continuous in curvature, and improves the obstacle avoidance and passing capacity of the unmanned vehicle in a complex environment.

The application provides a binding robot system and a path planning method and a working method thereof, the path planning method comprising: global planning: performing rapid and low-dimensional rough planning in a task space, establishing a safe buffer zone around an obstacle by introducing a concept of an extended distance; adopting a bidirectional search strategy to improve search efficiency; and generating a safe and smooth 'path main line' through a smoothing optimization strategy; local planning: performing real-time local planning under the guidance of the global 'path main line' by using a neural network algorithm based on a QR-DQN architecture to obtain an optimal binding path; and the neural network algorithm is trained by integrating target guidance and obstacle avoidance as heuristic knowledge into a reward function. Compared with the prior art, the binding robot system and the path planning method and the working method thereof provided by the application can significantly improve the adaptability, efficiency and reliability of robot binding.

The application discloses a kind of non-heterogeneous thin-walled part machining path identification method based on projection and bidirectional search ring.The method includes first obtaining the stretching direction according to the shape characteristics of the non-heterogeneous thin-walled part based on model data;The normal of the topological surface in the non-heterogeneous thin-walled part and the topological surface perpendicular to the stretching direction are obtained as the projected surface;The center point of the non-heterogeneous thin-walled part is taken as the origin, and the stretching direction is taken as the normal to construct the projection plane, and each projected surface is projected onto the projection plane along the stretching direction to obtain the corresponding two-dimensional projection edge;According to the two-dimensional projection edge set, the outer wall surface set and the inner wall surface set are obtained respectively;According to the requirement, the outer wall surface set or the inner wall surface set is selected to obtain the machining path set and is processed.The application utilizes the structural characteristics of the non-heterogeneous thin-walled part, converts the three-dimensional feature recognition to the two-dimensional plane for processing, effectively reduces the operation complexity, maintains high recognition accuracy, and significantly reduces the dependence on manual intervention.