129 results about "Boundary model" patented technology

The invention belongs to the technical field of intelligent manufacturing and automatic design optimization, and discloses an automatic template generation method and system based on UG software, and the method comprises the steps: capturing a sketch operation event flow, carrying out the deep binding of geometric parameters and tolerance rules, generating a technology enhancement parameter set, and constructing a dual-channel instruction set; synchronously generating a two-dimensional engineering drawing projection and a three-dimensional expansion drawing preview; detecting conflicts in real time, and calling an exception correction plan library for dynamic correction; generating a zero-conflict BREP boundary model and a correction track log, and establishing a log-plan library mapping relation; generating an enhanced BERP model through a template drawing optimization mechanism; further generating a processing path instruction set, and integrating the processing path instruction set into a process compliance template drawing package; generating a cross-platform manufacturing package; constructing a quality index set, and generating an abnormal event association graph; and calculating a rule parameter adjustment amount, dynamically updating the process rule base, generating a global strategy packet, and reversely injecting sketch parameter constraints to form a continuous optimization cycle.

The invention relates to the technical field of resistor chips, in particular to a method and a system for optimizing a manufacturing process of a thermistor chip. According to the method, multi-scale process entropy analysis is carried out on a process parameter dynamic flow, the coupling strength between key processes is analyzed, and a process parameter cluster with strong non-monotonic correlation and a process system entropy increase path of the process parameter cluster are identified, so that a collaborative stability domain boundary model is constructed; according to transient fluctuation characteristics extracted from a process parameter dynamic flow obtained in real time, in combination with the collaborative stability domain boundary model, determining a parameter subset exceeding a collaborative stability operation interval as a drift parameter cluster, executing an optimization instruction set to perform trial production, synchronously collecting collaborative trajectory data of a process parameter cluster, and performing collaborative trajectory prediction; and the collaborative stability is verified by calculating the entropy change rate of the process system and is fed back to the collaborative stability domain boundary model for boundary toughness strengthening, dynamic collaborative convergence of relevant parameters such as the sintering gradient and the electrode pressure is achieved, and the product consistency and the yield stability are improved.

The invention discloses an intelligent decision-making method and system for a water impeller, and relates to the technical field of sewage treatment, and the method comprises the steps: obtaining first sewage state data; inputting the first sewage state data into the trained first model to obtain a predicted flow impeller action; inputting the action of the water impeller into the safety boundary model to obtain safety boundary information of the action of the water impeller; and the controller judges whether to execute the action of the water impeller or not according to the safety boundary information. According to the scheme, the water impeller has the intelligent decision-making capability through the first model, and the made water impeller action achieves the dual effects of guaranteeing safety and saving energy consumption through training and judgment of the safety boundary.

The invention relates to the technical field of building engineering, and discloses a building equipment energy consumption data driven self-adaptive energy-saving regulation and control system and method, and the method comprises global state sensing, energy consumption feature extraction, dynamic modeling prediction, multi-objective optimization solution and hierarchical execution control. Time sequence and space data are fused through Kalman filtering, unified modeling of cross-protocol equipment data is achieved, equipment operation, environment, weather and control instructions are integrated according to a space-time state input matrix, a multi-dimensional decision basis is formed, a Pareto optimal solution set is solved based on an NSGA-II algorithm, a compromise solution is selected through a fuzzy decision method, and the optimal solution set is obtained. According to the method, conflict targets of energy consumption, comfort and equipment life are balanced, a priority arbitration problem is solved by adopting dynamic weight allocation, meanwhile, a security fault-tolerant mechanism is established, a mobile security boundary model and a self-adaptive retry mechanism are introduced, an operation threshold is dynamically adjusted, and the robustness of the system is remarkably improved.

The invention relates to the technical field of data processing, and particularly provides an industrial data report self-adaptive generation method, system and device and a storage medium, and the method comprises the steps: obtaining heterogeneous data from a plurality of data sources, and converting the heterogeneous data into industrial data in a unified format; generating a dynamic boundary value based on the industrial data as an index by using an adaptive dynamic boundary model; and analyzing the industrial data based on the dynamic boundary value of the index, and generating a report based on an analysis result. According to the method, the report is automatically generated based on intelligent analysis of the dynamic boundary, so that the current real operation state is objectively reflected, potential risks and performance changes can be revealed in time, and a more accurate and more time-efficient decision basis is provided for management personnel.

The invention discloses a whole-body collaborative voice control system and method for a humanoid robot, relates to the technical field of robots, and aims to solve the problems of semantic understanding superficial layer, action planning localization and safety control lagging in existing humanoid robot voice control. Through closed-loop cooperation of the multi-mode intention understanding module, the whole-body action planning module, the dynamic balance security arbiter and the microkernel security scheduler, a unified control architecture is constructed. According to the system, natural language instructions are deeply analyzed into whole-body motion constraints through a semantic-action mapping knowledge base, anthropomorphic collaborative motion trails are generated, pre-security verification is conducted through a boundary model based on Lyapunov stability, and finally hard real-time execution and full-cycle security guarding are achieved through a microkernel security scheduler. According to the method, direct conversion from natural language to safe, stable and anthropomorphic whole-body motion is realized, and the task execution capability and the interaction naturalness of the humanoid robot in a complex scene are remarkably improved.

The invention discloses a rapid design method and system for a turbine blade, electronic equipment and a storage medium, and the rapid design method comprises the steps: firstly, obtaining boundary conditions of a gas side and a cold air side of the turbine blade in an actual working environment based on flow heat exchange test data, and then constructing a heat exchange boundary model based on the boundary conditions; according to the method, temperature field calculation becomes a pure solid heat conduction problem, and only depends on known boundary conditions and material attributes, so that a heat exchange boundary model can be directly applied to a blade three-dimensional model for transient temperature field calculation, and CFD simulation calculation needing iterative solution is replaced; by means of the method, the most time-consuming flow field solving and flow thermal coupling iteration link in the whole analysis process is thoroughly eliminated, the calculation efficiency is remarkably improved while the calculation precision is guaranteed, a thermal-force coupling chain is cut off through decoupling calculation of the transient temperature field and the transient stress field, and the calculation efficiency is further improved.

The invention relates to the field of safety monitoring, and discloses an external hanging type safety monitoring system for existing engineering machinery, which improves the safety and operation efficiency of equipment through the technical means of data fusion, dynamic safety threshold calculation, a hierarchical response mechanism, data integrity verification and the like. Through hardware clock synchronization and unified coordinate system establishment, alignment of data of the encoder, the tilt angle sensor and the laser ranging module is realized. The telescopic length, the operation height and the radius of the big arm are calculated in real time, and the parameter reliability is ensured through theoretical model verification; generating a dynamic security threshold set by adopting a threshold management mechanism of fusion of a local dynamic stability boundary model and a cloud environment compensation coefficient; and when the operation parameters exceed the limit, triggering hierarchical response control, and uploading the fault data snapshot to the cloud platform. According to the method, through multi-level collaborative optimization, the precision, adaptability and safety of engineering machinery operation monitoring are remarkably improved, and the method is suitable for safety protection requirements under complex working conditions.

The invention designs a system mode deduction method based on source storage full life cycle characteristics and power grid growth, and belongs to the technical field of power system deduction. According to the method, an evolution boundary model is constructed by analyzing full life cycle characteristics of thermal power, wind power, photovoltaic power and energy storage and considering factors such as load increase and technical progress. Then, a source storage planning model and a power grid growth model based on the complex network theory are constructed, the source storage planning installed capacity can be obtained, and the positions of newly-added load nodes and power supply nodes are determined; furthermore, a source network storage collaborative planning model is constructed, and typical day data is used as input to solve a stage system mode. And finally, determining whether the deduction process is ended or not by judging whether the evolution period is reached or not. The method is suitable for researching and analyzing the future form of the novel power system, and has the advantages of flexible time scale, simple calculation, high expansibility and the like.

The invention relates to the technical field of renewable energy source and process industrial intelligent control, and discloses a full-process optimization method and system for synthesizing ammonia through wind-solar hydrogen production, which can realize full-process collaboration and self-adaption to wind-solar fluctuation, and can guarantee system safety and economy in long-term operation. According to the scheme, the method comprises the steps that running state data of a wind-solar power generation system, a hydrogen production system, a hydrogen storage system and a synthetic ammonia system are collected in real time, and the collected data are preprocessed; establishing a device-level adaptive boundary model, and calculating a dynamic safe operation boundary of the key device; inputting wind-solar power prediction of a future time domain, performing rolling optimization based on the multi-objective optimization model according to constraint conditions, and generating load setting instructions of each system; and executing the load setting instruction, collecting real response data of the system, comparing a deviation between a real response and a predicted response, calculating a multi-dimensional deviation index, and when the deviation exceeds a set threshold value, performing feedback calibration on the equipment-level adaptive boundary model.

The invention discloses an ore body three-dimensional modeling method and device, and relates to the technical field of three-dimensional modeling. The method includes the following steps that geometric feature parameters of an ore body to be monitored are obtained, a three-dimensional boundary model is constructed, and the surface is divided into a plurality of equal-size grids; collecting point cloud data of the topographic surface of the ore body, mapping the point cloud data into a grid, analyzing the point cloud data through different modeling methods, generating a plurality of three-dimensional ore body structure models, and preferably forming a model set; coupling and analyzing the structural complexity, and screening out an information comparison grid; calculating accumulated differences between the point cloud surface features and the model features, and selecting the model with the minimum accumulated difference as a target ore body three-dimensional model; in combination with real-time mining position information, a construction influence range is determined as a monitoring area, the local structure of the target ore body model is dynamically updated by obtaining vibration information and area point cloud data of the monitoring area, the targets of real-time monitoring and dynamic management of the ore body are achieved, and mining safety and efficiency are improved.

The invention provides a data security sharing method under an AI platform, and belongs to the technical field of AI platforms, and the method comprises the steps: building a distributed architecture of a confusion center node and a plurality of confusion edge nodes in an AI platform management server, carrying out the knowledge vector extraction of to-be-shared data, and converting the to-be-shared data into a high-dimensional vector for representation; generating a plurality of ellipsoidal confusion bubbles based on vector distribution characteristics and constructing a multi-dimensional authorization strategy, adopting a game boundary model comprising an upper-layer game model and a lower-layer game model to perform separation processing on a crossed and overlapped region, establishing a data training reasoning mapping relation according to a game solving result, and calculating confusion parameters through a confusion intensity optimization function; and finally, real-time confusion protection in the data transmission process is executed, and data flow is continuously monitored. The technical problem of data leakage risk caused by mismatching of a confusion protection strategy and an actual security demand in the data sharing process under the AI platform is solved.

The invention relates to the technical field of construction safety monitoring, and particularly discloses a construction equipment situation analysis and event identification method and system based on visual segmentation. The method comprises the following steps: acquiring a construction equipment operation video stream through a roadside camera, and constructing an image and physical space mapping relation based on scene ground key feature points; a YOLOv11-Seg instance segmentation network is adopted to identify the contour of the equipment and a landing part, and a cross-frame motion track is tracked through a YOLOv11-Track algorithm; calculating a safe operation boundary by combining equipment geometric parameters, landing point coordinates and a space mapping relation; detecting personnel equipment invasion behaviors in real time, and implementing dynamic early warning according to kinematics parameters; and identifying operation event modes and anomalies through spatio-temporal feature analysis. According to the invention, high-precision perception of the operation situation of the construction equipment can be realized, the dynamic safety boundary model early warns the construction risk in real time, and spatial-temporal feature analysis provides a basis for intelligent management and efficiency improvement of the construction site.

The present disclosure provides a capital construction graphic calculation method, system, electronic device and storage medium, which belongs to the technical field of capital construction engineering and engineering cost. The method determines the overlapping area between the steel bars and the concrete by obtaining the point cloud data of the steel bars and the concrete and the steel bar spacing parameter, extracts the boundary point set of the overlapping area to generate a first grid unit, generates a second grid unit according to the steel bar spacing parameter, corrects the first grid unit through the node coordinate offset between the first grid unit and the second grid unit to generate a third grid unit, and determines the gap filling ratio of the concrete according to the third grid unit to form a continuous boundary model. In this way, the discontinuous boundary error caused by the curved surface overlapping area between the components in the traditional graphic calculation method is effectively eliminated, so that the real geometric shape of the components can be accurately reflected, the precision of the component volume and material consumption calculation is improved, the component volume calculation precision can be improved to ±0.3%, and the material consumption budget accuracy rate reaches 98%.

The present application relates to non-ferrous metal processing technical field, especially to a kind of based on copper pole subgrain boundary continuous casting and rolling process regulation and control method and system, method includes: acquisition process parameter, constructs process parameter vector, in continuous casting crystallization zone and continuous rolling section set position, respectively acquisition casting blank surface temperature field, subgrain boundary orientation consistency index and rolling traction tension;Based on finite element method discrete calculation casting blank temperature-stress field, constructs coupling subgrain boundary model, to coupling subgrain boundary model parameter is carried out online correction;Based on coupling subgrain boundary model constructs multi-objective collaborative optimization model, using based on cuckoo search and teaching optimization algorithm hybrid algorithm optimization solution, obtain optimal process parameter vector;The optimal process parameter vector is applied to continuous casting and rolling system, and according to the deviation of online monitoring data and prediction triggers re-optimization or alarm. Can simultaneously optimize subgrain boundary size and orientation consistency, significantly improve the mechanical properties and electrical conductivity of copper pole.

The application discloses a kind of river and lake health recovery scheme intelligent decision-making method based on progressive ecological restoration theory, belong to environmental management field, this method includes: the target steady state in river and lake ecosystem is decomposed into multiple ecological parameter balance states, and the corresponding response protocol is preset for each ecological parameter balance state, and the collection of all response protocols constitutes ecological response protocol cluster;According to the real-time state of river and lake ecosystem, activate and arrange protocol execution sequence from ecological response protocol cluster, construct flexible failure boundary model for each ecological parameter balance state, and the flexible failure boundary model is a dynamic state envelope;It can be realized by constructing dynamic flexible failure boundary model, combined with disturbance memory energy field, accurately identify resilience challenge events, solve the limitations of fixed repair scheme, effectively adapt to the complex scene of river and lake ecosystem disturbed by climate change, human activities and the like, and improve the anti-interference ability of repair scheme.

The application discloses a non-line-of-sight building layout relocation method and device in array interferometric synthetic aperture radar three-dimensional imaging, a storage medium and a program product, and is applied to the technical field of array interferometric synthetic aperture radar three-dimensional imaging. The method is aimed at the problem that the prior art cannot realize non-line-of-sight building layout relocation when building layout parameters are unknown. The method comprises the following steps: firstly, an array interferometric synthetic aperture radar system is used to obtain an initial three-dimensional point cloud of an observation scene; then, an Alpha Shape algorithm is applied to surface reconstruction of the point cloud to construct a boundary model for reflection path analysis; then, whether a line connecting the point cloud and a radar antenna intersects with a surface model is analyzed to identify non-line-of-sight points and associated reflection points; finally, a density clustering and plane fitting algorithm is used to correct and relocate the non-line-of-sight building layout in combination with a mirror symmetry geometric relationship. The method does not need prior structural information, can effectively identify a multipath reflection path, restore the real spatial position of a building in a non-line-of-sight area, significantly improves three-dimensional imaging precision, and provides strong support for SAR applications such as city perception and structure reconstruction.

The invention provides a fault control fracture-cavity modeling method utilizing geological trend factor constraints, and relates to the technical field of oil-gas exploration, and the method comprises the steps: calculating seismic coherent body attributes based on post-stack seismic data, obtaining the overall space distribution characteristics of geological structure anomalies and the like, and depicting a strike-slip fracture zone boundary model U1 (x, y, z); calculating the spatial development intensity I1 (x, y, z) of the crack and the hole body based on the distance influence factors from the fracture zone; the longitudinal development strength I2 (x, y, z) of the crack and the hole body is restrained by using the buried depth trend of the stratum, and the comprehensive spatial distribution trend strength Itotal of the crack and the hole body is constructed. The space trend constraint and the stochastic simulation technology are combined, and a space distribution model of the cracks and the hole bodies is established. The model established by the method is more in line with actual space distribution characteristics of cracks and holes in a work area. The method is applied to carrying out numerical simulation research, and is helpful for finding more effective means for processing the fault control fracture-cavity body.

The invention proposes a maxillary sinus boundary extraction method based on a convolutional neural network, and relates to the technical field of maxillary sinus image processing, and the method comprises the steps: constructing a convolutional neural network, and training the convolutional neural network through employing a marked maxillary sinus image; utilizing the trained convolutional neural network to predict the tissue region boundary position of the actually input maxillary sinus image, mapping to the actual position in the three-dimensional space, and constructing a three-dimensional tissue block boundary model; constructing a classification model, and outputting a preliminary block boundary curved surface of the three-dimensional organization block boundary model by using the classification model; and in the block enclosed by the obtained block boundary curved surface, the fine boundary surface segmentation of the maxillary sinus tissue is realized by determining the key voxel.

The application discloses a static voltage stability boundary calculation method and system based on a deep neural network. The static voltage stability boundary point sample set is obtained by calling the continuation power flow method to detect the PV curve nose point for multiple times; the static voltage stability boundary model of a complex high-dimensional power system is established by taking the power growth mode as input features and taking the maximum power growth as an output variable; since the uniformity of the sample has a great influence on the model, the "baffle method" which can uniformly generate feature sets in the sample space is proposed; the static voltage stability boundary sample is generated based on the "baffle method" in the IEEE9 and IEEE39 node systems, and compared with the Monte Carlo random sample, the uniformity and efficiency of the sample generated by the "baffle method" are higher; the static voltage stability boundary model of the system is constructed based on the deep neural network, and compared with the boundary detected by the continuation power flow method, the accuracy of the model is verified, and compared with the time domain simulation boundary, the effectiveness of the model is verified.

The present invention provides a method and system for quantitatively describing wind speed profiles at various locations in mountainous areas, determining wind speed, and including: performing flow field simulation analysis based on a rigid boundary model of the mountain to determine the dominant wind direction and wind speed sequence at the wind speed profile data extraction points; determining the wind speed profile type and corresponding wind speed profile objective function based on the relative positional relationship between the active wind direction and the selected points in the mountain; fitting the corresponding wind speed sequence and wind speed profile objective function according to each wind speed profile type to obtain the parameters in the wind speed profile objective function, thereby determining the calculation formula for each wind speed profile type; and then using the wind speed profile type calculation formula corresponding to the wind speed profile type to calculate the wind load at any point on the transmission tower. The purpose is to establish a system that can accurately reflect the influence of complex mountainous terrain changes on the wind speed distribution along the height, accurately calculate the wind load on the tower, and thus improve the safety and economy of transmission towers under complex mountainous conditions.

The application discloses a core linear cutting method based on computer vision, which comprises the following steps: collecting the image of a core to be cut, and establishing a three-dimensional model of the core through the image of the core; manufacturing a three-dimensional boundary model of a plunger sample with a corresponding size; displaying the three-dimensional model of the core and the three-dimensional boundary model of the plunger sample in the same three-dimensional coordinate system, and screening an optimal cutting position; moving the three-dimensional boundary model of the plunger sample to the optimal cutting position, and generating a cutting path; and cutting the core according to the cutting path. The technical scheme has the beneficial effects that the cutting effect can be directly displayed by first modeling the core to be cut in three dimensions and then cutting the three-dimensional model of the core through the three-dimensional boundary model of the plunger sample, the cut core plunger can meet the standard, the damage of the core plunger to the whole core can be reduced, and the utilization value of the remaining core can be improved.

This invention relates to the field of home theater technology, specifically to a layout optimization method and system for wireless home theaters. The method includes: an environmental sensor performing a 3D scan of the room to generate point clouds and boundary models, extracting room length, width, height, and furniture occlusion parameters; based on the scanned indoor parameters and furniture parameters, generating an editable model in virtual space corresponding to the real scene at a 1:1 scale, setting constraints, and obtaining a furniture layout diagram; using acoustic, visual, and wireless performance as constraints, and the poses of furniture and audio-visual equipment as variables, optimizing the furniture layout based on the layout diagram to obtain the optimal layout scheme, or manually adjusting until the error is less than a set threshold; repeating steps S1-S3 when new furniture is added or the number of viewers changes to complete incremental optimization. The advantages of this invention are: it can prevent high frequencies from being absorbed by soft packaging and low frequencies from being reflected by cabinets, prevent signal attenuation by metal or glass, and reduce the workload of subsequent manual adjustments.

The application discloses a surge data processing method, device and equipment and a storage medium. The method comprises the following steps: obtaining a plurality of initial surge samples, and obtaining an initial power set based on each initial surge sample; comparing the initial power set corresponding to each initial surge sample set with a reference power to obtain a comparison result, and determining each initial surge sample based on the comparison result to obtain a target surge sample; obtaining a corrected surge sample set based on the target surge sample and a historical surge sample set; and a surge boundary model is self-corrected based on the corrected surge sample set to obtain a corrected surge boundary model. According to the technical scheme, different historical surge sample sets and self-learning strategies of the surge boundary model are adopted for different stages of the centrifugal compressor, and the self-learning efficiency of the historical surge sample set and the surge boundary model can be improved.

A complex space boundary control method and system for an orthopedic surgical robot, and an electronic device. The control method comprises: acquiring a target desired position of the ball center of a target burr ball head mounted at an operating end of a robot, complex space boundary data, and the radius of the target burr ball head, wherein the complex space boundary data is a closed manifold polyhedron enveloped by triangular facets (S100); and determining whether the target desired position is located outside a complex space boundary, and on the basis of a determination result, determining whether to correct the target desired position on the basis of the radius of the target burr ball head, so as to obtain a safe desired position of the ball center of the target burr ball head (S200). By means of the complex space boundary control method, the radius of a ball head of a high-speed burr can be dynamically compensated for without the need for generating compensation boundary models of different sizes in advance.

The application discloses a kind of ore body three-dimensional modeling method and device, and the application relates to three-dimensional modeling technical field.The application includes the following steps: obtaining the geometric characteristic parameters of the ore body to be monitored, constructing a three-dimensional boundary model, and dividing the surface into several equal-sized grids;Collecting point cloud data of the ore body terrain surface and mapping it into the grid, analyzing the point cloud data by different modeling methods, generating multiple three-dimensional ore body structure models and optimizing the model set;Coupled analysis of its structure complexity, select information comparison grid;Calculate the cumulative difference between the point cloud surface features and the features of each model, and select the model with the smallest cumulative difference as the target ore body three-dimensional model;Determine the construction impact range as the monitoring area by combining real-time mining location information, obtain the vibration information and regional point cloud data of the monitoring area, dynamically update the local structure of the target ore body model, realize real-time monitoring and dynamic management of the ore body, and improve the safety and efficiency of mining.

The application discloses a kind of model establishment method, breakdown test method, system and storage medium of ultrathin polycrystalline dielectric layer, it is related to material science crystallography field, method includes: obtaining the size data and material parameters of ultrathin polycrystalline dielectric layer;According to size data and material parameters, generate two-dimensional grain boundary model based on thomsen polygon model;Stretch the thickness data of two-dimensional grain boundary in two-dimensional grain boundary model towards the direction of dielectric layer thickness, obtain three-dimensional grain boundary model;Obtain defect data set, and according to the distribution rule of preestablished distribution defect data on three-dimensional grain boundary of three-dimensional grain boundary model, to update three-dimensional grain boundary model.The method can make defects occur on grain boundary, more close to actual ultrathin polycrystalline dielectric layer topography, while improving accuracy, simplify the grain topography and defect position in the thickness direction of ultrathin polycrystalline dielectric layer, improve the modeling efficiency.

The application discloses an AGC hierarchical optimization method and system based on wind power error modeling, and belongs to the field of power system dispatching optimization.The method comprises the following steps: constructing a wind power prediction error model and a wind power prediction error dynamic probability boundary model; constructing a two-stage robust optimization model comprising spare capacity configuration and real-time dispatching of unit output; and constructing an AGC hierarchical control architecture comprising a strategic decision layer, a coordination optimization layer and an execution response layer, wherein the strategic decision layer calculates a spare capacity configuration strategy of each unit based on the two-stage robust optimization model as a boundary constraint of the adjustment capacity of each unit in the coordination optimization layer, the coordination optimization layer calculates unit adjustment instructions of each unit with the aim of minimizing area control error (ACE) and adjustment cost, and the instructions are sent to the execution response layer for instruction execution.The application can reduce invalid spare allocation, shorten frequency recovery time and improve adjustment quality, and is helpful to guarantee the economy and stability of the system under high uncertainty.

The invention relates to an efficient trajectory planning method suitable for a field unmanned carrying platform. The method comprises the following steps: S1, constructing a local elevation map and a passable domain map; s2, through a limit performance boundary model, outputting a limit boundary used for representing the limit capacity of the vehicle, constraining a coarse trajectory generated based on a deep learning model, and guiding the generation of a trajectory in combination with the autonomous operation attribute of a carrying platform during local optimization; s3, outputting a coarse trajectory point planning sequence, storing the coarse trajectory point planning sequence as long-time global planning information, and providing a high-quality initial value for a parallel local optimization trajectory planning module; s4, defining a generalized performance margin matrix, carrying out local convex optimization on a current track section by utilizing a main thread of a dual-thread track optimization strategy, taking the local convex optimization as controller execution input, asynchronously optimizing a next track section by an auxiliary thread, and carrying out rolling updating and continuous splicing on the track; and the real-time performance, the rationality, the safety and the generalization of the unmanned carrying platform trajectory planning method in the field non-structural environment are improved.

The invention relates to the technical field of five-axis numerical control machine tool high-precision machining, in particular to a blade disc machining tool direction vector solving method and optimizing device based on a distance field. According to the solving method, a boundary model of a rotary cutter is constructed, and a cutter direction vector feasible region under the condition that a single cutter contact is free of interference is researched and analyzed in combination with a distance field function with symbols. And then converting the geometric feasible region of the tool direction vector to be represented under a machine tool driving shaft through inverse kinematics transformation of the machine tool. And finally, by considering the kinematics characteristics of the rotating shaft of the five-axis machine tool, minimizing the use of the rotating shaft and the maximum rotational inertia, and simultaneously tending to all required constraints, establishing a solving model algorithm with the sum of the minimization accelerations of the rotating shaft as an optimization target. By the adoption of the method, collision detection calculation of a universal tool is simplified, the solving efficiency of the tool direction vector feasible region is improved, the change fluctuation of a machine tool rotating shaft is smaller, and the surface quality of a machined blade is effectively improved.