721 results about "Dynamic positioning" patented technology

The invention discloses a charging and battery replacing monitoring system and method based on internet of things. The system comprises terminal information acquisition equipment, charging and battery replacing monitoring equipment and area monitoring equipment, wherein the terminal information acquisition equipment is used for carrying out identity identification, state information acquisition and dynamic positioning on terminal equipment by utilizing an information sensing mode, transmitting identity identification information to the charging and battery replacing monitoring equipment through a wireless network, and transmitting the state information and the positioning information to the area monitoring equipment through the wireless network; the charging and battery replacing monitoring equipment is used for receiving the identity identification information of the terminal equipment, monitoring the working state of a charging and battery replacing station, metering and charging the charging and battery replacing process, and transmitting the state information of the charging and battery replacing station, the metering and charging information and the identity identification information to the area monitoring equipment; and the area monitoring equipment is used for monitoring the terminal equipment and the charging and battery replacing station in a jurisdiction area and making a statistics on the metering and charging information. Through the system and the method disclosed by the invention, concentrated monitoring and management on the terminal equipment and the charging and battery replacing station can be carried out.

The invention discloses a concrete pouring and vibrating dynamic visualization monitoring method. A vibrating bar point operating track detecting system based on global position system (GPS) dynamic positioning test collects/transfers/processes vibrating bar point operating track state parameter information in real time and adopts a computer graphic on-line method to display, and monitors and evaluates pouring and vibrating state effect in real time according to judge standard of concrete vibrating control parameters (such as vibrating geometric boundary/ vibrating effective radius/vibrating inserting-and-extracting threshold and the like). Therefore, phenomena including vibration omission/vibration lack/excessive vibration, construction cold joints and the like are avoided, accurate quantization judge of the concrete pouring and vibrating density state is achieved, a traditional method that the concrete pouring and vibrating state is completely judged by on-site operators relying on experiences is thoroughly changed, the shortcoming that on-site concrete vibrating below the standard is difficult to process and poor in processing effect is overcome, and vibrating construction defects can be processed accurately and reliably.

The invention discloses a multi-system dynamic PPP resolving method based on robust self-adaption Kalman smoothing. The method includes the steps that receiving machine outline coordinates and receiving machine clock bias of all systems are solved through selecting-weight-iteration pseudo-range single-point positioning, and accordingly all positioning error correction values are calculated according to an error correction model in combination with the satellite precise ephemeris and satellite precise clock bias; strict data quality control is conducted on observation data. Due to the fact that dynamic PPP accuracy is easily affected by undetected small cycle slips or the gross error and the like, an observation equation weight matrix is adjusted according to the observation value residual vectors, and the undetected small cycle slips or the gross error and other influence factors are removed; self-adaption factors are determined according to the state predictive information, and thus the influence on parameter estimation of the predictive information is controlled. By means of the method, when multi-system dynamic PPP is conducted through a single receiving machine, the feature that the number of multi-system satellites is increased greatly, on the basis that the stability of the satellite structure is guaranteed, the influence of the gross error is weaken effectively, the dynamic noise abnormity in dynamic positioning is improved, and finally the high-precision and high-stability multi-system dynamic PPP result is achieved.

The invention provides a robust self-adaptive track tracking control system for a dynamic positioning vessel. A position and angle sensor acquires and then sends actual positions and course angles, and reference positions and reference course angle information, which are generated by a reference path generator, to a neural network estimator and a second-order sliding mode observer and obtains a model unknown non-linear function estimation value and state estimation value and then transmits the state estimation value to a disturbance estimator and a diffeomorphism convertor at the same time and obtains an interference estimation value and a new state variant respectively. All of information obtained by the neural network estimator, the second-order sliding mode observer, the interference estimator, the diffeomorphism convertor and the position and angle sensor is transmitted to a controller and a control instruction is resolved to drive an execution mechanism and realize track tracking of a water-surface vessel. The robust self-adaptive track tracking control system for the dynamic positioning vessel does not need known precise hydrodynamic-force parameters of the water-surface vessel or precise identification of inertial mass parameters and realizes track tracking of the dynamic positioning vessel under a condition that interferences from an unknown environment exist.

Techniques are provided for providing automated configuration of computing devices. More particularly, principles of the invention may use anticipated context to precondition a device whose operational mode is alterable via computer controllable operations. Anticipated context may be affected by any number of parameters including, but not limited to, current location, time of day, destination end-point, e.g., phone number to be called, past history, subscription rate plans, power requirements of device, application demands with respect to quality-of-service (QoS), security, calendar information, and so on. Further, principles of the invention may use locally derived knowledge about the intended use of a device and dynamically enable it in a desirable mode of operation using locally reachable configuration parameters stored in advance based on the anticipated context for the operation of the device. Still further, principles of the invention may dynamically locate necessary configuration parameters via a service discovery process.

A method and an apparatus for dynamic targeting for a process control system. A process step is performed upon a first workpiece in a batch based upon a process target setting. The process target setting comprises at least one parameter relating to a target characteristic of the first workpiece. Manufacturing data relating to processing of the first workpiece is acquired. The manufacturing data comprises at least one of a metrology data relating to the processed first workpiece and a tool state data relating to the tool state of a processing tool. Electrical data relating to the processed first workpiece is acquired at least partially during processing of a second workpiece in the batch. The process target setting is adjusted dynamically based upon a correlation of the electrical data with the manufacturing data.

The invention discloses a dynamic positioning method and device based on UWB and laser ranging combination and belongs to dynamic positioning methods and devices. The dynamic positioning device comprises an ultra-wide band (UWB) wireless communication sensors, a UWB positioning label, laser ranging sensors, an upper computer and a POE interchanger. An ultra-wide band (UWB) wireless communication sensor station is arranged in an area to be detected, the laser ranging sensors are installed on and fixed to the ultra-wide band (UWB) wireless communication sensors, the UWB positioning label is fixed to a target to be detected, and the ultra-wide band (UWB) wireless communication sensors and the laser ranging sensors are connected with the upper computer through the POE interchanger. According to the dynamic positioning method and device based on the UWB and laser ranging combination, the laser ranging sensors are arranged on the ultra-wide band (UWB) wireless communication sensors respectively, so that the relative distance between every two adjacent ultra-wide band (UWB) wireless communication sensors is obtained, in this way, the coordinates of the ultra-wide band (UWB) wireless communication sensors can be re-determined or corrected after the ultra-wide band (UWB) wireless communication sensors are moved, and thus the requirement for dynamic positioning is met. The dynamic positioning method and device based on the UWB and laser ranging combination have the advantages that the dynamic positioning method based on the UWB and laser ranging combination is adopted, positioning is accurate, safety and reliability are guaranteed, installation is easy, and operation is convenient.

The invention provides a positioning method and device, belonging to the field of wireless communication application. The method comprises the following steps: acquiring a wireless signal in an unknown position; acquiring the signal intensity of the wireless signal and an identification code ID of a preset beacon node to which the wireless signal belongs; processing the beacon node ID and the signal intensity to obtain the characteristics of the unknown position; acquiring a coordinate of a last position of the unknown position; removing the grids divided in a positioning region in advance according to the coordinates of the last position; sorting the grids in the positioning region by utilizing a support vector machine; acquiring barycentric coordinates of the designated grids which are sorted at the top; and obtaining the coordinates of the unknown position by calculation. The positioning method and device provided by the invention do not need to measure the distance, thus the distance measuring error can not be generated, the precision in positioning is high, the influence degree by the signal is low, and the correlation between the last position and the current position in the dynamic positioning process can be reflected, thus decreasing the positioning error.

An improved catheter insertion assembly having a transparent tubular member open at each end; a plunger assembly slidable within the tubular member having a stem portion at a first end; and at least a partially transparent chamber having a needle base and sealing member on a second end of the plunger assembly; an elongated tubular needle embedded within the needle base and extending there from with the needle in fluid communication with the transparent chamber; a catheter assembly, a transparent cannula and a transparent hub attached to the second end with the tubular needle passing longitudinally through the cannula; a fluid passage formed between the needle and the cannula so that when the plunger is retracted a vacuum is established within the fluid passage and blood is visibly drawn through the fluid passage into the transparent cannula and if volume permits, blood then would be visible in the transparent hub, and then if volume permits blood would be visible in the void of the catheter body (barrel) created by pulling the plunger; and wherein the tubular needle is threaded through a lumen of the cannula; and wherein the sealing member provides a sliding seal between the plunger assembly and the transparent tubular member; and wherein, a fluid communication exists through the needle into the flashback chamber of the plunger apparatus and through a porous vent. The distal end of the catheter device described herein has the addition of an external flange and dual plunger paddles which allow dynamic positioning of the fingers and one handed operation. Furthermore these structures are ergonomically associated to maximize finger surface area operation; and wherein the user can change the orientation of the beveled needle.

The invention discloses a path tracking guiding control method of a dynamic positioning ship. The path tracking guiding control method of the dynamic positioning ship comprises the steps that (1) a geodetic coordinate system, a hull coordinate system and a mathematical model of the ship are built; (2) a guiding strategy is generated through by setting the geometrical position relation between a path generated by path points and the ship, and the expected heading of the ship at the current moment is calculated; (3) control moment needed by controlling the ship to achieve the expected heading is obtained through application of a control algorithm; (4) longitudinal thrust needed by controlling the ship to be at the expected movement speed is calculated. According to the path tracking guiding control method of the dynamic positioning ship, the expected heading, on a high-speed path tracking linear section, of the ship and the expected heading, on a high-speed path tracking turning section, of the ship are calculated according to track information and the relative position between the flight path and the ship, the movement speed of the ship is controlled through the longitudinal thrust, the calculation process is simple and easy to implement, and the path tracking guiding control method of the dynamic positioning ship is applicable to engineering application.

The present invention provides an improved architecture for integrating an inertial navigation system (INS) into a dynamic positioning (DP) system for a vessel. The architecture includes an INS unit and a DP system having a Kalman filter or other algorithm for combining data supplied by a plurality of position measuring equipment (PME) and the INS unit to derive an estimate of the position or speed of the vessel. A switch array and a switch array controller are also provided. These may optionally form a part of the DP system. The switch array is operable under the control of the switch array controller to supply data supplied by one or more of the plurality of position measuring equipment to the INS unit for the purposes of correcting drift. The selection of which of the one or more PME is/are to be combined with the INS unit is made automatically, in real time, to dynamically optimise the DP system.

The invention provides a semi-submersible type platform dynamic positioning model testing propulsive device, which belongs to the field of sea engineering. The propulsive device comprises a full circle swinging realization mechanism and a main transmission mechanism, wherein shafting of the main transmission mechanism is arranged inside the full circle swinging realization mechanism; a first bearing and a second bearing are arranged on an inner spindle; a first straight gear is arranged on a stepper motor, and is engaged with a second straight gear; the second straight gear is arranged on the upper end of an outer spindle; the outer spindle is provided with a pod and a conduit, and is connected in an outer shaft housing through a first thrust bearing and a second thrust bearing; and a third bearing is arranged on the end of the pod close to the end of a propeller. The propulsive device simplifies the shafting by adopting the main transmission mechanism and the full circle swinging mechanism, reasonably utilizes space, and ensures flexibility of the device. On the basis of not affecting operation of the main transmission mechanism, the propulsive device can realize omnibearing turning and omnibearing propulsion in 360 degrees, and improve response speed of a dynamic positioning propulsive system.

The invention relates to a dynamic positioning and scheduling method and system, which integrate satellite positioning, a digital map and a GIS (Geographic Information System) into a whole and are suitable for real time positioning and scheduling of fleets. The dynamic positioning and scheduling method comprises the following steps of: presetting a parameter required by dynamic positioning and scheduling; carrying out road matching algorithm processing according to GPS (Global Positioning System) positioning information and the GIS; setting each fleet as one category; calculating the positionwhere the fleet arrives every X seconds within 0-T min; judging whether the fleet deviates a preassigned path; judging whether other fleets are in a safety car distance value L0; if not, sending alarming information; judging whether the traveling average speed of the fleet is less than a set car speed value V0, if so, transferring to a standby path; judging whether the fleet arrives a destination, if so, clearing the fleet in the categories; repeating the steps until category operations of all fleets are completed. Therefore, by utilizing the dynamic positioning and scheduling method and system, the real time positioning and monitoring of a plurality of fleets can be realized, alarming can be given when conflict conditions occur, and intelligent command scheduling functions can be realized.

The invention discloses a method and a device for generating a high-precision map without relying on RTK (Real Time Kinematic). The method comprises the following steps: acquiring picture data from acamera; acquiring point cloud data from the laser radar; acquiring attitude information from a Global Navigation Satellite System (GNSS)/Inertia Measurement Unit (IMU); processing the picture data toextract visual feature information, and performing pose estimation according to the visual feature information extracted from the current frame, previously fused overall pose information and previously maintained map visual feature information to obtain camera pose estimation; processing the point cloud data to obtain point cloud information, and performing attitude estimation according to the point cloud information and other information to obtain radar attitude estimation; fusing the attitude information, the camera attitude estimation and the radar attitude estimation to obtain a more accurate and stable attitude estimation result; and according to a more accurate and stable attitude estimation result, fusing the picture data and the point cloud data to construct a high-precision map.

The invention belongs to the technical field of the Internet of Things and provides a UWB-based TOF locating method. The method comprises the following steps: establishing a locating detection model in an upper computer according to a regional environment of a to-be-located mobile terminal and a distribution position of a UWB sensor; establishing a distance measurement model in the upper computeraccording to the arrangement position of a TOF ranging sensor; locating a UWB locating tag on the to-be-located mobile terminal via a TDOA algorithm, and displaying 3D coordinates and a real-time position of the region of the mobile terminal; (4) changing the position of a base station of the UWB sensor, measuring the distance by using the TOF ranging sensor, and marking the 3D coordinates of theUWB sensor again; and locating the to-be-located mobile terminal again. According to the UWB-based TOF locating method, by adoption of the advantages of the UWB technology, the distance is accuratelymeasured by using the TOF ranging, the response speed is high, the error is small, and the interference degree is small.

A thrust distributing method of a dynamic positioning system comprises the steps of dividing thrusters into several groups, and fixing relative angles of azimuth angles of the thrusters in each group but not fixing absolute angles; obtaining a thruster azimuth angle with slow change by a low frequency part of a control command by means of an optimization algorithm, and then thrust of the thrusters is obtained by means of the optimization algorithm, namely inputting a control command T [c , k] at the k moment into a low pass filter composed of a first-order inertial element, and then carrying out discretization to obtain the low frequency part T [k+1]; calculating the thrust fk of all the thrusters and the azimuth angles alpha k of all the thrusters from the control command T [c , k] by means of the sequence quadratic programming method; obtaining the thrust fk of all the thrusters by means of the quadratic programming method; and adding the thrust reduction coefficient p to a given objective function and part of formulas with constraint conditions. According to the thrust distributing method of the dynamic positioning system, the thrust and the azimuth angles of the thrusters can be calculated separately, and therefore errors and strange structures caused by linearization are avoided, and energy consumption of the thrusters is reduced.

The invention discloses an UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and a control method. The system comprises a first differentiator, a second differentiator, an adaptive anti-interference sliding mode controller, a filter and data fusion unit, a Doppler sensor, an electric gyrocompass, a thrust allocation unit, an UUV, an accelerometer and a gyroscope , wherein the adaptive anti-interference sliding mode controller comprises a sliding mode controller, an adaptive disturbance compensation controller and a data processing unit; the sliding mode controller is used for realizing UUV four degree-of-freedom dynamic positioning variable structure control and eliminating pose errors; and the adaptive disturbance compensation controller is used for estimating uncertainty errors of an actually controlled object model and wave disturbance effects in an online mode. A dynamic process during which the system state approaches to the sliding mode surface is improved, steady-state anti-interference performance is improved, and compared with a common sliding mode control method, dynamic performance is better, and buffet of the system under disturbance effects can be reduced.