129 results about "Environmental space" patented technology

The invention provides a method and a system for cooperatively tracking a target by an unmanned aerial vehicle cluster. The method comprises the following steps of: establishing a wireless communication network for the cooperatively operated unmanned aerial vehicle cluster, and detecting a tracked target by utilizing an onboard sensor; when an optional unmanned aerial vehicle in the unmanned aerial vehicle cluster detects the target, processing detection data of the optional unmanned aerial vehicle, and broadcasting processing information to the other unmanned aerial vehicles; acquiring relative distances and relative angles among each unmanned aerial vehicle, the tracked target and the rest unmanned aerial vehicles in the unmanned aerial vehicle cluster according to the processing information by each unmanned aerial vehicle in the other unmanned aerial vehicles; constructing an environmental space potential field by each unmanned aerial vehicle in the other unmanned aerial vehicles according to the relative distances and the relative angles among each unmanned aerial vehicle, the tracked target and the rest unmanned aerial vehicles in the unmanned aerial vehicle cluster by each unmanned aerial vehicle in the other unmanned aerial vehicles, and calculating a resultant force of the potential field; and when the resultant force of the potential field is smaller than a safety threshold, controlling the corresponding unmanned aerial vehicle to track the tracked target. According to the method provided by the embodiment of the invention, sensor information is shared by utilizing the unmanned aerial vehicle cluster, and the high efficiency and the instantaneity of the cooperative target tracking are guaranteed.

The invention provides a mobile robot SLAM method based on image marker identification. The method adopts an EKF-SLAM model to carry out time update of the robot state parameters and measurement update based on the marker identification. With the method, a large quantity of information can be obtained from the environment, thereby enabling the robot to construct high-precision environmental maps. Compared with existing methods, the mobile robot SLAM method is more accurate in environmental space structure understanding, stronger in anti-interference capability, and higher in accuracy of the constructed maps.

The invention provides a cooperative landing method for multiple unmanned aerial vehicles. The method comprises the followings steps of: establishing an Ad Hoc communication network for multiple unmanned aerial vehicles; searching for the self position and landing landmark of each unmanned aerial vehicle by using an onboard sensor, and transmitting a data packet to the neighboring unmanned aerial vehicle in a broadcasting way on the basis of the Ad Hoc communication network, wherein the data packet comprises position information and state information; calculating relative distances and relative angles between each unmanned aerial vehicle and the landing mark as well as between the unmanned aerial vehicle and the neighboring unmanned aerial vehicle in combination with self information of the unmanned aerial vehicle according to the received data packet; and constructing an environmental space potential field, calculating the attraction Fatt of the landing mark and repulsive force Frep from the neighboring unmanned aerial vehicles, calculating potential field resultant force, building a kinematic model, and determining the movement track of each unmanned aerial vehicle. Due to the adoption of the cooperative landing method, onboard sensor information can be shared and controlled cooperatively when an unmanned helicopter cluster performs a task, the safety of cluster landing is ensured, and high adaptability and expandability are achieved.

The invention provides a mobile robot path planning method in a complex environment. The method is characterized in that 1. information of environment in which a robot is positioned is acquired, and obstacles in the environmental space are indicated by using rectangular enclosing boxes after processing and displayed on a human-computer interaction module; 2. the initial position of the robot is confirmed and recorded as an initial point; a target position expected to be reached by the robot is confirmed and recorded as a target point; 3. the initial point, the target point and the vertexes of all the obstacle enclosing boxes meeting the condition are connected by using line segments, wherein the requirement indicates that the connecting line of any two points does not penetrate through the enclosing boxes, based on which a visual graph is constructed; 4. the optimal path is planned in the visual graph via an artificial immune algorithm, and key nodes in the optimal path are stored; and 5. The entity robot is controlled to start from the initial point, pass the key nodes in the optimal path one by one and finally reach the target point. Algorithm efficiency and convergence rate can be effectively enhanced under the premise of guaranteeing solution of the optimal path.

The invention discloses an indoor planimetric map making method based on laser ranging, comprising the following steps: step one, acquiring indoor environmental data by using a mobile sensor platform; step 2, establishing a grid similarity map with multiple resolutions; step 3, acquiring the optimal position and posture of the sensor platform in various epochs by combining the indoor environmental data with the grid similarity map; step 4, updating the grid similarity map according to the optimal position and posture; step 5, educing the grid similarity map in the local coordinate system. According to the invention, the operation of acquiring data is simple, and preknowledge of the environmental space structure is not needed; the cost is low, the map making speed is high, multiple times of quick updating of the indoor map can be realized, and the bottleneck problem of indoor map making efficiency is effectively solved.

The invention discloses a vision navigating method for a movement carrier based on the laser plane assistance. The method comprises the following steps: building a distance measurement and environment system, determining the position of a rectangular bright spot to be detected in an image, determining the center coordinate of the rectangular bright spot, obtaining a geometric distance measurement model, correcting the distance measurement model, segmenting the visual image, determining a local vectorization environmental space with distance information, positioning the position of the carrier per se, and building a global environmental space. Through the adoption of the method different from the traditional movement carrier autonomous navigation middle distance obtaining method, a laser plane is introduced as an auxiliary means, a single or a plurality of vision sensors are combined, the threadlike bright spot formed by the reflection of the laser plane on an object to be irradiated is fully utilized and taken as an cooperated distance measurement target, and the geometric relationship between the vision sensor and a laser light source is effectively utilized, so that the requirements for the precision, yield ratio and real-time performance of the distance calculating can be met. Therefore, the method is a reliable navigation method, and can be applied to a movement carrier autonomous navigation system.

The invention provides a method for grabbing a target object by a mechanical arm with seven degrees of freedom. The mechanical arm comprises a first camera and a second camera; the method comprises the steps of establishing a kinematic model for the mechanical arm with seven degrees of freedom; calibrating the first camera and the second camera separately to obtain a first calibration parameter and a second calibration parameter; establishing a three-dimensional model of an environmental space according to the first calibration parameter to define a working space where the target object is located, and controlling the mechanical arm to move to the working space according to the kinematic model of the mechanical arm; and identifying and locating the target object according to the second calibration parameter, and grabbing the target object by controlling the mechanical arm according to the kinematic model of the mechanical arm. According to the method provided by the invention, identification and locating of the target object in a small space can be achieved, so that the mechanical arm is guided to grab the target object in the small space.

The invention provides a robot motion path planning method. The robot comprises a host, a mechanical arm, a microcontroller and a camera, wherein the host is connected with the microcontroller, and the microcontroller is connected with a steering gear on the mechanical arm and is used for controlling the motion of the mechanical arm; the host is connected with the camera. A RGBD (Red Green Blue Depth) camera of the robot can shoot information in the captured range to realize the follow-up of the human body and the human arm; the degree of freedom and the degree of precision of the mechanical arm of the robot in the motion planning process can be improved, and are fused on time, space and data to improve the system adaptability and environmental space recognition ability, so that the robot moves in accordance with a correct planning trajectory, and thus the path planning of the mechanical arm of the robot can be realized at high degree of freedom, the work efficiency is high, and the computation amount is small.

A ventilation or exhaust system, having ducting, and a fan assembly for placement in ducting of a ventilation or exhaust system for an environment space. The fan assembly has a motor having an output shaft, a fan mounted on the output shaft, and a brake mounted for operation on the motor. The brake is operable for stopping rotation of the motor upon a detection of a prescribed situation one or more of: the environmental space, and the ducting. Also included is a valve assembly having a valve member for placement in the ducting for movement between a first position where the ducting is substantially open, and a second position where the ducting is substantially closed. The valve member is adapted to move from the first position to the second position in response to at least one detection of a prescribed situation. At least one detector is provided for detecting a prescribed situation, the detector being for controlling the operation of the brake of the fan assembly, and the valve assembly, in response to the detecting.

The embodiments herein provide an energy management system and method. The system comprises several electronic equipments installed in the standalone environmental space, several sensors in communication with a controller unit and a power supply. The sensors detect the environmental conditions or parameters of the environmental space. The relays are activated to switch on / off the electronic equipments depending on the sensor inputs. The controller unit regulates the operations of the electronic equipments through the relays based on sensors inputs. The sensors are activated at a predetermined set of time periods. The controller unit activates either one or more relays based on output from one or more sensors to control operation and operating time of the electronic equipments.

The invention discloses a method for constructing a migration and propagation evaluation model of a radioactive substance. The method comprises the following steps of S1. determining necessary source items to obtain a total mass of the source items released in the environment in all kinds of release types, and a condition that the total mass changes over time; S2. dividing a source item releasing process into a plurality of smoke plume sections; S3. computing the proportion of each source item released in the environment in each smoke plume section, merging and grouping the source items into a plurality of nuclide groups according to the physicochemical properties, and computing the proportion of each nuclide group according to a ratio of compounds in each source item; S4. dividing an environmental space which needs evaluation into a plurality of space units at varying distances from a smoke plume release point; S5. computing the concentration of each source item in the air space and the concentration of each source item deposited on the ground according to a smoke plume diffusion mode with a changeable wind direction; and S6. displaying a name of each source item, a spatial distance between the smoke plume and the smoke plume release point, and the proportion of residual substances of each source item in the smoke plume after dry and wet deposition. According to the method, modelling is accurate, the accuracy is improved, and the influence of the radioactive substance on the environment is scientifically predicted and coped.

The present invention supports the remote control of an environmental unit based on an effective temperature that is indicative of a comfort index to an occupant of a controlled environmental space. The remote controller obtains a plurality of environmental factors, e.g., temperature, relative humidity, and air speed, in order to determine an effective temperature. When the effective temperature is sufficiently different from a set point temperature, the remote controller activates an environmental unit to change the effective temperature in accordance with the set point temperature. The environmental unit may include an air conditioner, furnace, or heat pump. Also, the remote controller may communicate with at least one remote sensor over a wireless communications channel in order to obtain the environmental factors for determining the effective temperature.

The present invention provides a thermal management system and a thermal management method for a high-altitude unmanned aerial vehicle fuel cell module, and belongs to the field of aviation spacecraftenergy source systems. According to the present invention, the high-altitude unmanned aerial vehicle fuel cell module comprises a fuel cell reactor, an oxygen supply system and a hydrogen supply system, the thermal management system comprises a heat exchanger and a heat dissipation system, one part of the waste heat generated by the fuel cell reactor heats hydrogen and oxygen through the heat exchanger, the other part of the waste heat generated by the fuel cell reactor heats the environmental space at which the fuel cell reactor is positioned, the fuel cell reactor is an air-cooled fuel cellreactor or a liquid-cooled fuel cell reactor, and the air-cooled fuel cell reactor comprises a closed air-cooled fuel cell reactor and an open air-cooled fuel cell reactor.

The invention discloses an individualized personnel cold and hot complain based environment temperature and a humidity control method and system, wherein the method comprises the following steps: acquiring the complain information of cold and hot perception for a predetermined environment space; acquiring the environment information in the predetermined environment space at the time according to the complain time; generating a complain sample collection corresponding to each kind of complain data type according to the environment information and complain information; drawing a temperature-related humidity coordinate system according to the complain sample collection; acquiring a pareto leading edge collection of the complain sample collection in the coordinate system, acquiring a description result of a complain area according to the pareto leading edge collection, and drawing a complain area in the coordinate system according to the description result; and controlling the temperature and humidity in the predetermined environment space according to the description result of the complain area. According to the embodiment of the invention, the indoor temperature and humidity can be controlled automatically according to individualized personnel cold and hot preference.

The invention relates to a mixed-flow air conditioner. The mixed-flow air conditioner comprises a shell as well as a draught fan, a heat exchange device, a through path, a first heat exchange air duct and a second heat exchange air duct which are arranged in the shell, wherein the shell is provided with an air inlet and an air outlet; the through path is configured to communicate the upstream part with the downstream part of the heat exchange device, thereby allowing air at the upstream part of the heat exchange device to directly flow to the downstream part of the heat exchange device through the through path; the first heat exchange air duct communicates with the through path, and is configured to allow part of air subjected to heat exchange in the heat exchange device to flow to the air outlet through the first heat exchange air duct for being mixed with air from the through path; then, the mixed air is blown into an environmental space along the first direction, thereby moderating the air outlet temperature at the air outlet of the mixed-flow air conditioner and improving the comfort of the mixed-flow air conditioner; the second heat exchange air duct is configured to allow part of the air subjected to heat exchange in the heat exchange device to flow to the air outlet through the second heat exchange air duct; and then the air is blown into the environmental space along the second direction, thereby quickly moderating the temperature in the environmental space.

A system and a method for active fire extinguishing and explosion suppression in coal mine workplaces are especially suitable for monitoring, early warning, and actively inserting and inhibiting in spaces that are prone to fire and explosion hazards, and the spaces comprise coal mine workplaces that generate gas and coal dust, and gas and coal dust accumulated areas in coal storage bunkers, and the like. Quantitative evaluation of environmental space explosion hazard degrees is obtained by the system through active monitoring and comprehensive evaluating of a plurality of parameters such as gas composition, dust concentrations, ambient temperature, photoelectric signals, etc. in a working environment, thereby providing theory criteria for action execution of explosion suppression mechanisms. According to the invention, real-time monitoring of environmental parameters of gas and coal dust in workplaces and advanced quantitative determination of explosion hazard degrees are realized, and therefore effective explosion suppression measures are adopted proactively before an explosion hazard occurs, and the probability of successful execution of explosion suppression is increased.

The invention discloses a cloud computing environmental space optimizing management system of a smart city and an implementation method. An on-site acquisition system module is an Internet of Things terminal device implemented by means of a sensing technology; an environmental space optimizing device module is an Internet of Things terminal device implemented by means of a control technology; an on-site controller module adopts a PLC (programmable logic controller) and is used for performing unified management on the terminal devices and transmitting parameters to a cloud computing control management module through a transmission network; a transmission network module is a data transmission system comprising the Internet, a wireless network, a communication network, a television network and the like; the cloud computing control management module is used for processing data of a system platform, adjusting an on-site control mode of the on-site controller to each environment space optimizing device and realizing interaction between an operation terminal user and an access device according to parameters which are collected on site and related to the environment space optimizing devices and parameters set by the user. According to the system and the method, smart environmental protection is realized finally, and the sustainable development of the city is maintained.

The invention provides a one-way path scheduling method and system and relates to the technical field of robot task scheduling. The one-way path scheduling method comprises the following stepsthatwhena first robot is located in a scheduling zone, a task request is sent to a server, target task information and a target path are allocated for the first robot from task list information by the serverbased on the received task request and sent to the first robot, and the first robot executes the first moving task and moves along the target path until the first robot reaches the position point ofthe target task so as to execute the operating task; and after obtaining an operating task finishing instruction, the first robot executes a second moving task and runs away from the position point ofthe target task in the corresponding path direction of the target path so as to return to the scheduling zone. To be specific, by adopting the uniform one-way path and task allocating method, the occupying of the automatic walking paths of multiple robots on environmental space is reduced, and the influence of robot movement on action of people in the same environment is reduced.

The invention relates to a novel marked point pattern based on vision invariants and identification and tracking positioning algorithm thereof. The invention comprises a design of novel marked point pattern based on vision invariants and identification and tracking positioning algorithm based on the novel marked point. The novel marked point pattern based on vision invariants is a black pentagon with a round mark. The marked point can be a convex pentagon or a concave pentagon. The round mark is used for identifying a first vertex of the pentagon. The pattern is coded using the cross-ratio invariant of the pentagon and combining the concavity and convexity of the vertex. The marked point pattern based on vision invariants can conduct attitude calculation using self-characteristics and realize the coding of the marked point, thus saving the area needed by coding patterns, reducing the pattern size of the marked point and improving the registration precision in unit area. The tracking registration algorithm can be used for identifying the marked point, tracking the head posture of the user and calculating the accurate position and posture of virtual scenes in true environmental space.

The invention discloses an electric field measuring method and a measuring system of the electric field measuring method, and relates to a method suitable for measuring a high-intensity electric field and a digital measuring system of the method, wherein a miniature probe is adopted in the method. The electric field measuring method and the measuring system are suitable for measurement from DC to AC and measurement from a space electric field on the surface of an electric appliance to an environmental space electric field. The measuring system is composed of an electric field sensor, a data processing system, a communication system, a positioning system, a correcting system and a power source. A communication system port is respectively connected with a positioning system port, a correcting system port, a data processing system port and an electric field sensor port; the data processing system obtains digital information from the electric field sensor, the correcting system and the positioning system through the communication system or sends instructions to the electric field sensor, the correcting system and the positioning system; the positioning system obtains position and shape geometrical information of an object to be detected and the electric field sensor by detecting the object to be detected and the electric field sensor in a positioned mode.

The invention discloses an cast-in-place reinforced concrete hollow heating and cooling floor, comprising floors which is made of reinforced concrete beams, ribs, plates and the cavity components in it, in the centre of cavity components is an insulation board separating the cavity into upper and lower cavity, the upper cavity is installed with heating pipe, both ends of the heating pipe are exposed to the stated cavity components, a number of heating pipe are connected through the first connecting pipe forming heating pipe group, the lower cavity is installed with cooling pipes , both ends of the cooling pipe are exposed to the stated cavity components, a number of cooling pipe are connected through the first connecting pipe forming cooling pipe group. The heating pipe group and the heat media supply system are connected, the heat media flows through the heating pipe to heat environmental space on the floor, the cooling pipe group and the cold media supply system are connected, the cold media flows through the cooling pipe group to supply cool to the environmental space on the floor. The invention is simple in structure, with good heating or cooling effect and low cost, and there may be helpful in expanding the applicable space.

The invention is applicable to the technical field of sterilization, and provides a sterilization system, which comprises an ultraviolet laser and a scanning device which receives the ultraviolet laser light which is generated by the ultraviolet laser to scan and sterilize the peripheral environment. The sterilization system receives the ultraviolet laser light which is generated by the ultraviolet laser, and utilizes the ultraviolet laser light to scan and sterilize the peripheral environment, wherein the laser light has good directionality, concentrated energy and very small energy variation when the distance is increased, so the low power ultraviolet laser can be adopted (the average power of the laser is low, is only few milliwatts to dozens of milliwatts, and is lower by few magnitudes compared with an ultraviolet light with dozens of milliwatts; and the spectral range of the ultraviolet laser light is narrow, and the energy consumption of the ultraviolet laser light is greatly reduced compared with intensive pulse lights), the purpose of sterilizing a whole large environment or an oversized environmental space through scanning laser beams is realized, and accordingly, the air is purified. The sterilization system is an important breakthrough of the sterilization technology, and has an important significance in controlling and preventing transmitted disease.

The invention provides a high precision air-conditioning capability test apparatus comprising an air reconditioning machine unit and a central calculation device, wherein the air reconditioning machine unit comprises a heating and cooling heat exchanger, a heating electric heater, a tiny temperature amplitude change adjusting heater, a humidifying electric heater and a tiny humidity amplitude change adjusting heater; the central calculation device comprises high precision type dry bulb temperature and wet bulb temperature detecting devices, an interference removing unit, a stable control unit, a tiny amplitude control unit, a changing quadrant determining unit and a period average calculation unit; the stable control unit is used for changing an unstable state of working conditions in environmental space to a stable state, and the tiny amplitude control unit is used for enabling periodic fluctuation of measured temperature value of the environmental space in a set temperature value range. Via the above technical solution, the high precision air-conditioning capability test apparatus can help control environment temperature and humidity to be in a range from -0.01K to +0.01K, goal value-centered periodic fluctuation can be realized, measured air conditioner capability values are accurate and high in consistency, the high precision air-conditioning capability test apparatus is short in operation period, and laboratory operation cost is reduced.

The invention relates to an environmental space robot heaven-earth teleoperation system with the complex structure. The system comprises a software system and a hardware system, wherein the software system comprises an on-satellite system, a ground measurement and control system, and a ground instruction generation and visual simulation system; and the hardware system comprises a six-degree-of-freedom air bearing table, a five-degree-of-freedom air bearing table, a multi-degree-of-freedom flexible operation mechanical arm, a binocular camera, a laser measuring sensor, a racemization and capturing tool, an Omega-7 operating handle and driving pedal, and an upper and lower controller. According to the system, a virtual reality technology is adopted, the dynamic three-dimensional environmentbetween the space target and the mechanical arm is dynamically and virtually restored in real time, information such as whether the mechanical arm intersects with the surrounding environment or not iscalculated, switching of different viewing angles of the dynamic three-dimensional environment can be achieved through a keyboard input mode, and a visual platform is provided for teleoperation control of the mechanical arm.

The invention discloses an ultrasonic atomization ozone sterilization and disinfection machine, which mainly comprises a water tank, an ultrasonic atomizer, a water level controller, a main case assembled on the water tank, a high-voltage ionization cylinder and a high-frequency and high-voltage power supply, and is structurally characterized in that oxygen in air is ionized by utilizing a high-voltage electric field to generate ozone, the ozone and water mist generated by the ultrasonic atomizer are combined to form very fine high-concentration ozone mist, the high-concentration ozone mist is diffused in the whole environmental space in a fine atomized way to conduct an efficient sterilization and disinfection operation. The ultrasonic atomization ozone sterilization and disinfection machine provided by the invention has the benefits of simple structure, convenience in installation and use, low running cost, good sterilization and disinfection effects, no drug residues and no harm to humans, animals and ecological environment. The ultrasonic atomization ozone sterilization and disinfection machine is particularly suitable for conducting a sterilization and disinfection purification treatment operation in livestock and poultry breeding and planting bases, and has an obvious technical effect for improving sanitation conditions of production sites and improving the quality of agricultural plants and livestock and poultry products.

A stacked table assembly structure consisting at minimum of two levels of tabletops having leg rods of differing height stacked beneath a main table such that the tabletops are horizontal and in which coaster wheels are mounted on the leg rods to enable movement to thereby provide for extension and retraction to suit environmental space conditions or accommodate use by numerous persons.

The invention relates to a mixed-flow air conditioner and a mixed-flow control method of the mixed-flow air conditioner. The mixed-flow control method of the mixed-flow air conditioner includes the special steps that a temperature setting signal is received; a predetermined region in front of air outlets is induced, and a human body induction signal is generated; and whether a human body exists in the predetermined region or not is judged according to the human body induction signal, if not, a controllable damper is closed to interrupt a through path, and if yes, the distance between the human body and the air outlets is induced, the controllable damper is controlled to connect the through path by the preset opening according to the distance, and air passes a heat exchange gap between the through path and a heat exchange device according to the predetermined ratio, then flows in to a flow mixing space to be subjected to flow mixing and then is sent out to an environmental space through the air outlets. The invention further provides the mixed-flow air conditioner. The mixed-flow air conditioner comprises the heat exchange device, the through path, the controllable damper, an induction device, a distance measurement device, a control device and a drive device, and the output air temperature of the mixed-flow air conditioner can be controlled automatically.

The invention provides a measuring system for detecting repeated positioning accuracy of manipulators and aims to provide a measuring system high in measuring accuracy, simple in equipment, unlimited by environmental space and convenient to operate. The technical scheme for implementation of the measuring system includes that a detected object (3) is connected to the tail end of a manipulator, and the manipulator moves to enable the detected object (3) to be placed within a common field range of a first camera component (1) and a second camera component (2); sensors arranged on two groups of cameras are connected to a computation module (4) for communication through data transmission cables to form the measuring system for detecting repeated positioning accuracy of the manipulators, the computation module (4) receives manual trigger signals to capture images acquired by the first camera component (1) and the second camera component (2) at different moments and records and computes position infinitesimal displacement of the captured images of the detected object (3) at each moment through an internal resolving program, and repeated positioning accuracy of the manipulator can be worked out by measurement for multiple times.