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.

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 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 present invention provides a time-optimal route planning method based on an improved level set algorithm. The method comprises: 1, constructing a three-dimensional route planning environmental space; 2, initializing a level set function as a symbol distance function, and setting the AUV navigation starting point on a zero level set; 3, constructing a level set evolution equation considering the influence of the ocean current on the AUV navigation, and constructing a narrow band at the starting point and setting a prohibited area; 4, evolving a level set function according to the level set equation established in the step 3, and storing the zero level set interface of each time step length; 5, determining whether a target point is in the current narrow-band range or not; 6, reconfiguring the narrow band, and employing an improved fast marching method to reinitialize the level set function to be a symbol distance function; and 7, employing a back iterative equation, obtaining the time-optimal route of the AUV, and outputting an optimal route. Through adoption of an ocean current reanalysis database, the time-optimal route planning method based on the improved level set algorithm generates an ocean current field and fully considers the influence of the ocean current in the route planning to allow the planning route to have high practicality.

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 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 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 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.

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.