445 results about "Guidance control" patented technology

The invention discloses an intersection entrance lane mixed vehicle team cooperative guidance control method, which overcomes the problems of large calculation amount and difficulty in achieving a global optimal state in the prior art, and comprises the following steps: 1) obtaining road information; 2) dividing intelligent agents; and 3) establishing a multi-agent ecological cooperative control model of the intersection entrance lane mixed vehicle fleet: firstly, establishing a single-agent speed trajectory planning model, calculating an optimal passing trajectory of a single agent, and then establishing a multi-agent cooperative control model by taking the overall operation efficiency of the vehicle fleet as an optimization target on the basis of the optimal passing trajectory of the single agent, so as to realize the multi-agent ecological cooperative control of the intersection entrance lane mixed vehicle fleet. Cooperative control among a plurality of agents is realized, and a model is trained through a reinforcement learning method after model construction is completed; and 4) the controllable agents execute the optimized trajectory: issuing the established and trained model to each controllable agent, adopting a rolling time domain updating strategy, calculating the speed trajectory of each agent passing through the intersection by using road traffic information, and inputting the speed trajectory to a CAV controller for execution.

The invention discloses a traffic signal and direction-variable lane cooperative control method based on multi-agent learning, and the method comprises the steps: making a decision through the iteration of a traffic signal control module and a lane guiding control module, and carrying out the operation at the same time to control the traffic; the lane guiding control module adopts a dual depth Q network algorithm to enhance a learning model, an intelligent agent selects actions based on traffic flow and traffic signal states to maximize the lane utilization rate, and an award is calculated based on lane queuing length difference and the maximum direction demand traffic flow ratio; the traffic signal control module agent selects an action based on the observed lane density and the current lane state and obtains an award according to the traffic flow satisfaction of the selected phase. According to the method, the lane utilization rate is improved by controlling lane guidance, and the dynamically changing traffic flow is controlled in space and time dimensions by using a reinforcement learning framework; higher stability and efficiency are shown, and the traffic capacity of the intersection is improved.

An air guidance control unit having a frame, which surrounds at least one air opening for air flowing along an air flow direction to flow through, a closing device including adjustable flaps, which closing device can be adjusted by means of an adjusting element between an open position in which the air opening is exposed and a closed position in which the air opening is at least partly closed. The invention devises various solutions for especially compact and reliable flap arrangements.

Provided is a method for autonomous unmanned aerial vehicle (UAV) landing, including: collecting an unmanned vehicle image dataset in advance, training an unmanned vehicle detection model by using the unmanned vehicle image dataset combined with a YOLOv5 neural network; collecting, by the UAV during a landing process, images of an area below the UAV at specified time intervals, inputting the collected images into the unmanned vehicle detection model for recognition and detection; if an unmanned vehicle is recognized, further determining position information of the unmanned vehicle, and outputting, by a control module, a long-range guidance control instruction, to instruct the UAV to fly to a specified distance position above the unmanned vehicle; collecting, by the UAV, an image of a target and determining position information of the target, and outputting, by the control module, a short-range guidance control instruction to instruct the UAV to land on an unmanned vehicle platform.

An autonomous vehicle control system includes one or more sensors configured for coupling with an agricultural vehicle, the one or more sensors configured to determine kinematics of the agricultural vehicle relative to a crop row. The system includes a guidance control module configured to coordinate steering of one or more steering mechanisms of the agricultural vehicle. The guidance control module includes a sensor input configured to receive kinematics of the agricultural vehicle, a vehicle kinematics comparator configured to determine one or more error values using the received vehicle kinematics, a crop curvature generator configured to determine crop row curvature using the one or more error values, and a steering interface configured to provide instructions to a vehicle steering controller to guide the agricultural vehicle using the crop row curvature.

The invention relates to the field of advanced guidance control of aircrafts, and discloses a terminal angle and view field constraint three-dimensional guidance law and system for intercepting a maneuvering target, and the specific steps are as follows: firstly, designing a sight angle rate profile expected to be tracked, and then designing a terminal angle and view field constraint guidance law of preset time. The advanced preset time control technology and the novel sight angle rate forming technology are adopted for achieving aircraft guidance control, the guidance law with the terminal angle and view field constraint is designed, and the maneuvering target can be intercepted at the expected terminal angle.

The present disclosure provides a system for eye movement tracking, comprising: at least one light source; at least one metasurface configured to receive light emitted from the at least one light source; the at least one detector is configured to receive the light reflected by the eyes of the user from the at least one metasurface and convert the received light into an electric signal; and a controller configured to control a reflection direction of the at least one metasurface to the light irradiated from the at least one light source such that the reflected light can reach the at least one detector via re-reflection of the user's eyes. According to the embodiment of the invention, the all-solid-state light beam guiding control based on the metasurface has the characteristics of rapid scanning and wide-angle scanning, so that the light beam guiding has better accuracy, the consistency and reliability of the system are higher, and the physical size is smaller.

The invention belongs to the field of aircraft control, and discloses a composite guidance aircraft guidance control method and system considering flight time falling angle constraint, and the method comprises the steps: inputting target values of flight time and a terminal falling angle according to a specific task requirement; pre-planning a flight path; in the flight process, estimating the current remaining flight time of reaching the target in real time, and performing feedback adjustment on the flight time error; in a flight approaching target stage, calculating a falling angle error in real time according to the attitude and speed of the aircraft, and correcting the flight attitude; through a nonlinear optimal control algorithm, two constraints of flight time and a falling angle are comprehensively balanced; executing mechanisms such as engine thrust, control surface angle and attitude control spray pipes of the aircraft are adjusted in real time according to a composite guidance algorithm instruction; and when the aircraft is about to arrive at the target, final falling angle correction is performed to ensure that the aircraft hits the target at an accurate angle. According to the method, the balance problem between the flight time constraint and the falling angle constraint is effectively solved, and the guidance precision and the task success rate of the aircraft are remarkably improved.

The invention provides a traffic control guiding method, device and equipment based on vehicle track identification, and aims to accurately obtain a vehicle moving path and identify a travel purpose type by constructing a multi-source wireless signal positioning data fusion and track semantic annotation identification mechanism, and generate a standardized track with a semantic tag. Establishing a similar behavior pattern library by adopting a behavior similarity analysis and clustering division technology, accurately identifying traffic key control points, evaluating node importance, and determining a control key area; a personalized and mastered guide strategy coordination design and a double-layer guide rule set construction technology are introduced, individual demands and group benefits are balanced, and a coordinated path recommendation and guide control scheme is generated; combining an effect tracking monitoring and trajectory mutual influence analysis mechanism to construct a feedback adjustment mechanism to generate a trajectory optimization guide scheme; and finally, a self-adaptive comprehensive traffic control system is formed, and accurate guidance and intelligent management and control of urban traffic are realized.

The invention discloses a variable gain inversion maneuvering target interception guidance method considering attack angle constraint, and belongs to the technical field of aircraft guidance control. The implementation method comprises the following steps: considering necessary conditions for interception success and end attack angle constraints, based on trajectory shaping, representing a sight angle reference profile by constructing a polynomial function taking a flied distance as an independent variable, and realizing reduction of initial and end constraints; the profile only utilizes missile-target relative information and does not depend on motion information of the target, so that the profile is suitable for intercepting targets in various motion forms. In order to accurately track a line-of-sight reference profile, adverse effects of aircraft control input saturation constraint and target maneuvering interference on a guidance system are considered, an input saturation compensator and a finite time interference estimator are introduced, and a variable gain interception guidance law is designed based on an inversion control architecture. And the aircraft can accurately track the profile and can intercept the maneuvering target at an expected angle at the same time. The method has the advantages of low required overload, high interception precision and good robustness.

The invention discloses a method and device for controlling grabbing of dynamic strips based on visual servo guidance and a test platform. According to the method for grabbing the dynamic strip-shaped object based on visual servo guidance control, the mechanical arm is guided and controlled to grab the dynamic strip-shaped object by adopting an image-based visual servo method, and real-time tracking of the dynamic pose of the strip-shaped object and immediate response of the action of the mechanical arm are realized through continuous sensing, processing and tight coupling of execution links; therefore, a more accurate, stable and efficient grabbing effect can be achieved in a highly dynamic and uncertain working environment; a test platform capable of simulating dynamic swing of a real strip-shaped object is also built, and a prediction control method and a visual servo control method are combined, so that effective verification and optimization of the high-precision and real-time grabbing process of the dynamic strip-shaped object are realized; the platform can be used for systematically researching the grabbing capability under various disturbance conditions in a laboratory environment, and a solid technical foundation is laid for automatic and intelligent operation in practical application.

The invention discloses a non-linear state rapid fitting method for an aircraft, and belongs to the field of aircraft control. The implementation method comprises the following steps: constructing a two-loop attitude pilot and a three-loop attitude pilot, and discretizing to obtain a guidance instruction with a time-delay effect; according to coordinate conversion, forward deriving each aerodynamic parameter of the aircraft and an aircraft overload instruction equation; the method comprises the following steps: calculating all pneumatic data according to part of pneumatic data obtained by a blowing experiment of an aircraft, and fitting a guidance instruction with a balance attack angle, a sideslip angle and a rudder deflection angle of the aircraft to obtain a corresponding interpolation table; all aerodynamic parameters in the flight process of the aircraft are obtained according to an aircraft guidance instruction and an interpolation table in the actual situation, namely, nonlinear state rapid fitting of the aircraft is achieved, and simulation reproduction of the aircraft as a mass point in the whole guidance process is achieved according to the nonlinear state rapid fitting result. And the precision and efficiency of aircraft guidance control are improved.

The invention provides an aircraft guidance control method under constraint of passing points. The method comprises the following steps: step 1, discretizing a guidance control process; step 2, carrying out segmentation processing on the guidance process of the limited passing point; 3, solving a state transition control sequence between the passing points; 4, solving the passing speed of the passing point; and step 5, calculating an overall guidance process, dividing the whole guidance process into k relatively independent guidance processes according to the step 1 when the positions and the speed states of all the passing points are known, and performing guidance control between two adjacent passing points. According to the method, aircraft guidance control under guidance time and passing point constraints is realized, the coupling problem which is difficult to effectively solve in the prior art in the guidance problem is solved, a guidance relative motion track and guidance control cost can be accurately given, the control track is smooth, and the guidance control precision is high. The method is suitable for various guidance control processes based on model prediction and inversion, and an engineering implementation method can be provided for guidance control tasks of various scenes.

The invention relates to the field of missile interception, and particularly discloses a guidance and control integrated design method considering flight state constraints, which comprises the following steps: S1, establishing a three-dimensional guidance and control integrated model; s2, designing an algorithm for striking or intercepting a maneuvering target at an expected angle based on the model in S1; s3, designing a guidance control algorithm under a state constraint based on the algorithm in S2, and establishing a six-degree-of-freedom guidance and control integrated model according to the kinematic model, the kinetic model and the three-dimensional missile-target relative kinematic model of the aircraft, so as to avoid the influence of inconsistent time constants of the inner and outer ring kinetic models on guidance efficiency, and improve the guidance performance of the aircraft. According to the scheme, flight condition constraints such as the flight attack angle and the attitude angle rate are considered, a state-considered constraint guidance and control integrated method is designed based on the safety constraint control theory, and the flight safety and stability of the interception missile are effectively improved.

The invention relates to the technical field of intelligent traffic control, in particular to an intelligent ultra-wide checkpoint truck passing control method and system. The method comprises the following steps: arranging an ultra-wide main bayonet system, integrating a group of front and side double cameras and a 120-ton ultra-wide electronic weighbridge, and carrying out truck information double-camera identification and truck weighbridge weighing on a corresponding truck which is about to be driven in or out in the ultra-wide main bayonet system; the checkpoint double-camera truck information and the load weight of the checkpoint truck are obtained; carrying out load limit marking based on the checkpoint double-camera truck information and the load weight of the checkpoint truck so as to obtain an ultra-wide checkpoint release truck and an ultra-wide checkpoint overweight truck; barrier gate response passing adjustment is carried out on the ultra-wide checkpoint release truck, and a checkpoint truck barrier gate release adjustment strategy is generated; and carrying out overload guide control processing on the overweight truck with the ultra-wide bayonet, and generating an overweight truck guide passing control strategy. According to the invention, efficient and accurate management of passing of ultra-wide trucks can be realized.

The invention discloses a method and system for cooperatively opening a door by a front door lock and a rear door lock, and the method comprises the following steps: front door linkage trigger processing: carrying out entrance record generation processing according to a complete behavior sequence detected by the front door lock to obtain a linkage trigger signal; back door safety decision processing: performing back door state detection and personnel identity multi-level verification processing according to a door opening request message received by a back door lock to obtain an unlocking decision result; reverse guide control processing: according to the doorbell event which is not responded by the front door lock, cross-door lock audio and video channel establishment processing is carried out, and a reverse unlocking instruction is obtained; schedule comparison guide processing: comparing visitor visiting schedule information when the front door lock rings, automatically unlocking and carrying out space guide; and dynamic addressing co-processing: according to the position information of the mobile terminal intercepted by the door lock in the multicast network, carrying out target rear door lock positioning processing to obtain a directional notification strategy. By utilizing the embodiment of the invention, the collaborative response efficiency and the user experience of the intelligent door lock can be improved.

The invention relates to the technical field of building safety, in particular to a fire-fighting evacuation path optimization and personnel positioning guide system, which comprises a data acquisition module, a personnel positioning module, a path optimization module and a guide control module, wherein the data acquisition module is used for acquiring environment data, fire information and building structure data in a building in real time; the personnel positioning module is used for collecting position information of each person in real time based on a wireless positioning technology; the path optimization module is used for calculating and generating an optimal evacuation path; and the guide control module is used for generating and outputting an evacuation guide instruction in real time and indicating the personnel to evacuate along the optimal path. According to the invention, environment data, fire information and personnel position information are collected in real time, a multi-objective optimization algorithm is adopted to dynamically calculate an optimal evacuation path, and an evacuation guidance instruction is accurately generated, so that the problems of insufficient path adaptability and guidance lag of a traditional system in a complex environment are solved.

The invention discloses a plane symmetry aircraft BTT control method based on lateral SAR imaging seeker visibility, and the method comprises the steps: firstly overturning a projectile body by 180 degrees, enabling the available view field of a seeker to face downwards, and facilitating the finding of a target below; then designing a guidance instruction according to a lateral SAR imaging preposition angle requirement, carrying out amplitude limiting on a pitching guidance instruction, projecting the guidance instruction to a missile system, obtaining a roll angle increment instruction, and obtaining a roll angle instruction and a pitching overload control instruction by combining the roll angle increment instruction with a current roll angle; finally, after lateral SAR imaging is completed, a guidance instruction is calculated according to the requirement for hitting the target, and a roll angle instruction and a pitching overload control instruction are calculated according to the guidance instruction. According to the control method and the design method, the structure is universal, the engineering practice ability is high, and the method can be widely applied to various plane symmetry aircraft guidance control systems carrying lateral SAR imaging seekers in the future.

A power equipment machine with operator selectable autonomous mode and manual mode is provided. By way of example, the power equipment device can provide user-assisted semi-autonomous steering along user-defined paths of a geographic area. Manual steering controls and autonomous guidance controls can be positioned on one or more movable armrests to enhance comfort and minimize operator fatigue. The manual steering controls can include a jog wheel and encoder mechanism located on a first armrest, eliminating conventional mechanical shaft and wheel steering devices and dual lap bar steering devices. Guidance and computer settings can be accessed through a touchscreen display mounted in front of an operator position on the power equipment device.

The invention discloses a control method of an attitude-orbit composite lower interceptor, and relates to the technical field of automatic control. Obtaining a strong coupling state space equation according to an angular acceleration calculation formula of the sight angle and a kinetic equation of the interceptor; constructing a high-order multi-dimensional sliding mode matrix according to the strong coupling state space equation, and designing a strong coupling control law of an attitude control engine and an orbit control engine of the interceptor according to the high-order multi-dimensional sliding mode matrix; according to a stable condition and a fixed time convergence condition of an interceptor guidance control system under attitude and orbit combination, solving an interference term in the strong coupling control law to obtain an estimated value of the interference term; and substituting the estimated value of the interference item and the state data of the interceptor into a strong coupling control law of the interceptor to obtain lateral thrust which is generated by an attitude control engine and an orbit control engine and is vertical to a projectile body shaft so as to control the interceptor. The method can improve the control precision of the interceptor.

The invention discloses a rocket power landing phase guidance control method, system and device and a medium, and relates to the technical field of rocket guidance recovery. The method comprises the following steps: in a current control period, obtaining a state quantity according to a control parameter and a rocket power landing section motion model; taking the minimum guidance control comprehensive target mathematical model as a target, and updating the to-be-adjusted parameter value according to the parameter updating period and the state quantity; according to the guidance cycle, the updated partial to-be-adjusted parameter values, partial parameters in the state quantity, the flight time and the guidance model, a thrust amplitude and a channel expected attitude are obtained; and according to the attitude control period, the updated part of parameter values to be adjusted, the attitude, the attitude angular rate, the thrust amplitude, the channel expected attitude and the attitude control model, obtaining a channel engine swing angle, and entering the next control period for control. According to the method, the problems of low terminal constraint satisfaction precision, fuel consumption loss, poor attitude control quality and the like can be solved, and the reliability of recoverable rocket power landing is improved.

The invention discloses a knee joint postoperative rehabilitation training device and system. The knee joint postoperative rehabilitation training device comprises a seat, a mounting frame, a limb supporting mechanism and a driving mechanism. The thighs and the shanks at the two ends of the knee joints are cushioned, restrained and fixed, and the shanks are driven to rotate and slide, so that the lower limbs are driven to bend and stretch the knee joints; active and passive training modes are switched through convenient switching operation; through a telescopic structure of the thigh placing groove plate and the shank placing groove plate, the device can be suitable for patients with different lower limb lengths to use, and the adaptability of the size structure is improved; the system is based on the knee joint rehabilitation training device, rapid reading, calculation and evaluation logic of the knee joint buckling angle is established, and the system comprises a data reading module, a data processing module, a data evaluation module and a guidance control module. And the training result in the training process is quickly evaluated so as to further guide the training operation.

The invention discloses a deformable aircraft capability envelope data set construction and online accurate prediction method, and belongs to the technical field of aircraft guidance control. The prediction method comprises the following steps: firstly, carrying out initial state sampling and pulling deviation processing based on a nominal trajectory of an aircraft, and carrying out fitting processing on aerodynamic data of different shapes; aiming at each initial state, solving a reachable domain and a maximum residual speed by adopting a variable optimization target trajectory planning method, and generating capability envelope data of the aircraft in the initial state; and based on the capability envelope data, establishing and training a deformable aircraft capability envelope online prediction model, and predicting the maximum residual speed of the aircraft in a specified initial state and a target position. Through the application of the method, the prediction efficiency can be greatly improved under the condition of low precision loss, and missile-borne application requirements are met.

The invention provides a production wiring system, method and equipment with an intelligent guiding function and a medium. The system comprises an intelligent guiding control terminal, an LED guiding lamp strip and a proximity switch. Wherein the intelligent guide control terminal is used for controlling the LED guide lamp strip and indicating a wiring path and a wiring sequence; the proximity switch is used for detecting the wiring state and reporting the wiring state to the intelligent guide control terminal. According to the production wiring system in the embodiment of the invention, intelligent guidance and wiring standardization are realized during production wiring, the technical requirements on operators are reduced, and the consistency of finished products of production wiring is improved.

The invention discloses a non-linear state rapid fitting method for an aircraft, and belongs to the field of aircraft control. The implementation method comprises the following steps: constructing a two-loop attitude pilot and a three-loop attitude pilot, and discretizing to obtain a guidance instruction with a time-delay effect; according to coordinate conversion, forward deriving each aerodynamic parameter of the aircraft and an aircraft overload instruction equation; the method comprises the following steps: calculating all pneumatic data according to part of pneumatic data obtained by a blowing experiment of an aircraft, and fitting a guidance instruction with a balance attack angle, a sideslip angle and a rudder deflection angle of the aircraft to obtain a corresponding interpolation table; all aerodynamic parameters in the flight process of the aircraft are obtained according to an aircraft guidance instruction and an interpolation table in the actual situation, namely, nonlinear state rapid fitting of the aircraft is achieved, and simulation reproduction of the aircraft as a mass point in the whole guidance process is achieved according to the nonlinear state rapid fitting result. And the precision and efficiency of aircraft guidance control are improved.

The invention provides a large-burial-depth directional drilling guiding control device and method, and belongs to the technical field of directional drilling guiding devices. Comprising a drill rod, one end of the drill rod is in threaded connection with a drill bit assembly, and a rotating assembly is movably connected into the drill bit assembly. Through cooperation of a rotating assembly, a second round rod, a tooth block, a gear and other structures, a drill rod and a drill bit assembly are internally locked conveniently, then the overall stability and strength of the device are improved, through cooperation of a first round rod and a second guide groove, a round block drives a rotating disc to rotate when moving downwards, and then the rotating disc is driven to rotate; when the rotating disc rotates, the second round rod drives the cylindrical block and the tooth blocks on the cylindrical block to move towards the gear, and then the tooth blocks are all clamped into the gear, so that the risk caused by loose connection of the drill rod and the drill bit assembly in the large burial depth environment is reduced, and the overall stability of the device is improved.

The invention relates to a robot advancing method and system based on an inertial sensor, and belongs to the technical field of robot autonomous navigation and inertial guidance control. The method comprises the following steps: acquiring advancing parameter data of a robot, and analyzing a track generation mode in the advancing process of the robot to obtain autonomous advancing track data; constructing a marching analysis model, inputting the robot marching parameter data into the marching analysis model to analyze inertial navigation information, and outputting a robot marching instruction; the stability of the posture state in the advancing process is verified, a robot advancing instruction is optimized through a path optimization protocol, and an instruction optimization set of an advancing path is generated; and constructing an offset compensation mechanism, selecting an instruction optimization parameter according to the advancing path when the advancing path is detected to deviate, re-inputting the instruction optimization parameter into the advancing analysis model, and re-matching a newly selected advancing path.

Air flow control insertable into an air opening for controlling air flowing along an air flow direction, with a closure device including a cloth or fabric adjustable between an opening position releasing the air opening and a closing position at least partially closing the air opening by means of an adjustment device for selectively releasing and closing the air opening to change the air resistance and / or for thermal management of a downstream unit in the air flow direction. Various solutions are proposed to integrate the air control system in or behind an air grille, especially in very limited installation space.

The invention relates to a north pole region under-ice acoustic guidance control method for an AUV (Autonomous Underwater Vehicle), which is used for realizing autonomous recovery of an autonomous underwater robot after the end of under-ice detection. The method includes the following steps that firstly, after an AUV ends a mission, fault information of a submersible is obtained, and small floating weights are rejected in a time-sharing mode; 2, acquiring the position of a set beacon which changes at any time in an ultra-short array coordinate system through an ultra-short positioning array carried by the AUV, and calculating the longitude and latitude of the beacon; and 3, the AUV takes the beacon longitude and latitude position as a navigation target position, and finally, the navigation target position is dynamically positioned at the beacon position within an allowable range, and waits for a remote control instruction or carries out time-sharing load rejection on the large floating weight. The method is convenient to transplant and can be suitable for various underwater robots.

The invention relates to a bistatic SAR unmanned aerial vehicle trajectory optimization method based on dynamic sequence solution, and belongs to the technical field of cluster guidance. Bistatic SAR imaging detection constraints, unmanned aerial vehicle dynamic characteristics and unmanned aerial vehicle flight control constraints are considered according to a known receiver flight trajectory with higher task priority; and according to the comprehensive resolution of the imaging scene of the detection target in each stage and the motion constraint of the unmanned aerial vehicle, establishing an unmanned aerial vehicle acceleration optimization model under the multi-constraint condition of each stage, dynamically planning an unmanned aerial vehicle trajectory optimization problem into a plurality of sub-problems, and carrying out dynamic solution to obtain an optimal solution of each sub-problem, according to the method, on one hand, the trajectory design of the bistatic SAR unmanned aerial vehicle under the multi-constraint condition is realized, and on the other hand, the bistatic SAR imaging detection capability and the bistatic SAR unmanned aerial vehicle flight trajectory of bistatic SAR system guidance control are met, and on the other hand, the operation efficiency is improved.