302 results about "Guidance control" patented technology

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.

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 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 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 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 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 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 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.

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 belongs to the technical field of wargame deduction, and discloses an emergency wargame deduction system capable of editing total elements. Comprising an operator editing subsystem, a decision table editing subsystem, a map editing subsystem, a chess editing subsystem, a scenario editing subsystem, a training organization subsystem, a deduction work subsystem, a guidance control subsystem, a deduction observation subsystem, a deduction replaying subsystem, a deduction engine subsystem and a system management subsystem. The system can meet the requirements of relevant professional operational scientific research activities on the sea. According to requirements, a deduction scenario is compiled, deduction conditions are set, and scientific research activities are carried out by selecting different weapons, combat deployment, combat actions, guarantee conditions, battlefield environments and the like and adopting a deduction-while-research or deduction playback mode. The war game system can be used as an explanation tool to provide an analysis and research environment, deduce and research are carried out on combat scenarios, classic combat examples and new combat styles and battlemen, and valuable reference data and experience are obtained.

The invention discloses a distributed time cooperative guidance method for a patrol missile cluster with limited control input, and belongs to the technical field of patrol missile cluster guidance control. Establishing a double-layer collaborative guidance framework of the patrol missile cluster; the individuals take the residual flight time estimation values as coordination variables, the respective residual flight time estimation values are interacted through communication among the projectiles, and expected coordination variable values of all the projectiles are obtained through coordination strategy calculation and serve as input of a lower-layer time constraint guidance law; decomposing a lower-layer time constraint guidance law into a transverse lateral plane and a longitudinal plane, calculating an attitude angle and an accelerator through a segmented guidance law, and inputting the attitude angle and the accelerator as guidance control variables into the autopilot; according to an input attitude angle and an accelerator instruction, obtaining a rudder amount and an accelerator amount, and controlling the attitude and the speed of the patrolling bomb to realize time coordination. The invention provides a distributed time cooperative guidance method for a patrolling bomb cluster with limited control input, and aims to solve the problem that the patrolling bomb cluster simultaneously strikes a stationary target on the ground when the control input is limited to an attitude angle and an accelerator.

The invention relates to a trajectory planning method based on improved sampling reinforcement learning. The method comprises the following steps: constructing a dynamic environment model; based on the dynamic environment model, defining a learning agent and a Markov decision process; performing algorithm parameter initialization based on the defined learning agent and a Markov decision process; based on the initialized algorithm, generating an original bulletproof trajectory through interaction between the intelligent agent and the environment; carrying out thinning processing on the original trajectory to generate a thinned trajectory; the thinning track is stored in an experience playback buffer pool, and strategy updating is carried out by using the thinning track; and based on the updated strategy, executing a defense penetration strike task. According to the method, the sampling precision and efficiency of deep reinforcement learning training in aerospace guidance control are effectively balanced, the strategy generalization ability and the training stability are improved, and a feasible scheme is provided for intelligent game strategy optimization in a complex dynamic scene; the method is especially suitable for engineering scenes with high requirements on real-time performance and reliability, such as missile penetration and target interception.

The invention discloses a traffic dispersion control method, system and device for a road construction area, and relates to the related field of traffic control, and the method comprises the steps: executing the traffic data collection of a target area, and building the traffic characteristics of the target area; construction data of a construction area are obtained, construction influence fitting is carried out, and a three-level interference path space structure is established; configuring a target traffic flow state, and executing data acquisition of a navigation account main body after any navigation reaches a construction area; performing navigation dispersion prediction by using the behavior prediction model; acquiring a real-time traffic flow state of the target area, establishing an arrival time node according to a navigation arrival result, and performing traffic flow time sequence fitting update based on the arrival data flow, the prediction result and the real-time traffic flow state; and establishing a deviation identification result according to the target traffic flow state and the traffic flow time sequence fitting result, and generating feedback excitation correction navigation dispersion. The technical problem that existing traffic dispersion control is poor in dispersion effect is solved, and the technical effect of improving traffic dispersion efficiency and accuracy is achieved.

The invention discloses a reinforcement learning rocket load shedding guidance law design method considering wind field time-varying characteristics, solves the problem that the existing rocket load shedding guidance law design cannot adapt to the deviation between an actual wind field and a forecast wind field, and belongs to the field of rocket load shedding guidance control. Comprising the following steps: generating high-resolution high-altitude wind hour-by-hour forecast data; constructing a rising stage guidance Markov decision process model; using high-resolution high-altitude wind hour-by-hour forecast data to simulate the uncertainty deviation between a forecast wind field and an actual wind field through a model; a rocket deloading guidance strategy is adopted to complete interaction sampling of a complete round of a rising stage guidance Markov decision process; calculating an updating gradient according to the sampling data, updating parameters of a rocket load shedding guidance strategy according to the updating gradient, optimizing the uncertainty deviation, and obtaining a rocket load shedding guidance law which enables the maximum atmospheric dynamic load expectation to be minimum in the whole process of the ascending section; according to the method, real-time correction of the rocket attitude instruction under the condition that the forecast wind field and the actual wind field have deviation is realized.

The application discloses a fixed-time convergence guidance control method with a landing angle constraint, and the method comprises the following steps: designing an approaching law based on a fixed-time convergence theory, obtaining a control instruction by using a sliding mode guidance law, and flying an aircraft according to the control instruction. The fixed-time convergence guidance control method with the landing angle constraint has a constant ratio of an upper limit of a convergence time of a system state to a whole guidance time, and the upper limit of the convergence time is irrelevant to an initial value of the system state, so that the problems of excessively long or excessively short convergence time and sensitivity to the initial value of the system state are effectively solved.

The present application discloses an information display method, method comprises: when a video display page is being displayed on the electronic device, and the video display page is used to display multiple candidate video data corresponding to the video display page, if the target video data in these candidate video data is being played on the video display page, then when it is determined that a preset guidance condition corresponding to the target video data is reached, a guidance control corresponding to the target video data and guidance prompt text corresponding to the guidance control are added on the video display page, so that after receiving a trigger operation for the guidance control, jumping directly from the video display page to the object aggregation page, so that it is possible to achieve the purpose of directly entering the object aggregation page from a piece of video data.

The invention discloses a spacecraft approaching rendezvous guidance method based on limited thrust, and belongs to the technical field of spacecraft guidance. The invention aims to solve the problem that fuel consumption and hardware cost cannot be taken into consideration at the same time in an existing spacecraft short-distance guide section autonomous approaching method. Comprising the steps of calculating a theoretical speed increment of a current task stage; in the execution process of the task stage, the state of the propeller is judged according to a preset period; if the propeller is in the propelling process, the remaining speed increment is calculated by combining the theoretical speed increment and the single-cycle speed increment of the propeller; determining that the propeller is in a non-propelling state until the current residual speed increment is smaller than a set threshold value; the theoretical speed increment is calculated again and compared with a track safety belt threshold value to judge whether the tracking spacecraft exceeds the safety belt range or not, and if yes, the task state is updated, and the propeller is controlled to conduct propelling so as to correct the transfer orbit until the task stage is finished. According to the invention, high-precision guidance control is realized.

The present application relates to the technical field of intelligent interaction, in particular to an interactive behavior guidance control method and system based on execution feedback data, the present application constructs a personalized baseline model containing spatial pressure distribution, fluctuation characteristics and action timing characteristics by collecting pressure distribution data of a user contact interface; on this basis, the spatial feature deviation degree and the time feature consistency of the current pressure distribution relative to the baseline model are calculated, the current state of the user is determined and the ergonomic constraint violation degree is evaluated; the feasible target point closest to the current state in the feasible region satisfying the constraint condition is searched, the corresponding guidance vector is generated, and the directional haptic guidance signal is output according to the user personalized parameters; at the same time, based on the execution feedback of the user to the guidance signal, the response characteristics of the user are modeled online and the response state of the user is inferred, and then the guidance parameters are adaptively adjusted, so as to realize accurate, comfortable and learning-capable interactive behavior guidance control.