1390 results about "Rapidity" patented technology

The invention discloses an unmanned vehicle dynamic path programming method based on environment uncertainty, comprising steps of establishing a vehicle kinetics model, establishing a dynamic environment model and necessary conditions for anew programming a path, obtaining a motion state original value of the unmanned vehicle, a vehicle motion state original target value and a vehicle motion state candidate target value, generating a candidate path, obtaining an optimal path through selection based on a safety index and a rapidity index, and reprogramming the optimal path of the unmanned vehicle when the unmanned vehicle motion environment satisfies the condition where the new path can be programmed. Compared with the prior art, the invention can not only satisfy the safety requirement for safety driving, but guarantees the driving efficiency under the constraint of the vehicle model. The invention realizes the coordination optimization of the performance index through distribution of various weights, realizes the real-time planning under the condition where a plurality of dynamic obstacles exist, and effectively improves the safety of the unmanned vehicle driving.

The invention relates to a flight path planning method based on a sparse A* algorithm and a genetic algorithm and belongs to the technical field of flight path planning of an unmanned aerial vehicle (UAV). According to the characteristics of flight path planning, the method comprises the following steps: planning an initial reference flight path by the utilization of the sparse A*search (SAS) algorithm, wherein constraint conditions are combined into algorithm search, so that useless nodes in a search space can be effectively deleted and the search time is shortened; and when emergent threat occurs during real-time flight of the UAV, performing real-time flight path planning by the utilization of the genetic algorithm and generating a flight path with local optimum or approximate optimum until the threat disappears and the UAV returns the original global optimum reference flight path and continues flying. The method provided by the invention has high real-time performance and rapidity; the searched flight path is closer to the actual UAV optimal flight path; and the method can be applied to the technical fields of robot path planning, urban vehicle path planning and the like under complex environments.

The invention discloses a three-dimensional formation reconfiguration method for multiple unmanned aerial vehicles based on particle swarm optimization and genetic algorithm. The method considers the position of the unmanned aerial vehicle in the ground coordinates and the speed, track angle and course angle of the unmanned aerial vehicle when establishing a formation model, carries out subsection linear disposal of the control input of each flying unit in the unmanned aerial vehicle, replaces the approximate subsection linear control input with the continuous control input, then carries out global search by the genetic algorithm, subsequently carries out partial searching by the particle swarm optimization algorithm, on the base thereof, the particle swarm optimization is used to guide the genetic algorithm to search a global optimum solution so as to figure out the subsection linear control input. Compared with the traditional method, the method provided by the invention has good real-time performance and rapidity and can be used for solving the formation reconfiguration problem of multiple space robots under complex and dynamic environment.

The invention provides a fault on-line diagnosis and early warning method of a flameproof dry-type transformer for mine in order to raise the accuracy and rapidity of fault diagnosis. The method comprises the following steps: determining monitoring quantity; extracting characteristic values: extracting a three-dimensional spectra parameter and two-dimensional statistical parameter in a partial discharge signal as characteristic quantities, with regard to operation voltage, current and iron core leakage current, extracting effective values of the operation voltage, the current and the iron core leakage current as characteristic values, and taking real-time values of a temperature parameter as characteristic quantities; using a normalization method to calculate a corresponding value of each characteristic quantity and taking the corresponding value as an input parameter of an intelligent diagnosis system; collecting values of each monitoring quantity under different environment, and obtaining training and testing samples of a nerve network under corresponding environment; establishing a nerve network: selecting a generalized RBF nerve network intelligent diagnosis method to establish a nerve network; utilizing a sample data training nerve network and forming a fault diagnosis tool; establishing a database; storing collected real time data and the above diagnosis result into a ground server real-time database and a real-time early warning information table, and carrying out diagnosis and early warning through an expert system.

Provided is a quick detecting method for moving objects in a dynamic scene. The quick detecting method for the moving objects in the dynamic scene comprises carrying out sequence interframe registration on moving images by utilizing CenSurE feature points and a homography transformation model, obtaining a registering frame of a former frame taking a current frame as reference, carrying out subtraction on the registering frame with the current frame to obtain a frame difference image to generate a foreground mask, building a dynamic background updated in real time according to space distribution information of the foreground mask in the current frame, obtaining a background subtraction image based on a background subtraction method, carrying out statistics on the probability density of the gray level of each pixel in the frame difference image, when the sum of the probability density of the gray level of a pixel is larger than 2phi(k)-1, taking the gray level as a self-adaptation threshold value, judging pixels with values of gray levels larger than the threshold value as foreground pixels, and otherwise judging the pixels as background pixels. The quick detecting method for the moving objects in the dynamic scene can reach the processing speed of 15frame/s and can obtain relatively integral moving objects under the premise that the detecting speed is ensured, and therefore, index requirements such as rapidity, noise immunity, illumination adaptation, target integrity and the like of the detection of the moving objects in the dynamic scene can be met.

The invention discloses a method for controlling a PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation. In the method, a feedforward compensation method based on a friction model is combined with an auto disturbance rejection technology and the feedforward compensation method is complementary with the auto disturbance rejection technology mutually. In the method, a Stribeck friction model is utilized to carry out modeling on system frictions, a GA (genetic algorithm) is adopted to carry out offline identification on parameters, and an estimated value generated by an identification model carries out feedforward compensation; a state observer in the auto disturbance rejection technology observes and compensates overcompensation or undercompensation of the frictions as well as nondeterminacy and external disturbance caused by modeling errors in the system; and finally a differential tracker and a nonlinear control law are used to arrange a transient process for fixed position signals, thus solving the conflict between rapidity and overstrike and ensuring stability of the system and finite time convergence. By using the combined control, the compensation capacity of the system for the frictional nonlinearity can be improved effectively, the low-speed performance of the system is improved, and the tracking accuracy and the anti-disturbance capacity of the system are enhanced.

The invention relates to a diagnosis method for power transistor of doubly salient motor driver, belonging to the fault diagnosis method for power device in motor driving system. In the method three-phase current sensor is set on three-phase bridge arm; while three-phase current is measured the measurement for current signal of current reflowing is added; after current reflowing signal is treated digitally and driving signal of power transistor is combined on-line fault measurement and diagnosis for main power circuit are realized. The invention is provided with simple realization and good rapidity. Not only open fault of power transistor can be diagnosed quickly but also it can play a better protecting effect for bridge-arm direct phenomenon maybe generated by short circuit of power transistor. At the same time it provides a feasible method for fault diagnosis of motor driving system based on full-bridge converter.

The invention relates to the technical field of battery charging, in particular to a charging method of a lithium ion battery based on time and temperature. Polarization voltage limited maximum charging current is calculated based on lithium ion battery polarization characteristics, and under the constraint of the maximum charging current, charging temperature rise and charging time are considered comprehensively, genetic algorithm is employed to search the optimal charging current so as to balance the mutual contradictory objects of reducing charging time and lowering charging temperature rise. The result shows that the optimal charging current ensures charging rapidity, at the same time controls the polarization voltage and temperature rise of the charging process within an allowable range, and guarantees the charging capacity, charging efficiency and charging safety and battery life.

The invention relates to high-precision detection of complex optical curved-surface parts with large-curvature surface shapes, and aims to provide a high-precision detection method for the complex curved-surface parts with large curvature surface shapes, such as optical curved-surface parts, which has the advantages of rapidity, non-contact and no damage to part surfaces and surface layers. The technical scheme adopted by the invention is that the invention provides a grating projection rapid non-contact measurement method and device for high-reflectance free-form curved-surface parts, and the method comprises the following steps that: three degree-of-freedom motion of a measured object is realized with the help of a precision motion control system; coded grating fringes are projected onto the surface of the measured object by using a grating projection device; phase distribution information of the surface of the measured object is obtained from a deformed fringe pattern by using a digital phase shifting technology and a phase unwrapping algorithm; reference phase distribution information is obtained by using a virtual reference surface technology; and three-dimensional morphological information of a measuring area of the surface of the measured object is recovered according to a corresponding relation between phase deviation information and the gradient of the surface of the measured object. The grating projection rapid non-contact measurement method and device are mainly applied to the measurement of the optical curved-surface parts.

The invention relates to an urban intelligent traffic and transportation system, which comprises a full-interchange totally enclosed light elevated road passage, unmanned electric intelligent trolleys, nodal stations, an intelligent dispatching system, a solar power generating system and a logistic service system, wherein power supply rails are laid on a road surface of the passage; positioning bar codes and navigational lines are laid on the top surface in the passage and the road surface of the passage; and solar power generating plates are laid at a passage top. Passengers swipe cards at nearby nodal stations and select destinations, and the intelligent trolleys generate the best driving paths according to the destinations and the dispatching information and automatically run with the help of the locating bar codes and the navigational lines, so as to directly send the passengers to the destinations. The urban intelligent traffic and transportation system aims to solve the problems of urban traffic congestion, low efficiency, serious pollution, high traffic cost, low safety factor and the like, and has the characteristics of full interchange, full throughway, intelligent driving function, intelligent dispatching function, rapidity, high efficiency, environmental friendliness, conservation, convenience, safety and the like.

The invention relates to a touch screen unlocking method comprising the following steps of: receiving an unlocking action for dragging an unlocking icon; acquiring an application program icon for dragging the unlocking icon in the unlocking action; and entering a corresponding application program operating interface according to the application program icon. With the touch screen unlocking method and a mobile terminal, touch screen unlocking is triggered by the unlocking action for dragging the unlocking icon to the application program icon and the application program operating interface corresponding to the application program icon is entered so that the process of unlocking a touch screen is concise and effective, the operation is effectively simplified, and the unlocking accuracy and rapidity of the touch screen are improved.

The invention discloses an amphibious robot with a transformable structure. According to the amphibious robot, a six-foot transformable structure is adopted, so that the movement mode of the robot is flexible and variable, the functions of wheeled quick movement, bionic crawling movement and water surface navigation movement are achieved, and the three kinds of functions are respectively applicable to flat pavement, rugged pavement and water surface navigation conditions; the environmental adaptability of the amphibious robot is strong, smooth transition in water and land environments is realized, the requirements of the robot on multi-movement-mode continuous transformation for land movement and water surface movement in an amphibious environment are met, and the rapidity and coordination of movement of the robot are guaranteed; the amphibious robot adopts an embedded propeller wheel, so that the problem of power conversion of the robot in a land-to-water-surface switching process is solved, propeller blades can be effectively protected in land movement, power can be provided for water movement of the robot, the additionally arranging of additional underwater propulsion equipment is avoided, and sustained and stable work in water and land transformation media is realized.

The invention discloses a determined method for an initial gesture on the basis of Doppler optical fiber gyro strapdown inertial navigation system, which comprises continuously collecting data which is output by an optical fiber gyro and a quartz flexible accelerometer after being preheated, processing the data of the gyroscope and the accelerometer which are collected, finishing a rough alignment of the strapdown inertial navigation system, entering into an extractive alignment after the rough alignment is finished, establishing a dynamic base error equation of a marine strapdown inertial navigation system, employing an optimal control filtering theory to design an electric filter, and doing a filtering estimation, extracting information of ship hull gesture misalignment angle to correct the ship hull gesture when a combined extractive alignment is finished, finishing extractive initial alignment, simultaneously obtaining shift estimated value of the gyroscope, and realizing a drift course of the initial alignment. The method of the invention can realize accurate estimation to a zero drift of the optical fiber gyro when the requirement of accuracy and rapidity is guaranteed.

The invention discloses an anti-collision control method for safety of in-obit operation of formation-flying satellites, in which influences of satellite contour dimension, various agitation errors, time forecasting error and position measurement error are seriously concerned, collision probability based description modes and determination methods for collision probability of the formation-flying satellites are systematically provided, and aiming at different operation situations of the formation-flying satellites, description indexes of integral and partial satellite collision possibility are respectively provided, so that the method is suitable for prevention of integral collision possibility of a plurality of formation-flying satellites. The method comprises the following steps: firstly, calculating collision probability density between two satellites, secondly, calculating the collision probability between the two satellites, and finally, calculating the collision probability of the formation-flying satellites. The method can be used for collision prevention for safety of in-obit operation of the formation-flying satellites, and can ensure real time and rapidity of determination of collision prevention for safety of the formation-flying satellites.

The invention discloses an autopilot for an indoor airship, which is designed to solve the technical problems of the increase of safety potentials and the working strength of operators and the like because of frequent hit and scratch to walls, exhibits on display, field personnel and the like caused by frequent deviation from voyage route of an indoor flying airship because of nonflexible controlof an indoor and outdoor general pilot. The autopilot comprises a ground station module, a manual remote control module, an onboard module, an airship location module and the like. The automatic drive of the indoor airship is realized by combining a UWB (Ultra Wide Band) technology and an ultrasonic transducer. The autopilot for the indoor airship has the capabilities of setting a task flight path and a flight control parameter, finishing autonomous flight according to a pre-determined flight path and automatically avoiding barriers, and is compatible with manual remote control operations. The flexibility of the airship in a narrow area and the stability of the airship in an open area are fulfilled; the influence of indoor airflow disturbance to the flight of the airship is reduced or removed by correcting the yaw angle of the flight path; and the stability of a controller of the autopilot for the indoor airship and the rapidity of the manual remote control are fulfilled through a non-switching control mode.

The invention discloses a motor non-speed sensor control method for smoothly switching composite rotating speed identification. In the method, the model reference fuzzy self-adaptive rotating speed identification of the magnetizing current reactive power is adopted for identifying the rotating speed of the motor in high speed; the slip angular speed ring opening rotating speed identification is adopted for identifying the rotating speed of the motor in low speed; the method for smoothly switching factors is adopted for smoothly transiting the two motor rotating speed identification methods, thus realizing the composite identification of the high and low rotating speed of the motor in the starting process of the motor. The invention has the beneficial effects that the method solves the contradiction that the indexes of the dynamic property and the steady-state performance in the traditional single rotating speed identification speed can not be simultaneously optimized so that the motor has the good rapidity and strong dynamic track during the starting; in the steady-state process, the overshoot is small and the speed control precision is high; the method has the complete robustness for the state resistance, can implement the vector control of the non-speed sensor in a wider speed range, thus realizing the composite identification of the high and low rotating speed of the motor in the true sense.

The invention discloses an on-line positioning method of a section with low-current ground faults and a system based on the positioning method. The method and the system are suitable for a neutral ungrounded power grid of 3-60kV. Under the operation condition of a line with single-phase ground faults, the phasor information of a zero-sequence voltage and the amplitude and phasor information of a zero-sequence current of the line are measured, and the section position of a fault point is determined according to the amplitude and phase information. The accuracy and rapidity of positioning are fully ensured, and the on-line positioning problem of single-phase ground faults of the neutral ineffectively grounded power grid and the monitoring problem of short-circuit faults between lines are effectively solved.

The invention relates to a power control optimization algorithm in a cognitive radio network, which belongs to the field of system resource allocation. The algorithm comprises the following steps: 1, initializing the iteration number of the algorithm, the positions and speed of particles and the basic parameters of the particle swarm; 2, calculating a fitness function value, setting the position Xa of an individual particle as the initial best position, and setting the particle with the best function value in the swarm as the initial best swarm position Gbestk; 3, searching based on a PSO algorithm, updating the best positions of the particles and the swarm and updating the speed and positions of the particles by using a fundamental formula of the particle swarm; and 4, setting a termination standard. The invention conducts study on the non-convex optimization problem controlled by the cognitive radio power and puts forward an improved particle swarm-based power control algorithm which allows utility functions such as an S-type function a convex function and the like to be non-concave, thereby conforming to the actual network better. Parameter adjustment is performed by the particle swarm algorithm to guarantee the global astringency of the algorithm. The algorithm of the invention has better validity and rapidity.

The invention particularly relates to a design and setting method for an active disturbance rejection control system of a time delay system. According to the method, based on the active disturbance rejection technology, firstly, complex controlled objects are fit into a one-order inertial element plus dead time delay mathematic model, meanwhile, time delay comes down to the disturbance quantity, a time delay reduction linear extended state observer is applied to estimation of unknown total disturbance including the time delay, active compensation for the influences of the total disturbance on the system is achieved, the time delay system is restored into a system in an integrator tandem type in an ADRC standard, and then compensation for the time delay system is achieved; finally, a closed-loop transfer function of the system is deduced, a dead time delay link in a characteristic equation is eliminated, and the numerical relationship between an ADRC single-parameter setting formula with universality and adjustable parameters is correspondingly provided. The simulation result verifies that designed practical ADRC has good stability, rapidity, accuracy and disturbance rejection.

The invention discloses a trajectory tracking control method for a mobile robot based on a sliding mode variable structure. According to the trajectory tracking control method, advantages and disadvantages of different reaching laws are comprehensively analyzed, and a reaching law with better rapidity and stability is proposed and designed. The reaching law is composed of two items, wherein the first item is that the system state is controlled to rapidly approach to a sliding mode surface when being far away from the sliding mode surface, and the second item is that the system state is controlled to keep stable running in the sliding mode surface. The trajectory tracking control method comprises the steps of firstly building a kinematics model and a trajectory tracking error model of the mobile robot, and deducing a mobile robot trajectory tracking error differential equation; and then designing a switching function based on the sliding mode variable structure, and deducing a sliding mode control law according to the designed reaching law, wherein the control law can enable the mobile robot to rapidly converge to an expected trajectory and expected speed. It is indicated by MATLAB numerical simulation that the trajectory tracking control method can effectively weaken a chattering phenomenon in the tracking process and improve the trajectory running accuracy. In addition, the trajectory tracking control method has good stability and robustness.

The invention discloses an RTCP calibration and compensation method for a five-axis NC machine tool of a double-pendulum-head structure. The method comprises the steps of recording the calibrated coordinate values of each rotating shaft at different angle positions, and calculating to obtain the offset vector of each rotating shaft and the vector data of each rotating shaft in the axis direction;writing the data into corresponding machine tool parameters of a numerical control system; and activating the five-axis linkage function of the numerical control system. In this way, the problems thatthe characteristic data of the five-axis machine tool cannot be directly acquired and the precision of a traditional method is low can be effectively solved. The accuracy of calibrated data is guaranteed, and the rapidity and the accuracy of the five-axis RTCP calibration are improved. As a result, the adjustment time is shortened, and the introduction of human errors is reduced.

The invention discloses an automatic calibration method for a line structured optical visual system of an arc welding robot. The method comprises the steps of: 1, placing a calibration plate at any position in a working area of the robot according to a predetermined constraint limit; 2, manually manipulating the robot to ensure that the position of the calibration plate is in a rectangular frame in the middle of a collected image and updating the position component of each collection point in a robot calibration program on the basis; 3, collecting 15 calibration plate images in 15 positions and calibration plate images in other 4 positions and the corresponding laser stripe images; and 4, calculating internal parameters of a camera and hand-eye relationship parameters through the collectedprevious 15 images and calculating structured light plane parameters through the collected latter four images. The method disclosed by the invention has the advantages that image positioning is onlycarried out on the first collection position of the calibration plate and the subsequent positions are automatically updated through translation transformation with no need for human operation, so that the calibration method is convenient and quick, the flexibility and the rapidity are greatly increased and the method can meet the needs of actual production environments.

The invention discloses a positioning and locating device for radiotherapy and a positioning method of a dynamic target region. A therapy robot has an operating arm, wherein a compact linear electronic accelerator is arranged at one end of an operating arm of the therapy robot, and a secondary collimator is installed at one end of the compact linear electronic accelerator; a robot treatment table is arranged on a corresponding position of a double-image C-arm system, an C-arm sliding rail laser locator is arranged inside the double-image C-arm system, and a left side locator for an C-arm installation space is arranged on a corresponding position at the outer part of the double-image C-arm system. The positioning and locating device provided by the invention is provided with two groups of X-ray image systems, so as to realize binocular imaging; when the C-arm sliding rail rotates and a group of X-ray image systems is started, and CBCT (Cone Beam Computed Tomography) imaging can be realized; according to the positioning method, different imaging ways are adopted for a static target region and a dynamic target region, the rapidity and timeliness of the binocular imaging, the high quality, high definition and image registration of the CBCT imaging can be fully exerted.

The invention discloses a listeria monocytogenes nucleic acid chromatography detection kit, its detection method and an application thereof, and belongs to the field of molecular biology and immunology. According to the invention, with the combination of a polymerase chain reaction technology in molecular biology and an immunochromatography technology, rapid detection of listeria monocytogenes in food is accomplished. The kit provided by the invention includes three parts of DNA extraction, PCR amplification and strip detection. The combination of the molecular biology technology and the immunochromatography technology is accomplished by modification of primers and selection of corresponding coatings and markers in strip preparation so as to achieve specific amplification product detection of listeria monocytogenes in food. Compared with a traditional biochemistry method, the method provided by the invention is used to greatly save detection time and simplify operation steps, has characteristics of accuracy, rapidity, convenience and safety, and is suitable for detection of a large number of samples.

The invention relates to a prediction method for battery life, wherein the method is used for predicting service life of a soft packaged lithium ion battery. The method comprises the following steps that: a functional relation between a battery capacity conversation rate and a number of times for battery charge and discharge is obtained, wherein the functional relation is expressed as: yx=a*ebx+c; besides, x is a number of times for charge and discharge and is a positive integer, yx is a battery capacity conversation rate, and a, b, and c are constant parameters correlated with the battery service life; and then according to the functional relations, the number of times for charge and discharge is calculated on the basis of a minimum capacity conservation rate. According to the invention, a capacity conservation rate of a battery is introduced into a mathematical formula to calculate a number of times of battery charge and discharge, so that the number of times of battery charge and discharge that means battery life and the residual number of times of battery charge and discharge that means residual battery life are obtained and testing time is substantially saved; besides, the method has advantages of rapidity and simpleness.