120 results about "Safe path" patented technology

A joint search method for UAV multiobjective path planning in an urban low altitude environment first constructs a static safety index map based on static known obstacles. Meanwhile, based on proactively detected obstacles that are not marked on a geographic map by a UAV, the method constructs online a dynamic safety index map. Second, a multiobjective path planning problem is solved using a joint offline and online search method. Moreover, this method first plans offline the least cost path from a starting point to an end point and then invokes the online search scheme to replan online a changed path when the UAV detects unknown obstacles. Thus, the UAV can avoid dynamic obstacles effectively. The online search scheme has a small search space and can quickly replan a safe path for the UAV, thus satisfying the requirement of UAV on the real-time path planning.

The invention discloses an automatic navigation method and device. The method comprises the following steps of: acquiring a scene video of a current geographical location photographed by a multi-objective camera system; calculating a spatial position and gesture information of the camera in the multi-objective camera system; performing time correlation three-dimensional matching on continuous two-frame images at the same camera time to generate a first environmental object depth map; performing spatial correlation three-dimensional matching on continuous two-frame images at different camera times to generate a second environmental object depth map; constructing a local obstacle map according to the first environmental object depth map and the second environmental object depth map; and mapping the local obstacle map to a safe distance space to determine a safety path from a current position to a predetermined target. The method effectively solves limitation of a conventional depth algorithm in viewing angel and movement, can perform self-position positioning, obstacle sensing and automatic generation of the safety path, is high in positioning precision and optimum in safety path, and can be applied to mobile platforms such as robots or entertainment unmanned aerial vehicle.

The invention discloses a train operation safety protection system and method based on dynamic resource management, and the system comprises object controller OC equipment which is disposed beside a rail and is used for recording line resources, carrying out the drive and collection control of trackside basic signal equipment, and providing the safety protection during the degradation of a train;vehicle-mounted OBC equipment which is used for providing a complete CBTC safety protection function; through mutual communication between OBCs, the OBC acquires the position and speed information ofthe OBC from the front OBC; by combining the trackside equipment state information acquired from the object controller OC, on the premise that a safe path is reserved for a train, according to the usecondition of line resources and the type of obstacles, movement authorization calculation is conducted autonomously according to the movement blocking principle, a continuous train target distance mode curve is calculated for safe operation of the train, and safe operation of the train is monitored and protected in real time. The method does not depend on a fixed route mode from the annunciator to the annunciator any more, and dynamic allocation and unified management of resources are achieved through cooperation between the OBC and the OC.

The present invention provides a safe path planning method including a process of using a grid map and a congestion map, and a process of planning a path of a mobile robot using a cost function.

The present invention provides a safe path planning method including a process of using a grid map and a congestion map, and a process of planning a path of a mobile robot using a cost function.

A method for generating a safe path of a mobile robot includes searching for a whole path from a starting point to a destination point within a map information entered in the robot; extracting information about an expected distance between the robot and a peripheral obstacle when the robot moves along the searched whole path; and correcting the whole path locally using the information about the expected distance from the peripheral obstacle.

The invention provides a method for finishing down producing goat VEGF gene fixed-point knock-in mediated by a CRISPR / Cas9 system. The method comprises the following steps: establishing a gRNA expression vector and a VEGF homologous recombination vector on the basis of the CRISPR / Cas9 system according to a CCR5 gene sequence of down producing goats; then jointly transferring three optimized vectors into fibroblasts of down producing goat fetuses to obtain VEGF gene fixed-point knocked-in positive cells; and preparing VEGF gene fixed-point integrated down producing goats by using a somatic nuclear transfer technology. The established targeting vector based on the CRISPR / Cas9 system provides a simple, rapid and safe path for fixed-point knock-in of goat VEGF genes. The method does not involve any screening marker genes in a cell line screening process, therefore, the safety of transgenic animals is greatly improved, and the method has high value on research of genetic breeding and gene functions of down producing goats.

With the present invention for conveying information regarding an emergency, an alarm system can be notified of number, condition, location, and / or need of assistance of occupants within a building during an emergency. Building occupants can be informed of safe paths along which to proceed during an emergency. Further, a command workstation, such as a fire command workstation, can be integrated into an alarm system having multiple functions, detection devices, and voice communication capabilities.

The invention provides a system and method for generating an urgent danger prevention dynamic route. The system can be used for updating various environment parameters and integrity parameters of various infrastructures collected by sensors in real time as per the environmental change, so as to generate a novel optimal danger prevention route, as a result, refuge personnel can escape and avoid danger as per the real-time safety route indication, the escaping probability of refuge personnel is increased to the maximum extent, and casualties can be reduced.

A safety network transmitting method and its system providing a active defense technology for safe message transmitting in the network can be used in information safety field by setting up safe virtual special network to submit safety service for the data transmitting in the network. The present invention has comprehensively used the communication technology of "main-assistant" machines, the pseudo-random sequence creation technology, the rout-extension protocol and information control extension protocol, through the identification result of pseudo-random sequence message transmitted to each other between the safety routers to mark the safety of the system route and to pick up the safe pathes from the existing network as well as to submit them to the message transmitting.

The invention discloses a novel method for preparing silodosin. In the invention, a complete silodosin synthesizing path is invented. By adopting brand new synthesis methods, intermediates synthesized in each step are brand new compounds, for example, if a Gabriel synthesis method is adopted, primary amine is introduced on the 2-site carbon atom, and chain extending reaction is carried out by utilizing benzyloxy-propyl, and the like. The invention provides the economic and safe path with high purity and high yield, and is suitable for industrial production.

The embodiment of the invention discloses a method for clock synchronization, equipment and a network system thereof. The method comprises the following steps: a clock server and a terminal establish a security path and a non-security path; the security path and the non-security path are subjected to association; the clock server and the terminal carry out control information interaction through the security path; and the clock server sends a clock synchronization message to the terminal through the non-security path. The method, the equipment and the network system provided by the embodiment can realize clock synchronization and further improve the security performance of the clock server.

The invention relates to a mobile robot path planning method based on a multi-barrier environment. The method includes the following steps that two-dimensional code discrete points are set up in an initial environment; link graph link points are set up with a link graph method, and a link graph is generated; assignment is performed on two-dimensional code security attributes with the link graph method; two-dimensional codes exceeding safety coefficient threshold values are filtered out; a mixing point authorized and undirected net-shaped link graph is generated; weight coefficients are set; weights are assigned again; a starting point and a target point of a robot are set; a robot path is generated. According to the mobile robot path planning method, due to the fact that the two-dimensional code discrete points and the link graph link points are set up, the link graph method is used for assigning the security attributes to the two-dimensional codes and filtering out the points, with the low security attributes, of the two-dimensional codes in the environment and the attributes of the distance, the security and the points in robot path planning are perfectly combined, the function of planning the two-dimensional security path of the robot under the multi-barrier environment is achieved, and the construction efficiency of laying the two-dimensional codes in the multi-barrier environment is effectively improved.

The invention discloses an unmanned aerial vehicle trajectory generation method based on a flight corridor and a Bezier curve, and belongs to the field of robot motion planning. According to the trajectory generation method, a robot can meet the motion constraint of continuous acceleration on the premise that obstacle avoidance is guaranteed, and the average speed is high. The method comprises thefollowing specific steps: obtaining surrounding map point cloud information through a depth camera sensor / laser radar sensor or global known information; constructing a rasterized obstacle map; planning a collision-free and optimal path by using an A* algorithm; generating a collision-free flight corridor capable of moving by a robot based on the A* planned path; and finally, generating a Beziercurve in the flight corridor for the robot to move. A series of nodes on a safety path are converted into a series of convex geometries (corridor blocks) in a mode of generating a safety corridor, sothat the information amount is greatly increased, and the modeling accuracy is ensured.

A foldable cart assembly which is arranged to provide trackable transportation to a product or a person. The cart contains sensors and computer-controlled drive wheels to enable that cart assembly, when fully opened, to follow a safe path as directed by received electronic signals. That cart assembly is also tri-foldably collapsible, so as to have multiple portions pivoted into nesting configuration with one another thus containable in a minimal volume and even carried by an individual.

The invention discloses an initial-stage rescue auxiliary system of a fire hazard of a highway tunnel. The system is characterized in that the system comprises a detection robot platform, an embedded type control unit, a signal detection unit, a mark putting unit, a human-machine interaction system and a wireless router device, wherein the embedded type control unit, the signal detection unit, the mark putting unit, the human-machine interaction system and the wireless router device are carried by the detection robot platform; the human-machine interaction system comprises a main control bench and an intelligent mobile terminal, receives fire hazard information transmitted by the embedded type control unit in real time, and evaluates and process the fire hazard information; and an onsite rescuing worker can acquire conditions in front in real time through the intelligent mobile terminal and react in advance. According to the invention, based on the design of an embedded type development platform, a proper trace drawing algorithm is used to help the rescuing worker to determine the position of a trapped person in advance in a severe rescue environment, find a safe path as soon as possible and make a proper rescue plan.

The invention provides a mobile robot path planning and optimizing method based on a cost potential field, and the method roughly comprises the steps: initializing a global static scene and a grid map of a dynamic obstacle object, updating and superposing the cost potential field, solving an initial path with the lowest cost through an equipotential line, a tangency point and a tangent line, carrying out the further adjustment and optimization of the path. and finally, obtaining an optimal security path at the current moment. Compared with other path planning and obstacle avoidance methods, the method can comprehensively consider the cost of the path length and the cost of the distance between the path and the obstacle, and guarantees the safety of the path. And meanwhile, the adjusted path also has relatively high smoothness. By introducing the influence of the speed factor of the dynamic obstacle on the obstacle cost potential field, the method also has better performance in a dynamic obstacle avoidance scene.

The invention provides a terminal which comprises a positioning unit which is used for obtaining a real-time position of the terminal, a judging unit which is used for judging whether the real-time position is located in a safe path or not and a processing unit which is used for locking the terminal under the condition that a judgment result of the judging unit is no. Accordingly, the invention also provides a terminal security management method. According to the terminal and the terminal security management method, the terminal can be normally utilized in the safe path and losing, theft and the like of the terminal possibly happen when the terminal is deviated from the safe path, so that the terminal is locked to prevent leakages of identities, data and the like of users.

The invention provides a robot navigation device and system based on stereoscopic vision matching. The system is composed of a stereoscopic vision module, a stereoscopic matching module, an obstacle detection module, a target detection and tracking module, a target positioning and presetting module, a data fusion module, and a positioning and navigation module. According to the invention, detection of an obstacle area is realized by using a 3D disparity map, target object detection is carried out by using the 2D image and the 3D disparity map, and then a safety path of passing of a robot is selected based on the location information of the target and obstacle. Accuracy of segment is ensured by combining the characteristic of quick identification of the 2D image scene and the 3D depth information.

The invention relates to a method and a system for previewing a safe path based on a CNN (Convolutional Neural Network) and an LSTM (Long Short Term Memory). The method at least comprises the following steps: predicting an ideal steering wheel rotation angle of an initial driver following model based on expected vehicle speed information and expected path information; optimizing the ideal steeringwheel rotation angle into an actual steering wheel rotation angle based on vehicle motion information fed back by a vehicle model; and optimizing vehicle attitude information based on the actual steering wheel rotation angle information and fitting to obtain expected path information by the vehicle model. According to the method and the system, through a preset road track and expected vehicle speed information, the steering wheel rotation angle applied to the vehicle by the driver is decided, so that the driving path of the driver is decided. and internal weight of a neural network is continuously adjusted through LSTM, so that deviation between an expected path and an actual path is reduced, and a good driver preview following model for preview path following is obtained.

The present invention relates to a navigation system for preventing an airplane or a ship carrying freight and passengers from becoming involved in an accident with other transport means. To this end, the navigation system of the present invention includes: a GPS module for obtaining position information on first transport means; an information searching module for searching second transport means positioned a predetermined distance away from the first transport means with reference to the position information and operation schedule of the first transport means; a path creating module for creating a secure path for the first transport means with reference to information on an operation path according to the operation schedules and the position information on the first and second transport means; and a display module for displaying the position information on the first and second transport means.

The invention relates to a redundancy control method of an automatic driving system, the automatic driving system, an automobile, a controller and a computer readable storage medium, which are used for keeping running along the center line of a lane when the automatic driving system has a fault and the fault does not exceed tolerance. The method comprises the steps of: when an automatic driving function is activated, fitting a safe path equation enabling a vehicle to run along the center line of a lane according to information collected by a forward-looking camera and a radar, and determiningthe lane width of the lane where the vehicle is located currently; according to the coefficient of the safe path equation and the determined lane width, determining a current specific offset area of the vehicle; determining the current fault level of a main control subsystem according to the offset area where the vehicle is located and whether the vehicle activates the function of a first redundant safety control module in the previous control period or not; and activating the redundancy control function of the corresponding level according to the current fault level of the main control subsystem, and controlling the vehicle according to the redundancy control function of the corresponding level.

The invention provides an artificial potential field method for automatic driving vehicle decision-making layer path planning, and the method comprises the steps: S1, building a road environment through an artificial potential field method, and enabling a vehicle to drive in a road boundary; S2, acquiring surrounding information through a vehicle sensing device, and establishing different potential field functions for different types of obstacles, so the vehicle has different processing modes for different obstacles; S3, planning a set of safety paths according to the established potential field environment, and optimizing by using an improved genetic algorithm to find the shortest path. According to the method, the driving environment of an automatic driving vehicle is established by using an artificial potential field method, so that the vehicle performs different driving operations on different types of obstacles, and the improved genetic algorithm is used for optimizing the path, so that the vehicle is driven safely, and the energy consumption is minimum.

The invention discloses an indoor fire rescue method. The indoor fire rescue method comprises the following steps: acquiring normal weight information of indoor routes; acquiring real-time weight information of all indoor routes according to real-time environment monitoring information; generating an optimal evacuating path from the real-time position of a disaster-affected mobile terminal to any entrance / exit according to the normal weight information and the real-time weight information; judging whether the weight of the optimal evacuating path is zero or not, if so, transmitting a rescuing command to a rescuing mobile terminal, otherwise, transmitting the optimal evacuating path to the disaster-affected mobile terminal; generating an optimal rescuing path for reaching the real-time position of the disaster-affected mobile terminal according to the real-time position information transmitted by the rescuing mobile terminal, and transmitting the optimal rescuing path to the rescuing mobile terminal. As proved by the indoor fire rescue method, the destination and the rescuing path of firefighters are determined before the firefighters enter to a fire scene, and the rescuing path is a safest path reaching to the position of disaster-affected people. By adopting the indoor fire rescue method, the fire rescue efficiency can be increased, and the safety of the disaster-affected people and the firefighters is enhanced.

The invention relates to a mixed firework particle swarm synergic algorithm for solving unmanned aerial vehicle constraint route planning. The mixed firework particle swarm synergic algorithm is usedfor solving the problem of unmanned aerial vehicle route planning. The method employs a mode of searching an optimal path by two groups in a parallel and independent way, one of the groups employs animproved firework algorithm to search, and the other group employs a particle swarm optimization algorithm. A rough region of an optimal solution is sought in the whole search space by explosion of firework and is provided for particles, a direction is guided for subsequent search of the particles, the particles are used for performing detailed local searching on the region during the iteration process, therefore, the two groups are combined to search, the optimal solution of the planning problem is further obtained. During the whole searching process, a safety path and an unsafety path are divided by setting safety class, the safety class is gradually improved during the iteration process again and again, the search range of the optimal path is further limited in the safety path, and thesafety of the planned path is ensured.

Branch instructions are provided for improved execution performance. The branch instruction includes one or more paths that are marked as a safe path for execution. If a marked path is executed based on a branch prediction, the execution continues until completion after it is determined that the other path is the correct path.

A method of commanding and controlling a mobile apparatus (wheelchair) based on the assimilation of visual parameter and brain activity data includes validating a desired position of gaze (the iris) in the environment using the physiological brain characteristics of the potentials mentioned in P300 and SSVEP. These supply a control unit and are used to assess the user's state of mental fatigue using an algorithm based on the theory of evidence. A unit detecting the user's emotional state is also implemented using the alpha and beta waves from the parietal, central and frontal region of the cerebral cortex and the user's heart rhythm. The assimilation between these two units makes it possible to define a mode of operation in real time: manual, semi-autonomous or autonomous, which corresponds to the user's emotional or fatigue states as well as the characterization of the environment (safe path, detection of obstacles, locked situation).

The invention provides a brake failure early warning method and device for load-carrying vehicles, electronic equipment and a storage medium. The method comprises the steps that vehicle surrounding environments and road environment data of the load-carrying vehicles and vehicle state and driving action data of the load-carrying vehicles are acquired; Extracting multiple types of feature information according to the surrounding environment and road environment data of the vehicle and the vehicle state and driving action data of the vehicle; Establishing and training a hidden Markov model for predicting the braking state according to the extracted multiple types of feature information; Using the real-time vehicle surrounding environment and road environment data of the to-be-predicted load-carrying vehicle and the real-time vehicle state and driving action data of the to-be-predicted load-carrying vehicle as input of a hidden Markov model; Determining the brake state of the to-be-predicted load-carrying vehicle according to the hidden Markov model; If the brake state of the to-be-predicted load-carrying vehicle is a quasi-failure state, alarm information is generated; And if the brake state of the to-be-predicted load-carrying vehicle is a failure state, planning a safety path. The method and the device provided by the invention realize brake failure early warning.

The embodiment of the invention discloses an embedded intrusion detection method and device for a smart contract. The method comprises the steps of testing and analyzing an intelligent contract needing to be protected by using a test case in a test environment, and generating a control flow graph corresponding to the intelligent contract; processing the control flow graph, and marking path features of all test cases to form a safe path feature set; adding the coded security path feature set into the smart contract to form a smart contract with an embedded IDS function, and deploying the smartcontract into a blockchain; and when a notification that the embedded IDS judges that an intrusion behavior occurs is received, marking an exception, and carrying out alarming and rollback.

The invention relates to the technical field of fire tests, and particularly relates to a fire test device and method for a subway turn-back track. The fire test device comprises an uplink tunnel, a downlink tunnel and a turn-back tunnel, and is characterized in that two ends of the turn-back tunnel are respectively connected with the uplink tunnel and the downlink tunnel, both the uplink tunnel and the downlink tunnel are provided with a tunnel fan, and the top part of the inner wall of the turn-back tunnel is provided with multiple groups of jet fans. In allusion to the condition that a train on fire stops in the turn-back tunnel or the uplink tunnel and the downlink tunnel which are adjacent to the turn-back tunnel, the fire test device can guide smoke to flow in a limited area and be discharged timely through controlling the uplink tunnel fan, the downlink tunnel fan and the jet fans, thereby creating a safe path for personnel evacuation in an emergency circumstance.