42 results about "Shortest path planning" patented technology

A dynamic evaluation method for an extreme rainstorm waterlogging disaster risk for disaster prevention and reduction. The method comprises: investigating and surveying urban system data and disaster prevention and reduction data, using GIS technology to divide disaster-bearing objects into refined risk units on the scale of urban buildings and road networks, and determining the spatial distribution of the disaster-bearing objects; on the basis of an extreme rainstorm waterlogging scene, simulating the disaster influence of a dynamic change process of a flood ponding depth on the disaster-bearing objects; developing refined dynamic evaluation on a waterlogging risk by combining the two methods of waterlogging process simulation and an indicator system; using a spatial complex network and a shortest path plan to calculate a traffic capacity and emergency service accessibility of a road network system; and on this basis, taking into comprehensive consideration the rational allocation of disaster prevention emergency drainage and emergency rescue services to a high-risk area, and proposing dynamic evaluation technology for a waterlogging risk that integrates a disaster evolution process and a disaster prevention response process, and ultimately realizing the dynamic evaluation of the waterlogging risk of each disaster-bearing unit during the waterlogging disaster evolution.

The invention discloses an orchard shortest path planning method based on a laser radar SLAM map. The method is used for autonomous navigation of an orchard operation robot. Firstly, orchard three-dimensional point cloud data are collected by using a laser radar SLAM technology, and a high-precision map is constructed. Then carrying out downsampling and noise removal on the point cloud data, extracting ground point cloud and calculating gradient information; thirdly, segmenting the point cloud through a random forest model, distinguishing passing and non-passing areas, extracting the center coordinates of the fruit tree through an improved DBSCAN algorithm, and judging the row direction of the fruit tree through kernel density estimation; then, a cost map containing a gradient cost layer is constructed, and the path length, gradient information and obstacle distribution are comprehensively considered; an improved A * algorithm is adopted to introduce cost map information, a 16 adjacent mode is used to optimize path smoothness, a Bezier curve is used to further carry out local smoothing processing on the path, and a shortest path is generated. The method integrates multiple technologies, is suitable for a complex orchard environment, and has high robustness and applicability.

The invention proposes a multi-AGV path planning method and system based on an improved CBS algorithm, and the method comprises the steps: firstly calculating a shortest path set under the condition of no constraint, recognizing a path conflict through a parallel collision detection strategy, and enabling an AGV to carry out the planning of movement according to the shortest path if there is no conflict. And if the conflict exists, generating a global conflict set, and optimizing a conflict path through a weighted priority queue. And carrying out path search by utilizing a pruning strategy, and expanding nodes of which the total cost is lower than a cost threshold value. And if the new path after node expansion has no conflict, updating the new path as a potential optimal path. And re-executing path conflict detection between the AGVs until the shortest paths of the AGVs have no conflict, and obtaining a path planning result. By introducing a weighted priority queue mechanism, paths with serious conflicts or relatively high cost are processed preferentially, so that the calculation efficiency is improved. Meanwhile, a parallel collision detection strategy is adopted, so that the path planning efficiency is improved, and the waiting time is shortened. And in combination with a pruning strategy, redundant nodes in path planning can be avoided, and the search efficiency is improved.

The invention relates to a robot global path planning and local obstacle avoidance method and device and a mobile robot. The robot global path planning and local obstacle avoidance method comprises the following steps: S1, constructing an immunoaffinity function; s2, establishing a two-dimensional plane environment model; s3, global path optimization based on an individual body type top-level food grazing strategy; s4, carrying out local obstacle avoidance detection; s5, obstacle grid evaluation based on a pseudo-virus diffusion algorithm; s6, building an obstacle protection area and controlling fitting motion; and S7, continuously monitoring the state of the obstacle in the obstacle avoidance process, and controlling the robot to adjust the trajectory to return to the original global planning path when detecting that the obstacle is separated from the obstacle avoidance area. According to the invention, global shortest path planning is realized through local area path optimization, and the traffic efficiency is improved.

The invention discloses an indoor positioning method based on a Bluetooth RSSI (Received Signal Strength Indicator), which comprises the following steps: after a positioning tag receives RSSI data broadcasted by Bluetooth beacons, screening the beacon with the strongest signal and calculating the distance; current data is directly adopted in first positioning, and translation processing is performed in combination with historical positions in non-first positioning so as to smooth a result. And mapping the position points to path points through a road network matching algorithm, preliminarily positioning the path points based on shortest path planning, and outputting a final positioning result through a filtering rule. According to the invention, the problem of positioning fluttering caused by fluttering of the Bluetooth RSSI signal, the problem of back-and-forth jumping of actual positioning caused by instability of the Bluetooth RSSI signal and the problem of signal abnormity caused by signal interference caused by metal, a wall body or a human body are effectively solved.

The invention provides a multi-shell low-orbit constellation end-to-end communication shortest path planning method and device based on state optimization. The method comprises the following steps: integrating information of satellites and ground stations in a multi-shell low-orbit constellation, and updating a virtual constellation network topology in real time; according to a graph theory principle, taking a satellite and a ground station as nodes, and abstracting a virtual constellation network topology into a weighted graph; selecting an optimal starting satellite node in the weighted graph according to the position information of the starting user, the comprehensive elevation angle, the satellite orbit state and the distance constraint with the target user; and taking the optimal satellite node as a starting point of the first round of search process, and iteratively searching the optimal next-hop node according to the state of the current node in the weighted graph in each round of search process until the optimal satellite node associated with the target user is searched, so as to determine the final shortest path. According to the method, a virtual node method is adopted to cope with topology complexity, path planning efficiency is optimized in two stages, and efficient and stable operation of low-orbit satellite constellation communication is effectively promoted.

The invention provides a tether robot shortest path planning method adapted to a multi-obstacle terrain, and relates to the technical field of robot path planning, the method comprises the following steps: obtaining an occupation grid map of a tether robot according to a target position of the tether robot; constructing a block map corresponding to the occupation grid map according to the occupation grid map; performing width-first search on all tether points of a tether of the tether robot in the block map to obtain a candidate block sequence set; according to a preset tether length constraint, performing dichotomy search on the candidate block sequence set to obtain a shortest tether path; path planning is conducted according to the shortest tether path, and the working path of the tether robot is obtained. According to the method, the width-first search and the dichotomy search are performed based on the block map, so that the real-time performance and the global performance of the path planning of the tether robot are remarkably improved.

The invention discloses an unmanned aerial vehicle path planning method for routing inspection data return and a related device. The unmanned aerial vehicle path planning method comprises the following steps: initializing a task scene for returning routing inspection data; constructing a shortest path planning method based on an improved A * algorithm; in the task scene of returning the inspection data, performing unmanned aerial vehicle path planning for a large-data-volume returning task based on the shortest path planning method of the improved A * algorithm; under the task scene of returning inspection data, unmanned aerial vehicle path planning for small data volume returning tasks is carried out based on the shortest path planning method of the improved A * algorithm, and the method and the related device can be used for planning the path of the unmanned aerial vehicle for the small data volume returning tasks based on an intelligent optimization algorithm and a graph search algorithm. And multi-task flight path planning of post-disaster data return and obstacle avoidance flight of the unmanned aerial vehicle is realized.

The invention relates to a planar robot global path planning method based on a sunlight irradiation principle, which comprises the following steps: dividing a search map into an obstacle area and a free area, and determining a path node dynamic update data set and a directed graph set; firstly, a sunshine point is selected from a data set, then path tangency points of an obstacle are searched by taking the sunshine point as a center and using a tangency point search function, the path tangency points are added into the set, nodes in the data set are screened by using a data set screening mechanism, and then the path tangency points in the data set are screened; adding all the screened path tangency points into a data set as an alternative of a next sunshine point; and calculating the path cost of all the feasible paths and sorting the path cost, and selecting the feasible path with the minimum path cost to carry out back-end optimization to generate an optimal feasible path. According to the method, the path tangency point located at the edge of the obstacle can be quickly searched, the feasible path can be quickly constructed, and the convergence speed of the algorithm is improved while the shortest path planning is realized.

The present application discloses an AGV path planning method, device and medium based on cold and hot degrees, which relates to the technical field of logistics management and is used for planning the AGV path. Aiming at the problem of traffic jams that are prone to occur currently, an AGV path planning method based on cold and hot degrees is provided. The passing cold and hot degrees of each grid are calculated through historical passing data to represent the passing frequency of the AGV passing through the grid, and then the global grid map is divided into multiple regions with different levels in the form of passing cold and hot degrees. Therefore, when performing path planning for logistics tasks, path planning can be carried out according to the preset task priorities. The more important the task is, the shortest path planning can be carried out in the regions with more passing cold and hot degree levels to obtain the optimal path. The expected traffic conditions are taken into consideration to more reasonably plan the AGV path, effectively reducing the occurrence probability of traffic jam problems, and thereby improving the operation efficiency of the AGV system.

The invention relates to the technical field of air traffic management, in particular to an analog simulation method and system for a low-altitude traffic digital twin platform, and the method comprises the steps: obtaining a road plane projection drawing of a target area from the digital twin platform, the road plane projection drawing comprises buildings, roads and backgrounds, and dividing each road into a plurality of road sections; determining a risk cardinal number of the road section; determining the risk weight of the aircraft reaching each road section based on the intersection point between the road sections, the length of each road section and the real-time wind speed of the target area; and determining the comprehensive weight of each road section by using the risk weight, the risk cardinal number and the distance weight of each road section, and determining the final shortest path of the aircraft from the starting point to the terminal point in the target area according to the comprehensive weight. Therefore, the reliability and the safety of the shortest path planning of the aircraft are improved.

The invention relates to a dynamic path planning method and device based on time sequence convolutional network traffic prediction, and a medium. The method comprises the following steps: S1, modeling a to-be-planned regional road network; s2, on the basis of historical traffic data, using a time sequence convolutional network and a gating circulation unit to predict future travel time of a planning area, and forming a dynamic weight table W; and S3, performing global shortest path planning by using an improved Dijkstra algorithm based on the regional road section travel time prediction made in S2. According to the dynamic path planning method for traffic prediction based on the time sequence convolutional network, the traffic prediction model fusing the time sequence convolutional network and the gating circulation unit is used for solving the path planning problem under the dynamic path weight, the efficient time sequence data processing capacity and parallel processing capacity are achieved, and the traffic prediction efficiency is improved. And meanwhile, full-time-domain optimal path planning is realized on the basis of an improved Dijkstra algorithm.

The application relates to the technical field of light industry, in particular to a method, system, device and medium for controlling the movement of a round hole drilling machine, the method comprising: obtaining a PLT file by using an interactive device, performing analysis based on the PLT file, and obtaining a set of circles; obtaining the radius and the center coordinates of all the circles in the set of circles; classifying the set of circles according to the radius of all the circles to obtain a set of circles with multiple types of radius; performing shortest path planning on the set of circles with each type of radius based on the center coordinates to obtain a target path information set of the set of circles with multiple types of radius; storing the target path information set in the register of the interactive device; sending the target path information set to a PLC controller by using the interactive device; and sending displacement pulse instructions to the round hole drilling machine based on the target path information set by using the PLC controller, so that the round hole drilling machine performs a drilling operation corresponding to the displacement pulse instructions, and the automatic control of the round hole drilling machine is realized, the production efficiency is improved, and the operation difficulty is reduced.

The application relates to the field of carrier obstacle avoidance scheduling management, and particularly discloses a multi-mobile carrier obstacle avoidance scheduling method and system based on 5G and graph algorithm fusion, which comprises the following steps: acquiring the running state information of each mobile carrier, and performing data preprocessing on the running state information of each mobile carrier at a 5G receiving front end. After the data preprocessing is completed, the 5G receiving front end transmits the data to a 5G transmitting end, the data is transmitted to a warehouse base station belonging to a cloud end through a radio frequency signal based on a 5G transmitting antenna, is converted into a binary digital signal that can be stored by the cloud end, a signal is transmitted to a graph algorithm module by the cloud end to calculate a shortest path planning, a specific obstacle avoidance instruction is generated by sending the path to an obstacle avoidance instruction generation module, each mobile carrier is issued by the cloud end, and obstacle avoidance scheduling control is completed.

The invention discloses a fertilizer applicator in-field path planning method for soil mechanical compaction and reduction, and relates to the field of agricultural machinery dispatching. The invention aims to solve the problem that a fertilizing machine can roll soil in a field operation link. The method comprises the following steps: constructing a path code set containing turning node coordinates, turning direction angles and fertilizer applicator operation speeds in a fertilizer applicator operation path; and carrying out genetic operation on the path coding set by utilizing a genetic algorithm to obtain an optimal path. On the premise of ensuring the working efficiency, the soil compaction area is reduced, the shortest path planning of the in-field operation of the fertilizer applicator is deployed, and the high-efficiency and low-damage precise operation is realized.

The application discloses a kind of twin factory AGV path planning method, system, medium and equipment, it is related to path planning field, including obtaining and constructing twin factory 3D model;With the shortest path planning time and the minimum planning path length as the objective function of path planning, the PSO-A* algorithm is used to optimize the path, to determine the global optimal path planning result of automatic guided vehicle AGV in twin factory 3D model;Wherein, the PSO-A* algorithm is improved by introducing PSO algorithm to iteratively update the weight of heuristic function in evaluation function in A algorithm, to carry out path planning, including: determining the initial fitness value of each particle based on objective function, using particle swarm optimization PSO algorithm to iteratively update the position and speed of each particle in particle swarm, determine the fitness value of each particle after iteration update, the weight value corresponding to the particle position of optimal fitness value is used as the new weight of heuristic function in evaluation function in improved A* algorithm.

The present application is suitable for the technical field of loaders, and provides a driving path planning method for unmanned loaders. The present application can realize the unmanned driving function of articulated loaders, and thus can eliminate the dependence on drivers, thereby significantly improving the working efficiency of articulated loaders and effectively reducing the incidence of driving accidents. The present application adopts a multi-objective path planning strategy under constraints compared with the traditional single-objective shortest path planning method, aiming at the characteristics of complex structure and harsh working environment of articulated loaders. This innovation can better adapt to the needs of articulated loaders in harsh working environments, and improve the practicality and adaptability of path planning. The present application introduces a learning function and successfully constructs an adaptive Kriging Monte Carlo dynamics proxy model. The introduction of this model effectively solves the problem of long simulation calculation time, making the acquisition of vehicle characteristic parameters more rapid and efficient.

The present application relates to a kind of quick numerical control programming method of lightweight cabin section structure, belong to cabin section structural member processing field.Lightweight cabin body structure product processing feature library and feature process library are established based on process knowledge;Processing feature is pre-defined, and through feature recognition, synchronous processing, second feature recognition, feature recognition accuracy 100% is realized;Processing feature is listed and displayed, sorted and saved, and the shortest path planning of tool path is realized;The mapping relationship of processing feature and feature process is established, and automatic process decision and tool path generation are realized;Through batch modification processing parameter, the tool path quality of different size specification feature is improved.The present application effectively solves the problems of complex structure, large number of features of lightweight cabin section structure product numerical control programming, such as large amount of repetitive work, low efficiency, long time, slow task response speed, improves numerical control programming efficiency and standardization, ensures programming quality stability, and provides effective guarantee for production and manufacture of spacecraft lightweight cabin section structure product.

The application discloses a kind of underwear cutting machine with visual positioning double-head asynchronous shortest path planning method, the application relates to underwear cutting technical field, solve the problem that there is still defect in the positioning accuracy, segmented scientificity, double-head collaboration efficiency of path planning technology, the present application is aimed at the smooth cutting section and fine cutting section after division, respectively using "the shortest invalid path" strategy optimal path planning: when planning, by "near endpoint connection", reduce the cutting head moving empty course, reduce invalid driving time;At the same time, two groups of cutting heads undertake the cutting task of smooth cutting section and fine cutting section, combined with asynchronous collaboration mode, without waiting for each other, and through time difference optimal division strategy reduces the task time difference of two groups of cutting heads, realizes load balancing, greatly improves the synergy and overall processing efficiency of double-head collaboration.

The invention relates to the technical field of light industry, in particular to a method, a system, equipment and a medium for controlling movement of a round hole punching machine, and the method comprises the following steps: acquiring a PLT file by utilizing interactive equipment, and analyzing based on the PLT file to obtain a set of circles; obtaining radiuses and circle center coordinates of all circles in the circle set; classifying the set of the circles according to the radiuses of all the circles to obtain a set of circles with multiple types of radiuses; performing shortest path planning on the set of each type of radius circle based on the circle center coordinates to obtain a target path information set of the set of multiple types of radius circles; storing the target path information set in a register of the interactive device; the target path information set is sent to a PLC through interaction equipment; and the PLC is used for sending a displacement pulse instruction to the round hole punching machine based on the target path information set so as to control the round hole punching machine to execute drilling operation corresponding to the displacement pulse instruction, and the purposes of achieving automatic control over the round hole punching machine, improving the production efficiency and reducing the operation difficulty are achieved.

The invention discloses a visual positioning double-end asynchronous shortest path planning method for an underwear cutting machine, relates to the technical field of underwear cutting, solves the problem that a path planning technology still has defects in positioning precision, segmentation scientificity and double-end cooperation efficiency, and aims at a smooth cutting section and a fine cutting section after division. An optimal path is planned by adopting a'shortest invalid path 'strategy: when a plurality of cutting sections of the same type are planned, the moving idle stroke of a cutting head is reduced through'connection of nearby endpoints', and the invalid driving time is shortened; meanwhile, the two groups of cutting heads respectively undertake the cutting tasks of the smooth cutting section and the fine cutting section, an asynchronous cooperation mode is combined, mutual waiting is not needed, the task time consumption difference of the two groups of cutting heads is reduced through a time difference optimal division strategy, load balancing is realized, and the collaboration of double-head cooperation and the overall machining efficiency are greatly improved.

The embodiment of the invention discloses an installation and maintenance work order planning method and electronic equipment. The method comprises the steps that target installation and maintenance work order information is acquired, and the target installation and maintenance work order information comprises identification information of one or more broadband access devices to be installed and maintained; according to the identification information of the one or more broadband access devices and a data storage library, determining positioning information of installation and maintenance places corresponding to the one or more broadband access devices in a map; according to the target installation and maintenance work order information, the positioning information of the one or more broadband access devices and a first shortest path planning algorithm, determining path planning information of installation and maintenance personnel for completing installation and maintenance of the one or more broadband access devices; and presenting the path planning information. Through the scheme, intelligent path planning and real-time position visualization of the installation and maintenance work order are realized, and the installation and maintenance efficiency and customer satisfaction of installation and maintenance personnel are effectively improved.

The invention discloses an unmanned ship global shortest path planning method based on a sparse graph, and the method comprises the following steps: 1) carrying out the initialization, and inputting a starting point, an end point, the vertex coordinates of all obstacles, and a safety distance; 2) eliminating a large number of irrelevant obstacles through an elliptical limited area and an obstacle screening mechanism so as to reduce the calculation scale; 3) constructing a path point candidate set through a method of adaptively generating feature points based on an obstacle vertex included angle and a safe distance; 4) determining a specific sorting strategy to rearrange the feature point list so as to guide the search direction of global path planning; 5) sequentially converting the feature points in the feature point list into nodes with specific structures, and adding the nodes into a node list to construct a path sparse graph; and 6) generating a global shortest path through a specific greedy optimization algorithm backtracking from the end point to the starting point. The method is an efficient calculation method for realizing global, safe and shortest path planning by constructing and searching a special sparse graph structure.

The invention provides a target wheel switching device and a target switching method thereof, and relates to the technical field of thermal imager test.The target wheel switching device is characterized in that a plurality of targets are arranged on the outer ring of a target wheel in the circumferential direction, and a blocking piece is arranged on the inner ring of the target wheel; the target wheel is rotatably installed on the target wheel support, and the target wheel support is further provided with a plurality of photoelectric doors capable of being blocked by the blocking pieces; and the controller determines the rotation direction according to the current target, the target target and the total number of the targets, then determines the target rotation amount from the current target to the target target, and then controls the target wheel to rotate according to the rotation direction and the target rotation amount so as to complete target switching. The method has the beneficial effects that the shortest path planning and rapid and accurate control of target wheel switching are realized through intelligent direction decision, accurate positioning of a rotation amount dictionary and a photoelectric door auxiliary reset mechanism, the defects of low switching efficiency and path redundancy in the prior art are thoroughly overcome, and the overall efficiency of thermal imager testing and the system response speed are remarkably improved.

This invention discloses a method for planning the shortest path through weld seams for a spherical tank inspection robot, including the following steps: 1. Constructing a 2D map of the spherical tank; 2. Constructing an undirected connected graph; 3. Identifying Eulerian circuits; 4. Constructing a locally undirected connected graph; 5. Constructing the shortest path Eulerian circuit using the odd-even graph construction method; 6. Updating the undirected connected graph; 7. Planning the robot's shortest path through weld seams using a depth-first search algorithm. This invention transforms the 2D map of the spherical tank weld seams into an undirected connected graph and uses the odd-even graph construction method to construct Eulerian circuits, ensuring that the spherical tank climbing robot can traverse all weld seams on the shortest path. Combined with the depth-first search algorithm, it achieves shortest path planning through Eulerian circuits, optimizing the efficiency and accuracy of the robot's weld seam traversal, providing an efficient path control scheme for the robot, and improving its operational capabilities and autonomous navigation level in complex environments.

This invention discloses a global shortest path planning system and method for fixed-point inspection of intelligent inspection robots, relating to the field of intelligent operation and maintenance robot technology. This invention establishes a grid map of the computer room, configures multiple types of inspection points, constructs an inspection point database and a weighted topology graph, and uses Chebyshev distance-based modeling and ant colony algorithm to complete the global shortest path sequence planning. The robot performs inspections along the path sequence and executes obstacle judgment and corresponding obstacle avoidance post-processing strategies when encountering obstacles. It can automatically generate a global shortest path traversing all inspection points, effectively solving the technical problems of insufficient path planning optimization, inability to quickly replan the path after obstacle avoidance, and low inspection efficiency in existing technologies, thereby improving the intelligence level and operational efficiency of computer room inspection robots.

The application discloses a kind of parking lot multi-vehicle coordination's dynamic path planning method and system, the method includes: S1, road network modeling and initialization, constructs topological road network model;S2, road network time sequence state dynamic update, according to the planning way of other already in the way vehicle in parking lot, determine the node or road section occupation corresponding to each time point of the vehicle in planning period, lay a foundation for subsequent shortest path search and road network state update;S3, dynamic shortest path search, based on road network time sequence state, the shortest path from starting point to target node is calculated using dynamic shortest path search algorithm;S4, trigger type re-planning;S5, path output and navigation guidance, the current optimal path and alternative path information are output to user or vehicle-mounted system.The application explores the dynamic shortest path planning method of the occupation interaction of multi-vehicle in parking lot in detail, can reflect the multi-vehicle operating state inside parking lot in real time, effectively reduce path conflict and local congestion probability, support high-frequency dynamic update, suitable for complex, dense parking lot operating environment, provide important reference for the core path planning of intelligent parking system and automatic parking system.

The present application relates to the field of autonomous driving technology, and more particularly to a vehicle navigation method and apparatus, wherein the method comprises: obtaining coordinate data of a vehicle's starting point and end point, matching the nearest lane from a pre-constructed lane network based on the coordinate data of the starting point and end point, wherein the lane network is constructed based on a lateral variable lane network, and calculating the shortest path based on the connectivity relationship between the nearest lane and the lane network to obtain a path set of the shortest path, and interpolating the path set at preset intervals to obtain a set of route points to obtain a global navigation path. The embodiments of the present application can perform real-time shortest path planning based on the connectivity relationship between lanes. By utilizing the constructed lane network, the output efficiency of navigation information is improved, thereby ensuring the accuracy and reliability of the path planning results, making vehicle navigation more accurate and efficient.

The application relates to the technical field of ship path planning, and particularly discloses a ship path planning method and system for exploring potential water surface dangerous areas, which comprises the following steps: acquiring known dangerous areas and potential dangerous areas; generating observation points on the edges of each potential dangerous area to obtain a set of potential observation points; establishing a visibility graph, wherein the nodes of the visibility graph are the observation points, the edges are paths between two observation points which do not pass through the known dangerous areas and the potential dangerous areas, and the edge weight is the length of the path; solving a TSP problem with group constraints by using an improved ant colony algorithm on the visibility graph to obtain a shortest path covering all the potential dangerous areas, which is used as a ship planning path. The application realizes shortest path planning of a ship in a target sea area to bypass the known dangerous areas and traverse the edges of all the potential dangerous areas, and realizes safe and efficient shortest path planning.