500 results about "Terminal point" patented technology

The invention discloses an unmanned aerial vehicle full-coverage path planning method, system and device and a storage medium, and relates to the field of unmanned aerial vehicles. The method comprises the following steps: acquiring preset map information of a first target area, and determining a second target area for delivering materials according to the preset map information; determining a relay unmanned aerial vehicle set according to the data information, a preset starting point, a second target area, preset map information, a first communication distance of the first unmanned aerial vehicle and a second communication distance of the relay unmanned aerial vehicle, and determining a second initial path of the second unmanned aerial vehicle according to the first initial path; controlling the first unmanned aerial vehicle and the second unmanned aerial vehicle to fly according to a preset initial path, and adjusting the preset initial path according to the environmental data collected by the first unmanned aerial vehicle; and when the first unmanned aerial vehicle arrives at a preset terminal point, determining flight paths of other unmanned aerial vehicles according to the actual load weights and types of the other unmanned aerial vehicles in the transportation unmanned aerial vehicle group and the environment data. By implementing the technical scheme provided by the invention, the task execution efficiency of the unmanned aerial vehicle group is improved.

The invention belongs to the technical field of multi-robot path planning, and particularly relates to a consistent path planning method for multi-robot collaborative operation. Firstly, an environment map is converted into a grid map, and a starting point and a terminal point of each robot are set; then, calculating a priority score of each robot, layering all the robots according to the priority scores to obtain inter-layer priorities, and determining intra-layer priorities of the robots according to the priority scores; finally, according to the starting point and the ending point of the robot, a plurality of optional paths are generated for the robot through the Yen's algorithm, the motion paths of the robot are distributed according to the priority in the layer, and primary distribution of the motion paths is achieved; and according to the inter-layer priority, re-allocating the primarily allocated motion paths of the robots, and finely adjusting the primarily allocated motion paths to ensure that the motion paths of all the robots do not conflict. According to the method, a strategy of combining hierarchical path allocation, intra-layer priority ranking and inter-layer conflict detection is adopted, path conflicts can be effectively reduced, meanwhile, a new path generated through re-planning is continuation of a previous path or a subset of the previous path, continuity and consistency of path planning are guaranteed, and path changes are reduced.

The invention relates to the technical field of air traffic management, in particular to an unmanned aerial vehicle conflict-free route planning method and system applied to a low-altitude airspace, and the method comprises the steps: obtaining the starting point and terminal point information of the flight of an unmanned aerial vehicle in an airspace unit when detecting that a new unmanned aerial vehicle enters the airspace unit; acquiring information about whether the grids of the airspace units have conflicts or not; obtaining reachable grids and feasible grids of the unmanned aerial vehicle; obtaining alternative nodes based on the feasible grids of the unmanned aerial vehicle; based on the alternative nodes, a preset constraint condition and the power consumption, obtaining a directed weighted graph; a path in the directed weighted graph represents a conflict-free track; searching the directed weighted graph by adopting an A-star algorithm to obtain an optimal conflict-free track, and controlling the unmanned aerial vehicle to execute the optimal conflict-free track; according to the invention, the optimal conflict-free flight path of the unmanned aerial vehicle can be efficiently and rapidly planned.

The invention discloses a surface mine transportation real-time intelligent scheduling method and system based on multi-objective optimization. The method comprises the steps that S1, an initial data loading module initializes the system; s2, the algorithm module verifies the vehicle state after receiving the scheduling request; s3, executing a path generation strategy according to states, wherein a normal vehicle generates all feasible routes based on the global path network; when a user appoints a starting point and a terminal point, a point-to-point optimal route is intelligently generated; s4, performing dynamic optimization scheduling based on the multi-source data; optimal task allocation is solved through a multi-objective optimization model, and a vehicle and route mapping relation is output; and S5, a scheduling result is issued to the vehicle-mounted terminal through the service layer, and a terminal interface displays a recommended route and operation guidance. According to the invention, a dynamic event-driven mechanism and a multi-source data collaborative optimization intelligent scheduling framework are fused, so that efficient distribution of vehicle tasks, real-time generation of paths and quick response to abnormal conditions are realized.

Embodiments of the invention provide a tree form data processing method and apparatus, an electronic device and a readable storage medium. The method comprises the steps of determining selected information corresponding to a selected instruction; monitoring a dragging action of a mouse cursor, predicting a real-time terminal point position of the model through a dragging terminal point, and dynamically rendering a visual prompt layer at the same time; when monitoring that the dragging action is a stop action, determining the placed data and obtaining a data path, and when the data type of the to-be-dragged data is a combination type, obtaining a data set of a to-be-dragged combination where the to-be-dragged data is located and an index position where first data in the to-be-dragged combination is located, assigning the index position to a tail end index in a data path of the data to be dragged; and traversing data elements adjacent to the placed data in the data path of the placed data to update the key value distribution. According to the method, the defect of performance optimization in the process of executing the dragging action by the preset tree form is effectively solved, and the experience feeling in the process of operating the preset tree form by a user is remarkably improved.

The invention provides a robot-based blade interior autonomous crawling sensing method and system, and the method comprises the steps: carrying a multi-sensor array on a robot, the multi-sensor array comprises a binocular fisheye camera array and a ToF sensor array, controlling the robot to start from a path travel starting point, obtaining a panoramic depth image based on the multi-sensor array, and transmitting the panoramic depth image to the robot; recognizing an obstacle based on the panoramic depth image, constructing a three-dimensional point cloud map based on the obstacle, avoiding the obstacle based on the three-dimensional point cloud map, generating a feasible path in the blade, and enabling the robot to move based on the feasible path until the robot reaches a path travel terminal point or a minimum space in which the robot cannot pass. Autonomous crawling perception of the robot in the blade can be ensured, movement of the robot in the blade is ensured, and detection is realized.

The invention discloses a Text-to-SQL (Structured Query Language) generation method and device, a medium and a product, and relates to the field of geographic information technology application, the method comprises the following steps: analyzing a natural language query text input by a user to obtain a source field set and a target field set; determining corresponding nodes of each field in the source field set and the target field set in the river-lake long-system database mode knowledge graph to obtain a source node set and a target node set; the nodes in the source node set serve as starting points, the nodes in the target node set serve as terminal points, the knowledge graph is processed through the shortest path algorithm, and a path set is obtained; decomposing the natural language query text into a plurality of sub-problems by adopting a large language model and a thinking chain technology, and obtaining a dependency relationship among the sub-problems; according to the dependency relationship and the target field set, a public table expression is obtained, and then the SQL statement is obtained, and the accuracy of database query language generation under the river and lake long-term system scene can be improved.

The invention belongs to the technical field of intelligent transportation, and particularly relates to a multi-vehicle alliance collaborative path decision method based on interoperation, which comprises the following steps: acquiring scene information; acquiring a temporary terminal point of the gaming vehicle; grouping the vehicles according to the temporary terminal points of the game vehicles and the current positions of the game vehicles to form sub-communities; obtaining the strategy action of each vehicle in the sub-community, and adjusting to obtain the state of the sub-community; based on the adjusted sub-community state, obtaining the road section duration when all vehicles in the sub-community arrive at the temporary destination; based on the road section duration and the intersection time consumption, calculating the income of the strategy action corresponding to the sub-community and the average income until the sub-community state corresponding to the optimal income is obtained; establishing an ordinary differential equation based on the earnings of the policy actions corresponding to the sub-communities, the average earnings of the policies and the states of the sub-communities, solving by using a fourth-order Runge-Kutta method, and converging to a stable point capable of reaching a Nash equilibrium state; and distributing the route of the vehicle based on the sub-community state corresponding to the Nash equilibrium state.

The invention provides a driving decision generation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining path information which is a navigation path between a starting point and a terminal point; obtaining visual perception information, wherein the visual perception information is used for representing environment information around the vehicle; according to the path information and the visual perception information, a driving decision is generated, and the driving decision is used for controlling the vehicle to drive in the corresponding lane. In the embodiment of the invention, the driving decision is generated according to the navigation path and the visual perception information, the navigation path in the embodiment of the invention is low-precision navigation, and the visual perception information is the environment information obtained by the vehicle-mounted camera, that is, the embodiment of the invention does not need a high-precision map and a high-precision sensor, so that the driving decision is more accurate. Only a low-cost navigation program and a camera of the vehicle are needed, so that the vehicle use cost is reduced.

An equipment control method, applied to a mobile terminal, includes: positioning, in response to the mobile terminal pointing to equipment to be controlled in which an external ultra-wideband positioning device is installed, the external ultra-wideband positioning device, the external ultra-wideband positioning device having a binding relationship with the equipment to be controlled; determining the equipment to be controlled that is bound to the external ultra-wideband positioning device based on the binding relationship, in response to positioning to the external ultra-wideband positioning device; and retrieving and displaying a control interface of the equipment to be controlled that matches the equipment to be controlled. When the terminal points to the equipment to be controlled, it can automatically select and control the equipment to be controlled in which an external ultra-wideband positioning device is installed, such that the equipment that originally had no ultra-wideband positioning control can be controlled automatically and intelligently.

The invention discloses a speed planning method and device for a mobile robot, equipment and a storage medium. The moving process of the mobile robot from the starting point to the terminal point is divided into a plurality of stages according to the time sequence, acceleration step is avoided, the service life of the mobile robot can be effectively prolonged, and the failure rate is reduced; besides, the corresponding relation between the displacement and the speed is constructed, so that speed control can be directly carried out on the movement process of the mobile robot subsequently based on the corresponding relation, complex calculation is not needed, and smooth and efficient acceleration and deceleration control can also be realized by a microcontroller with general performance.

The invention provides a vehicle driving track deduction method for a large-area monitoring blind area, and belongs to the technical field of intelligent traffic, and the method comprises the steps: firstly positioning a starting point road section and a terminal point road section of a target vehicle, and then determining a structure of a Bayesian network by referring to a traffic road network topological relation; in combination with real-time traffic data such as vehicle speed, traffic flow and road width, influence factors are quantified, probability values of each father node and each child node are calculated, and then Bayesian network parameters are obtained. Then, effective connection of road sections in the road network structure is achieved by selecting the road sections corresponding to the nodes with the high probability values, and finally target vehicle driving track deduction from the starting point to the ending point is completed. According to the method, the real driving track of the vehicle in the large-area monitoring blind area is highly restored, and the collaboration degree of various traffic data is improved.

The invention provides a multi-AGV conflict solving scheduling method based on a graph theory, and the method comprises the steps: planning a planning path from a starting point to a terminal point for each AGV, and issuing an actual path to the AGV for execution; defining a conflict detection range in a planned path for each AGV, calculating a conflict relationship between each AGV and other AGVs in the range, and updating a graph structure representing the conflict relationship between the AGVs according to the conflict relationship; identifying whether a cyclic conflict which cannot be solved by simply adjusting a sequence or a path exists in the conflict graph, and designing and issuing a specific unlocking path or a conflict solving strategy according to the detected deadlock; and according to the conflict resolution strategy, the planned path of the related AGV is adjusted in real time, and the adjusted path is used as an issuing path to be sent to the AGV for execution so as to deal with dynamically occurring conflicts. The method is used for solving conflicts and deadlocks in the multi-AGV scheduling process, and deadlocks are prevented from being formed in advance under the condition that information is sufficient.

The invention belongs to the technical field of traffic, and particularly relates to a competition-considered electric vehicle charging reachability analysis method, system and device. The method comprises the following steps: rasterizing and coding a map of a target area, marking grids containing charging stations, and generating a starting point set and an ending point set; defining a path that a user drives a vehicle from a starting point to any charging station and then drives out in a non-driving mode as a charging trip chain; and generating all candidate charging trip chains from the specified starting point to the specified terminal point through the optional charging station, finally, calculating the charging accessibility between any two points in the target area by combining the weighted average generalized charging process cost of the vehicle between any two points and the competitive attraction of the charging station to the vehicle, and generating a corresponding thermodynamic diagram. According to the invention, the problems that the space distribution of the actual travel demand of the user is not considered in the space layout of the existing charging station, the charging reachability distribution among different places in the area is unbalanced, and the charging experience of the user is poor are solved.

The invention provides a pressure detection method and semiconductor process equipment, and the method comprises the steps: obtaining a first pressure detection value of a first target sensor which carries out the pressure detection at present, and judging whether the first pressure detection value is greater than or equal to a fusion starting point of the first target sensor and is smaller than a fusion terminal point of the first target sensor or not; when the first pressure detection value is greater than or equal to the fusion starting point of the first target sensor and smaller than the fusion ending point of the first target sensor, acquiring a second pressure detection value of a second target sensor; and performing fusion calculation on the first pressure detection value and the second pressure detection value to obtain a final pressure detection value. According to the invention, the problem that a pressure detection value suddenly changes when a small-range pressure sensor is switched to a large-range pressure sensor to detect pressure can be avoided, the pressure detection precision is improved, the stability of a pressure control process is ensured, and the influence of pressure fluctuation on a process result is avoided.

A sorting system includes a first number of entry points configured to provide sorting goods. The sorting system further has a second number of terminal points configured to receive the sorting goods, and a third number of driverless sorting vehicles configured to transport the sorting goods between the first number of insertion points and the second number of terminal points. Further, a control device is provided, configured to control the driverless sorting vehicles between the first number of insertion points and the second number of terminal points.

The invention discloses a highway intelligent site selection and evaluation method and system, and the method comprises the following steps: obtaining the position information of a starting point, an end point and an inevitable point of a highway, building grids on a map according to the position information of the starting point, the end point and the inevitable point of the highway, and calculating the cost value of a natural resource or an adjacent avoidance facility related to each grid; and traversing all grids, selecting the grid with the minimum total cost value from the starting point to the necessary point, selecting the grid with the minimum total cost value from the necessary point to the terminal point, automatically calculating the highway design elevation according to the highway site selection construction conditions in combination with the DEM, the live-action three-dimensional and natural resource and geographic space database, and automatically generating a highway site selection scheme. According to the method, the highway project site selection scheme can be quickly generated, the optimal scheme is selected, subversive modification caused by occupation of natural resources such as cultivated land, farmland and ecological protection red lines is avoided, and the project landing period is shortened.

The invention discloses a mechanical arm obstacle avoidance path planning method which comprises the following steps: setting a starting point and a target point, adding a starting point tree and terminal point tree set, and initializing collision detection failure times; dynamically adjusting a sampling strategy according to the number of failures, and switching between constraint sampling and random sampling to generate sampling points; nodes are expanded in the starting point tree and the terminal point tree respectively, collision detection is carried out, if no obstacle exists, a corresponding tree set is added, and the number of failures is reset; if the obstacle exists, the failure frequency is increased, and sampling is carried out again; bidirectionally connecting the starting point tree and the ending point tree, finding a path if the starting point tree is communicated with the ending point tree, and ending planning; if the communication path is not communicated, selecting a tree with fewer nodes for expansion, and returning to re-sampling until the communication path is found; according to the method, the path planning efficiency and success rate of the mechanical arm in a complex environment are remarkably improved, and meanwhile the path length and energy consumption are reduced.

The invention relates to the technical field of unmanned aerial vehicle navigation, and relates to an unmanned aerial vehicle inspection path planning method, system and device and a storage medium. The unmanned aerial vehicle inspection path planning method comprises the following steps: acquiring a digital elevation model and a digital surface model of a plateau forest region and laser point cloud data of the plateau forest region; determining a three-dimensional voxel space of the plateau forest region based on the digital elevation model, the digital surface model and the laser point cloud data, performing reachability judgment on the three-dimensional voxel space based on the vertical safety margin, and determining a reachable region of the unmanned aerial vehicle; carrying out three-dimensional path search from a starting point to a terminal point by using an improved algorithm in an unmanned aerial vehicle reachable area; and smoothing the searched three-dimensional path, and applying a maximum turning radius constraint and a maximum climbing rate constraint to generate a final three-dimensional track. According to the invention, the safety and the performability of route planning of the unmanned aerial vehicle can be improved.

The invention discloses an unmanned aerial vehicle flight path planning method and system based on position navigation, and relates to the technical field of path planning, task information is acquired, the task information comprises a starting point position and a terminal point position, and a flight path is planned based on environment information and the task information; distributing the flight path to the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly according to the corresponding flight path; and collecting flight environment information in real time in the flight process of the unmanned aerial vehicle, adjusting the unit segment path which does not meet the flight condition to obtain a new unit segment path, and combining the new unit segment path with the adjacent unit segment path to obtain a real-time flight path. According to the invention, the information can be embedded into another carrier, so that the useful information can be transmitted without being noticed and cannot be easily found or read, and a good secret communication effect is achieved.

The invention provides a memory parking method, device and equipment, and the method comprises the steps: controlling a vehicle to run according to a memory parking route in a cruise stage when a user starts a memory parking function. And when the original parking space information of the memory parking route is detected, a target parking space is determined. And determining a splicing route based on the terminal point of the memory parking route and the target parking space. And the splicing route and the memory parking route are spliced, and the spliced memory parking route is obtained. And when the vehicle runs to the end point of the spliced memory parking route, the vehicle is controlled to be switched to a parking stage. In the parking stage, a first parking stage route for reversing to the target parking space is determined; and controlling the vehicle to reverse to the target parking space according to the first parking stage route. By splicing a section of forward driving route in the cruising stage, when the vehicle is switched from the cruising stage to the parking stage, the vehicle can reverse to drive to the target parking space, so that the continuity of the switching stage in the memory parking process is improved, and the user experience is improved.

The invention relates to a rapid edge search method based on a grid map, which comprises the following steps: acquiring starting point information and terminal point information of a path search task, and determining a starting point grid unit and a terminal point grid unit according to grid map data; the grid map data comprises a grid map, obstacle grids and passable grids; initializing a path search data structure by using the starting point grid unit to obtain an open list containing the starting point grid unit; searching a passable path from the starting point grid unit to the end point grid unit along the edge based on a greedy strategy, and updating the open list to obtain the open list containing a passable grid unit sequence; and obtaining a current optimal node grid unit of the open list, and when the current optimal node grid unit is the end point grid unit, generating an optimal path according to the open list. By adopting the method, the path from the starting point to the ending point can be quickly obtained, unnecessary search areas are reduced, and the search rate is improved.

The invention discloses an airship type unmanned aerial vehicle inspection system and inspection method, and belongs to the field of inspection unmanned aerial vehicles. The system comprises a laser radar, an image acquisition device, an airship capsule filled with helium, a standby safety airbag, a communication module and a ground control center, in the method, the ground control center sets an inspection path and issues the inspection path, and the unmanned aerial vehicle flies according to a preset path. During fault detection, the high-definition camera collects images to recognize line cracks and broken strands, the thermal infrared imager monitors the joint temperature, the gas sensor detects abnormal gas, and multi-source data fusion assists in defect positioning. The routing inspection takes a starting point-terminal point connecting line of a power transmission line as a reference, identifies main obstacles and surrounding nodes to perform global planning, performs key routing inspection on a risk area in combination with historical data, and initializes and guides a flight direction through a Q value to reduce invalid exploration. The four-rotor unmanned aerial vehicle solves the problems of short flight time and poor stability of a four-rotor unmanned aerial vehicle, improves the inspection stability and cruising ability, and improves the inspection efficiency of a power transmission line and the reliability of a power system.

The invention belongs to the technical field of optimal planning and site selection of electric vehicle charging stations, and particularly relates to an electric vehicle charging station planning and site selection method, which comprises the following steps: S1, constructing an uncertainty set containing road and node traffic capacity loss; constructing a vehicle starting point-terminal point travel scene set in combination with the historical travel data of the vehicle; s2, constructing a network equalization model considering the arrival time fairness of the electric vehicle users according to the passing time cost difference of the electric vehicle users on the traffic road when the electric vehicle users go to the charging station from the starting point so as to solve regional traffic flow distribution; and S3, based on the traffic flow distribution in the S2, constructing a charging station planning model considering the user arrival time fairness, and determining an optimal site selection and capacity configuration scheme of the charging station. According to the method, the time fairness of the electric vehicle user arriving at the charging station can be ensured while the traffic uncertainty of the traffic network road section is effectively dealt with, and the method has a relatively good market application prospect.

The invention relates to the technical field of industrial production, in particular to a turnout control method and equipment of a sky rail conveying system.The method comprises the steps that terminal point information of a target sky rail vehicle is obtained from an upper computer, and a passing path is determined according to the terminal point information and current position information of the target sky rail vehicle; marking each section of track in the passing path as an occupied state; according to the advancing direction of the passing path, the turnouts are sequentially controlled to be switched and locked to target states corresponding to the turnouts in the passing path; after all the turnouts in the passing path are locked in the target state, the target sky rail vehicle is controlled to run in the passing path; and after the target sky rail vehicle enters the last section of rail in the passing path, marking each rail in the passing path as an idle state and unlocking each turnout. Therefore, transportation in the production environment is achieved through the sky rail and the sky rail vehicle, automation can be achieved, efficiency is improved, meanwhile, man-machine cross operation is avoided, smooth and safe transportation is guaranteed, and production safety is improved.

The invention relates to a deadlock-free core grain routing architecture construction method and device and a processor, and the method comprises the following steps: constructing a multi-data flow network structure in a core grain: constructing an internal subnet which is used for transmitting data in the core grain, does not interact with the outside of the core grain, and comprises at least one routing node and a function module capable of receiving and transmitting data; an outbound subnet is constructed, is used for data transmission in the direction away from the core particles, and comprises at least one routing node, a data transceiving function module and a boundary router; constructing an inbound subnet which is used for data transmission in a core particle direction and comprises at least one routing node, a data transceiving function module and a boundary router; a transmission subnet is constructed, is used for data transmission of which the starting point and the terminal point are other core particles, and comprises at least one routing node, a transmission module and a boundary router; and preventing data transmission from deadlock in the core particles and / or among the core particles according to the multi-data flow network structure through a core particle interaction protocol.

The invention discloses a robot control method, a robot, a storage medium and a program product, and relates to the technical field of automation control, the robot is provided with an image sensor, and the method comprises the following steps: receiving a user instruction, and analyzing the user instruction to obtain an instruction indication object and an instruction indication operation; a target label matched with the instruction indication object is determined from semantic labels of a semantic map corresponding to the external environment where the robot is located, and an entity object corresponding to the target label is determined as the operation object; determining an object position of the operation object based on the semantic map, generating a target path by taking the object position as an end point, and controlling the robot to run according to the target path; and when it is determined that the robot reaches the object position, the robot is controlled to execute the instruction indication operation on the operation object. The task execution efficiency of the robot in a complex environment is improved.

The invention provides a logistics distribution path planning method and system, and computer equipment. The method comprises the steps that historical distribution path information is acquired, data processing is carried out on the historical distribution path information, and the historical distribution path information comprises starting point information, terminal point information, passing point information and time information. Distribution parameters are determined according to the processed historical distribution path information, an intelligent path recommendation model is determined based on the distribution parameters, and the distribution parameters comprise the route length, the number of passing points and traffic condition information. And finally, to-be-delivered position information and traffic information are obtained, a path planning route is output based on the traffic information and the to-be-delivered position information through the path intelligent recommendation model, and the to-be-delivered position information at least comprises one of to-be-delivered starting point information, to-be-delivered terminal point information, to-be-delivered passing point information and to-be-delivered time information.

The invention relates to the technical field of traffic control, and provides an emergency lane abnormal occupation identification method, device and equipment and a storage medium, and the method comprises the steps: selecting a to-be-identified vehicle from a starting point driving video shot by a camera at a starting point of a congested road section when the existence of the congested road section is detected; determining a terminal driving video shot by the terminal camera when the to-be-identified vehicle passes through the terminal camera of the congested road section; determining reference driving data of a reference vehicle and to-be-identified driving data of the to-be-identified vehicle based on the to-be-identified vehicle, the starting point driving video and the terminal point driving video; and according to the reference driving data and the to-be-identified driving data, carrying out emergency lane abnormal occupation identification on the to-be-identified vehicle. According to the method, the to-be-recognized vehicle is selected, and the reference driving data and the to-be-recognized driving data corresponding to the to-be-recognized vehicle are acquired based on the driving videos at the starting point and the ending point of the congested road section, so that the to-be-recognized vehicle is subjected to emergency lane abnormal occupation recognition.

The invention discloses a method for solving path conflicts during cooperative work of multiple robots, which comprises the following steps of: defining a plurality of robot path point sets, judging and generating a conflict point set, and defining a plurality of conflict scenes in the conflict point set according to whether starting points and terminal points of the multiple robots are in the conflict point set or not. And calculating the in-situ waiting time of the robot in the task according to the conflict scene, and returning the in-situ waiting time to the robot to solve the path conflict problem. Compared with a traditional robot inspection mode, the inspection efficiency of the robot is improved, and the problem that the path cannot be dynamically adjusted and optimized in multi-robot inspection is solved.