440results about How to "Reduce the number of turns" patented technology

The invention discloses a mobile robot path planning method based on an improvement of an ant colony algorithm and particle swarm optimization. The method mainly solves the problems that in the prior art, the operating speed of an algorithm is low, and frequency of turning of an optimized path is high. The planning method includes the steps that modeling is carried out on a work environment of a robot; the particle swarm optimization is utilized to quickly carry out path planning, pheromones more than those around an obtained path are scattered on the obtained path, and guiding is provided for an ant colony; an ant colony algorithm optimized by the principle of inertia is adopted, and optimization is conducted on the basis of the particle swarm optimization; the motion path of the robot is output according to an optimization result. According to the planning method, comprehensive consideration is given to stability and robustness of the algorithm, iterations can be effectively reduced, searching efficiency is improved, the path length is shortened, the frequency of turning is reduced, path quality is substantially improved, and the planning method accords with an artificial planning intention and is suitable for autonomous navigation of various mobile robots in a static environment.

The invention discloses a parking system path planning method based on an improved ant colony algorithm, and aims at solving the problem of AGV vehicle access path planning in an intelligent parking garage so that vehicle accessing can be completed in the shortest possible time, utilization rate of parking places can be enhanced, time of waiting for vehicle accessing can be reduced for social members and automatic management of parking equipment can be realized. The concrete planning steps are that an AGV working environment model in the intelligent parking garage is created by adopting a grid method; the conventional ant colony algorithm is optimized and improved by introducing of new node state transfer probability and an updating strategy of combination of local and global pheromones; and simulated testing is performed on the AGV vehicle access path planning process by applying the improved ant colony algorithm and the result is outputted. The method has high global search capability and great convergence performance, and can effectively enhance path search efficiency, shorten search path length and reduce the number of path turnings and can also enable the AGV to effectively avoid obstacles in the complex operation environment so as to search the optimal collision-free path.

The invention discloses a self-excitation push-pull type converter, comprising a transformer. A closed magnetic core or iron core of the transformer is formed by a main part and a local part, wherein the local part achieves magnetic saturation earlier than the main part under excitation of the same increasing magnetic field. The converter disclosed by the invention can overcome the defects of the traditional self-excitation push-pull type converter, thus efficiency of the self-excitation push-pull type converter is obviously improved when the self-excitation push-pull type converter is in a light load state; when the self-excitation push-pull type converter is in a rated load state, the efficiency is further improved; number of windings of coils on a magnetic saturation transformer in the self-excitation push-pull type converter is reduced; working frequency of the self-excitation push-pull type converter is improved while loss is maintained to be lower; and probability that current peak is produced when the self-excitation push-pull type converter is conducted and closed is reduced, and the efficiency is further improved while output ripple is reduced.

The invention provides an automatic guiding vehicle global route planning method applicable to a logistics warehousing system. The method includes the steps of creating an environmental map accordingto environmental information; conducting noise removal, region planning and expansion treatment on the created environmental map; on the basis of the environmental map, obtaining the coordinate of a starting point n0 and the coordinate of a target point nt and conducting global route planning according to an optimized route cost function. According to the provided automatic guiding vehicle globalroute planning method, the optimized route cost function is adopted, a cornering factor (such as cornering tendency, cornering amplitude and running speed) and a barrier distance factor are taken intoaccount, and after the two factors are added, the sensitivity of an heuristic evaluation function on cornering and the distance between an automatic guiding vehicle and barriers is improved; the cornering frequency is greatly reduced, and the distance between the vehicle and the barriers is increased; therefore, the cornering frequency of a planned global route is decreased, and the automatic guiding vehicle is prevented from advancing close to the barriers.

The invention discloses a robot full-coverage path planning method and device based on a raster map as well as equipment. Firstly, the whole environment map is divided into multiple simple adjacent subareas, then, each subarea is traversed, and the repetition rate is very low while the coverage rate is high. Besides, in the traversal process, the walking state is changed in real time according topositioning information and map barrier information, and the method has the advantages of being simple, flexible and easy to implement. In addition, when a robot is in a cleaning area, the main running direction of the robot directly affects the turn times of paths. The main direction of the areas is used as the main running direction of the robot for traversing the cleaning paths, so that the turn times of paths is greatly reduced, and the traversal efficiency is improved.

The invention discloses an NFC antenna structure applied to a wearable device and an intelligent watch. The NFC antenna structure comprises an antenna radiation body, an adjustment circuit assembly, a first feed part and a second feed part, wherein the antenna radiation body is a single-turn metal coil with an opening, and the opening divides the metal coil into a non-closed annular structure; the adjustment circuit assembly comprises a first inductor, a second inductor and a capacitor, and the first inductor and the second inductor are connected in series and then overall connected with the capacitor in parallel. The first inductor and the second inductor connected in series increase the inductance value of the radiation body which is the single-turn non-closed metal coil or metal ring, the capacitor increases the capacitance of the radiation body, the turn number of the metal coil is reduced to one, the occupied space and size of the antenna are small, and communication quality is reliable.

The invention discloses a two-arm four-probe measurement device and method for measuring inner and outer diameters of an end of a steel tube. The measurement device comprises a rotary table (1), a rotary table fixing plane (2), two fixing arms (3) and (4), four laser ranging probes (a1), (a2), (b1) and (b2). According to the measurement method, the four probes rotate around the central axis M-M' of the rotary table, inner and outer diameters of two sections of the steel tube are measured at the same time, a virtual central axis and a virtual space vertical plane of the steel pipe are fitted, the measured section data of the steel tube is projected to the virtual space vertical plane so that the offset when the rotating central axis of the rotary table is not coincident with the central axis of the steel tube can be eliminated, the measurement accuracy is improved, the number of turns of the rotary table is reduced and the measurement speed is improved further. The device and the method can be used for realizing the rapid non-contact automated measurement of inner and outer diameters of the end of the steel tube, eliminating influences from subjective factors of a human and improving automation degree of the production process of steel tubes.

The invention provides a modularized high-pressure power supply circuit which comprises a boosting circuit, a resonance boosting isolating circuit, a voltage doubling rectifying circuit and a control circuit, wherein the voltage boosting circuit is used for boosting input low-pressure wide-range direct voltage into output direct voltage with higher relative voltage; the resonance boosting isolating circuit is connected with the boosting circuit, and is used for converting the direct voltage output by the boosting circuit into resonance alternate current to be output through voltage transformation isolation; the voltage doubling rectifying circuit is connected with the resonance boosting circuit, and is used rectifying the alternate current output after resonance change of the resonance boosting isolating circuit into direct current to conduct voltage doubling boosting; the control circuit conducts voltage close-loop control on the boosting circuit and conducts fixed-frequency open-loop control on the resonance boosting isolating circuit. Various levels of short circuit structures of the circuit are relatively fixed, low-pressure wide-range input and high-pressure high isolation multichannel output are facilitated, the precision of the output voltage is high, the control is simple, the power density is high, the modularization is easy, and the modularized high-pressure power supply circuit is particularly suitable for being used as a power supply of an MPM after the modularization.

A high voltage split core transformer and method of assembling same is provided by which the coupling factor is improved. A split core assembly is surrounded by a secondary winding that is precisely located in a burner assembly housing. Conductive members are encased within the housing and, in conjunction with traces provided on a printed circuit board enclosing the housing cavity, define first and second primary windings about the core secondary winding. This arrangement reduces the number of turns in the secondary winding and allows the use of larger cross-sectional wire which increases the current carrying capability thereof, making the transformer suitable for D1-D5 automotive headlamp applications.

The invention belongs to the technical field of robot path planning and discloses a robot optimal energy efficiency path planning method based on an improved A algorithm. According to gradient characteristics of a three-dimensional terrain environment and geometrical properties of robot motion, an energy cost consumption model is established, and a starting point and a target point are determined;by combining the basic principle and process description of an A* algorithm, a heuristic evaluation function of the A* algorithm is determined; the neighbor node searching mode of a traditional A* algorithm, namely multi-neighborhood search, is improved, traditional 8-neighborhood extension is changed into 24-neighborhood extension; the improved A* algorithm is executed to output an optimal energy efficiency path. The turning times of paths are decreased by adopting the method, the improved strategy of multi-neighborhood search is proposed, the energy consumption for finding the optimum energy efficiency paths of the improved A* algorithm is lower compared with a traditional A* algorithm, the turning times of paths are also decreased relatively, and the method has effectiveness and reliability.

Structures of direct current motors or ac commutator (Universal) motors which use a concentrated winding on the rotor with coils wound around the teeth. The number of commutator segments is higher than the number of rotor teeth. Several coils are wound around the same tooth. The terminals of the coils are connected to different segments of the commutator. The parallel paths of the armature winding are perfectly balanced. An equal current distribution through the parallel circuits of the armature is maintained and there is no circulation current between these parallel circuits. The problems related to commutation are reduced because the value of the coil inductances is low. The copper volume of the end-windings, the Joule losses and the axial length of the motor armature are lower than a lap or a wave winding with interlocked coils. Two kinds of structures with a concentrated winding are presented: some with rotor teeth with identical dimensions and some with rotor teeth with different dimensions.

The invention discloses a mobile robot path planning method in an unknown dynamic environment. The method enables each position to be converted into a nerve cell, employs the activity values of nerve cells to represent environment changes, and ingeniously employs a biological motivation nerve network model to simulate a dynamic environment. The biological motivation nerve network model guarantees that the activity values of positive nerve cells can be transmitted outside to affect the whole state space, and the activity values of negative nerve cells just act on a local part. A decision at the next position point comprises a maximum nerve cell activity value and minimum robot corner factor, and an obtained path is the shortest one or about the shortest one. Moreover, the path is smooth, and the number of corners is smaller. The method does not have a problem of local minimum points, is small in calculation amount, is simple in implementation, and is good in adaptability in the unknown dynamic environment.

The invention aims at providing a multi-AGV path planning method and device. The invention focuses on a sorting peak value and sorting efficiency optimization of a large-scale AGV express delivery sorting system. Based on a traditional A* path planning algorithm, a path search algorithm with automatic smoothing is obtained through improvement. In the improved algorithm, turning time is mapped to ahorizontal distance, AGV turning time is fully considered, the number of turns of a route is reduced, a peak value sorting amount and sorting efficiency of a site are increased, and the effectivenessof the algorithm is verified. Improvement is performed based on the improved A* algorithm, a congestion degree is introduced to solve a congestion problem, congestion can be effectively avoided to acertain extent, an AGV saturation value of the site is increased, and the sorting peak value of the site is improved so that the site can be fully used. Aiming at path planning of a large-scale AGV inthe express delivery sorting system, the sorting efficiency of a system and a peak sorting amount of the site can be increased.

The invention relates to a system for controlling right-angle region movement of an intelligent glass cleaning robot. The glass cleaning robot comprises a sensing unit, a control unit, a driving unit and a walking unit. The sensing unit comprises a first sensor subunit and a second sensor subunit. The control unit is connected with the sensing unit and the driving unit. The sensing unit of the glass cleaning robot can acquire information of the walking state of itself and external walking positions, and then the information is transmitted to the control unit; the control unit controls the driving unit and the walking unit by comparing the information with preset parameters in a control device, and the glass cleaning robot completes linear walking, side attaching walking, right-angle region turning and other multiple states. The structure is simple, the robot can rapidly and efficiently complete cleaning work of windows without dead space by reasonably arranging the positions of sensors and combining with the walking path matched with the positions.

A DC conversion apparatus comprises a first transformer, a second transformer, a parallel circuit having series circuits connected in parallel, one of the series circuits including a reactor and a primary winding of the first transformer, the other series circuit including a reactor and a primary winding of the second transformer, a conversion circuit converting a DC voltage of a DC power source into an AC voltage and outputting it to the parallel circuit, a first rectifying-smoothing circuit rectifying and smoothing a first voltage generated by a first secondary windings of the first transformer into a first DC output, and a second rectifying-smoothing circuit rectifying and smoothing a second voltage generated by a first secondary windings of the second transformer into a second DC output that is different from the first voltage. The second secondary windings of the first transformer are connected in parallel with the first secondary windings of the second transformer.

The invention discloses a full-coverage path planning method of a cleaning robot and belongs to the field of intelligent control technologies. According to the method, when the cleaning robot enters adead zone and cannot advance, a non-swept grid closest to the cleaning robot is found through a wildfire algorithm, then the shortest path from the cleaning robot to the closest non-swept grid is planned through an A* algorithm, the cleaning robot jumps out of the dead zone according to the planned path and then continues to move forwards to perform sweeping work, and therefore it can be guaranteed that the cleaning robot completes full-coverage sweeping work.

The invention discloses a steering control method and device for a driverless car. One embodiment of the method comprises the following steps: current position of the driverless car is acquired in real time; the radius of curvature of a road turn in the current position is inquired in a high-precision map, wherein the radius of curvature is used for representing the value, larger than zero, of an arc radius at the road turn; in response to the inquired radius of curvature, the distance between front and rear axles of the driverless car and the length of the axles of the driverless car are acquired; steering angles of turning wheels of the driverless car are determined according to the distance between the front and rear axles and the length of the axles, and the steering wheels of the driverless car are controlled to steer at the steering angles. With adoption of the embodiment, the steering times of the driverless car are reduced, and the passenger riding experience of the driverless car is improved.

The invention discloses a process for processing a two-sided and multilayer circuit board. The process includes the steps that the link that an organic electrical membrane is plated is utilized to replace pretreatment and electroless plating copper links in the process of processing a traditional circuit board, and the process of plating the organic electrical membrane is utilized to produce the circuit board. Compared with a traditional process, plate rotating links are reduced, consumption of copper, tin and other metal is saved, the production process is effectively simplified, and production cost is reduced. In addition, in the production process, formaldehyde, strong nitric acid and other hazardous substances are not used, therefore, environment friendliness is achieved, and damage to the body of operators is reduced in the process of processing the two-sided and multilayer circuit board.

The invention discloses a multi-region traversal path planning method for an autonomous underwater vehicle, and the method comprises the steps: (1) generating a local region path based on a local region traversal method, and carrying out the statistics of all possible traversal starting points of each local region; (2) analyzing an optimal traversal sequence and an optimal traversal starting pointof each local area based on an L-SHADE optimization method; and (3) combining the local traversal paths according to the obtained optimal traversal starting point position and the optimal traversal sequence to generate an optimal traversal path. According to the scheme, the turning frequency of the underwater vehicle is effectively reduced through the optimization steps, so that the task execution process of the underwater vehicle is easier to control, and the posture is more stable. By constructing a fitness function and calculating and optimizing through an L-SHADE optimization method, it is guaranteed that the optimal region traversal sequence and the optimal local region traversal starting point are obtained, and in conclusion, the method is less affected by the position of the task starting point, is efficient and stable, and has high practical application value.

Abstract Antenna device for hearing instruments The disclosure relates to an antenna device for hearing instruments, especially for hearing instruments to be worn in the auditory canal. A need exists specifying a hearing instrument, especially ITE hearing instrument having a data transmission system improved in respect of transmission bandwidth with no increase or only an insignificant increase in space and energy requirement. Disclosed an antenna device for a hearing instrument with an antenna arrangement (16) having a preferred send and receive spatial direction, and a further electrical hearing instrument component (13) which emits noise radiation predominantly in a noise radiation spatial direction. The antenna arrangement (16) and the further hearing instrument component (13) are disposed so that the send and receive spatial direction and the noise radiation spatial direction are oriented transverse to one another in such a way that a coupling-in of noise radiation into the antenna arrangement is reduced. The reduction of the noise couplings into the antenna arrangement makes possible a higher send and receive bandwidth, with the installation volume and energy requirement remaining the same. The further hearing instrument component can involve a receiver or any other component, especially one emitting inductive or electromagnetic radiation.

The invention discloses a high-speed fuel gas injection electromagnetic valve for vehicles. In the invention, a part of the electromagnetic valve is sleeved in a fixed core of a magnetism conducting end cover, and one end of the outer end of the fixed core is fixedly provided with a shell of a connecting terminal, while the other end is provided with a valve seat; one end of the fixed core is connected with a gas inlet, while the other end is connected with a movable core; the interior of the fixed core is hollow, and two sides of the inner wall of the fixed core are adhered with copper pipes; an electromagnetic coil wrapped by a coil shell is wound on a coil framework fixed on the fixed core; a spring is arranged between an inner hole of the fixed core and a concave port of the movable core, and a sealing piece is fixed at the other end of the movable core; and the outer end of the movable core is provided with a valve seat, and the tail end of the valve seat is provided with a nozzle. The invention optimizes magnetic circuits, reduces the temperature raise, improves the response speed, prolongs the service life of the valve body and is easy to mass production.

The invention relates to an oyster mushroom culture medium as well as a fermentation inoculum and application thereof, belonging to the technical field of edible mushroom culture. The fermentation inoculum of the oyster mushroom culture medium is obtained through the following steps of: preparing first-level strain liquids by respectively culturing Actinomycete strains W-4 and W-10 and bacterium strains N-14 in liquid culture mediums with same volumes under the conditions of respectively appropriate fermentation temperature for same time; mixing the first-level strain liquids into a mixed bacteria solution according to the volume ratio of 3:3:1; and carrying out second-level amplification culture at 30-35 DEG C for 60 hours. The invention also provides an oyster mushroom culture medium prepared through the fermentation of the fermentation inoculum. The oyster mushroom culture medium has the biological conversion rate of 120-130 percent in oyster mushroom culture; and in addition, compared with a common culture medium, the yield of the oyster mushroom culture medium is increased by 20-30 percent.

The invention discloses a control method of a cleaning robot and the cleaning robot. The control method of the cleaning robot comprises the following steps: dividing a to-be-cleaned environment into aplurality of sub-regions through map information of the to-be-cleaned environment, determining a first cleaning direction of each sub-region according to the distribution of the obstacles in each sub-region, determining a cleaning traversal path of each sub-region according to the first cleaning direction of each sub-region, and according to the cleaning traversal path of each sub-region, executing cleaning operation on each sub-region. According to the method, the path traversal direction is determined in each sub-region according to the sweeping environment of each sub-region, so that the current sweeping environment can be better adapted, the turning times and missing traversal areas are reduced as much as possible, the path repetition rate of the cleaning robot is lower, and the working efficiency is higher.

The invention discloses a rotary material taking device. The rotary material taking device is used for material transferring and taking between two same-category conveyer lines and another conveyer line, and is arranged between the two same-category conveyer lines. The rotary material taking device comprises two material taking assemblies arranged on one material taking mounting plate, and the material taking mounting plate is connected with a rotation control part and a lifting control part, so that lifting and fixed-angle reciprocating swinging of the two material taking assemblies are achieved. According to the rotary material taking device, after material taking and transferring of one conveyer line is achieved, the material taking assemblies do not need to be rotated again, namely, the other material taking assembly can be utilized to directly carry out material taking and transferring on the other conveyer line, and after transferring circulation of the two same-category conveyer lines is achieved, the rotation time of the material taking assemblies is decreased from original four to two, so that action amount during the material transferring and taking process is effectively reduced, and material transferring and taking efficiency of an assembly line is improved.

The invention discloses an automatic spraying homocentric-squares-shaped path planning method, which comprises the steps that S101, a crop protection unmanned aerial vehicle position coordinates of four vertices of a farmland one by one and determines a height value in operation; S102, an angular bisector of each interior angle is calculated, and position coordinates of four new points whose distances to four sides equal to a preset spraying interval are respectively determined on each angular bisector; S103, iterative calculation is performed, the four points are determined to be four vertices of a new square, four new points are worked out according to the rule in the step S102 until the length of a certain side and an opposite side thereof of a new acquired square equals to two times of the spraying interval, and position coordinates of a midpoint of the side and position coordinates of a midpoint of the opposite side are acquired; and S104, the position coordinates are successively connected according to a preset rule so as to form a homocentric-squares-shaped path, and path planning is completed. The work intensity of a pilot can be reduced through performing drug spraying according to the path, and the spraying efficiency of the crop protection unmanned aerial vehicle can also be improved.

The present invention provides a heating cooker capable of further efficiently heating cookware to be heated that is made of a low-permeability material. This heating cooker comprises an induction heating coil 6 and an infrared heater 19 for heater heating. A heating power controller determines the material of the cookware 8 to be heated and controls an inverter and a heating element conducting section according to the material determined, thereby controlling the heating ratio between the induction heating coil 6 and the infrared heater 19. A temperature detection part 11 is disposed inside the infrared heater 19 forming a ring-like shape; and a heater installation member 17 is so structured that its side wall 17a prevents an infrared ray radiated from the infrared heater 19 from reaching the temperature detection part 11.

The invention discloses a method for planning a route in a warehousing system and mainly solves the problem that the route planning efficiency of a robot in a warehousing system is low at present. According to the scheme, the method comprises steps as follows: 1) establishing a 3D space-time map; 2) acquiring information of a starting point and a destination of the robot, and setting the startingpoint as a current node; 3) selecting an extensible node in the 3D map according to the current node, and judging whether the extensible node meets the requirement, and abandoning the extensible nodeif the extensible node does not meet the requirement; 4) calculating heuristic function values of remaining nodes, setting a father node of the remaining nodes as a current node, and putting all the nodes into an open list; 5) selecting the node with the smallest heuristic function value from the open list, setting the node as a current node, and putting the node into a closed list; 6) repeating the step 3) and the step 5) until the cycle termination condition is met; 7) generating a complete route by looking up the father node from the node which is put into the closed list at last. Collaborate work of robots is enhanced, turning consumption is reduced, the system efficiency is improved, and the method can be used for the warehousing system.

The invention discloses an improved AGV path planning method based on an A* algorithm. The method comprises the steps of improving an estimation heuristic function of the A* algorithm, improving a data structure and a storage mode of the A* algorithm, improving an expansion mode of nodes of the A* algorithm, and improving a solution for AGV motion obstacle encountering in the A* algorithm. The invention relates to the technical field of AGV path planning. Specifically, the invention provides a method for analyzing a traditional A* algorithm. A new estimation heuristic function is provided; thedata structure and the storage mode of the traditional A* algorithm are improved; the operation speed of the A* algorithm is low; a solution is provided for the problem that the AGV breaks down or encounters an obstacle and the like; the extension mode of nodes is improved, the program operation time is shortened, the algorithm operation speed is high, the AGV steering frequency is reduced, the AGV path planning method is suitable for multiple AGVs and the environment with obstacles, and the operation efficiency of the whole warehousing system is improved.