193 results about "Global optimization algorithm" patented technology

The invention relates to a design method for an integrated energy system with source-load-storage coordination and interaction. A lot of source-load output scenes are generated via Latin hypercube sampling, and a few of specific probability of planning scenes in which original scene characteristics are reserved are obtained via cluster analysis combined with a scene reduction method. An installedcost model and an operation cost model are established for each piece of equipment, an upper-level optimization model is optimized to minimize the sum of the annual investment conversion cost and theannual operation cost in different probability scenes, a lower-level optimization model is optimized to minimize the annual operation cost in different probability scenes a double-layer planning modelof the integrated energy system with source-load-storage coordination and interaction is established, and different reliable and safe operation constraints are met. The upper-level and lower-level optimization models are solved by an element model global optimization algorithm and a second-order conic optimization method respectively, solving is carried out by interactive iteration till convergence, and the installed capacity and optimal operation scheme of each piece of equipment of the integrated energy system are obtained by optimization. The method can be applied to capacity planning andoptimized design of the multiple energy complementary integrated energy system.

The invention discloses a computational fluid dynamics (CFD)-based centrifugal pump multi-working condition hydraulic power optimization method. The method comprises the following steps of: 1, establishing an initial specimen bank for centrifugal pump multi-working condition hydraulic power optimization on the basis of external characteristic tests; 2, establishing a CFD-based centrifugal pump multi-working condition hydraulic power optimization model; 3, generating a specimen bank for the centrifugal pump multi-working condition hydraulic power optimization and constructing a response surface approximate model by CFD technology on the basis of single point hydraulic design and uniform design methods; 4, globally optimizing the approximate model by a global optimization algorithm; and 5, performing hydraulic power design on a centrifugal pump by a parametric computer aided design (PCAD) according to optimization results so as to obtain a multi-working condition hydraulic power model of the centrifugal pump. The method can perform the multi-working condition hydraulic power optimization on the centrifugal pump according to the performance requirements under multiple working conditions so as to improve the weighted average efficiency and enlarge the high efficiency area range, and can provide references for unstable flowing under the working conditions of actively controlling low flow and cavitation under the working conditions of inhibiting high flow.

The invention provides a travel manner planning method and device. The method comprises the steps that a taxi request sent by user equipment (UE) is received, and the relevant feature information and the basic information of the taxi request are acquired; according to the relevant feature information and the basic information, the travel information, which is corresponding to the taxi request, of each single travel manner is determined; according to the travel information of each single travel manner, a global optimization algorithm is used to determine a combined travel manner, and the travel information, which is corresponding to the taxi request, of the combined travel manner is acquired; and according to the travel information, all single travel manners and the combined travel manner are sorted according to a preset travel condition and are sent to the UE. The device comprises a receiving unit, a first information determining unit, a second information determining unit and a sorting unit. According to the invention, a variety of travel manners can be selected by a passenger; the order turnover rate is effectively improved; taxi time or expense can be saved; and the taxi experience of the passenger is optimized.

The invention relates to a no-mark human body motion capture method; the method uses human surface three-dimensional voxel of human skeleton sleeve pattern tracing reconstruction, realizes right classification of voxel robustly and extracts articulation points automatically to get human motion parameter. The method comprises the following steps: (1) extracting three-dimensional voxel of human surface; (2) initializing human skeleton pattern and matching with a first frame voxel data; (3) using overall optimization algorithm to realize skeleton pattern tracing voxel data; (4) classifying the voxel based on overall classification distribution histogram of each voxel in tracing process; (5) extracting three-dimensional articulation points from classified voxels; and (6) getting articulation angle based on the coordinate of the articulation points and then getting human motion parameter. The invention has the advantages of easy implementation, relatively low cost, strong robustness and wide application and the like.

The invention provides a method for optimizing the spatial distribution of statistical data about a crop planting area. The method comprises the following steps of: (A), collecting a crop remote sensing image and the statistical data about the crop planting area within an administrative unit, and preprocessing the crop remote sensing image; (B), selecting a target crop from the crop remote sensing image, and establishing a standard curve about the exponential-time sequence characteristics of the target crop within a certain area; (C), determining the phenological information of the crop by utilizing the standard curve about the exponential-time sequence characteristics of the crop, and determining a crop classification algorithm model according to the phenological information of the crop; (D), calculating an optimum value of a characteristic parameter of the crop classification algorithm model according to agricultural statistical data about the actual planting area of the crop in the area by utilizing a global optimization algorithm; and (E), substituting the optimum value of the characteristic parameter into the crop classification algorithm model to calculate the spatial distribution information of the crop planting area. Therefore, the accuracy of the spatial information of the statistical data about the crop is further improved.

The embodiment of the invention discloses a three-dimensional reconstruction method, apparatus and device, and a storage medium. The three-dimensional reconstruction method comprises: using a preset fast global optimization algorithm to determine a relative camera pose of a preset depth image key frame relative to a current depth image key frame; using a sparse sampling method to determine at least one effective space block corresponding to the current depth image key frame; fusing the at least one effective space block and a first three-dimensional network model corresponding a previous framedepth image key frame on the basis of the relative camera pose, and obtaining a second three-dimensional network model corresponding to the current depth image key frame; and generating an isosurfaceof the second three-dimensional network model by using the accelerated moving cube algorithm, and obtaining a three-dimensional reconstruction model of a target scene. The embodiment of the inventiongreatly reduces the complexity of the real-time three-dimensional reconstruction process, so that the real-time three-dimensional reconstruction of the target scene can be implemented on the CPU, andthe portability of the real-time three-dimensional reconstruction device is improved.

The invention relates to a 5-axis NC flank milling machining feed rate off-line planning method, which carries out 5-axis NC flank milling machining feed rate off-line planning on the basis of various axis cubic spline polynomial interpolation. By establishing an optimizing model which takes time sequences between adjacent position points of various axes as design variables, takes the minimum sum of running time sequences between adjacent position points of various axes as an objective function, takes limits of speeds, accelerations and jerks of various axes of a machine tool as restriction, and simultaneously takes the maximum cutting force in the cutting process of a tool is smaller than a threshold value as restriction, the method adopts global optimization algorithm to solve and obtain the optimal feed rate. The method is suitable for free-form surface rough machining and ruled surface or similar ruled surface semifinishing.

The invention discloses a high-precision motion platform-based multi-camera calibration method. In a whole working region, a calibration plate fixed to a high-precision motion platform through an objective table can make any known linear motion of rotation, translation and the like, and a pose of the calibration plate in a world coordinate system is obtained. The calibration plate moves under the control of the high-precision motion platform to appear in sight of one or more cameras, the cameras shoot images, coordinates of corresponding points in the world coordinate system and an image coordinate system are searched for, and finally parameters of all the cameras are solved once by adopting a global optimization algorithm, so that the shortcoming of low efficiency, relatively large accumulative error, trouble of designing a specific calibration part or the like due to one-by-one calibration of cameras in a multi-camera system in an existing calibration method is overcome, one-time calibration of the whole multi-camera system is realized, the method has greatly important engineering application values, and high-precision calibration and three-dimensional reconstruction are finished. A measurement process is simple, a calibration result is accurate, and the working efficiency is improved.

The invention discloses a method for hydraulically optimizing a centrifugal pump under a plurality of working conditions based on loss, which comprises the following steps of: establishing a multi-working condition hydraulic optimization model of the centrifugal pump based on various loss formulae; establishing relationships among various loss coefficients, specific speeds and flows of the centrifugal pump at different specific speeds under the different working conditions by external characteristic experiments; compiling multi-working condition hydraulic optimization programs PCC.exe of the centrifugal pump by adopting Visual C++; integrating the PCC.exe by adopting iSIGHT, taking parameter values of single-point design as initial values, taking heads and power under the plurality of working conditions as constraint conditions, taking maximum efficiency under the plurality of working conditions as a target, and optimizing the centrifugal pump by adopting a global optimization algorithm or combination; and designing a multi-working condition hydraulic model by adopting PCAD according to an optimal solution set obtained in the optimization. The method has the advantages of not only performing multi-working condition hydraulic design on the centrifugal pump according to performance requirements under the plurality of working conditions, but also performing energy-saving alternation on the conventional centrifugal pump.

The invention discloses an indoor three-dimensional model reconstruction method and system with structural semantics, and the method comprises the steps: collecting indoor three-dimensional point cloud data through a mobile depth scanning device, and carrying out the preprocessing of the three-dimensional point cloud data; extracting a wall surface component of the functional space; obtaining a function space boundary; door and window parts are extracted and parameterized; carrying out plane segmentation on the global point cloud data to obtain a global plane, and optimizing the geometric andincidence relation of the wall surface part and the door and window part according to a plane structure global optimization algorithm; and outputting the parameterized data to an indoor three-dimensional model with structural semantics. According to the method, based on the mobile depth scanning equipment, the low-precision point cloud and the camera track subjected to semantic marking are fused for rapid three-dimensional reconstruction of the indoor model with structural semantics, and better robustness and reconstruction precision are achieved.

The invention relates to a high-efficiency global optimization method using adaptive radial basis function based on fuzzy clustering, belonging to the technical field of modern engineering optimization designing. The method comprises the following steps: gradually constructing a proxy model of a complicated analysis model relating to an engineering design problem by the adaptive radial basis function; classifying the function values of a proxy model on a known mesh point aiming at the proxy model by adopting a fuzzy clustering method; searching a key area which is possibly saved to the global optimal point; and optimizing the proxy model by using the global optimizing algorithm in a small range in the key area until the optimal value of the engineering design problem is acquired. The optimization method overcomes the defect of time-consuming operation when the traditional global optimization method is used in the engineering design problem, can effectively reduce operation cost, improve optimization efficiency, is advantageous to shortening the period of engineering optimization design, and has the capability of global searching.

The invention provides a method for energy optimization of a distributed power generation and energy supply system, belonging to the technical field of electric power energy conservation. The method is mainly applied to evaluation of energy-saving and emission-reduction benefits of the distributed power generation and energy supply system when the distributed power generation and energy supply system is connected to an electric network. The method comprises the following steps of: firstly, establishing an energy optimization model of the distributed power generation and energy supply system with four sub-goals of minimizing the total annual planning cost, maximizing the generating capacity of renewable energy sources, minimizing the annual power failure quantity and minimizing the annual capacity shortage; secondly, defining goal optimization functions of the four sub-goals, unifying dimensions of the pollution discharge capacity, the power failure quantity and the capacity shortage of the system through gross penalty, and establishing a single-goal optimization function of the system by adopting a linear weighted sum method, wherein weighing coefficients are determined by adopting a dualistic contrast constant weight method; and finally, performing simulation and solving on the distributed power generation and energy supply system by adopting a heuristic global optimization algorithm to obtain values of the four optimization sub-goals. By the method, the multi-goal energy optimization of the distributed power generation and energy supply system is realized, and the aims of energy saving and emission reduction are achieved.

The invention discloses a parameter optimization adjusting method and system. The method comprises the steps of constructing a simulation model to be designed; obtaining an optimization parameter set according to the simulation model to be designed; calling a global optimization algorithm function, and regarding the optimization parameter set as the input to be substituted into the global optimization algorithm function so that optimization adjusting can be conducted on a parameter to be optimized and adjusted. According to the parameter optimization adjusting method and system, firstly the parameter to be optimized and adjusted is determined, the parameter to be optimized and adjusted is led out of the simulation model to be designed to be regarded as an input parameter of the simulation model to be designed, an engineering constraint request of the simulation model to be designed is converted into a constraint condition, a design index request is converted into an optimization searching index of the parameter to be optimized and adjusted, the global optimization algorithm function is scheduled to conduct automatic optimization searching, and a final adjusting result of the parameter to be optimized and adjusted is determined from automatic optimization searching process data. The parameter optimization adjusting method and system are applicable to various kinds of application occasions such as optimization of flightpath parameters and controller parameters; meanwhile, the number of the parameters to be optimized and adjusted is not limited, and parameter optimization adjusting method and system can assist a designer in improving the designing efficiency.

The invention discloses a three-dimensional camera shooting sonar system transducer array sparse optimization method considering a near-field and far-field performance. The method comprises the following steps of determining a focusing range error parameter of a three-dimensional camera shooting sonar system according to the type of a near-field digital beam forming algorithm in the three-dimensional camera shooting sonar system; determining a near-field sparse optimization energy function by utilizing the focusing range error parameter; solving by adopting a global optimization algorithm to make the near-field sparse optimization energy function achieve a minimum sparse transducer array Q1; carrying out secondary sparse optimization on the opened transducers in the Q1 and solving to make a far-field sparse optimization energy function achieve a minimum sparse transducer array Q2; when the sonar system works in a near-field state, carrying out focusing beam forming by using the Q1; and when the sonar system works in a far-field state, carrying out far-field beam forming by using the Q2. By using the method, the stable detection performance under different detection distances for the system can be ensured while the system hardware complexity is effectively reduced.

The invention discloses a method of gesture tracking calculation based on a three-dimensional model. The method includes: building a three-dimensional data model of a hand; inputting an image sequence, wherein a first frame image of the image sequence is lack of self occlusion and exterior occlusion, and divided according to preset color value; calculating an affine transformation matrix according to corresponding relations among outline pixel points and three-dimensional vertexes of images; obtaining class information of the three-dimensional vertexes according to the affine transformation matrix and obtaining a result after affine transformation according to the class information of the three-dimensional vertexes so as to obtain a three-dimensional hand model; and setting skeleton nodes and finger freedom degrees of the three-dimensional hand model, adding corresponding particle confinement for each skeleton nod, and obtaining a gesture outline matching picture through a particle filtering algorithm. According to the method of the gesture tracking calculation based on the three-dimensional model, a global optimization algorithm is adopted, an accurate three-dimensional initial model is needless, and tracking effects for inputted multi-view and low-resolution image or video sequences are good. The invention further discloses a device of the gesture tracking calculation based on the three-dimensional model.

The invention provides a quaternion theory-based convex relaxation global optimization algorithm-based robot hand-eye calibration method which is used for solving a problem that a non-linear optimization-based hand-eye calibration algorithm cannot ensure that an object function converges to a global minimum value when deviations are found in robot kinematics forward solutions and camera external parameter calibration. Based on consideration of effects exerted on calibration equation solution precision by included angles formed between relative movement rotation shafts on a tail end of a mechanical hand, a random sample and consensus algorithm is used for pre-screening the included angles formed between the rotation shafts in calibration data, a quaternion parameterized rotation matrix is used for building a polynomial geometry error object function and constraints, and a linear matrix inequality convex relaxation global optimization algorithm is used for solving a global optimal hand-eye transformation matrix.

The invention relates to the technical field of automobile logistics, in particular to a multi-target logistics scheduling method and device, a logistics system and a computer readable medium. The method comprises the following steps: S1, initializing an order distribution strategy to form an initial scheduling arrangement; s2, using a target cost function to calculate cost for the initial scheduling arrangement; s3, updating the order distribution strategy and the scheduling arrangement by using a global optimization algorithm; s4, calculating the cost of the updated scheduling arrangement byusing a target cost function to obtain an optimization result of the target cost function, if the optimization requirement is not met, continuing to execute the step S3, and if the optimization requirement is met, executing the step S5; and S5, performing constraint condition inspection on the scheduling arrangement, if the scheduling arrangement passes the inspection, determining the schedulingarrangement to be an optimal result, and if the scheduling arrangement does not pass the inspection, continuing to perform the step S3. The planned route achieves the optimal total route length, and compared with the current logistics actual scheduling arrangement, the number of vehicles is obviously reduced, the loading rate is increased, and the cost is saved.

The invention discloses a flexible mechanical arm vibration active control method adopting a piezoelectric ceramic sheet during soft measurement. The method is characterized in that 1) an acceleration sensor is attached, and then a vibration signal of an end part of a flexible mechanical arm can be achieved; 2) a mathematic model of the flexible mechanical arm system, which is provided with the acceleration sensor on the end part in an attached manner, can be established, and then dynamic characteristics of the system can be achieved; 3) a vibration observation equation can be designed, and the vibration displacement of the flexible mechanical arm can be observed; 4) an optimal vibration observation feedback parameter can be determined based on a global optimization algorithm; 5) a piezoelectric ceramic driving voltage can be controlled by designing a PID controller, and PID control parameters can be adjusted according to the control effect. The design is completed after the above mentioned steps. The flexible mechanical arm vibration active control method is advantageous in that based on the flexible mechanical arm system mathematic model, the vibration observation equation can be established, and the flexible mechanical arm end part vibration signal can be achieved by using the acceleration sensor, and then the observed flexible mechanical arm vibration displacement can be fed back and adjusted, and therefore the vibration signal on any point of the flexible mechanical arm can be achieved, and then the observation precision can be improved effectively.

The invention discloses a formation parameter optimizing method and system of aircraft formation flight. The method includes the steps of obtaining a numerical value response face model of a wing aircraft aerodynamic force coefficient through a numerical value simulating calculation method, obtaining part of sample points in the numerical value simulating calculation method, conducting a formation flight wind tunnel test with the part of sample points as the test sample points to obtain test data, establishing a test response face model of the wing aircraft aerodynamic force coefficient according to the test data, establishing a hybrid response face model according to the numerical value response face model and the test response face model, conducting the formation parameter optimizing of aircraft formation flight on the hybrid response face model through an efficient global optimizing algorithm to obtain optimal aircraft formation position parameters. The numerical value simulating calculation method and the wind tunnel test method are combined, the data precision of the optimizing process is improved, and cost is reduced.

The invention discloses a real-time inversion method for creep parameters of a surrounding rock mass. The real-time inversion method comprises the following steps: determining creep parameters of thesurrounding rock mass to be inversed; establishing a surrounding rock body numerical calculation model; constructing a creep parameter inversion recurrent neural network agent model data set; trainingan optimal creep parameter inversion recurrent neural network agent model; and optimizing and determining the creep parameters of the surrounding rock mass to be inverted by utilizing the creep parameter inversion recurrent neural network agent model and a random global optimization algorithm according to the field actual measurement mechanical response. The real-time inversion method solves theproblem of large calculation time consumption of a traditional inversion method, also solves the bottleneck problems that the time effect of creep surrounding rock mass mechanical response cannot be considered and the creep parameter of the surrounding rock mass cannot be predicted and adjusted in real time, has the advantages of small workload, low cost, high precision, high reliability and the like, can greatly improve the inversion efficiency of the creep parameter of the surrounding rock mass, and is high in universality.

The invention discloses a metal structure fatigue reliability analyzing and optimizing design method based on damage mechanics. The method includes the steps of establishing a parameterized geometric and finite element model according to the key metal structure prone to fatigue through the uncertainty between the interval vector metric structure and material and the damage parameters, and a fatigue life interval range is calculated through the combination of an interval finite element and damage mechanics finite element analysis method; the fatigue reliability analysis of the structure is further achieved through a non-probability interval interference theory; finally, the complete optimization iteration process is achieved with the structure size as the design variable, the reliability degree as the constraint condition and the structure weight as the target function through a global optimization algorithm, and the optimal design variable result found through an output algorithm serves as the final structure optimizing design scheme. By means of the method, the sensitivity of the scheme itself to the design parameters is overcome, the aims of being smallest in weight and making fatigue reliability meet requirements can be achieved under the condition that the structure meets bearing conditions, and thus the design scheme is more economical and reasonable.

The invention discloses an ultrasonic particle size analyzer, which comprises a hardware part and a software part, wherein the hardware part comprises an ultrasonic wave transmitting and receiving device and ultrasonic detection devices which are independent mutually, as well as an oscilloscope and a computer; the software part comprises a plurality of ultrasonic models, five global optimization algorithms and an expert consultation mode. An ultrasonic pulse signal is generated by the ultrasonic transmitting and receiving device, the ultrasonic waves are transmitted to suspension liquid through different ultrasonic detection devices, the amplitudes of the ultrasonic waves are attenuated after the ultrasonic waves are interacted with particles in the suspension liquid, and at different frequencies, the attenuation of the amplitudes is different according to the sizes and volume fractions of particles; particle size distribution and volume fractions of required particles can be obtained after the collected attenuation signal is processed through the computer. The ultrasonic particle size analyzer provided by the invention can perform nondestructive measurement, is rapid, reliable, and particularly suitable for high-concentration non-transparent samples, and samples are not required to be diluted.

The invention provides an equivalent LED light source establishing method. An implicit function relationship between the LED luminous intensity and the LED major parameters (such as insertion depth of a chip, refractive index of a surrounding filling material, absorption coefficient of the material, and thickness of a package lens) can be established by the prediction algorithm through measuring actual LED light distribution. Then, by assuming a set of initial LED model parameters, optical equivalent parameters can be found out by the global optimization algorithm on the basis of the implicit relationship between the LED luminous intensity and the LED major parameters; and by the optical equivalent parameters, an equivalent accurate LED light source model can be established. With the adoption of the method, the equivalent LED light source model extremely approximate to an actual light source can be established quickly and accurately, so that an equivalent accurate LED light source model can be obtained through an LED light source provided by any LED light source manufacturer by virtue of measuring the luminous intensity of the LED light source. The light source model can be used for the design of an illumination system.

The invention provides a method for simultaneously inverting porosity and shaliness by using seismic wave velocity and belongs to the field of exploration and development of oil and gas. The method comprises the following steps: (1), inputting basic data;(2), generating feasible solutions of porosity phi and shaliness beta in the value ranges of the porosity and the shaliness; (3), calculating equivalent bulk modulus Kp00 of a rock framework; (4), calculating longitudinal wave velocity Vp0 of the rock framework; (5), calculating longitudinal wave velocity Vp of rock; (6), establishing an objective function f (phi, beta) simultansously inverting the shaliness and the porosity according to the longitudinal wave velocity Vpi and the longitudinal wave velocity Vp of the rock which are obtained by inversion of seismic amplitude data; (7), performing iterative inversion on the objective function by using a non-linear global optimization algorithm till the produced feasible solutions of the porosity and the shaliness enable the values of the objective function to meet a terminating condition; (8), outputting the feasible solutions of the porosity and the shaliness, which meet the terminating condition, namely the finally calculated porosity and the shaliness.

The invention discloses an absolute wave impedance inversion method independent of logging data. The method comprises steps of based on prestack shot-gather seismic data, by use of all information of the seismic data, obtaining a long wavelength P-wave speed model by means of full waveform inversion; then, based on the long wavelength P-wave speed model, obtaining a low frequency wave impedance model through deep time conversion and the Gardner empirical formula; and finally, by use of the low frequency wave impedance model, restraining wave impedance inversion based on multiple groups of variation difference evolutionary algorithms to obtain an absolute wave impedance model. According to the invention, based on the seismic data directly, by use of the full waveform inversion and global optimization algorithm, it is achieved that under the premise of being independent of logging data, inversion is performed on transverse strong non-homogeneity absolute wave impedance parameters. The all information of the prestack seismic data is used, so a transverse well continuous low frequency wave impedance model can be well constructed and by using the global optimization algorithm to solve a wave impedance inversion, so the global optimal wave impedance parameters can be obtained through the inversion.

The invention discloses a dynamic optimization operation control method and system for a distributed energy station. The method comprises the steps that a load prediction model and a thermodynamic system simulation model of the distributed energy station are combined and applied to actual operation guidance; by means of driving of a global optimization algorithm, dynamic rolling optimization of operation of the energy station is achieved, and operation parameters and instructions are automatically issued to bottom layer functional equipment to achieve unattended operation or few-person attended operation of the energy station. The system comprises a load prediction module. A simulation calculation module (such as a gas turbine, an internal combustion engine, a gas boiler, a waste heat boiler, a pump, a plate heat exchanger, a cooling tower, an electric refrigerator and a heat pump); a load prediction algorithm based on the artificial intelligence technology, a global optimization algorithm and a thermodynamic system simulation model are organically combined together through an optimization algorithm module and an environmental parameter monitoring module, and a dynamic optimizationcontrol method for the distributed energy station is constructed.

The invention belongs to the field of fluid mechanical design and discloses a method for designing a blade inlet installing angle of a flow channel type guide blade of a multistage centrifugal pump. The method comprises the steps of setting up a multistage centrifugal pump external characteristic experiment table, measuring flow, lift, power and efficiency of the multistage centrifugal pump under various working conditions; adopting a global optimization algorithm to solve a mathematic model of a blade inlet installing angle alpha 1 of the flow channel type guide blade of the multistage centrifugal pump, and obtaining a Pareto solution of the blade inlet installing angle alpha 1 of the flow channel type guide blade; adopting a CFD technology to perform all flow field numerical calculation on a flow field in the multistage centrifugal pump under each working condition, and working out the weighted average of the multistage centrifugal pump under each working condition; and if the calculated weighted average under multiple working conditions does not meet the requirements, repeating global optimization until the requirements are met, so as to obtain the optimal solution of the installing angle alpha 1. According to the method, not only can the blade inlet installing angle of the flow channel type guide blade of the multistage centrifugal pump be calculated accurately, but also energy saving transformation can be performed on existing multistage centrifugal pumps on the basis.

The invention provides a multi-user panoramic video transmission method, which is characterized by comprising the following steps of: 1, a model is defined for a multi-user panoramic video transmission problem, and a QoE index is quantified; 2, the code rate decision maker records the states of all clients participating in streaming media transmission, if the number of users is smaller than or equal to 5, a global optimization algorithm is used for distributing panoramic video transmission bandwidth, and a traversal code rate distribution scheme is used for solving a global QoE optimal solution of multiple users; if the number of the users is greater than 5, a panoramic video transmission bandwidth is allocated by using a heuristic allocation method based on the length of a user cache queue; and 3, the client side requests the video block, the server side responds to the video block i and pushes data, and in the step 1, for the QoE of the user c to the video block i, the QoE is specifically defined as the weighted sum of four factors including viewport definition Q, intra-frame quality smoothness VI, inter-frame quality smoothness ViB and pause duration TiS.