34results about How to "Accurate interception" patented technology

The invention provides a wafer defect detection method and device, and belongs to the technical field of semiconductor manufacturing. The wafer defect detection method comprises the steps that defect data of the surface of each wafer are acquired, and the defect data comprise defect position coordinates, defect sizes and defect types; superposing the defect data of the plurality of wafers to generate a comprehensive defect distribution diagram of the plurality of wafers; analyzing the comprehensive defect distribution diagram by utilizing a spatial clustering algorithm, and judging whether the comprehensive defect distribution diagram has a COP defect distribution mode or not; if the COP defect distribution pattern exists in the comprehensive defect distribution diagram, calculating risk scores of the plurality of wafers according to the defect distribution density, the defect size and the defect distribution rule by utilizing a defect identification model; and comparing the risk scores of the plurality of wafers with a preset risk threshold, and if the risk scores are greater than the preset risk threshold, determining that the plurality of wafers have COP defects. According to the invention, the COP defect of the wafer can be identified.

The invention discloses an unmanned aerial vehicle interception method and device, a storage medium and an electronic device.The method comprises the steps that whether an unauthorized unmanned aerial vehicle exists in a new energy production field or not is determined through detection equipment, and the detection equipment comprises a phase control radar, radio detection equipment and unmanned aerial vehicle data access equipment; and under the condition of confirming that the unmanned aerial vehicle exists in the new energy production field area, sending related information of the unmanned aerial vehicle acquired by the detection equipment to a dual-spectrum photoelectric device, and tracking the unmanned aerial vehicle based on the related information through the dual-spectrum photoelectric device to obtain a tracking result, the related information at least comprises a distance between the unmanned aerial vehicle and the detection equipment, an azimuth angle and a pitch angle; and intercepting the unmanned aerial vehicle based on the tracking result through an intercepting device. The problem that the unauthorized unmanned aerial vehicle entering the new energy production field cannot be found and intercepted in time is solved.

The utility model discloses a stamping equipment protective device for hardware machining, which relates to the technical field of mechanical safety protection and comprises a stamping die, two telescopic supporting heads are symmetrically arranged on the edge of a lower die of the stamping die, rotating assemblies are arranged on the two telescopic supporting heads, and the two rotating assemblies are respectively connected with a half-cover-shaped protective cover in a driving manner. The protective cover is used for forming a shielding face in the vertical stamping direction of the stamping die. When the upper die is pressed downwards, the side wall of the die automatically triggers the telescopic supporting head to move, the driving rotating assembly drives the protective cover to be unfolded synchronously, a plane shielding barrier perpendicular to the machining direction is formed at the moment of punching, splashing chippings are accurately intercepted, and the problems of sight blind areas and protection lag existing in a traditional fixed protective device are effectively solved.

The application discloses a high-pressure injector for improving injection process sensing precision, relates to medical devices, and aims at the problem of edge effect of reflected light of a reflecting sheet in the prior art. The reflecting sheet is characterized in that the edge thereof is outwardly convex towards an infrared emission detection array. The advantage of the application is that the infrared light reflected at the edge will have an obvious mutation effect after the reflecting surfaces at both ends of the reflecting sheet are made outwardly convex, thereby reducing the edge effect in the original reflected light. The light intensity curve obtained by the infrared emission detection array will have an obvious mutation at the edge of the interval, and the electric control program of the machine head can easily and accurately intercept the required position interval for midpoint value taking.

The invention discloses a maneuvering target interception guidance method with arrival angle and field angle constraints. The maneuvering target interception guidance method comprises the following steps: establishing a relative motion equation of an aircraft intercepting a maneuvering target; the relative motion equation is converted into a relative motion model with the distance between the aircraft and the target as an independent variable; setting a change curve of an expected relative front angle, and obtaining a guidance law expression based on a relative motion model; field angle constraint is carried out by limiting the maximum value of the relative front angle curve, the reachable range of the arrival angle is obtained, and under the condition that the arrival angle meets the reachable range, the aircraft adopts the obtained guidance law to carry out flight control. According to the method disclosed by the invention, linear approximate processing does not need to be carried out on the relative motion mathematical model of the aircraft and the target, the precondition hypothesis of a small preposed angle is not needed, and the method has the characteristics of simple design and use method, high applicability and the like.

The invention discloses a dynamic authentication network information acquisition security management and control system and a control method, and relates to the technical field of network information security. The method comprises the following steps: in response to an access request initiated by a user, silently collecting minimized multi-dimensional context information before authentication, inputting the collected multi-dimensional context information into a preset comprehensive risk calculation model, calculating to obtain a real-time risk score representing a current request risk level, and according to a preset threshold interval in which the real-time risk score is located, determining the risk level of the current request according to the real-time risk score. Dynamically deciding and triggering an authentication strategy matched with the risk level, executing the authentication strategy, granting corresponding access authority if the authentication is successful, continuously monitoring user behaviors in subsequent sessions, dynamically adjusting session authority or triggering re-authentication according to abnormal behaviors, and executing the authentication strategy if the authentication is successful. And collecting log data of the authentication process for updating the user behavior baseline and optimizing the comprehensive risk calculation model.

The invention discloses a message checking method and system, electronic equipment and a computer program product, and relates to the field of data processing, and the method comprises the steps: collecting a transaction message of a transaction system, and transmitting the transaction message to a real-time message queue; reading a message domain of at least one transaction message in the real-time message queue, and determining a transaction code of the transaction message; searching a field name corresponding to the transaction code under each to-be-verified field type in a preset mapping relation table according to the transaction code; extracting a value of a field name corresponding to the transaction code from the message domain, and transmitting the value as to-be-verified data to a real-time data lake for storage; and performing data quality checking on the to-be-checked data in the real-time data lake. According to the application, the transaction message is sent to the real-time message queue, the transaction message is conveniently processed one by one in batches, the processing time is reduced, the to-be-checked data in the transaction message can be accurately determined according to the preset mapping relation table, the data which does not need to be checked is prevented from being extracted, and the processing time is further reduced.

The utility model relates to the field of spray dryers, and discloses a high-speed centrifugal spray dryer capable of spraying uniformly, which comprises a rack, a feed liquid barrel, a delivery pump, a dryer and a heating component are fixedly connected to the top of the rack in sequence from left to right, and a mixing motor is fixedly connected to the top of the feed liquid barrel. A conveying pipe is arranged between the input end of the conveying pump and the feed liquid barrel, a conveying pipe is arranged between the output end of the conveying pump and the drying machine, a filtering assembly is arranged on the outer wall of the drying machine at the output end of the conveying pump, and a rotary dispersing assembly is arranged in the drying machine and comprises a rotary motor. And the rotating motor is fixedly connected to the bottom of the drying machine. According to the utility model, the rotating shaft is driven to rotate at a high speed by the rotating motor in the rotating dispersing assembly, and the mounting sleeve, the spraying pipe and the atomizing nozzle are driven to work cooperatively, so that the feed liquid is dispersed into uniform and fine fog drops under the action of centrifugal force, and the contact area between the feed liquid and hot air is increased.

The application discloses an abnormal flow cooperative detection method and system, relates to the field of network communication, and comprises the following steps: protocol adaptive identification and dynamic attack detection are carried out on a north-south WAF layer, attack fingerprints are generated, and global session IDs are bound; the application behavior is monitored in a whole link on an east-west RASP layer, context association and threat analysis are realized through the session IDs; WAF and RASP data are aggregated based on the session IDs, an attack feature propagation graph is constructed, and attack chain confidence is evaluated; when the confidence exceeds a threshold value, attack features are extracted by the RASP layer, virtual patch rules are generated, and feedback is fed back to the WAF layer for real-time updating; finally, bidirectional confidence fusion decision is realized through the WAF and the RASP, and cooperative blocking is realized. The application solves the problem that the north-south and east-west detection are split in the prior art, and cross-layer attack chains cannot be effectively blocked, realizes accurate and dynamic protection on complex attacks, especially encrypted flow and horizontal penetration.

The application relates to the technical field of textile machinery, and discloses a porous air blowing cleaning device of a textile machine, which comprises fixing pieces, air pipes, a filter box and a fan, the fixing pieces are provided with two, the outer walls of the two air pipes are both provided with shaft seats, the two ends of the air pipes are rotationally connected with the two fixing pieces through the shaft seats, one end of the air pipe penetrates through one of the shaft seats and is connected with a conveying pipe, in the utility model, the high-efficiency dust collection function is integrated while the powerful air blowing cleaning is realized, the fan forms a negative pressure in the air suction cover through the air suction pipe, the blown-up impurities are collected in time, the cotton wool, dust and the like are prevented from floating in the air, the physical health of the staff is effectively ensured, in the built-in filter assembly, the filter plate can accurately intercept the impurities, the soft hair brush driven by the air cylinder automatically cleans the accumulated matters on the surface of the filter plate, the dust collection channel is ensured to be unobstructed, the high-efficiency dust collection efficiency is always maintained, and the green environmental protection and sustainability of the cleaning process are realized.

The invention relates to a reliability method for an IED (Intelligent Electronic Device) of a transformer substation under an intrusion intention, which is characterized by comprising the following steps of: constructing a Petri diagram by taking a firewall state, an isolation state of IPS on IED equipment and an IED equipment state as positions and taking state change of a safety system of the transformer substation in an intrusion process as conversion; simulating the Petri diagram to obtain the intrusion success probability of the substation safety system, and constructing a Markov state transition matrix of the substation safety system in combination with the natural failure rate of the system; and solving the steady-state probability of each state in the state transition matrix when the substation safety system reaches a steady state, and constructing a reliability index of the substation safety system by using the steady-state probability of each state so as to evaluate whether the substation safety system reaches a system safety requirement or not.

The utility model discloses a fluff cleaning and dust removing device for spinning, which relates to the field of spinning cleaning and comprises a collecting box of a hollow structure. The control panel is arranged at one end of the collecting box; the filtering assembly is arranged in the collecting box and used for filtering and collecting batting and dust; the suction fan is arranged on one side of the collecting box and forms a negative pressure environment through air suction; the collecting pipe is arranged on the other side of the collecting box; and the cleaning assembly is arranged at one end of the collecting pipe and used for cleaning batting and dust in the doubling threads. According to the spinning machine, during spinning movement, pressurized air forms strong and high-speed airflow, batting and dust attached to the brush are more effectively removed, the brush cylinder is prevented from being blocked, it is ensured that the brush always keeps clean and operates efficiently, continuity and stability of production are ensured, meanwhile, the filter plate can be replaced without complex operation, and production efficiency is improved. The continuous and efficient operation of filtering is ensured.

The utility model relates to the field of PCBs, in particular to a PCB short circuit defect testing device. Comprising a bottom plate, supporting rods, bolts, a supporting plate, positioning columns, a cover plate, a mounting plate and the like. The bottom plate is installed on the lower side of a testing area inside the PCB electrical performance testing machine, a plurality of supporting rods are fixed to the bottom plate through bolts, a supporting plate is fixed to the upper sides of the supporting rods on the bottom plate through bolts, a PCB is placed on the supporting plate, testing points are arranged on the PCB, positioning columns are arranged at the four corners of the upper side of the supporting plate, and probes and a plurality of ejector pins are arranged on the upper side of the supporting plate. The probes are connected with a PCB electrical performance testing machine through copper wires, and the probes are in contact with testing points on the PCB. According to the utility model, the resistance and inductance values of the PCB are measured in a four-wire resistance test and inductance test mode, the control threshold values of the resistance and inductance values of good products are screened as standard threshold values, and short circuit defects of different lines in the same network can be accurately intercepted.

The invention discloses a method and equipment for guiding a sub-aircraft to intercept a target based on a mother aircraft of an unmanned aerial vehicle, and a medium, and relates to the technical field of unmanned aerial vehicle navigation and control, and the method comprises the steps: obtaining a patrol target, and constructing and determining the attitude data of an aircraft body through real-time attitude information based on the patrol target; performing binocular north-east coordinate system mapping on the patrol target to determine an initial relative coordinate of the patrol target; based on the initial relative coordinates of the patrol target, obtaining shared target dynamic data through target dynamic state analysis; according to the shared target dynamic data, sub-machine tracking state parameters are determined through sub-machine navigation control analysis; and feeding back the sub-machine tracking state parameter to the master machine, and updating a navigation instruction through the master machine to obtain a real-time interception state parameter of the sub-machine. According to the method, the technical problem that in the prior art, under the condition that no GPS exists, the mother aircraft and the son aircraft of the unmanned aerial vehicle cannot achieve accurate target interception is solved.

The invention relates to a bamboo chip curved surface cold-bending shaping device and method, and relates to the technical field of cold-bending machining.The bamboo chip curved surface cold-bending shaping device comprises a mounting plate, supporting plates are symmetrically arranged at the top of one side of the mounting plate, a rotating shaft is arranged between the supporting plates, the rotating shaft is sleeved with a roller, baffles are symmetrically arranged on the outer wall of the roller, and an H-shaped rack is further arranged at the top of the mounting plate; a plurality of rotating shafts are rotationally arranged between the inner walls of the top of the H-shaped rack, the rotating shafts are sleeved with upper rollers of different specifications, lower rollers matched with the upper rollers are rotationally arranged between the inner walls of the top of the H-shaped rack, a centering mechanism is arranged on the outer wall of the side, close to the roller, of the H-shaped rack, and stabilizing mechanisms are arranged in the H-shaped rack and located on the two sides of the rotating shafts; by means of the aluminum profile machining device, the following problems can be solved: through cooperation of an upper rotating roller and a lower rotating roller, it can be guaranteed that the bottom faces of aluminum profiles with different thicknesses are located on the same horizontal plane when the aluminum profiles enter the device; through cooperation of the arc-shaped triangular blocks and the upper roller, aluminum materials are prevented from deviating in the machining process.

The utility model belongs to the technical field of electronic atomized liquid processing, and particularly relates to a healthy electronic atomized liquid processing device based on an alcohol extraction method, which comprises an extraction tank, the outer surface of the bottom of the extraction tank is fixedly connected with a stirring mechanism, one side of the top end of the extraction tank is provided with a feed port, and the center of the bottom end of the extraction tank is fixedly sleeved with a discharge pipe. The extraction tank comprises a stirring mechanism for stirring raw materials, a spraying mechanism for spraying a solvent and a filtering mechanism for removing impurities; one side of the discharging pipe is fixedly sleeved with an inclined cylinder, and the inclined cylinder is obliquely arranged; in the using process, through the arrangement of the filtering mechanism, solid impurities in a mixed solution can be accurately intercepted, an extracting solution and the impurities can be effectively separated, the purity of the extracting solution is ensured, the impurities are discharged through the impurity outlet pipe, frequent manual intervention is not needed, manpower is saved, the impurities can be continuously and efficiently treated, and continuous and stable operation of the device is guaranteed.

This utility model relates to the field of aquaculture technology, and in particular to an inclined baffle-type flushing and sewage collection device for aquaculture. The inclined baffle-type flushing and sewage collection device for aquaculture includes a base plate in contact with the bottom of the aquaculture pond. An adjustable upper plate is movably installed at one end of the base plate. Side plates cover both sides of the base plate and the upper plate, completely covering the gap between them. A filter screen covers the tail ends of the base plate and the upper plate. A material box is placed on the base plate. The adjustable upper plate at one end of the base plate allows for angle adjustment to meet the pollutant guidance requirements according to the aquaculture scenario. The side plates completely cover the gap created by angle adjustment, preventing sewage leakage and backflow of pollutants during flushing. The filter screen covers the tail ends of both plates to intercept aquaculture organisms and prevent them from entering the collection device. The material box on the base plate collects the pollutants intercepted by the filter screen, facilitating subsequent cleaning and transportation, thus achieving efficient collection, interception, and disposal of pollutants from the aquaculture pond.

The invention provides an anti-unmanned aerial vehicle interception path planning method and system based on deep learning, and relates to the technical field of anti-unmanned aerial vehicle, and the method comprises the steps: firstly obtaining the real-time motion information of an unmanned aerial vehicle, the basic state information of interception equipment, and the dynamic change information of an environment; inputting the real-time motion and environment dynamic change information of the unmanned aerial vehicle into the trajectory prediction model to generate a future trajectory prediction result of the unmanned aerial vehicle; generating an initial interception path based on the future trajectory prediction result of the unmanned aerial vehicle and the basic state information of the interception equipment; calculating a matching deviation between the initial interception path and the trajectory prediction result, and adjusting to obtain a coupled and matched interception path; and controlling the interception equipment to move according to the interception path, and feeding back actual movement data to the trajectory prediction model for parameter iterative updating. According to the invention, the success rate and reliability of anti-unmanned aerial vehicle interception are improved.

The present invention discloses a character-based operation and maintenance command segmentation and parsing method based on word segmentation technology, which belongs to the field of network operation and maintenance. The method adopts a combined command segmentation method to segment the processed standard text commands, analyzes the command structure in the segmentation result through predefined interception command rules, identifies the command intent and operation object, and pre-intercepts the high-risk commands therein, and reconfirms the intercepted high-risk commands. If the command is not set for secondary approval, it is directly intercepted; if the command is set for secondary approval, the administrator conducts secondary confirmation to determine whether it is executed. Through the above method, the operation and maintenance character command parsing and recognition technology input by the user can accurately convert complex commands into recognizable commands, thereby improving the effective accuracy of operation and maintenance operation interception.

The invention relates to the technical field of intelligent logistics equipment and industrial machine vision detection, in particular to a packaging box appearance detection system based on image recognition, and the system comprises a vision data collection module which generates a to-be-detected target image sequence; the feature decoupling extraction module is used for constructing a texture representation feature graph and a topological structure skeleton graph; the semantic ambiguity quantification module is used for generating a numerical visual-physical semantic ambiguity index; the inference mode arbitration module is used for generating a self-adaptive detection strategy instruction; the structural integrity judgment module is used for generating a packaging box seaworthiness verification result; the logistics sorting control module is used for generating a transmission path guide signal aiming at the packaging box and is used for driving a sorting execution mechanism to act; according to the method, the problem that surface stains, old adhesive tapes and real physical cracks are difficult to distinguish by a traditional algorithm is effectively solved, non-structural surface interference is blocked, and the identification accuracy of substantial damage of the packaging box under complex working conditions is remarkably improved.

The utility model provides an energy-saving roof structure of a green building, which relates to the technical field of energy-saving buildings and comprises a photovoltaic assembly arranged on a roof, the photovoltaic assembly comprises a base frame, and a plurality of groups of photovoltaic panels are arranged on the base frame; the rainwater collecting assembly comprises a flow guide box and a water storage box, and a filter plate is arranged at the top of the flow guide box; the flow discarding assembly is connected to the top of the flow guide box through a driving assembly, a rainwater sensor is installed on the flow discarding assembly, and the rainwater sensor is in control connection with the driving assembly; the water pump is communicated with the water storage tank through a water pipe. The photovoltaic panel is combined with the rainwater collecting assembly, and the photovoltaic panel can efficiently capture solar energy and convert the solar energy into electric energy; during rainfall, the device can be used as a flow guiding device to guide rainwater to flow to a designated area by means of the inclination angle of the device. The rainwater collecting assembly is matched with the flow discarding assembly, the filter plate and the driving assembly which are located above the rainwater collecting assembly so that rainwater which does not meet the utilization standard can be effectively intercepted, and it is guaranteed that the quality of collected rainwater is good.

The present invention relates to the technical field of command line auditing, and provides a Linux host command auditing method, system and device based on eBPF, including: sending a control message to a user-state Agent deployed on a Linux host through a control module; when the control message contains an instruction to start command line auditing, the user-state Agent calls a kernel-state Agent by setting an eBPF uprobe plug-in in a bash binary program to write a command line operation log into a Perf Buffer, receiving the command line operation log from the Perf Buffer for data enrichment and sending it to an audit module for auditing; when the control message contains an instruction to close command line auditing, the user-state Agent clears the eBPF uprobe plug-in in the bash binary program and uninstalls the kernel-state Agent. The present invention can achieve low intrusion, high fidelity, low overhead, high adaptability and high security of command line auditing.

This utility model discloses a hydraulic control console for an underwater pelletizer, relating to the technical field of underwater pelletizers. It includes a fixed base and a cooling enhancement mechanism. The cooling enhancement mechanism is fixedly connected to one side of the fixed base. The cooling enhancement mechanism includes a guide fan fixedly connected to one side of the fixed base, and an airflow regulating plate rotatably connected to the top of the guide fan. Cooling fins are provided on the top of the guide fan, and a power interface is provided on one side of the guide fan. The cooling fins are closely arranged on the outside of the die assembly to increase the heat dissipation area. The guide fan is located directly below the cooling fins, and the airflow regulating plate adjusts the airflow of the guide fan. Compared with existing ordinary hydraulic control consoles, this underwater pelletizer hydraulic control console enhances the cooling effect, ensures that cutting operates at a suitable temperature, improves the performance of hydraulic components and equipment stability, effectively intercepts impurities, prevents impurities from clogging pipelines, and reduces equipment failures.

The utility model discloses an environmental protection type dust collector for non - woven fabric production relates to dust collector technical field, including two dust shell body and connecting pipe, the inside of every dust shell body all is provided with a plurality of fairlead, the inside of every dust shell body all is fixedly installed with rubber mat strip, every spin pressure subassembly all sets up in the inside of dust shell body, every spin pressure subassembly all includes main shaft stem and page board no.

This invention relates to a method for enabling, blocking, and testing blacklisted services based on protocol identification, belonging to the field of network security. The method includes: configuring multi-dimensional protocol layer identification rules and blacklist rule priorities; receiving blacklist rules through an automatic rule analysis engine, parsing the blacklist rules according to the multi-dimensional protocol layer identification rules, identifying the rule type, automatically assigning priority to the rule type, converting the blacklist rules into standardized rules, and automatically converting the standardized rules into dedicated configuration instructions adapted to 5G core network elements; automatically distributing the dedicated configuration instructions to the corresponding 5G core network elements through a standardized interface; actively generating simulated traffic, with the UPF intercepting the simulated traffic, comparing the actual interception results with the expected rules, and generating a verification report to achieve automatic verification of the interception effect. This method can improve service management efficiency and security.

The utility model relates to powder coating recovery device technical field, concretely is a kind of powder coating recovery negative pressure collection device, including support frame, filter cavity and collection box, the top fixed penetration connection of filter cavity is connected with suction mechanism, the bottom fixed penetration connection of filter cavity is connected with connecting pipe, one end fixed connection of connecting pipe is connected with negative pressure pump, the inside sliding connection of sliding groove has filter screen, vibration mechanism is arranged below filter screen, vibration mechanism is fixedly installed on the outer surface of filter cavity, the top fixed connection of mounting bracket has motor, the output end fixed connection of motor has rotating rod, the outer surface fixed connection of rotating rod has vibrating block.The utility model, by the setting of filter screen and vibration mechanism, both can intercept non-target impurities, can also ensure that powder coating passes through smoothly, and the small amplitude vibration generated by vibrating block impact contact block, can avoid impurity blockage upper mesh, greatly improve the recycling value of powder.

The utility model relates to the technical field of carbon monoxide concentration detection equipment, and discloses a carbon monoxide concentration detection device for sanitary detection, which comprises a shell and an air inlet, the air inlet is arranged at an air inlet of the shell, the air inlet of the air inlet is communicated with an assembly shell, and the assembly shell is used as an integrated mounting carrier of an air inlet system. A stable airflow transmission channel is formed through sealed communication with the air inlet, so that external airflow leakage or interference on the purity of detected gas is avoided, and a closed and controllable environment is provided for subsequent filtering, air inlet and detection links; a filtering mechanism is embedded in an air inlet of the assembling shell, an air inlet mechanism is arranged in an inner cavity of the assembling shell, and the filtering mechanism and the air inlet mechanism form a cooperative working unit in the assembling shell. According to the carbon monoxide concentration detection device for sanitary detection, negative pressure suction force generated by rotation of the fan blades can quickly guide external gas to enter the assembly shell, the power loss is reduced through the power transmission effect of the main shaft, and the gas inlet efficiency is improved.

The application discloses a kind of anti-UAV phase plane guidance and field of view restriction prediction interception control method, belong to the intersection field of unmanned aerial vehicle flight control and visual servoing.This method obtains pure translation optical flow by establishing optical flow de-rotation model and estimates visual time to collision TTC, based on phase plane proportional guidance constructs nonlinear model predictive control NMPC cost function with dynamic adaptive weight, simultaneously camera field of view angle boundary is converted into non-convex hard constraint, finally integrates dynamics equation and constraint condition completes online rolling optimization and closed-loop interception.The application solves the problems of traditional monocular visual servoing "centering deadlock", three-dimensional proportional guidance depth dependence, target easy to lose and end impact attitude inaccuracy, realizes the limit maneuver of high dynamic target under monocular depth-free condition, field of view preservation and accurate head-on interception.

The present application relates to a kind of ceramic denture production rhythm dynamic recovery method and device, belong to industrial machine control and intelligent manufacturing technical field, by real-time acquisition material defective detection signal, position signal and robot pose data construct global state matrix, and scattered state and task logic state is converted into centralized management of standardization feature.Compared with the rigidity control of traditional fixed time axis or one-way serial logic, by high-frequency scanning of global state matrix, it can make accurate prediction and intercept to sudden defective event, improve the environmental perception ability and the real-time of scheduling decision of single robot in multitask concurrent condition.For the technical defects that traditional control method is prone to mechanical impact and collision interference when handling exception, the present application calculates interruptable node according to real-time pose data when triggering task interruption, avoids the joint stress mutation caused by sudden stop or stiff track change of robot in high-speed motion.

The invention relates to the technical field of filtering materials, in particular to a supporting material and a preparation method and application thereof. The material is composed of a PTFE paper base and a PTFE stretching film compounded on the surface of the PTFE paper base. The average pore size of the PTFE paper base is 1-20 microns, the porosity is 50-85%, the PTFE paper base contains a PTFE fiber skeleton and PTFE resin, and the mass ratio of PTFE chopped fibers to long fibers in the skeleton is (1-3): (1-2); the average pore size of micropores of the PTFE stretching film is 0.1-10 microns, and the porosity is 30-50%. The preparation method comprises the following steps: pulping part of PTFE chopped fibers to obtain first slurry; the remaining chopped fibers and PTFE long fibers are mixed and defibered to obtain second slurry, and the mass ratio of the two parts of chopped fibers is set as required; mixing the two slurries with a functional additive, and performing wet molding, PTFE resin emulsion surface sizing, dewatering and drying to obtain a PTFE paper base; and hot-pressing and compounding a PTFE stretching film to obtain the supporting material. The supporting material is a full PTFE material, is free of impurities, low in cost and resistant to long-term erosion of strong acid, strong alkali and strong corrosive gas, and the corrosion resistance of the supporting material is equivalent to that of PFA; the composite structure and formula can improve the corrosion resistance, structural strength and filtering precision at low cost, and meet the high-precision filtering requirements of highly corrosive media such as semiconductor etching liquid and the like.