1088results about How to "Achieve the desired effect" patented technology

The invention relates to a mobile robot positioning system and a method based on the plurality of the two-dimensional code readers. The mobile robot positioning system and the method are characterized in that the positioning system comprises a two-dimensional code positioning controller mounted on a mobile robot trolley, at least two two-dimensional code readers and two-dimensional code tags which are distributed on the ground, the two-dimensional code positioning controller is composed of a microprocessor and a communication interface which is connected with the at least two two-dimensional code readers; and the positioning method includes building three coordinate systems, calculating a deviation angle of the mobile robot trolley in a trolley coordinate system relative to a central point connection line of two two-dimensional codes, calculating a deviation angle of the central point connection line of two two-dimensional codes relative to a world coordinate system and calculating a deviation angle of the mobile robot trolley relative to the world coordinate system to obtain an accurate position of the mobile robot. According to the mobile robot positioning system and the method, the design is reasonable, an accurate positioning function for the mobile robot is achieved, and advantages of high accuracy and stability, implement convenience and the like are provided.

The invention belongs to the technical field of path or flight path planning of robots as well as low-altitude flight aircrafts, specifically relates to a path planning method of a passable area divided at unequal distance, and is used for solving the problem that existing planning algorithm has large time complexity in time and space complexity. The path planning method comprises the following steps of: calculating convex extreme points of each barrier curve; dividing the passable area by using each convex extreme point as a horizontal line; abstracting each small area obtained by dividing into a peak of a graph; forming an undirected graph by all peaks; finding out a peak serial number corresponding to the small area at which a starting point and a final point are located; finding out all paths for the undirected graph by breadth-first or depth-first scanning; finding out an actual to-be-travelled path of a moving object according to the situation on an actual map. The path planning method disclosed by the invention has the beneficial effect of overcoming the problems of algorithms of A* and the like on memory space and operation time, and overcoming a convergence problem of an ant colony algorithm at the same time. Besides, time complexity and space complexity are improved greatly in comparison with other algorithms.

The invention relates the chemical engineering field, especially a H2 and CO2 inhibiter. H2 and CO2 are produced accompany to oil-gas field exploitation and transfusion process, and can corrode exploitation equipment. The inhibiter contains at least (by wt. %): isopropyl alcohol 10-30, fatty alcohol polyoxyethylene ether .1-0.5, and litol polyoxyethylene ether 0.1- 1.0. The inhibiter can be used in oil/water well with high temperature and pressure, and has the advantages of good corrosion resistance, low consumption, low cost and high efficiency.

The invention discloses a sectored multi-step ecological buffer type revetment system. The revetment system is provided with at least four levels of steps, blocking walls are sequentially arranged on the outer sides of the steps, one plant planting zone is arranged in the blocking wall of each level, soil matrix is arranged in the upper layer of each plant planting zone, yellow sand, ceramsite, soft rock and zeolite are sequentially in the lower layer of the plant planting zone of each level, and emersed landscape plants and submergence-tolerant plants are arranged in the plant planting zone of each level; hydraulic drop platforms are sequentially arranged in the corresponding positions of spaced plant planting zones of the blocking walls; and one guide plate is arranged between each blocking wall and the corresponding hydraulic drop platform; the plant planting zone of the first level is connected with a farmland drainage canal and is sectored towards the downstream to form a hydraulic-drop type hierarchical structure in an open sectored shape, the sector radius is 5-8 m, and the central angle is 45 degrees-75 degrees; and the blocking wall of the last level is connected with a river channel. The sectored multi-step ecological buffer type revetment system not only has the efficacies of protecting river channel side slope, and realizing flood water drainage and water and soil conservation, but also has good purification and landscape effects.

The invention discloses an application system for realizing food information tracing by two-dimensional codes. The system comprises the two-dimensional codes, a food safety tracing special device and a food safety tracing technical platform, wherein the two-dimensional codes are identifiers which are printed on food packages and contain food information; the food safety tracing special device is used for reading and decoding the two-dimensional codes and for uploading decoded data and user data; the food safety tracing technical platform is used for querying and verifying according to the decoded data and the user data and for transmitting matched results back to the food safety tracing special device; and the food safety tracing special device is connected with the food safety tracing technical platform through a wireless communication network. In addition, the invention further discloses a method for realizing food information tracing by the two-dimensional code. As the information about the production and the circulation of food can be linked, the transparent supervision for various links in the circulation of the food can be effectively realized, and the method provided by the invention is widely applied to tracing, managing and monitoring of the food as a fast and effective information-tracing method.

The invention discloses a system level simulation method for a CoMP (coordinated multi-point) technique in an LTE-A (long term evolution-advanced) system. The method comprises the following steps of: generating needed simulation scene information according to the IMT-A (international mobile telecommunication-advanced) requirement; obtaining a corresponding channel matrix according to the scene information; adding a CoMP algorithm module; carrying out coordination user division and resource block distribution; carrying out virtual resource block transmission according to the result of resourcescheduling; and finally recording the stimulation result, and carrying out performance evaluation. In the invention, the manner of threshold is adopted to distinguish cooperative users and non-cooperative users, and the proportion fair-share scheduling algorithm is adopted to schedule the resource blocks. By adopting the method provided by the invention, a CoMP system model can be simplified, so that the simulation difficulty brought by the factors, such as the uncertainty of cooperative cell and the like in the CoMP technique can be solved.

The invention provides a coextruded biaxially-oriented polyolefin film. The coextruded biaxially-oriented polyolefin film comprises a composite layer, an intermediate layer and an heat sealing layer, wherein the composite layer, the intermediate layer and the heat sealing layer are in coextruded structures and contain propylene polymer, ethylene polymer and the blend or mixture of the propylene polymer and the ethylene polymer respectively. The ratio of the longitudinal elongation of the biaxially-oriented polyolefin film to the transverse elongation is less than 1:6, and the ratio of the longitudinal elongation to the transverse elongation is less than 8% at the temperature of 90 DEG C. The invention further provides a composite packaging structure with a substrate and the biaxially-oriented polyolefin film and a method for preparing the biaxially-oriented polyolefin film.

The invention discloses a low-alloy high-strength structural-steel extra-thick board Q460C and a production method thereof, the extra-thick board comprises the following chemical constituents in percentage by weight (with wt% as a unit): C: not more than 0.20, Si: not more than 0.60, Mn: 1.40-1.60, P: not more than 0.020, S: not more than 0.005, microalloying elements (V+Nb+Ti+Ni): not more than 0.25, Als: not less than 0.015, and the balance of Fe and residual elements. The microalloying elements are selected reasonably, the elements V, Nb, Ti, and Ni are added in best match, and therefore, the double effects of precipitation strengthening and fine-grain strengthening are fully exerted to ensure that each performance index of a pressure vessel board can meet the requirement of national standard on 120mm under the premise of not reducing plasticity and toughness.

The invention discloses an intelligent scenic spot open ecological platform based on cloud computing. The platform comprises six layers in total, namely an infrastructure service layer, a data resource service layer, an application supporting service layer, a service application service layer, an operation enforcement service layer and an information service layer. The intelligent scenic spot open ecological platform based on cloud computing realizes technical effects of comprehensive function, wide application, easy disposition, high safety, high reliability and convenient expansion. Furthermore the intelligent scenic spot open ecological platform covers total industrial links in travelling.

The invention discloses a data verification method and device, electronic equipment, and a data migration system. The data verification method comprises the following steps that: reading the configuration file of a data verification task, and obtaining the configuration parameter of the data verification task, wherein the configuration parameter comprises source table information, target table information and data comparison logic; according to the source table information and the target table information, obtaining original data to be verified and target data; and aiming at each data pair formed by the original data and the target data, carrying out data verification on the data according to the data comparison logic, wherein the original data and the target data have the same data identification. When the method provided by the invention is adopted, the expression of the data verification task is extracted into the configuration file; in a universal data verification program, the configuration file is read to obtain various pieces of information of the data verification task so as to verify the data before and after data migration is carried out; and therefore, an effect of reusing the data verification program is achieved.

The invention discloses a pelvic muscle rehabilitation device. The pelvic muscle rehabilitation device comprises a probe, a core plate and a smart mobile phone, wherein the probe acquires electromyographic signals and muscle force signals, and a belly electrode acquires electromyographic signals of the belly and outputs the signals to the core plate; the core plate receives the electromyographic signals and the muscle force signals and analyzes and processes the electromyographic signals and the muscle force signals, and an analyzing and processing result is obtained and sent to the smart mobile phone to be displayed; the smart mobile phone adjusts stimulation parameters according to the analyzing and processing result and transmits the stimulation parameters to the core plate; the core plate outputs constant-current stimulation pulse signals according to the stimulation parameters, and the constant-current stimulation pulse signals are transmitted to pelvic muscles through the probe. The pelvic muscle rehabilitation device is small in product size, convenient to carry and capable of directly transmitting electromyographic information and muscle force information to the smart mobile phone, a user directly reads the information in the mobile phone and performs various operation, and the pelvic muscle rehabilitation device is suitable for being used at home; meanwhile, the pelvic muscles can be electrically stimulated, and an expected effect is achieved.

The invention is an end-to-end service grade protocol evaluating method, comprising the steps of: setting database; scanning database; generating test list of tasks; making active measurement and passive measurement; and evaluating network performance data. And an evaluating device for implementing the method comprises task management module, service grade protocol analyzing module, network performance module, service grade protocol evaluating module and report generating module, where the task management module makes bidirectional communication with the service grade protocol analyzing module, network performance module and service grade protocol evaluating module. And it can accurately collect measuring sample, achieve an expected effect of SLA monitoring, and has high testing accuracy and strong pertinence.

The invention relates to a method for forming an ecologically-sewage-purifying compound riverbed wetland system, which is characterized in that: a 30-60mm round gravel, a 12mm medium gravel, a 6mm gravels as well as coarse sands and soil matrixes are filled in the new riverbed from the lower part to the upper part to form a compound riverbed and the top of a shoal of the compound riverbed is positioned below the low water level of the river; the aquatic plants are planted on a soil layer of the shoal of the compound riverbed; the deep grooves and the slopes are protected and built by ecological concrete; thus, the ecological ecologically-sewage-purifying compound riverbed wetland system is formed. The invention has the advantages that a comprehensive treatment system with the plant-the matrix-microorganism is formed, thus enhancing self-purification capability of the river, purifying water body of the river and improving water environmental quality of the river; section form of the riverbed is transformed into a compound riverbed structure in which the shoal and the deep grooves exist simultaneously and the riverbed wetland system is arranged in sinuous way in longitudinal river, which facilitates perch and growth of the aquatic creature and diversification of the river creature; a water distributor is laid to carry out the depth treatment for tail water reaching the standard; the invention has the advantages of simple structure and construction, convenient operation, stable function and low manufacture cost.

The invention provides a bio-organic fertilizer with Chinese medicine residue as a raw material. The formula of the organic fertilizer comprises grass carbon and lignite, and functional bacteria are added. The raw materials comprise the following components in percentage by weight: 30-70 percent of Chinese medicine residue dry product, 0.01-0.5 percent of biological bacteria, 20-40 percent of grass carbon, 10-30 percent of lignite, 1-5 percent of mineral matter fertilizer and 0.1-0.5 percent of functional bacteria. Various nutrients which cannot be effectively absorbed by plants in the soil can be effectively activated, so that the quality and the yield of the crops are improved, and the immune-competence of the crops per se can also be effectively improved.

The invention discloses a testing system and testing method of a train control on-board device. The testing system comprises a testing script generating module, a protocol packaging module and an interface adaptive module. The testing script generating module is used for generating at least one testing script according to testing modes and the type of a tested device. The protocol packaging module is used for packaging the testing scripts on the basis of the protocol type of the tested device and generating testing command data according with the protocol of the tested device. The interface adaptive module is used for converting the testing command data into a testing command sequence adaptive to a connection line interface of the tested device. According to the testing system and testing method of the train control on-board device, script compiling, script protocol conversion and testing command sending are set to be independent function parts, the decoupling effect of the function modules is achieved, a more flexible testing function can be provided, and extensibility is high.

The invention discloses a method for recovering low-grade copper-zinc mineral from cyanidation tailings. The method comprises the following specific process steps: (1) adding water into the cyanidation tailings for mixing slurry; (2) adding a sodium hypochlorite solution into pulp, and stirring; (3) adding diethyl dithiocarbamate and ethionine ester as collecting agents, and stirring; (4) performing bulk flotation on copper-lead mineral by performing roughing once, concentration twice and scavenging once to obtain copper-lead mixed concentrate and copper-lead flotation tailings; (5) performing ultrasonic oscillation on slurry-mixed copper-lead mixed concentrate, dehydrating the copper-lead mixed concentrate subjected to ultrasonic oscillation to obtain a filter cake, mixing slurry once again, adding a CP mixture as a conditioning agent, adding ethionine ester as a collecting agent, and adding terpenic oil as a foaming agent for flotation to obtain qualified copper concentrate and copper flotation tailings; (6) performing slurry mixing on the copper-lead flotation tailings, adding copper sulfate for activating zinc mineral, adding sodium butyl xanthogenate as a collecting agent, and adding terpenic oil as a foaming agent for floatation to obtain zinc concentrate and zinc flotation tailings.

The invention relates to a food composition for maintaining oxide concentrations in human bodies. According to the invention, natural pigments and phenolic compounds are adopted as main materials, and other vitamins, coenzyme Q10, thioctic acid, plant rennet, and plant pectin are adopted as auxiliary materials. The composition is advantaged in that: with daily diets, efficacies such as intelligent improving, physical fitness improving, disease curing, health preserving, health caring, and aging delaying can be achieved.

The invention discloses a UAV adaptive tracking control algorithm based on a saturation limitated condition. The method comprises following steps of: first, building a non-linear, underactuated quad-rotor UAV model based on a Newton-Euler model, and realizing mathematization processing on the quad-rotor UAV model; then, based on an input saturation limited function model, building a system framework and selecting an input limited function; then, based on a sliding mode variable structure control method, realizing controlling and processing of a quad-rotor UAV position secondary system; and finally, based on an adaptive tracking control method, introducing active disturbance rejection control so as to process uncontrollable disturbance of the UAV, and realizing controlling and processing ofa quad-rotor UAV gesture secondary system. Under complex conditions that UAV input saturation is limited, and system disturbance is uncertain and uncontrollable, the method uses a dual closed-loop control model to adaptively track and control the position and gesture of the UAV, so as to enable the UAV to fly stably finally.

The invention discloses a liquid-phase plasma rock blasting method suitable for blasting rocks and concrete structures. According to the method, strong discharging is implemented in strong sodium chloride or potassium chloride electrolyte solutions for stimulating generation of high-density liquid-phase plasmas; in the high-density liquid-phase plasmas, due to the mutual effect of the electrical property of ion clusters, intense vibration occurs in the sections where ions exist in an instant, high temperature and high pressure are generated in the plasma sections, clustering shock waves of the ions are formed and extend outwards, and therefore the energy of ion waves is spread to the surrounding rocks, natural defects such as joints and fractures in the rocks or the concrete structures are enlarged, new cracks and weakness planes are formed until the rocks or the concrete structures are damaged, and the purpose of blasting the rocks or the concrete structures through the plasmas is realized. Compared with traditional explosive blasting methods, the liquid-phase plasma rock blasting method has the remarkable advantages that dust is avoided, fume is avoided, poisonous and harmful gas is avoided, throwing is avoided, and the noise is low.

The invention discloses an activated dye resist printing technology for a cotton fabric. The technological process comprises the following steps in sequence: printing, drying, ageing, washing with water, soaping and drying. The formula of the coating white resist paste comprises the following components: 200-400 g/kg of coating white, 150-300 g/kg of an adhesive, 150-300 g/kg of an emulsion thickener, 60-80 g/kg of sodium sulfate; the formula of the coating color resist paste comprises the following components: 200-400 g/kg of a coating, 160-250 g/kg of an adhesive, 40-50 g/kg of an emulsion thickener as a thickener, 30-80 g/kg of sodium sulfate, 200-400 g/kg of an activated dye as printing paste, 400-500 g/kg of 5% sodium alginate paste, 5-10 g/kg of appropriate urea reserve salt S, and 10-25 g/kg of sodium bicarbonate. The requirements on the activated dye for resist printing comprise low affinity to cotton fiber, and low probability of cleaning the unfixed dye.