6006results about How to "Ensure safety" patented technology

The invention discloses a WebSocket-based instant message task assigning system. The system comprises two parts, i.e., a server and clients, wherein the server is deployed on an application server and configured with ports for providing external services, and the server is then started; the clients comprises an APP client and a PC client; and information data transmission among the server, the APP client and the PC client is achieved based on the WebSocket protocol, that is, the server provides the instant messaging service, and the clients achieve acquisition of data from the server. Compared with the prior art, the system provided by the invention has the advantages that WebSocket-based instant message task assigning is achieved, and information can be synchronized between the information acquisition clients, so that high timeliness, effectiveness and safety of the information are ensured.

The invention provides a control method and system of a double-arm clothes folding robot, and relates to the technical field of robot control, and the control method constructs a perceived control closed loop by fusing visual, force and tactile multi-modal data. The touch sense and the force sense make up the blind area of the vision in the self-shielding scene, and grabbing, sliding and pleating perception is improved. Based on clothing joint characterization of a visual semantic network, geometric morphology, semantic components and confidence coefficient are structured and coded, a robust state fusing prior and real-time observation is provided for planning, and decision errors caused by deformation and noise are reduced. Long-time-history folding is decomposed into sub-target sequences through a hierarchical strategy, action closed-loop correction is conducted through multi-modal data, and cooperative control over grabbing, folding and pleating is achieved. And finally, a torque instruction is generated based on a control algorithm, interaction compliance and safety are ensured, and the folding success rate and operation stability of the double-arm clothes folding robot under different materials, sizes and initial forms are integrally improved.

The invention discloses a respiratory disease oxygen precise conveying system based on a sensor, and relates to the technical field of medical equipment, and the system comprises a sensing module which integrates multiple sensors to collect and process airway and physiological data of a patient; the disease matching module identifies disease types through database comparison; the dynamic adaptation module calculates exclusive oxygen concentration based on a multi-mode fusion initial algorithm; the conveying module executes adjustment; the closed-loop feedback module continuously fine-tunes the oxygen concentration through a closed-loop stepped fine-tuning algorithm to form a closed-loop link, so that accurate dynamic control of oxygen delivery is realized; according to the invention, multi-sensor collaborative acquisition and disease precise matching are combined with a dynamic algorithm and closed-loop feedback, so that individuation and dynamic oxygen delivery are realized, the system avoids misjudgment by relying on a standardized database, and the oxygen concentration, flow and pressure are ensured to be adjusted in real time along with physiological indexes of a patient through multi-parameter collaborative adjustment and stepped fine adjustment; the treatment comfort, the effectiveness and the long-term adaptability are improved.

The invention discloses a power distribution network reconstruction optimization method for improving distributed new energy bearing capacity, and relates to the technical field of intelligent power distribution network optimization. The method comprises the following steps: constructing an evolution state path diagram for describing a system operation state space-time evolution rule based on historical and real-time operation data of a target power distribution network; identifying a plurality of potential weak moments when the bearing capacity margin of the system is lower than a dynamic safety threshold value in a future prediction time domain based on the prediction operation data of time-space association; analyzing relevance and time sequence proximity of the running states corresponding to the plurality of potential weak moments in the evolution state path diagram, and clustering to generate one or more demand time periods with internal state consistency; and for each demand period, determining a unique optimal network topology and a corresponding switch operation instruction, and integrating the instructions of each period to generate a multi-period reconstruction scheduling scheme. According to the invention, unnecessary switching operation times are reduced while the new energy consumption capability is ensured, and the reconstruction optimization effect of the power distribution network is improved.

A high-order driving auxiliary lane changing trajectory planning method for an intelligent vehicle comprises the steps that laser radar and camera data are obtained, and feature vectors of obstacles are extracted after the data are processed by an ISP at the front end of a chip of the intelligent vehicle; constructing a spatio-temporal joint attention network model, inputting the feature vector of the obstacle into the spatio-temporal joint attention network model, calculating an interaction weight between the vehicle and the obstacle through a self-attention mechanism, and synchronously outputting predicted trajectory distribution of the obstacle and a candidate planning trajectory cluster of the vehicle; introducing a dynamic game in the game theory, and constructing a comprehensive cost function in combination with the interaction weight to obtain a screened track; and taking the screened trajectory as an initial value, inputting the initial value into a rear-end quadratic programming optimizer on the premise of meeting vehicle dynamics constraints, carrying out numerical optimization solution, searching an optimal programming sequence, and finally finishing lane changing trajectory planning. According to the invention, the interactive perception capability and riding comfort of the intelligent vehicle in a complex traffic scene can be improved.

The invention discloses a tight-lock coupler intelligent tensile testing machine and a testing method thereof, and belongs to the technical field of tight-lock coupler test.The tight-lock coupler intelligent tensile testing machine comprises a mounting bottom plate and an electric control cabinet, and a support for supporting a tight-lock coupler to be detected is mounted on the surface of the mounting bottom plate; a tensile connecting frame for connecting the tight-lock coupler is mounted on the surface of the bottom plate on one side of the support, an integrated design of'tensile force detection and visual detection 'is innovatively adopted, mechanical parameter acquisition and visual deformation observation are combined, traditional mechanical data such as tensile force and displacement are obtained, and visual characteristics such as fine deformation and crack initiation are captured; precise synchronization of pulling force application, displacement collection and camera shooting is achieved through the synchronous controller, the real-time corresponding relation of pulling force-displacement-visual deformation is established, the problems that an existing device is single in detection dimension and poor in data relevance are solved, and the potential quality hazard checking capacity and the persuasion of a detection result are improved.

The invention discloses a multi-bus decoupling distributed embedded hardware rendering architecture, system and method, and relates to the technical field of ultra-high-definition video hardware processing, and the key points of the technical scheme are that the architecture comprises a multi-bus decoupling module which comprises a plurality of hardware buses which are physically isolated from one another, each hardware bus is an exclusive hardware transmission link bearing a single-type manufacturing task; the modular processing unit is an independent hardware board card and is integrated with an external signal input port, an upstream bus signal input port and a downstream bus signal output port; the plurality of modular processing units are cascaded in sequence through a hardware bus in the multi-bus decoupling module to form a distributed assembly line rendering link; when the modular processing units are newly added, the signal processing capability and the rendering synthesis capability are linearly improved along with the increase of the number of the modular processing units. According to the invention, the problem of performance bottleneck of the traditional architecture in processing 4K / 8K ultra-high-definition and multichannel rendering is fundamentally solved.

The invention discloses a sludge low-temperature oxidation treatment system and method. The system comprises a pretreatment unit, a feed lifting mechanism, a low-temperature oxidation furnace, a flue gas purification unit and an automatic control unit. The low-temperature oxidation furnace is divided into a feeding area, a low-temperature oxidation area and an air distribution and slag discharge area from top to bottom, an air distribution plate is provided with air outlets which are uniformly arrayed, the temperature of the low-temperature oxidation area is controlled to be 420-480 DEG C, and generation of dioxin is inhibited from the source. The pretreatment unit is used for mixing sludge, biomass and quartz sand to form a loose breathable material to prevent the sludge from hardening; the method comprises the steps of material mixing, continuous feeding oxidation, temperature closed-loop regulation and control, flue gas purification and ash treatment, high-water-content municipal sludge can be stably treated, the energy consumption is low, the dioxin generation amount is low, flue gas emission reaches the standard, ash can be recycled, and the method is suitable for large-scale municipal sludge harmless treatment.

The invention discloses a federal recommendation privacy protection method based on ring signature and selective aggregation, which realizes anonymization privacy protection and selective aggregation in a federal learning process through an innovative double-server architecture and a hierarchical security mechanism. The method comprises the following steps: 1) deploying an aggregation server and a security server in a system initialization stage, and completing parameter initialization and key distribution; 2) the client executes local model training, and anonymization privacy protection uploading is realized by adopting a ring signature technology; 3) the security server performs selective aggregation of credibility verification, and completes grouping and parameter fusion based on user similarity; and 4) ensuring the completeness and source credibility of model updating through a hierarchical security parameter distribution mechanism. While the recommendation precision is ensured, the user identity leakage and privacy tracking are effectively prevented, the comprehensive security guarantee is provided for the federal recommendation system, and the method has the advantages of low calculation overhead and high communication efficiency.

The invention relates to the technical field of medical apparatuses and instruments, and provides a limb traction device which comprises a traction seat used for fixing a limb of a patient and provided with a mounting via hole and a rotating hole, and the rotating hole and the mounting via hole are arranged at an interval and communicate through a mounting window; the basic shaft is arranged in the mounting through hole in a penetrating manner and is provided with a rack extending in the axial direction of the basic shaft; the driving mechanism comprises a rotating shaft rotationally connected into the rotating hole, a driving gear fixed to the rotating shaft and a clutch locking mechanism arranged on the rotating shaft; the driving gear is positioned in the rotating hole and is meshed with the rack through the mounting window; the clutch locking mechanism is matched with the traction seat, has a locking state and an unlocking state, and is provided with a driving end for receiving driving force; in the locking state, the clutch locking mechanism is in limiting fit with the traction seat to limit rotation of the rotating shaft; when the driving end receives driving force, the clutch locking mechanism and the traction seat are separated from limiting fit to be switched to an unlocking state, so that the rotating shaft drives the driving gear to rotate, and the traction seat is driven to slide along the basic shaft.

The invention provides a business process intelligent configuration and security execution method, system and device, and the method comprises the steps: converting a natural language demand into a BPMN 2.0 process model based on a large language model and an enterprise knowledge base; the service rule description is converted into a Grouping script through multi-level security compiling; the process and the script are executed in the Flowable process engine integrated with the security sandbox, and execution data are collected; and calculating a process health score based on the data, generating and implementing an optimization suggestion, and feeding back a result to the knowledge base. The problems that a traditional process system depends on manual coding, the script safety is poor, and continuous optimization is lacked can be solved. The full-link automation and intelligentization of the business process from design, execution to optimization can be realized, the development efficiency and the system security are greatly improved, and the process has the self-evolution capability through closed-loop feedback.

The invention discloses a belt conveyor fault intelligent inspection and diagnosis method and system based on digital twinning, and the method comprises the steps: building a digital twinning model of a belt conveyor, and fusing a three-dimensional geometric model and a physical behavior model, constructing a fault simulation model for simulating the incidence relation between different fault types and physical parameters based on a digital twinborn model; collecting and preprocessing multi-source data, loading a fault detection model to recognize an image, and fusing physical parameter data; performing fault reasoning by the intelligent reasoning model; the digital twin model reproduces a fault scene based on the fault simulation model and loads solution simulation; if the result is valid, issuing an instruction; according to the diagnosis method, a digital twin model associated with equipment behaviors is built, comprehensive diagnosis is performed by combining image data and physical parameter data, fault and behavior association is realized, and faults are accurately positioned; the fault simulation model cooperates with the digital twin model to reproduce a fault scene, and loads reasoning result simulation and a virtual-real combined mechanism control instruction to guarantee operation and maintenance safety.

The utility model discloses a bridge support detection device which comprises a base and a support on the upper portion of the base, a hydraulic cylinder is installed in the center of the upper portion of the support, a piston rod of the hydraulic cylinder is fixedly connected with an extrusion block on the lower portion of the support, and a guide rail is arranged on the upper portion of the base. A lifting assembly is arranged at the position, right opposite to the extrusion block, of the guide rail, and the feeding trolley can fall down to be tightly attached to the support through the lifting assembly so that the bridge support can be stably supported. And the guide rail directly faces the lifting assembly of the extrusion block, so that the feeding trolley falls to be tightly attached to the support to stably support the bridge support, feeding is easier through the feeding trolley, blocking and limiting of the extrusion block and the press support are avoided, and feeding safety is guaranteed.

The embodiment of the invention discloses a data interaction method of a string type energy storage system, the energy storage system and a related device, the method is applied to a PCS controller in the string type energy storage system, and the string type energy storage system comprises a plurality of battery clusters, a cluster controller, a stack controller and the PCS controller; comprising the following steps: acquiring the total system power and the online cluster number of a plurality of battery clusters sent by a stack controller; acquiring operation state parameters of the battery clusters forwarded by the stack controller and correspondingly acquired by the cluster controller; determining the execution power of the plurality of battery clusters in response to the total power of the system, the online cluster number and the operation state parameters; and generating a control instruction when it is determined that a battery cluster fault exists according to the operation state parameters. Therefore, independent and accurate management of each cluster of batteries is realized, the overall energy efficiency of the system is improved, and meanwhile, the safety and reliability of the system are ensured through a dynamic power distribution strategy and a layered fault response mechanism.

The invention discloses a wind and light storage cooperative control system based on source load matching. The system aligns a source load storage network and communication information and carries out credible evaluation; wind, light and load are predicted, and uncertainty levels are given; calculating a matching degree and a short plate hot spot, and combining network side hard constraints such as voltage, power flow and reverse transmission to obtain an acceptable boundary; when the matching is qualified and the complementary energy is still available, identifying the complementary energy / energy shortage and the reason, quickly checking the transferable margin and loss by the edge, generating a routing plan containing retention time and action budget, and scheduling the stored energy and the flexible load in a rolling manner; meanwhile, the risk budget and standby are written back according to feasibility, prediction uncertainty and communication quality, gray release and automatic rollback are achieved in cooperation with degradation and playback scoring, and consumption and traceability are improved.

The utility model discloses a permanent and temporary combined assembly type underground structure plate wall connecting node which comprises an assembly type underground diaphragm wall, a full-length steel plate is installed on the side wall of the assembly type underground diaphragm wall, and a prefabricated structure plate is hoisted on the full-length steel plate. The gap between the prefabricated structural slab and the fabricated underground diaphragm wall is filled with ultra-high-performance concrete, and a steel bar structure is arranged in the ultra-high-performance concrete. According to the utility model, the rigid connection between the two prefabricated parts is realized, the integrity of the structure is improved, and the safety and durability of the underground structure are fully ensured; an underground diaphragm wall which is usually used as a temporary structure is changed into a permanent structure, so that the construction period is shortened, and the investment is saved; the ultra-high performance concrete poured in the joint can greatly shorten the anchoring length of the steel bars, enlarge the arrangement distance of the steel bars, obviously reduce the using amount of the steel bars on site and the binding workload, is convenient to install and simple in process, obviously improves the construction efficiency, and has high popularization and application value.

The invention discloses an exoskeleton robot abnormal working condition automatic response and risk avoiding decision-making method, and relates to the technical field of exoskeleton, and the method comprises the steps: deploying a plurality of types of sensors to synchronously collect environment data, human physiological data and exoskeleton operation data, and carrying out the preprocessing to remove interference; through fusion of abnormal harmonic detection and a finite-state machine, dangerous working conditions such as wind speed abrupt change are identified, and grades are judged; monitoring eye movement and heart rate variability data in real time, quantifying cognitive load and grading; a decision rule base is constructed, and joint locking and other adaptive risk avoiding decisions are generated in combination with working condition types, grades and cognitive loads; the controller drives the execution mechanism to execute a decision, continuously monitors data at a frequency, dynamically adjusts the decision or recovers a normal mode. According to the method, dangerous working conditions are accurately identified through multi-source data fusion, adaptive risk avoiding measures are automatically triggered, a power assisting strategy is dynamically adjusted in combination with cognitive loads, and operation flexibility and physical output are balanced.

The invention relates to the field of service life prolonging control, and discloses a reinforcement learning-based self-adaptive service life prolonging control method for a wind turbine generator, which is used for providing a reliable technical means for prolonging the service life of the wind turbine generator. Comprising the steps of collecting a unit operation state and key component health parameters, and generating multi-dimensional state information; establishing a damage evolution model, predicting the residual life and generating a health degree index; designing a multi-objective optimization strategy, and solving to generate a cooperative control instruction; after the instruction is executed, the model and the strategy are dynamically updated based on unit state feedback, and a closed-loop control system is formed. The service life of the wind turbine generator is effectively prolonged.

The invention relates to the technical field of power system energy storage equipment testing, in particular to a small and medium-sized industrial and commercial energy storage cabinet twin-trawling testing system which comprises a main loop, a secondary control loop and an anti-countercurrent detection unit, the main loop comprises double testing loops and four sets of alternating current contactors, and multi-machine twin-trawling testing frameworks such as one-to-one, one-trawling-two and one-trawling-three can be flexibly combined; independent switching between grid connection and grid disconnection is supported, the secondary control loop comprises a button with a lamp and a grouping reset button, and the countercurrent prevention detection unit detects the energy flow direction in real time through an intelligent electric meter and a current sensor and has a mains supply charging function. According to the test system, through a double-loop parallel test architecture and a multi-machine flexible combination design, the system can be synchronously butted with multiple energy storage cabinets to carry out parallel test, the test efficiency can be improved, and a safety system with anti-countercurrent detection, rapid mode switching and precise control protection guarantees the test safety; the arrangement of the standardized terminal and the button with the lamp simplifies the operation difficulty, and reduces the test threshold.

The invention relates to the technical field of automatic driving, in particular to an open type automatic driving safety management system and method supporting multi-benefit-party strategy arbitration, and the system comprises an open type safety strategy interface module which is used for defining a standardized strategy description specification; the strategy plug-in management module is used for receiving and loading the strategy plug-ins conforming to the strategy description specifications; the perception and fusion module is used for collecting the vehicle state data, the environment perception data and the service context data and fusing the data to generate a unified context model; the multi-strategy evaluation module is used for screening a candidate strategy set according to a unified context model and a trigger condition when an abnormal event is detected, and evaluating and selecting an optimal strategy; and the strategy execution and monitoring module is used for executing the action template corresponding to the optimal strategy. According to the invention, the automatic driving vehicle can select adaptive degradation strategies according to different operation scenes and business requirements, and the adaptability of the system to diversified business scenes is improved.

The invention provides a target tracking compensation control method and system for a surgical robot in a dynamic breathing environment, and the method comprises the steps: collecting an ultrasonic image of a patient in real time, and carrying out the self-adaptive admittance control algorithm based on force feedback; force control output is adjusted in a self-adaptive mode according to the contact force between the ultrasonic probe and the skin surface and the change of the displacement and speed state of the ultrasonic probe, rigidity parameters of an admittance control model are adjusted in real time, constant contact force between the ultrasonic probe and the skin surface is kept, and it is ensured that the ultrasonic probe and the body surface keep stable contact force and meanwhile adapt to the dynamic change of the body surface; a focus is continuously identified and positioned by utilizing a real-time ultrasonic image through template matching and a dynamic template updating algorithm, real-time position information of an internal focus target spot is obtained and serves as a target pose, the motion compensation amount of a puncture mechanical arm is calculated, the track of a puncture needle point and the motion of the target spot are kept synchronous, and the target pose is accurately positioned. And target tracking and compensation control in a dynamic breathing environment are realized. Target tracking compensation control of the surgical robot can be carried out.

The invention provides a pipeline welding real-time feedback control method and system based on machine vision. According to the method, multi-modal data such as a three-dimensional point cloud, a temperature field and a welding seam image are synchronously collected, and key characteristics such as a pose deviation gradient, a cooling rate curve and a welding seam size sequence are extracted after time sequence alignment, filtering and correction fusion. And a CNN and LSTM mixed adaptive deep learning model is utilized to analyze the welding quality state in real time, and sub-optimal parameters are dynamically optimized based on a reinforcement learning strategy, or a three-level response mechanism including heat reduction input, expert knowledge base matching and precise repair is triggered to process defect early warning. The system has an incremental learning capability and can be self-optimized along with a control period. The full-flow intelligent monitoring, real-time feedback and self-adaptive accurate control of the welding process are achieved, and the welding quality and the automation level are remarkably improved.

The invention provides a trajectory tracking control method and system for a high-load omni-directional AGV, the omni-directional AGV is driven by a plurality of steering wheel mechanisms which are independently steered and driven, and the trajectory tracking control method is characterized by comprising the following steps: acquiring vehicle state information and expected trajectory information of the omni-directional AGV in real time; on the basis of the vehicle state information and the expected track information, core parameters of a model prediction controller are optimized online through a chaos simulated annealing algorithm, and the core parameters comprise a state weight matrix, a control increment weight matrix, a prediction time domain and a control time domain; wherein the model prediction controller performs state prediction based on a longitudinal-transverse decoupling dynamic model adaptive to a high-load working condition; performing rolling horizon optimization through the model prediction controller by utilizing the optimized core parameters, and solving to obtain an optimal control increment; and converting the optimal control increment into a driving instruction for a multi-steering-wheel mechanism, and controlling the omnidirectional AGV to track an expected trajectory.

The invention relates to the field of solid-state batteries, in particular to a halide electrolyte, a preparation method and a solid-state battery. The halide electrolyte comprises a tin element, and the chemical formula of the halide electrolyte is Li2Zr < 1-x > Sn < x > Cl < 6-4x > O < 2x >, and x is less than or equal to 0.3. Through tin-oxygen co-doping, force is exerted at the same time from the two aspects of crystal structure (bulk phase) and interface chemistry, the key problems of ionic conductivity, electrochemical stability, interface compatibility and the like are cooperatively solved, the cost and the process are perfectly considered, and an all-solid-state battery electrolyte solution with a great commercialization prospect is provided.

The invention discloses a man-machine instruction automatic generation external control system and method based on physical isolation perception. The system comprises an external execution body, a display sensing module, an artificial intelligence decision module and an input execution module. The local independent proxy device operates independently of the controlled system, acquires a screen display signal of the controlled system in one direction through an external display acquisition link, generates a control instruction based on acquired interface information, acts on the controlled system through a standard man-machine input interface, and constructs a closed-loop verification mechanism taking the screen display signal as a judgment basis. The information acquisition constraint, the judgment constraint and the execution authenticity constraint are followed, and verifiable confirmation of a control instruction execution result is realized. The system supports multi-mode triggering and external physical equipment extension control, solves the problems of insufficient safety, limited compatibility and poor verification reliability in the prior art, and is suitable for application scenes with high safety requirements.

The invention belongs to the technical field of computer software and data processing, and provides a differential upgrading method for a compressed file, which is divided into a differential stage and a reduction stage: the differential stage: decompressing an original compressed package of a starting version and an original compressed package of a target version; unifying and standardizing file permissions for the two decompressed folders, and modifying, accessing and changing timestamps; re-compressing to generate a first new compressed file and a second new compressed file with byte-level certainty; generating a first difference file based on the difference between the standardized directory structure and the content; comparing the second new compressed file with the original compressed file of the target version, performing lossless analysis on the ZIP metadata, and performing structured modeling on difference information to generate a second difference file; in the reduction stage, standardization, first differential reduction, recompression and second differential driven metadata accurate reconstruction are sequentially executed, and a result completely consistent with the byte level of the original compressed file of the target version is output. According to the method, the differential compression ratio and the restoration fidelity can be improved.

The invention discloses a quadruped robot autonomous exploration method and system based on hierarchical programming, a terminal and a storage medium, and the method comprises the steps: unifying the data of a laser radar and an inertial measurement unit of a quadruped robot, and obtaining a calibrated sensor data stream; the sensor data flow is calculated, and the real-time pose of the quadruped robot under the global coordinate system is output; on the basis of real-time poses, the sensor data flow and an existing point cloud map are registered and fused, a global point cloud map is constructed and updated in an incremental mode, and a local occupation map is generated and updated under a coordinate system of a quadruped robot body; performing macroscopic decision according to the global point cloud map, generating a target viewpoint, performing local viewpoint evaluation and path planning according to the local occupation map and the target viewpoint, and generating path points leading to the target viewpoint; and generating a motion instruction based on the path points to drive the quadruped robot to perform autonomous exploration. According to the invention, stable operation of the quadruped robot in a complex environment is ensured.

The invention provides a laser radar adjusting method and system for rainy and foggy weather, a medium and a vehicle, and belongs to the technical field of intelligent driving, and the method comprises the steps: obtaining real-time weather state information which comprises at least one of rainfall information and foggy weather visibility information; based on the real-time weather state information, calculating an influence factor of a current weather condition on a laser radar atmospheric propagation path; based on the influence factor, determining a laser radar atmospheric attenuation coefficient under the current weather condition; and based on the atmospheric attenuation coefficient, adjusting working parameters of the laser radar to compensate echo signal intensity reduction caused by atmospheric attenuation. According to the invention, the accuracy of laser radar adjustment in rainy and foggy weather is improved, and the intelligent degree and safety of intelligent driving are improved.

The invention discloses a mollusk attractant as well as a preparation method and application thereof in snail prevention and control, and belongs to the technical field of biopesticides, temperature-responsive microcrystalline cellulose particles are used as a main component of a coating premix, and an attractant base material containing active components, essence, amino acid, molasses and flour is coated, so that the mollusk attractant is obtained. The attractant has temperature responsiveness and can meet the field temperature of snails in spring and autumn high-incidence periods in agricultural production, the essence and the molasses are main components with an inducing function, snails can be better trapped, and the snails are not prone to loss due to the influence of the complex environment in a farmland; the temperature-responsive microcrystalline cellulose particles disclosed by the invention have amphipathy, the hydrophilicity can realize rapid spreading of the attractant in a farmland, and the hydrophobicity can realize that the attractant is not easily washed by water flow and rainwater in the farmland, so that the service life of the attractant is prolonged.

The invention relates to the technical field of waste resource recycling and automatic processing, and discloses a waste household appliance disassembling process parameter adaptive control method and system, and the method comprises the steps: carrying out the registration fusion of multi-view surface data, and obtaining a complete point cloud model; identifying a high-deformation area based on curvature features and fitting cutting reference surface parameters; performing smooth adjustment on the reference plane parameters according to the pose difference of the adjacent areas to obtain a coordinated reference plane set; generating an initial compensation vector in combination with the discrete points of the cutting path, and correcting direction mutation to obtain a preliminary compensation instruction; and real-time cutting feedback data are collected in the disassembling process, if the machining state is abnormal, the compensation vector of the follow-up path is corrected, and a target self-adaptive control instruction is obtained. According to the invention, self-adaptive precise cutting of waste household appliance parts with complex deformation and uneven material characteristics can be realized.