34results about How to "Fast approach" patented technology

The invention relates to a robot intelligent sorting path planning method and a robot intelligent sorting path planning device for stacked parts in a charging basket, an RRT * algorithm is combined with an artificial potential field algorithm, random search of the RRT * algorithm in a barrier-free free space can be reduced by utilizing an artificial potential field, and meanwhile, in a complex barrier environment close to a part pile, the robot intelligent sorting path planning method and the robot intelligent sorting path planning device have the advantages that the random search of the RRT * algorithm in the barrier-free free space can be reduced; and an RRT * algorithm is used for accurate collision-free path planning, so that the problems of low path planning precision and local minimum of an artificial potential field algorithm are avoided. On the basis, the RRT * algorithm is improved, the problems of many redundant nodes, low planning efficiency and poor path quality existing in path planning of the RRT * algorithm are solved, meanwhile, the improved RRT * algorithm is combined with the artificial potential field algorithm, the planning scale is further reduced, and random search of the RRT * algorithm in a free space is reduced. According to the method and device provided by the invention, an efficient and accurate collision-free picking path planning scheme can be provided for industrial application of mechanical arm material frame sorting.

The invention is suitable for the technical field of OER catalysts, and provides a preparation method of a nanowire array composed of a ferrocobalt-based heterostructure, and the preparation method comprises the following steps: pretreating a foamed nickel substrate; performing in-situ growth of a precursor CoFe-LDH nanosheet on the NF through a hydrothermal method; and synthesizing the nanowire array composed of the ferrocobalt-based heterostructure: putting a precursor into a muffle furnace, heating, keeping the temperature so that the precursor is thoroughly converted into a Co-Fe-O intermediate, immersing NF on which the intermediate grows into a polytetrafluoroethylene reaction kettle lining, carrying out a hydrothermal reaction, and naturally cooling to the room temperature to obtain a Co9S8-Fe3O4 / VNF composite material (the vulcanized NF is abbreviated as VNF), so that the nanowire array composed of the ferrocobalt-based heterostructure and the Co9S8-Fe3O4 / VNF composite material is obtained. The nanowire array is composed of a ferrocobalt-based heterostructure. The invention further provides a nanowire array composed of the ferrocobalt-based heterostructure and application of the nanowire array in preparation of a working electrode of an oxygen evolution reaction catalyst. According to the heterostructure catalyst provided by the invention, the adsorption strength of an OER intermediate can be optimized to realize high intrinsic OER activity, and efficient and stable water decomposition is realized.

The utility model provides an automatic positioning device of a laser machine, which belongs to the technical field of laser machines and comprises a workbench and a movable positioning mechanism arranged on the workbench, and the movable positioning mechanism comprises a movable positioning component embedded in the workbench and an automatic pressing component arranged on the movable positioning component. The movable positioning assembly comprises a telescopic push rod arranged in the workbench and a first mounting plate arranged at the output end of the telescopic push rod. The automatic pressing assembly comprises a movable pressing plate arranged on the first mounting plate, a pressure sensor arranged on the lower portion of the movable pressing plate and a driving motor arranged on the first mounting plate. Through mutual cooperation of the movable positioning assembly and the automatic pressing assembly, automatic calibration and positioning of objects to be machined can be achieved, meanwhile, certain pressure can be applied to the objects on the conveying belt, the objects are prevented from jumping on the conveying belt, and due to the fact that the device is simple in structure and convenient to operate and maintain, the machining efficiency is improved. And a small-sized processing workshop is met.

The utility model relates to the technical field of building curtain wall aluminum profile stand column punching, and discloses a fast and efficient punching device for building curtain wall aluminum profile stand column machining, which comprises a hydraulic punching machine and a stand column body, two hydraulic rods are installed on the surface of the hydraulic punching machine, and punches are installed at the output ends of the hydraulic rods. The stand column body is placed on the surface of the hydraulic punching machine, a limiting structure is arranged on the surface of the hydraulic punching machine, the limiting structure comprises a servo motor, and the servo motor is fixedly connected with the surface of the hydraulic punching machine. The positioning clamp is simple in structure and convenient to use, can more conveniently adapt to the shapes of stand columns of different specifications, can quickly get close to and clamp a stand column body from the two sides, achieves quick positioning and fixing, greatly saves the positioning adjusting time when the stand column specification is replaced compared with a traditional positioning clamp, and further improves the punching efficiency of the stand column body.

The application discloses a kind of collaborative robot job parameter dynamic optimization method, comprising: real-time acquisition of the multimodal sensor data of collaborative robot in the process of job, multiple job parameters are analyzed based on job quality evaluation model to identify key parameter set from it;Multi-objective function is constructed with job time, end force as optimization target, and multi-objective function is converted into single-target optimization function by weighting sum method;Key parameter set is input to machine learning model, and single-target optimization function is used as optimization target to carry out iterative optimization, in each iteration, the standard deviation σ of the current learning result of machine learning model is obtained, according to the comparison result of standard deviation σ and preset critical value s, dynamically select optimization strategy, when σ≥s, new parameter set is generated using random exploration strategy, when σ<s, new parameter set is generated using guided optimization strategy of machine learning model, and the optimized parameter set is output.

The invention relates to the technical field of emergency fire rescue, in particular to an emergency fire life raft, a method thereof and a floating mechanism (100), the emergency fire life raft comprises a floating air bag (101), the inner ring of the floating air bag (101) is fixedly connected with a floating box body (102), the front side and the rear side of an inner cavity of the floating box body (102) are each provided with a plurality of inserting grooves (103), and the inserting grooves (103) are communicated with the floating air bag (101). An inner cavity of the floating box body (102) is movably connected with a lifting plate (104), a rescued person can safely stand on the top of the lifting plate (104) by arranging the floating mechanism (100), water in a weighting shell (107c) can be rapidly discharged by arranging a pressurizing component (106), the weight of the emergency fire-fighting life raft can be increased by arranging a weighting component (107), and the emergency fire-fighting life raft is convenient to use. Therefore, the emergency fire-fighting life raft is not easy to roll over.

The present invention relates to a remote interactive ultrasound-guided puncture system and method with master-end force feedback, comprising a prosthesis, a master-end operating arm, a simulated operating table, a slave-end robot, and a display unit; the master-end operating arm is provided with a gripping portion, and the gripping portion contacts the prosthesis to realize simulated operation; the master-end operating arm is provided with an encoder, a distance measuring sensor, an inclination sensor, and a master-end multi-dimensional force sensor, which can obtain the position, posture information, and force information of the gripping portion; the simulated operating table comprises a table top and a driving mechanism; the slave-end robot is provided with a slave-end multi-dimensional force sensor for real-time detection of the fitting force; the slave end is interconnected and communicated with the master end, and operates in real time according to the position, posture, and force information of the gripping portion; the display unit displays the master-end posture information, multi-dimensional force information, and the slave-end on-site audio and video information, medical images, and slave-end robot force signals in real time. The present invention realizes real-time interaction, feedback, and verification between the master and the slave, and the simulation scene is more realistic and the medical operation is more accurate.

The application discloses a switch device soft start gain control method, system, device, medium and product, characterized in that, comprising: acquiring real-time current data of a low-voltage intelligent switch device in a soft start process; calculating a current error between the real-time current data and preset expected current data, inputting the current error into a proportional-integral-derivative control model to obtain an initial control quantity; inputting the real-time current data and the current error into a reinforcement learning model to select a gain adjustment coefficient from an action space according to a current state corresponding to the real-time current data, calculating a gain compensation quantity based on the gain adjustment coefficient and the current error, generating a target control quantity based on the initial control quantity and the gain compensation quantity, and controlling the soft start process of the low-voltage intelligent switch device based on the target control quantity. The application can adaptively and dynamically adjust the starting current in the soft start process of the low-voltage intelligent switch device, so as to improve the stability and control precision of the soft start process.

The utility model relates to a novel UA cannula self-locking fixing device, which belongs to the technical field of medical instruments and comprises a U-shaped cannula and an A-shaped cannula, the U-shaped cannula is used for ensuring accurate positioning and minimum trauma to tissues, and the A-shaped cannula is used for facilitating insertion of an endoscope; the U-shaped sleeve is arranged outside the A-shaped sleeve in a sleeving manner, and the A-shaped sleeve can be positioned through the U-shaped sleeve; the U-shaped casing pipe comprises a handle part I and a casing pipe I, a through hole is formed in the handle part I, and the casing pipe I is arranged in the through hole in a penetrating mode and connected with the handle part I in a welded mode; a locking button is further hinged to the handle part I. The U-shaped sleeve is detachably connected with the A-shaped sleeve through the locking button. In the operation process, the U-shaped sleeve matched with the visible trephine does not need to be pulled out and replaced, the operation efficiency is improved, the problem of positioning accuracy caused by sleeve replacement is solved, the operation safety is improved, the S-shaped port of the U-shaped sleeve and the handle part I have the direction identification degree, the U-shaped sleeve can be accurately and rapidly attached to the bone surface, and the operation operation is facilitated.

This invention provides a method and system for testing the electromagnetic radiation immunity of components, relating to the field of electromagnetic immunity testing technology. The invention sets a range for the electromagnetic frequency and amplitude of the interference signal, generating multiple particles characterizing the interference signal within this range. Through iterative particle swarm analysis, it rapidly collects highly sensitive sample points that cause functional abnormalities in components during electromagnetic interference testing. By clustering these highly sensitive samples, it locates the electromagnetic interference sensitive range of the target component. Compared to full-band scanning and fixed-point scanning methods for electromagnetic interference testing, this invention enables automated and quantitative extraction of the electromagnetic sensitivity range, reducing subjective bias from manual location and improving analytical consistency and repeatability. Furthermore, by focusing on highly sensitive frequency bands and field strength ranges, it optimizes the test path, reduces redundant scanning points, and significantly improves the efficiency of electromagnetic interference testing.

The invention discloses a design method and device of a three-level boost converter bandwidth boosting circuit and a photovoltaic system. The method comprises the following steps: firstly, taking an input capacitor of a three-level boost circuit and a PV assembly as a first integral circuit, and solving output impedance Zpv under a small signal model; secondly, a virtual impedance circuit is designed, the Zpv is connected with a virtual impedance Zs in series, the virtual impedance Zs is a pure resistor Rs, a virtual impedance Zp is connected behind the Zs in parallel, and the virtual impedance Zp is composed of an inductor Lp and a resistor Rp; and finally, the equivalent output impedance Zeq added with the virtual impedance is obtained, and due to the action of Zs and Zp, the change of Rpv cannot cause the change of Zeq in a large range, so that the bandwidth of the control system is improved. The virtual impedance design method can improve the bandwidth of the three-level boost converter and dynamically control the input photovoltaic voltage, thereby improving the overall efficiency and stability of a photovoltaic system.

The invention discloses an intelligent punching system and method for a rolled film. The intelligent punching system comprises a rolling assembly, a data acquisition module, an image recognition assembly, a control module, a punching assembly and a rolling assembly. The data acquisition module and the image recognition assembly are connected with the control module through a data bus, and the control module is connected with the rolling assembly, the punching assembly and the rolling assembly through control channels. The material rolling assembly is used for transmitting a to-be-punched rolled film to a machining area, the data acquisition module is used for detecting position information of the film and synchronously transmitting the position information to the control module, the image recognition assembly is used for recognizing the film hole site, and the punching assembly is used for receiving a control signal of the control module and executing punching operation on a positioned film material. And the winding assembly is used for winding the punched film. The whole structure is simple, the problem that a traditional machine is insufficient in positioning precision is solved, and the punching precision is greatly improved.

The utility model discloses a kind of super high-speed micro unmanned boats, including hull, the hull includes power cabin, battery cabin, explosive cabin and bow tip cabin, motor and jet pump propeller are included in power cabin, the transmission shaft of motor is connected with jet pump propeller, power battery is installed in battery cabin, explosive is arranged in explosive cabin, impact fuze is set in the bow of bow tip cabin, and non-radar navigation system, control console and torpedo loading and release system are equipped on the hull. The torpedo is double-fixed by two ways of physical support and electromagnetic adsorption, the stability of 10 to 20kg torpedo in high-speed navigation is guaranteed, it can be quickly lowered when releasing torpedo, the release of torpedo can be ensured quickly and reliably, and the combat safety of unmanned boat is improved.

The invention relates to the technical field of artificial intelligence and evolutionary computing, and particularly discloses a memory annual ring learning-based evolutionary method, which comprises the following steps of: locking elite groups, extracting core declusters, coding task constraint fingerprints, backtracking efficient operators, drawing performance operator portraits, constructing memory annual ring units and storing the memory annual ring units in a memory annual ring library. When facing a new task, analyzing and generating a to-be-matched task fingerprint, matching a historical memory annual ring unit, extracting a core declustering and efficiency operator portrait, remodeling a population basis, generating a dynamic operator weight table, and executing dual-channel collaborative guide evolution; according to the method, through collaborative optimization of the solution space and the strategy space, the convergence speed and the solving performance of the algorithm in a new environment are remarkably improved, conversion from blind exploration to experience guidance is achieved, and the challenges of knowledge migration and experience reuse in dynamic change or staged tasks of a traditional evolutionary algorithm are solved.

The invention relates to an intelligent system, a control method of an autonomous mobile device, and a storage medium. The intelligent system comprises a base station with an inwards-concave arc-shaped structure used for containing the autonomous mobile device and the autonomous mobile device, the two ends of the inwards-concave arc-shaped structure are connected with two end faces respectively, and the normal directions of the two end faces are consistent with the orientation of the base station. The autonomous mobile device is used for obtaining point cloud data from the laser radar, identifying a first group of laser points, a second group of laser points and a third group of laser points representing two end faces and the concave arc-shaped structure from the point cloud data, determining the direction of the end faces according to a first straight line and / or a second straight line, and determining the position of the circle center of the concave arc-shaped structure according to the third group of laser points. And determining the pose of the base station according to the position of the circle center of the concave arc-shaped structure and the normal direction of the end face. Therefore, the autonomous mobile device can determine the pose of the base station with low cost and computing power requirements so as to drive into the base station.

The invention discloses a water dispenser temperature control method based on an AI adaptive algorithm, and relates to the technical field of intelligent household electrical appliance control, and the method comprises the steps: obtaining an environment monitoring data flow and an equipment operation state parameter flow in real time; time sequence alignment and feature fusion are carried out on the data to generate a user water consumption behavior feature vector and an equipment working condition feature vector; inputting the feature vector into a pre-trained adaptive temperature control decision model, and outputting a target heating temperature set value, a preheating start advance and a step power adjustment strategy; calculating a real-time power compensation amount according to the target temperature and the thermal inertia parameters of the equipment; and dynamically correcting the stepped power strategy based on the compensation amount, generating a power control instruction sequence and sending the power control instruction sequence to a heating controller for execution. According to the method, intelligent prediction and self-adaptive decision making of the water demand are achieved by fusing multi-source data, dynamic power compensation is conducted in combination with equipment thermal inertia, and therefore the instant hot water demand of a user is accurately met, and meanwhile energy consumption is effectively reduced.

The application belongs to the field of interference identification, and particularly relates to a neural network interference identification method based on Conv-KANformer, which comprises the following steps: S1: constructing an interference database, adopting short-time Fourier transform to extract an interference time-frequency graph; performing preprocessing operations such as clipping, scaling and label information construction on the time-frequency graph to ensure the accuracy and consistency of the data; S2: building a Conv-KANformer neural network framework, which is composed of a multi-scale convolution feature extraction module, a KANformer global feature extraction module and a classification module, wherein the multi-scale convolution feature extraction module contains four convolution kernels of different sizes to extract different receptive field features; the KANformer global feature extraction module introduces a Kolmogorov-Arnold Network (KAN) to improve the traditional transformer structure; and the classification module introduces the KAN to complete the classification of seven kinds of interference signals; S3: completing offline training of the model through a cross-entropy loss function to obtain an interference identification model; and S4: completing online interference identification by using the interference identification model. The neural network interference identification method based on Conv-Kanformer can identify seven kinds of interference types at a low signal-to-noise ratio.

The application discloses a stamping equipment with a knife edge wear prevention function, and relates to the technical field of stamping machine tools.The stamping equipment comprises a feeding machine, an electric control cabinet, a punch mechanism and a bottom die mechanism, the feeding machine, the electric control cabinet and the punch mechanism are fixedly connected with the bottom die mechanism, and the electric control cabinet is connected with the punch mechanism through electric signals.The punch mechanism comprises a driving mechanism, an assembling frame and a cutter mechanism, the driving mechanism comprises a sliding block, the cutter mechanism comprises a base plate, and the assembling frame is fixedly connected with the sliding block and the base plate.The application realizes rapid approach of a stamping cutter to materials, improves stamping efficiency, stamps materials at a low speed, reduces instantaneous impact force on a knife edge, reduces micro-chipping, performs cyclic liquid cooling on the cutter, effectively controls the working temperature of the knife edge, prevents hardness reduction and thermal fatigue wear caused by excessively high temperature rise, forms a lubricating oil film between the knife edge and metal sheet raw materials, slows down the rigid collision between the knife edge and the metal sheet, and reduces knife edge wear.

In order to determine an impact-limited movement curve in a simple manner without using an impact filter connected downstream, the invention provides that the movement curve (5) consists of a starting movement curve (5a) and a target movement curve (5b), the starting movement curve (5a) begins in a starting movement phase (pS, vS, aS) and transitions into the target movement curve (5b), and the target movement curve (5b) begins in a starting movement phase (pS, vS, aS). The target movement curve (5b) is determined from the acceleration curve starting from the initial movement phase (pA, vA, aA) and ending with the target movement phase (pZ, vZ, aZ) over a plurality of adjustment time steps k, the maximum acceleration change in each adjustment time step k corresponding to a predefined maximum impact (jmax), the acceleration curve of the target motion curve (5b) is present as a step function, the step function is created following a predefined motion limit in such a way that the area below the step function corresponds to a speed change ([delta] v) between the initial speed (vA) of the initial motion phase (pA, vA, aA) and the target speed (vZ) of the target motion phase (pZ, vZ, aZ), and ascertaining a target path by means of the ascertained target movement curve (5b), said target path passing through the target movement curve (5b), and ascertaining a point in time at which the ascertained target movement curve (5b) starts in order to reach the target position (pZ) of the target movement phase (pZ, vZ, aZ) on the basis of the target path.

The utility model discloses a ball mill for fly ash processing, which relates to the technical field of fly ash processing and comprises a ball mill, a support frame and a mounting seat, the ball mill is arranged on the support frame, and the mounting seat is arranged on the support frame and is fixedly connected with the support frame; the first motor is arranged on the mounting seat and is fixedly connected with the mounting seat; the gear is arranged at the output end of the first motor and is fixedly connected with the output end of the first motor; the feeding mechanism is arranged on the support frame and the ball mill and is used for feeding coal ash into the ball mill; and the discharging mechanism is arranged on the ball mill on the supporting frame and is used for discharging the coal ash out of the equipment. According to the device, the discharging mechanism is arranged, and a knocking device in the discharging mechanism can knock off coal ash left on the inner wall of the ball mill when the device discharges materials, so that the coal ash is conveniently collected, and the ball mill is conveniently cleaned.

The invention relates to an adjustable spray type vertical desulfurization waste liquid incinerator with multiple flow guide plates and a waste liquid desulfurization method, by arranging a waste liquid nozzle with an adjustable extending distance and a multi-flow guide plate structure with a partition ventilation rate, the spray position is dynamically adjusted along with the treatment capacity, and the distribution of a flow field in the incinerator is optimized; spray always enters a high-temperature core area; the two layers of guide plates are arranged up and down, the overall ventilation rate is high in front and low in back, small holes in a central area are dense, the ventilation rate is low, airflow is forced to diffuse towards the periphery, and radial mixing is enhanced. According to the vertical desulfurization waste liquid incinerator, the waste liquid evaporation and cracking efficiency is remarkably improved, wall hanging corrosion is reduced, the flue gas retention time is prolonged by 15%-20%, the combustion efficiency is improved by 12%-15%, generation of nitric oxide is reduced, and efficient, stable and environment-friendly operation is achieved.

This utility model discloses an AGV (Automated Guided Vehicle) transfer vehicle, relating to the field of transfer vehicle technology. It includes a transfer vehicle chassis and a steering wheel. The steering wheel is rotatably mounted on the upper surface of the chassis. A lifting plate is positioned above the steering wheel, and a cargo plate is positioned above the lifting plate. Fixed tubes are fixedly installed at the four corners of the upper surface of the lifting plate, and movable rods are movably sleeved inside the fixed tubes. The upper ends of the movable rods are fixedly connected to the cargo plate. A first transmission mechanism is provided on the upper surface of the steering wheel to drive the lifting plate to move rapidly, and a second transmission mechanism is provided above the lifting plate to drive the cargo plate to move precisely. This utility model enables high-speed and precise two-stage lifting of the cargo plate of the transfer vehicle, thereby improving transfer efficiency and ensuring transfer accuracy.

The invention relates to the technical field of bearing machining equipment, in particular to a truss bearing feeding and discharging tool which comprises a connecting frame. The top end of the driving device is fixedly connected with the top end of the connecting frame; the top end of the adjusting device is rotationally connected with the bottom end of the driving device; by arranging the adjusting device, fine position adjustment can be conducted through the adjusting device according to conical bearings of different sizes, the universality and applicability of the tool are enhanced, due to the fact that the inner wall of a sliding block is in threaded connection with an adjusting screw rod, the adjusting screw rod rotates, the sliding block slides on a sliding plate between fixing blocks, and the machining precision is improved. For production tasks of bearings of different specifications, the tool does not need to be replaced, cost and time are saved, the taper of the outer ring of the clamping block can be tightly attached to an outer ring raceway of the conical bearing, clamping stability and reliability are ensured, and even in a complex working environment, the conical bearing can be stably clamped. And the bearing can be effectively prevented from slipping off or deviating in the clamping process.

The present application relates to a kind of ducted flight lifebuoy, belong to the technical field of aircraft, comprising: framework system, using lifebuoy structure design, with water surface floating capacity;Power and electric power system, including multiple circumferential uniform distribution along the framework system's ducted fan, ducted fan is all wrapped by duct structure, each ducted fan;Flight control system, independently adjust each described ducted fan to control flight attitude;Communication system, for receiving external control instruction and / or sending lifebuoy state information.The present application can solve the collision safety hidden trouble that exists when exposed high-speed rotor approaches the person falling into water, improve reliability, overcome the defects that four power points layout is low in redundancy, single failure is prone to cause out of control crash;And improve the problem of insufficient attitude control stability in complex environment such as wind and wave.

The invention discloses a QUIC flow concurrent number dynamic adjustment method and system for 5G / 6G network file transmission, and belongs to the technical field of network communication. In order to solve the technical problems of concurrent adjustment lagging and unstable performance under 5G / 6G link mutation, the method comprises the following steps: establishing a fast user datagram protocol internet connection, and executing initial sampling based on a self-adaptive smooth round-trip delay period; calculating a utility value reflecting the transmission comprehensive performance by using the collected link data, and constructing a Gaussian process regression mapping model; calculating the improvement potential of the candidate concurrency number based on the mapping model, and selecting an optimal target concurrency number; and integrating the optimal target concurrency number and the current concurrency number upper limit dynamic adaptive flow number, executing capacity limiting processing when a link abnormal event is monitored, and updating the concurrency number upper limit so as to trigger a closed loop iterative optimization process. According to the method, the convergence speed and throughput efficiency of batch file transmission of the 5G / 6G cellular network can be remarkably improved.

The invention relates to the field of unmanned system cooperative control and intelligent decision making, in particular to a double-layer priority playback and self-supervision-assisted unmanned ship cooperative hunting method, which comprises the following steps of: constructing a sea area environment model for cooperative hunting of multiple unmanned ships; establishing a cooperative control strategy network, wherein the cooperative control strategy network comprises a centralized training stage and a distributed execution stage; a double-layer priority experience playback mechanism is introduced in the centralized training stage; a self-supervision auxiliary task module is introduced into the cooperative control strategy network; the method comprises the following steps: constructing a multi-dimensional reward function, carrying out comprehensive evaluation on a target approaching behavior, a cooperative reward state and a safety constraint of a reward unmanned ship, defining a reward success condition, calculating a reward result, outputting a control instruction of each reward unmanned ship according to the reward result, and carrying out cooperative reward on a target unmanned ship. According to the invention, through double-layer priority experience playback and self-supervision auxiliary tasks, the cooperative hunting efficiency, learning stability and strategy adaptability of multiple unmanned ships in a complex sea area are significantly improved.

The invention relates to the field of plastic processing, in particular to a plastic uptake process for preventing materials from softening and sticking, which comprises the following steps: S1, manufacturing a sample: producing the sample of a product by using a plastic uptake machine and adopting a conventional plastic uptake process flow; s2, observing the sample and treating the pore plate: observing whether a sheet pasting part exists on the product sample obtained in the step S1 or not, and if so, scattering steel balls on the pore plate on two sides of the sheet pasting part; s3, pore plate debugging: continuously adjusting the number of the steel balls scattered on the pore plate until no sheet sticking phenomenon exists on the produced product sample; s4, product production: carrying out mass production on the product; and S5, die replacement is conducted, specifically, the steel balls on the pore plate are recycled through a dust collector, and a needed new die is replaced. According to the invention, the speed of adsorbing different parts of the softened sheet to the pore plate is controlled by scattering the steel balls on the pore plate, so that the sheet is firstly adsorbed to a mold part which is easy to adhere, and the product structure is uniform.

The present invention relates to a method, device and electric vehicle for calculating the SOC of a power battery. The method comprises the following steps: S01: judging whether the stationary time after the BMS sleeps is greater than a threshold value T1, if so, the initial real SOC is equal to the OCV table SOC value; if not, the initial real SOC is equal to the stored real SOC value; S02: performing continuous ampere-hour integral calculation based on the initial real SOC; S03: continuously judging whether the power battery is in a charging state, if so, judging whether the charging process correction condition is met, if so, updating the initial real SOC to the SOC charging process absolute correction value, clearing the ampere-hour integral value, and re-executing S02; if not, judging whether the discharge process correction condition is met, if so, updating the initial real SOC to the SOC discharge process absolute correction value, clearing the ampere-hour integral value, and re-executing S02. The present invention can correctly estimate the SOC, make the displayed SOC infinitely close to the real SOC, and prevent jumps during the SOC correction process.

The application provides a mobile circulating water curtain fire extinguishing trolley for vehicle chassis fire, comprising: a crawler trolley; a water storage tank; a water accumulation disc connected with the water storage tank or a water supply pipeline through a water return pipeline; a filtering assembly arranged above a water collection area of the water accumulation disc; an upward spraying unit with an inlet end communicated with the water storage tank or the water supply pipeline; a circulating water pump with an inlet end connected to the water collection area in the water accumulation disc and an outlet end connected to the water storage tank or the water supply pipeline; a sensor assembly for collecting the distance between the vehicle chassis and the water accumulation disc; and an execution module for receiving the distance between the current vehicle chassis and the water accumulation disc and sending corresponding spraying angle conversion instructions to the upward spraying unit; wherein the water storage tank, the upward spraying unit, the water accumulation disc, the filtering assembly and the circulating water pump jointly form a closed and insulated fire extinguishing agent circulating loop to improve the adaptability and efficiency of fire extinguishing, and the selection of the crawler trolley also increases the stability of the mobile fire extinguishing trolley.

The invention discloses a dynamic economic emission scheduling optimization method and system based on variable adaptive optimization, and belongs to the technical field of emission scheduling optimization. Comprising the following steps: constructing a dynamic economic emission scheduling optimization model by taking fuel cost and pollution emission minimization as a target; solving the dynamic economic emission scheduling optimization model through an improved multi-objective evolutionary algorithm, and determining a dynamic economic emission scheduling optimization scheme; the improved multi-objective evolutionary algorithm utilizes a variable adaptive optimization strategy to update a main population and an archived population, and utilizes a population reconstruction strategy to reconstruct the main population. Variables can be optimized from multiple angles, the optimization difficulty of coupling variables is reduced, the convergence speed of the population is increased, the population is effectively guided to converge towards the constrained Pareto frontier, and the feasibility is enhanced; the problem that an existing algorithm is slow in convergence and prone to falling into local optimum is solved.