29results about How to "Fast stability" patented technology

The present invention discloses a wide temperature range hydrated eutectic electrolyte and its application in aqueous zinc ion batteries. The wide temperature range hydrated eutectic electrolyte comprises a zinc salt, an alcohol organic solvent and an inorganic additive. The zinc salt is zinc perchlorate hexahydrate; the organic solvent is ethylene glycol; and the inorganic additive is an indium trichloride solution. The hydrated eutectic electrolyte prepared by the present invention enables aqueous zinc ion batteries to exhibit excellent electrochemical properties in a wide temperature range, can effectively inhibit the generation of side reactions such as dendrites and corrosion in aqueous zinc ion batteries, and thus prolong the service life of aqueous zinc ions in a wide temperature range.

The invention is applied to the technical field of food processing, and discloses a preparation method of low-temperature extraction medicinal and edible freeze-dried powder based on natural plants, and the preparation method comprises the following steps: S1, raw material pretreatment, S2, ultralow-temperature pre-cooling, S3, high-voltage pulsed electric field treatment, S4, low-temperature extraction, S5, multi-stage filtration, S6, vacuum concentration, and S7, freeze drying. According to the preparation method of the natural plant-based low-temperature extracted medicinal and edible homologous freeze-dried powder, an ultralow-temperature pre-cooling technology is adopted, an extremely low-temperature environment is created for the natural plants, possible damage to active components in the natural plants caused by high temperature is prevented from the source, a high-voltage pulsed electric field treatment means is introduced, the permeability of cell membranes can be ingeniously and remarkably improved, and the content of the active components in the natural plants is increased. And when the barrier action of the cell membrane is weakened, the extraction process becomes more efficient, so that more active ingredients can be smoothly dissolved out, damage to the active ingredients in the processing process is avoided to the greatest extent, and complete retention of the active ingredients is ensured.

The utility model discloses a theme decoration construction structure of a broken bridge aluminum window. The broken bridge aluminum window is installed on the window opening and comprises a broken bridge aluminum window frame, an inner window frame FRP decoration wrapping piece is arranged on the inner side face of the broken bridge aluminum window frame in a surrounding mode, a main window frame FRP decoration wrapping piece is arranged on the outer side face of the broken bridge aluminum window frame in a surrounding mode, and the broken bridge aluminum window frame comprises an upper aluminum window frame body and a lower aluminum window frame body. A transverse secondary window frame FRP decorative wrapping piece is arranged between the upper aluminum window frame and the lower aluminum window frame, the upper aluminum window frame comprises a left aluminum window frame and a right aluminum window frame, a vertical secondary window frame FRP decorative wrapping piece is arranged between the left aluminum window frame and the right aluminum window frame, and broken bridge aluminum window sashes are installed on the broken bridge aluminum window frames. Broken bridge aluminum window glass is installed on the broken bridge aluminum window sashes, window sash FRP decoration wrapping pieces and outer decoration MRC strips are arranged on the outer side faces of the broken bridge aluminum window sashes, and inner decoration MRC strips are arranged on the inner side faces of the broken bridge aluminum window glass. The technical problem that a broken bridge aluminum window is incompatible with'green and energy-saving 'and'artistic performance' of theme decoration is solved.

The utility model relates to the technical field of motor structures, and discloses a high-efficiency motor stator, which comprises a plurality of groups of stator iron cores, countersunk threaded holes are formed in two ends of the surfaces of the plurality of groups of stator iron cores, limiting insertion holes are formed in four corners of the surfaces of the stator iron cores, and limiting insertion columns are fixedly mounted at four corners of the bottom surfaces of the stator iron cores. Limiting clamping blocks are fixedly installed on the four side faces of the stator iron cores, threaded installation holes are formed in the two ends of the surfaces of the multiple sets of stator iron cores, countersunk threaded holes are formed in the two ends of the surfaces of the stator iron cores, fastening connection is achieved through countersunk bolts, the limiting clamping blocks are installed on the four side faces of the stator iron cores, and limiting insertion columns are arranged at the four corners of the bottom face of the stator iron cores. Through clamping of the limiting insertion columns and the limiting insertion holes in the surface of the other iron core, rapid positioning and stable splicing of multiple sets of stator iron cores are achieved, the assembling efficiency is greatly improved, in addition, limiting clamping blocks on the edges of the stator iron cores are matched with a motor shell, positioning is further limited, heat dissipation ribs are axially arranged on the outer circumferences of the stator iron cores, and the heat dissipation area is enlarged.

The utility model relates to the field of bearing press -packaging discloses the balance support bearing press device of inserting and planting part, including inserting and planting part balance support bearing press device, including processing platform and big air cylinder, the outer wall fixed connection of big air cylinder has control valve stem, the top fixed connection of control valve stem has the installing column, the top screw thread connection of installing column has the lock catch, the top fixed connection of processing platform has the connecting block, the inner wall of connecting block is hinged with the support frame, the bottom of support frame is provided with fixed mechanism, the outer wall of processing platform is hinged with the support plate, the fixed mechanism includes slide rod, the top of slide rod is hinged in the bottom of support frame. In the utility model, through big air cylinder with the help of control valve stem drives installing column operation, cooperates with lock catch, balance installation support and completes bearing press -packaging, after slide rod angle adjustment, oval block extrusion extrusion ball promotes the insertion of inserting rod fixed, and then combines spring, bolt B and realizes the quick adjustment and firmness of angle.

The invention discloses a wallboard mounting structure for decoration engineering, which is characterized in that a sliding groove is formed in a keel and a slidable sliding block is configured, so that a fastener connected with the sliding block can perform stepless sliding and accurate positioning along the length direction of the keel, and the continuous adjustment of a wallboard mounting point position in the horizontal direction is realized; and repeated drilling operation caused by measurement errors in a traditional mode is thoroughly avoided. The clamping part is matched with the outer edge of the keel through the clamping part to achieve rapid buckling and stable locking, and reliable constraint in the vertical direction and the horizontal direction is formed by combining bolt connection of the sliding block screw hole and the through groove of the clamping part. More importantly, on the basis of a modular matching part designed on the basis of a unified basic part, special buckles suitable for various complex scenes such as common closing-up, internal and external corner treatment and ceiling installation can be derived, and wide compatibility of a single set of installation system to various plates and joints of a whole house is achieved.

The utility model mentions a kind of steam pressure pipeline pry-mounted quick butt joint heat releasing device, including pry-mounted integrated cabinet, pipeline quick connection component, function integrated unit and machine moving adaptation mechanism, pry-mounted integrated cabinet includes steel structure frame and protective housing, the bottom of pry-mounted integrated cabinet is provided with pedestal, pry-mounted integrated cabinet inside is provided with the function cavity suitable for different function components, pipeline quick connection component includes the steam input quick connection interface and steam output quick connection interface in pry-mounted integrated cabinet horizontal both sides, steam input quick connection interface and steam output quick connection interface adopt flange quick connection adaptation structure, function integrated unit includes steam passage, steam control valve and pressure gauge, steam passage and steam control valve position are covered with heat preservation material, in general, the utility model has the advantages of convenient removal and carrying, external pipeline butt joint speed is fast, stability is high, heat preservation effect is good and the advantage that remote control operation is convenient.

The invention discloses an electronic equipment locking device and electronic equipment, and relates to the technical field of computers.The electronic equipment locking device comprises a fixing part and a rotating assembly, the fixing part is provided with a center through hole, the inner wall of the center through hole is provided with a plurality of wall locking ribs arranged in the circumferential direction, rib grooves extending in the axial direction are formed between the adjacent wall locking ribs, and the rotating assembly is arranged in the rib grooves; the end part of each wall locking rib is provided with a first guide inclined surface which continuously extends along the circumferential direction; the rotating assembly is rotatably and axially movably arranged in the center through hole, the rotating assembly is provided with a limiting part and a matching part used for being matched with the rib groove, and when the rotating assembly axially moves, the matching part stretches out of the rib groove and abuts against the first guide inclined face, and the matching part can rotate in the circumferential direction; and the limiting part is driven to circumferentially rotate until the limiting part is circumferentially aligned with or staggered from the mounting hole, so that the technical problem that the disassembly and assembly efficiency of the electronic equipment module is relatively low is solved, and the technical effect of improving the disassembly and assembly efficiency between the electronic equipment module and the case is achieved.

This invention relates to the field of gas sensor technology, and more particularly to a gas-sensitive film for a MEMS gas sensor and its preparation method. The gas-sensitive film comprises: a SnO2 substrate, an Ag first coating layer, and a Pd second coating layer. The substrate thickness is 300-500 nm, and the Ag and Pd coating layers are both less than 10 nm thick, with both layers exhibiting a dotted distribution. The gas-sensitive film is prepared by magnetron sputtering on a micro-heating plate substrate. The micro-heating plate substrate includes a micro-heating plate coated with a silicon nitride insulating protective layer and a base, with a cavity between the micro-heating plate layer and the base. This invention, through the combined modification of Pd and Ag, achieves a gas-sensitive material with faster response speed, shorter recovery time, and better stability. This method is simple to prepare and has low manufacturing costs. It not only significantly enhances the adhesion between the gas-sensitive film and the substrate but also significantly improves the response rate and stability of the gas-sensitive film, greatly enhancing the sensor's sensitivity and making it suitable for large-scale mass production.

The utility model discloses a kind of dry hanging structures for ceiling suspended ceiling, it is related to ceiling suspended ceiling technical field, including keel roof plate, the top of keel roof plate is provided with expansion bolt, the bottom of keel roof plate is provided with adjusting assembly, the bottom of adjusting assembly is provided with suspension assembly, adjusting assembly includes reinforcing rod, and reinforcing rod is fixed in the outer wall of roof plate, the dry hanging structure for ceiling suspended ceiling is cooperated by setting screw sleeve, screw rod, fixed plate, movable rod and fixed sleeve structure, the flexible adjustment of ceiling suspended plate flatness is realized, rotating screw sleeve can drive fixed plate to lift, make movable rod slide in fixed sleeve, accurately control the height difference of first ceiling suspended plate and second ceiling suspended plate, effectively adjust inclination, the design is easy to operate, and adjustment precision is high, can quickly adapt to different space demand, improve ceiling suspended installation quality and aesthetic degree, satisfy the diversification requirement of ceiling suspended flatness in people's daily use.

The utility model relates to the technical field of water-jet looms, in particular to a water-jet loom with a flow guide structure, which comprises a loom main body, a water tank mounted on one side of the loom main body, a recovery box arranged in the loom main body, a filter plate mounted in the recovery box and a quick release component arranged in the recovery box. The quick release assembly is used for quickly assembling the filter plate into the recycling box, and a controller is arranged on one side of the loom main body. Compared with the prior art, the filter plate is more convenient to disassemble and assemble due to the design of the quick disassembly assembly, the maintenance complexity is reduced, the working efficiency and maintainability of equipment are improved, the water flow and pressure can be intelligently adjusted due to introduction of the controller, stable operation of the water-jet loom is further guaranteed, the overall performance of the water-jet loom is improved, and the water-jet loom is suitable for popularization and application. The problems that in the prior art, water resources are wasted, and a filter screen is difficult to clean are solved.

The invention discloses an elastic expansion sleeve clamp applied to turning of a lightweight differential shell and a using method of the elastic expansion sleeve clamp, and relates to the technical field of elastic expansion sleeve clamps. Comprising a carrying structure which is assembled with the end part in a lathe of the differential shell through a positioning bolt; and the driving source is arranged in the carrying structure and forms an insertion matching relationship with the carrying structure. The traction assembly and oil liquid circulation are introduced into the clamping assembly, the double effects of clamping and traction are achieved, a traction magnetic attraction rod is matched with a return spring, trace axial traction force can be applied to a shell in the clamping process, a workpiece automatically tends to a machining datum plane in the positioning process, the clamping precision is further improved, and meanwhile, the clamping efficiency is improved. An oil injection channel and an oil drainage channel arranged in the blocking ring column are communicated with the oil storage sleeve, closed lubricating oil circulation can be formed in the clamping mechanism, low-friction operation of a transmission part is kept, the service life is prolonged, and the automatic return and self-lubricating functions are achieved.

The invention belongs to the technical field of clean energy operation safety, and particularly discloses a daily regulation pumped storage power station reservoir basin slope safety prediction method, which comprises the following steps of: 1, dividing the operation cycle of a daily regulation pumped storage power station into a plurality of rain-free cycles and a plurality of rainfall cycles; step 2, determining a rain-free prediction model according to the first monitoring data of the slope in the rain-free period; 3, determining a rainfall prediction model according to the rainfall data and the second monitoring data of the slope in the rainfall period; and 4, predicting the safety of the reservoir basin slope of the daily adjustment pumped storage power station according to the rain-free prediction model and the rainfall prediction model. According to the prediction method, accurate prediction data can be obtained without a large amount of calculation, and rapid, economical and safe reservoir basin slope stability prediction can be realized.

The invention provides a reactor outlet temperature control method and system of a miniature high-temperature gas cooled reactor nuclear power supply device, the nuclear power supply device and a nuclear power supply system, and belongs to the technical field of miniature high-temperature gas cooled reactor control. The control method comprises the following steps: acquiring a helium temperature set value, a helium temperature measured value, a reactor power measured value and a load set value of a reactor outlet; determining a reactor power target value according to a helium temperature set value and the helium temperature measurement value; determining a target rod speed according to the reactor power measurement value, the reactor power target value and the load set value; and driving the control rod to move according to the target rod speed so as to adjust the reactor power and realize helium temperature control of the reactor outlet. The control method is used for solving the problems that the temperature-power disturbance amplification effect caused by the low inertia of the miniature high-temperature gas cooled reactor and the mismatch contradiction of the dynamic response of the first / second loop cannot be inhibited in the prior art.

The present invention provides a UV printer with a quickly detachable print head. The UV printer with a quickly detachable print head comprises a lower support plate, the upper surface of which is fixedly connected with a second track protection cover and a first track protection cover, the side surfaces of the second track protection cover and the first track protection cover are provided with a first gearbox and a second gearbox, and the side surface of the second track protection cover is fixedly connected with a first motor. The UV printer with a quickly detachable print head, by designing a three-degree inclination angle snap-in assembly and using 42CrMo steel and polyetheretherketone, enables the print head to achieve a self-locking effect and precise positioning during installation, thereby avoiding loosening problems caused by vibration or external force. The inclination angle design not only provides a self-locking function, but also ensures high precision of each installation. The selection of composite materials reduces the overall weight and improves the convenience of disassembly and assembly while ensuring structural strength and durability.

The present application provides a sample-and-hold amplifier, a high-speed analog-to-digital converter, and an electronic device. The sample-and-hold amplifier, the high-speed analog-to-digital converter, and the electronic device provided by the present application are provided with a first-stage non-Foster circuit and a second-stage non-Foster circuit in the sample-and-hold amplifier. The first-stage non-Foster circuit and the second-stage non-Foster circuit use negative capacitance to offset the internal parasitic capacitance, so that the nonlinear distortion caused by the parasitic capacitance can be reduced and the linearity of the sample-and-hold amplifier can be improved. In addition, the first-stage non-Foster circuit focuses on providing preliminary gain and parasitic capacitance compensation to ensure that the circuit can effectively process the input signal and reduce the impact of non-dominant poles on the overall performance. The second-stage non-Foster circuit further optimizes the gain and stability, so that the sample-and-hold circuit as a whole can achieve faster stability.

The application discloses a kind of air suspension support frame full-automatic processing device;Belong to support frame automatic processing technical field;Its technical key points include processing table, the left half of the top of processing table is fixedly connected with two belt conveyors that are arranged at intervals, the conveying direction of two belt conveyors is opposite, the top center of the processing table is fixedly connected with first stand, three stations take and place material mechanism are provided on the first stand.The application realizes the full-process automation operation of air suspension support frame from automatic feeding, accurate positioning, multi-process processing to unloading by integrating three stations take and place material, reciprocating rotation, multi-station processing and other automation mechanisms, and realizes the flexible adjustment of the circumferential processing position of the support frame by cooperating with the processing position adjusting mechanism.The three-station processing mechanism integrates drilling, detection and chip removal processes, significantly reduces the process connection gap, effectively improves the overall processing efficiency and processing accuracy of the support frame, and meets the needs of large-scale production.

The utility model relates to a kind of three-dimensional laser radar hanging device for transmission line measurement, applicable to the body bottom space between the two parallel landing poles of unmanned aerial vehicle is hung and installed.The device includes crossbeam, slide rail engagement quick-release structure and three-dimensional laser radar module.Arc-shaped clip is provided at the both ends of crossbeam, for clamping and fixing the landing pole of unmanned aerial vehicle bottom;"T" shape slide rail is provided below crossbeam, three-dimensional laser radar module is slidably installed by guide rail connecting block with complementary shape to slide rail structure, and positioning and locking are realized by self-locking structure.The device has the advantages of strong universality, quick disassembly and assembly, shock resistance and anti-drop, etc., can realize reliable mounting and stable measurement of three-dimensional laser radar on multiple types of unmanned aerial vehicle platform without interfering with the space structure of aircraft, and is suitable for high-precision inspection operation of transmission line.

The utility model provides a Rogowski coil fixing tool for insulation resistance testing, which relates to the technical field of insulation resistance testing, and comprises a fixing tool, in the utility model, the fixing tool is firstly placed on a steel rail surface, the steel rail is adsorbed by utilizing the magnetic force of a strong magnet, a Rogowski coil is placed at a corresponding position of the fixing tool, and a clamping pin is positioned at the upper part of a groove of the tool; the positioning assembly is used for positioning the Rogowski coil, meanwhile, the screw and the positioning pin are matched and locked to prevent the Rogowski coil from shifting, then the positioning assembly is installed at the preset position of the fixing tool, the push block and the first telescopic spring are pushed to drive the moving block and the positioning plate to move, and through cooperation of the rotating block, the first limiting groove and the second limiting groove, the Rogowski coil is positioned. After the push block is loosened, the spring rebounds to enable the positioning plate to tightly press the Rogowski coil, the position of the Rogowski coil is ensured to be fixed, rapid disassembly and assembly, anti-vibration stability and accurate positioning and stable clamping of the Rogowski coil are achieved, and the device is suitable for high-precision measurement of railway insulation resistance.

This application discloses a method for manufacturing probe card adapter boards based on MEMS processing technology. The adapter board is made of a ceramic substrate that has undergone correction and compensation treatment followed by rewiring. The correction and compensation treatment involves forming several position-corrected pads on the bonding surface of the ceramic substrate after sintering using a rewiring process. These pads are then electrically connected to several electrodes within the ceramic substrate. This method changes the position of the PADs through a compensation layer, ensuring that the position of the exposed PADs on the flip-chip bonding surface of the adapter board meets production requirements. The flip-chip bonding surface can be reprocessed, and this method offers faster turnaround time, stability, and simplicity.

The utility model discloses a circuit breaker contact baffle, include: baffle body, joint subassembly and fixed in the positioning seat of circuit breaker surface, joint subassembly fixed mounting is in the bottom surface of baffle body, and joint subassembly includes bottom plate, lock sleeve sliding plate and elastic part, and the surface fixed mounting of bottom plate has the slide guide for guiding lock sleeve sliding plate sliding, and elastic part is used for connecting two lock sleeve sliding plates. In the utility model, through setting joint subassembly in baffle body bottom, the structure design of combination ball head rod plug -in, inclined slot linkage and elastic part reset, realized the quick plug -in and steady locking between baffle and circuit breaker positioning seat, and the installation process does not need tool, and the operation is simple, and can effectively promote the assembly efficiency and maintenance convenience of circuit breaker contact interval isolation baffle.

The invention relates to the technical field of unmanned aerial vehicle path planning, and particularly discloses a three-dimensional route planning method for a fixed-wing unmanned aerial vehicle in a complex mountain, which comprises the following steps: acquiring mountain model information, determining coordinates of a starting point and an end point, and generating a complex mountain map; the safe turning radius and the pitch angle of the fixed-wing unmanned aerial vehicle are constrained and set, so that the fixed-wing unmanned aerial vehicle can fly more safely and efficiently; and meanwhile, by introducing a golden sine strategy, Bernoulli chaotic mapping, a dynamic adaptive weight strategy and an adaptive Gaussian-Cauchy mixed variation disturbance strategy, the regional development and global search capability and convergence performance of the algorithm are improved. The algorithm performance of the improved multi-strategy dung beetle optimization algorithm and the algorithm performance of the basic dung beetle optimization algorithm on eight benchmark test functions are compared, and the result shows that the improved multi-strategy dung beetle optimization algorithm has higher convergence speed and stability. The objective of the invention is to solve the problems of insufficient global search capability and low convergence speed of an existing unmanned aerial vehicle route planning method.

The invention discloses an automatic classification method and system based on machine sound time characteristics, and the method comprises the steps: 1) carrying out the feature extraction of an original sound signal, and obtaining a logarithm Mel spectrum spectrogram (feature matrix); 2) calculating a similarity coefficient of each frame in the logarithm Mel spectrogram by using a method based on feature similarity measurement; 3) calculating the similarity coefficient variance of the spectrogram according to the similarity coefficient in the step 2); 4) processing all the sound signals of each machine ID according to the steps 1)-3) to obtain similarity coefficient variances of all the sound signals in the machine ID; 5) comparing each similarity coefficient variance in the step 4) with an experience variance, and deciding the stability of each sound signal; and 6) counting the specific gravity of the stationary signal and the non-stationary signal, and comparing the specific gravity with a set threshold so as to judge the overall stability of each machine ID. According to the method, the stationarity and non-stationarity classification task of the complex industrial sound signals can be quickly and efficiently completed, and accurate signal classification is realized.

The utility model relates to the technical field of tunnel construction, and discloses a temporary support structure for subsurface excavation of a tunnel, which comprises a support column, a chassis, a top column top plate and an attached plate, the chassis is arranged at the bottom end of the support column, and the upper surface of the chassis is fixedly connected with a top pile. According to the temporary supporting structure for the subsurface tunnel, the supporting columns are matched with the bottom holes and the top piles of the chassis in an inserted mode, so that rapid positioning and anti-overturning stability of the foundation structure are achieved; the height of the jacking column is adjusted through threads of the internal thread cylinder, different tunnel section supporting requirements are met, the handle provides a manual screwing operation fulcrum, and the adjusting process is simplified; the top plate and the attached plate form an extensible connecting structure through the first edge groove, the second edge groove and the link block, transverse fine adjustment is allowed, and rock stratum pressure is dispersed. The sliding groove of the attached plate is combined with the clamping block and the thread adjusting assembly of the first supporting rod and the second supporting rod, multi-stage height compensation and settlement adaptation are achieved, and the limiting clamping groove limits the axial stress direction of the supporting rod assembly.

The utility model relates to the technical fields of surveying and mapping equipment more specifically, relate to a kind of multi-mode surveying and mapping equipment, including host casing, first adapter, second adapter, centering rod, gripping handle, the host casing inside is integrated with surveying and mapping function component, the first adapter, second adapter are all set in the bottom of the host casing, the installation height of the first adapter is lower than the installation height of the second adapter, the first adapter is provided with avoiding structure, the avoiding structure is used to expose the second adapter, the host casing can be detachably connected with the gripping handle by first adapter or detachably connected with the centering rod by the second adapter.The utility model realizes the quick switching of multiple surveying and mapping modes, so that the host casing can be quickly installed on the gripping handle or the centering rod, without disassembling the core components, it can be flexibly converted between the centering rod stand measurement mode and the handheld measurement mode.

The utility model relates to a movable mining area ore screening device, which belongs to the technical field of mining area ore screening and comprises a transport vehicle, and a frame is arranged on the transport vehicle. A screening structure is arranged on the frame; the screening structure comprises a base installed on the frame, a first spring is installed on the base, a support is installed at the top end of the first spring, a main vibrating screen plate is installed on the support, and a vibrating motor is installed on the support; and an assembly structure is arranged on the main vibrating screen plate. By arranging a screening structure and an assembling structure, a positioning plate is inserted into a positioning groove to be used for rapidly positioning an auxiliary vibrating screen plate and a main vibrating screen plate, then the auxiliary vibrating screen plate and the main vibrating screen plate are rapidly assembled and fixed through a first bolt and a first nut, and on the contrary, when the vibrating screen is not used, the auxiliary vibrating screen plate and the main vibrating screen plate can be disassembled; therefore, the overall size of the device can be conveniently reduced, many potential safety hazards can be avoided as much as possible, and driving in a mountain is facilitated.

This invention belongs to the field of biofuel preparation technology, specifically relating to a highly efficient method for preparing biodiesel. The method includes the following steps: adding feedstock oil, free lipase, and short-chain alcohol to a reactor, catalytically reacting at 20–70°C; after the reaction, centrifuging to collect the oil phase for preliminary distillation and purification to obtain crude biodiesel; adding the obtained crude biodiesel and short-chain alcohol to a reactor filled with a silicon-based cation exchange resin catalyst, catalytically esterifying at 40–140°C; after the reaction, distilling to remove water and unreacted short-chain alcohol to obtain the finished biodiesel. The silicon-based cation exchange resin catalyst is obtained by nitric acid oxidation of mercapto-modified SiO2 microspheres. This invention's preparation method utilizes a low-cost free lipase combined with a specific highly active and stable silicon-based cation exchange resin catalyst, enabling efficient and low-cost biodiesel preparation.

The invention discloses a robot navigation method fusing U-net semantic segmentation, and relates to the technical field of computer vision and robots. Comprising the steps of S1, collecting an original image of a front road scene in real time; s2, performing semantic segmentation processing on the original image to generate a semantic segmentation prediction map and a probability distribution map; and S3, based on the probability distribution diagram, analyzing the spatial distribution and boundary trend of the passable area, and calculating a structured control parameter at the next moment. Accurate recognition of passable areas, static boundaries and dynamic obstacles in a complex road environment is realized, an upper and lower double-layer hardware architecture design is adopted, a semantic perception task with a high computing power requirement is separated from a motion control task with a high real-time requirement, the upper industrial personal computer is responsible for image processing and decision making, and the real-time performance of the robot is improved. The lower STM32 single-chip microcomputer is responsible for PWM signal output and motor driving, and then fast response and stability of bottom layer control are ensured under the condition that efficient operation of the deep learning model is ensured.