446results about How to "Guaranteed speed" patented technology

The invention discloses a high-precision three-degree-of-freedom attitude adjustment platform for a spectrometer, which is based on a simplified design of a Stewart platform and comprises a movable platform, a static platform and a three-degree-of-freedom driving mechanism connected between the movable platform and the static platform. The driving mechanism is composed of three sets of servo electric cylinders, telescopic rods and servo motors and is driven by a ball screw, and posture adjustment of the platform is achieved. According to the platform, a laser interferometer is adopted as a high-precision sensor, a closed-loop feedback control system is combined, and submicron displacement measurement and attitude control are achieved. The platform can achieve translation in the Z-axis direction and rotation around the X axis and the Y axis, the rotation angle can reach + / -15 degrees, and the precision can reach 0.02 mm. According to the invention, the device ensures high precision and stability in a complex working environment, has the characteristics of stable movement, quick response, easy maintenance and the like, and is suitable for the fields of optical experiments, spectral analysis and attitude adjustment and error compensation of precise instruments.

The invention relates to the technical field of sensor upgrading, in particular to a remote upgrading method and system for a tire pressure sensor. The method comprises the following steps: acquiring real-time state data of a tire pressure sensor; carrying out outlier parameter elimination on the real-time state data of the tire pressure sensor, and carrying out state diagnosis mining, so as to generate a state diagnosis report of the tire pressure sensor; performing upgrade demand prediction based on the tire pressure sensor state diagnosis report, and performing priority upgrade analysis to extract a plurality of upgradable sensors; performing byte-by-byte difference identification on the plurality of upgradable sensors based on preset latest version information, and performing incremental data encapsulation to generate a plurality of incremental upgrading data blocks; acquiring a historical running log of the vehicle; performing dynamic vehicle using behavior analysis and vehicle idle time period prediction on the vehicle historical operation log to generate a plurality of idle prediction time periods; the upgrading efficiency and the safety performance of the tire pressure sensor are improved.

The invention discloses a multi-source data fusion low-altitude unmanned aerial vehicle trajectory tracking method and system. The method comprises the steps of flight path data collection, wherein the flight path data collection is divided into cooperative flight path data collection and non-cooperative data collection; flight path data and flight path fusion: performing cooperative flight path data and cooperative flight path fusion processing and radar flight path data and radar flight path fusion processing; the flight path data and flight path fusion comprises data preprocessing, flight path data filtering updating and flight path data and flight path association; the cooperation track and radar track fusion is used for carrying out association fusion on the cooperation track and a radar mark track, and comprises a track filtering sub-process and track-to-track association; the flight path management is used for maintaining and managing all current flight paths, including temporary flight path maintenance and management and stable flight path maintenance and management, the temporary flight path is mainly a radar temporary flight path, and the stable flight path comprises a stable cooperative target flight path and a radar stable flight path. Fusion tracking of the flight path of the unmanned aerial vehicle detected by various heterogeneous sensing devices can be realized.

The invention discloses a zinc foil preparation method for inhibiting zinc dendritic crystal growth, which comprises the following steps: carrying out laser texturing treatment on the surface of a pure zinc foil to generate a high-density ordered micro-pit array structure on the surface of the zinc foil, thereby greatly increasing the number of active sites on the surface of the zinc foil and eliminating the defects of scratches, pits and the like generated by the zinc foil; and carrying out alloying treatment on the zinc foil and a CuCl2 solution to generate a CuZn5 alloy layer so as to obtain the zinc foil for inhibiting dendritic crystal growth. The high-density ordered micro-pit array structure on the surface of the zinc foil eliminates the structural defects of the zinc foil, the increase of active sites and the introduction of the CuZn5 alloy layer can significantly reduce the desolventizing energy barrier in the charge transfer process and promote the Zn deposition / dissolution kinetics on the surface of the negative electrode, so that few by-products are formed in the treated negative electrode, and the service life of the negative electrode is prolonged. Therefore, the cycle performance of the treated zinc foil after the zinc foil forms a button cell is greatly improved, the service life of the zinc foil is obviously prolonged, and the economic benefit is particularly obvious.

The invention relates to a safety performance detection device of a power distribution cabinet, which relates to the technical field of power distribution cabinet detection and comprises a power distribution box, a power distributor fixed on the inner side of the power distribution box, a power distribution wire fixed on the power distributor, a power strip fixed on the inner side of the power distribution box and an external wire fixed on the outer side of the power strip. The power strip is electrically connected with the power distribution line, and the power distribution box is provided with a heat dissipation assembly used for conducting heat dissipation treatment on the power distributor; the distribution box is provided with a detection mechanism used for detecting whether the distributor leaks electricity or not. The detection mechanism comprises a loudspeaking assembly and an adjusting assembly; the distribution box is provided with a waterproof mechanism used for waterproofing the distribution box. The height of the distribution box can be adjusted, the bottom of the distribution box is prevented from being submerged by rainwater, the higher the weight of the collection frame is, the higher the rising height of the distribution box is, the situation that passers-by and maintenance personnel are affected by electricity leakage of the distribution box in rainy days is avoided, and the use safety of the distribution box is guaranteed.

The invention discloses a high-adaptability unmanned aerial vehicle automatic charging docking device which comprises an unmanned aerial vehicle and a charging device. The unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a camera, an electric quantity monitoring unit, an unmanned aerial vehicle positioning unit, an unmanned aerial vehicle flight height monitoring unit, an unmanned aerial vehicle speed monitoring unit, an unmanned aerial vehicle control unit and a flight driving unit; the automatic charging docking device for the unmanned aerial vehicle can cope with different environments, and the cruising ability of the unmanned aerial vehicle is improved.

The invention relates to the technical field of medicine bottle detection, in particular to an optical principle-based medicine bottle detection device which comprises a U-shaped base, a conveying belt, an output belt and an optical detection channel are arranged on two sides of the top of the U-shaped base respectively, and an intermittent feeding platform is arranged below the output end of the conveying belt and communicated with the top of the optical detection channel; the top of the intermittent feeding platform extends to the output end of the conveying belt, the intermittent feeding platform comprises a vertically-through feeding channel formed in the center of the intermittent feeding platform, an intermittent discharging assembly is arranged in the feeding channel, the bottom of the optical detection channel communicates with a sorting channel, and a sorting assembly and a vertical-horizontal transfer mechanism are arranged in the sorting channel; the swing is arranged on one side of the output end of the sorting channel. According to the device, transmission kinetic energy is fully utilized, the medicine bottles are controlled to be automatically input and output, meanwhile, the controllability is high, the overall operation is simple, the transfer efficiency is good, and the detection accuracy is high.

The utility model relates to the technical field of water treatment, in particular to a water circulation device for spunlaced non-woven fabric production, which comprises a treatment box, a box cover is rotatably connected to the top of the treatment box, a water guide pipe is fixedly connected to the top of the box cover, and a collecting net basket is erected at the top end in the treatment box. A filtering net basket is erected on the inner side of the collecting net basket, a stirring shaft is installed at the bottom end of the interior of the treatment box, the top end of the stirring shaft is connected with the bottom end of the collecting net basket in an inserted mode through a connecting block, a water pump is fixedly installed at the bottom end of the left side of the treatment box, and the output end of the water pump is connected with the interior of the treatment box; compared with an existing water circulation device for spunlaced non-woven fabric production, the water circulation device for spunlaced non-woven fabric production has the advantages that the treatment effect on water for spunlaced non-woven fabric production can be improved through the design, meanwhile, thread residue impurities in water can be conveniently cleaned, and the water circulation speed and efficiency are guaranteed.

The invention provides a slag field earth-rock volume measuring and calculating device and method based on close-range photogrammetry, and relates to the technical field of close-range photogrammetry. Comprising a photogrammetric device, the photogrammetric device is used for shooting image data of a slag field, the photogrammetric device comprises a digital camera, a tripod, a holder and a GPS and GNSS positioning system, and an image processing system is used for carrying out preprocessing, distortion correction, radiation correction and denoising processing on the shot image data. According to the technical scheme, by using the high-resolution camera and an advanced image processing algorithm, the device can more accurately capture details on the surface of the slag field, so that errors are reduced when a three-dimensional model is constructed, the high-precision three-dimensional model can more accurately reflect the actual shape and the volume of an earth-rock cube, and the accuracy of the three-dimensional model is improved. The calculation result of the earth-rock volume is more accurate, which is crucial for engineering management and resource planning because the method can reduce cost waste or resource shortage caused by inaccurate estimation.

The invention discloses a self-adaptive railway tunnel pulverized coal cleaning filter screen replacement device, which relates to the technical field of filter screen replacement, and comprises a cleaning box, an automatic replacement mechanism, a filter screen replacement mechanism and a control system, the device is used for self-adaptively triggering the replacement process in the pulverized coal cleaning process and automatically overturning and replacing a screen plate, through arrangement of an automatic replacement mechanism and mutual cooperation of a special-shaped groove and an S-shaped rotating plate, a new filter screen body and an old filter screen body are replaced, accurate positioning is achieved through a mother magnet ring and a son magnet ring, and the replacement efficiency is improved. A U-shaped groove in the special-shaped groove extrudes a convex block of a convex block rotating disc, the convex block rotating disc and a rotating rod can be driven to rotate by a half circle, so that an S-shaped rotating plate rotates by a half circle, a servo motor is turned off in the rotating process, the convex block rotating disc is prevented from generating displacement due to rotation inertia, and the replacement accuracy can be further improved; therefore, the replacement accuracy and speed are ensured while the cost is reduced.

The invention provides a fluid supply cup cover and a fluid supplier, the fluid supply cup cover comprises a cover body with one end being a liquid inlet and the other end being a liquid outlet, the side wall of the cover body extends from the liquid inlet to the liquid outlet, the corresponding part of the liquid inlet is used for being connected with a cup body of a fluid supply cup, the side wall extends at the liquid inlet to form a barrel-shaped wall, and the barrel-shaped wall is provided with a liquid outlet. The extension surface of the barrel-shaped wall is parallel to the axis of the liquid inlet to form a parallel flow guide direction; an included angle is formed between the extending surface of the side wall between the liquid inlet and the liquid outlet and the axis of the liquid outlet, and the extending surface of the side wall forms an inclined flow guide direction, and is characterized in that a filter is arranged on the cup cover, a filtering area parallel to the flow guide direction and perpendicular to the filter is arranged on the liquid inlet side of the filter, and a filtering area parallel to the flow guide direction and perpendicular to the filter is arranged on the liquid outlet side of the filter. An included angle is formed between the inclined diversion direction and the filter area of the filter. It is guaranteed that the maximum gravity decomposition force is obtained in the flow guide direction, paint can overcome the resistance of the filter screen conveniently, the paint passing through the filter screen keeps a certain flow speed, and the liquid supply amount is guaranteed.

The utility model provides an air-ground amphibious fire rescue spherical robot. The air-ground amphibious fire rescue spherical robot comprises a spherical shell and an unmanned aerial vehicle located in the middle of the spherical shell. The unmanned aerial vehicle comprises a power system and a fixing support. The spherical shell wraps the fixed bracket therein; the fixed bracket is used for supporting the power system in the middle; the power system comprises two propellers which are coaxial and opposite in rotation direction, and the two propellers are fixed in the middle of the fixing support. The spherical unmanned aerial vehicle has the advantages that the spherical robot and the spherical unmanned aerial vehicle are combined, ground movement of the spherical robot is taken as a main part, the defects of poor cruising ability of the unmanned aerial vehicle and poor obstacle crossing ability of the robot are overcome, the advantages of high response speed and strong obstacle crossing ability of the unmanned aerial vehicle are played, the advantages of the unmanned aerial vehicle and the robot are complementary, the advantages of the two are complementary, and the practical value is higher.

The invention relates to the field of rotary cutter control. The invention relates to a rotary cutter, in particular to a double-machine-head precise rotary cutter and a control system. According to the double-machine-head precise rotary cutter and the control system, the control system adopts the mode of motion controller and bus communication, the precision and speed of the system are improved, and the single-machine-head precise rotary cutter can be compatible with high-speed and high-precision operation.

The invention provides a preparation method of a chlorine salt conversion film with high corrosion resistance, which comprises the following steps: dissolving manganese chloride and calcium chloride in water, then adding ammonium dihydrogen phosphate, sodium nitrate and EDTA (Ethylene Diamine Tetraacetic Acid), and carrying out conversion treatment at 50-60 DEG C for 10-15 minutes to obtain a conversion film solution; placing the conversion film solution in a water bath kettle with the temperature of 50-60 DEG C for heating and heat preservation; the magnesium alloy is put into the conversion film solution to form a film for 10-15 min at the film forming temperature of 50-60 DEG C, and a conversion film is formed on the surface of the magnesium alloy; and taking out the magnesium alloy, washing and drying the conversion film, and characterizing. According to the preparation method of the chlorine salt high-corrosion-resistance conversion film, the preparation cost is low, and the prepared film layer is thick and uniform.

The utility model discloses a single-side double-layer electric protective door for a horizontal machining center. The single-side double-layer electric protective door comprises a supporting seat, a driving mechanism, a transmission mechanism, an outer side protective door and an inner side protective door, the outer side protective door is higher than the inner side protective door, and the outer side protective door and the inner side protective door are the same in width. The driving mechanism comprises a servo motor, a speed reducer, a large driving wheel and a small driving wheel, and the tooth number of the large driving wheel is twice that of the small driving wheel; the transmission mechanism comprises a driven wheel, a long transmission belt, a short transmission belt, an outer transmission support and an inner transmission support, the long transmission belt is connected between the large driving wheel and the driven wheel, and the short transmission belt is connected between the small driving wheel and the driven wheel. The device has the advantages that the large door opening range and the small door opening and closing occupied space can be achieved, clamping of large parts and the small machine tool occupied area are guaranteed, control is easy, cost is low, installation and adjustment are easy, and the door opening range can be controlled according to the size of the parts.

The embodiment of the invention discloses an equipment connection method and related equipment. The method provided by the embodiment of the invention comprises the following steps: receiving a plurality of scanning requests, wherein the plurality of scanning requests are respectively sent by one or more scanning devices with an accelerated discovery characteristic; performing priority ranking on the plurality of scanning requests according to a preset algorithm to obtain a preferred ranking queue; and responding to the target scanning request in the preferred sorting queue according to the priority order so as to establish connection with scanning equipment corresponding to the target scanning request.

The present invention relates to the field of digital twin technology, and in particular to a model building method for digital twins, comprising: storing information of each model file in a file to be parsed; determining a file processing method according to whether there is an associated historical parsing file; determining a parsing optimization strategy according to the parsing file status of the file to be parsed; under the condition that the parsing is completed, generating a data interaction relationship between models, extracting key information in a target element and storing it in a preset data structure; analyzing a target file that has been merged and packaged by a compiler to build a syntax tree of the target file; obtaining a target code file of each level model by converting the syntax tree of the target file, and merging each target code file into an executable file by a linker, wherein data exchange is performed between models in the executable file based on the data interaction relationship between models obtained after parsing. The present invention improves the model building efficiency of the digital twin.

The invention discloses a flexible screw drilling tool for ultra-short radius well drilling. The technical problems that an ultra-short radius flexible drilling tool is low in well drilling torque transmission efficiency, the well drilling track is difficult to adjust, and a conventional screw drilling tool is high in rigidity and is difficult to descend into an ultra-short radius well are solved. The device comprises an upper connector, a power part, a lower connector, a transmission short section and a drill bit, the power part comprises a stator shell, a stator bush and a screw rotor, the stator shell can be bent, the screw rotor is in conjugate fit with the stator bush, the stator bush and the screw rotor are made of bendable materials, a threaded flow channel is formed in the inner side wall of the stator bush, and the threaded flow channel is communicated with the lower connector. The threaded flow channel is matched with threads on the screw rotor, and when drilling fluid flows through the threaded flow channel, the screw rotor does planetary motion in the circumferential direction of the stator bush under the drilling fluid pressure difference and the conjugate action of the stator bush and the screw rotor, and the drill bit is made to rotate through the transmission short section. The torque transmission efficiency can be improved, and the drilling track can be adjusted.

The invention provides an underwater vehicle charging system and a charging method, and solves the problem that the loading capacity, the operation time and the operation flexibility of an underwater vehicle are affected as a heavy coupler needs to be carried at the vehicle end in the conventional underwater vehicle wireless charging system. According to the invention, the permanent magnet synchronous motor which must be carried by the underwater vehicle is used for energy supply, the battery of the underwater vehicle is directly charged through the electromotive force generated by the reverse rotation of the permanent magnet synchronous motor, and the situation that the load is increased by a coupler installed at the vehicle end in the conventional wireless charging process is avoided. The charging system comprises a charging device arranged underwater and a one-way clutch arranged between a transmission shaft of a permanent magnet synchronous motor of the underwater vehicle and a propeller. The charging device comprises a base platform, a mobile platform, a motor, a charging rod, a fixed electromagnet, a communication unit and a control unit. The motor converts electric energy obtained by the charging device into mechanical energy which is transmitted to the permanent magnet synchronous motor transmission shaft through the charging rod to drive the transmission shaft to rotate reversely.

The invention discloses a grid-connected automatic detection and adjustment system for a generator car, and relates to the technical field of power supply equipment. The system comprises a real-time monitoring module at the output end of the generator and an adjusting module of the transformer, and achieves the precise control of the grid-connected output voltage and current. According to the system, the heat dissipation design based on cooling liquid phase change circulation is adopted, a multi-heat-source heat dissipation mechanism of an internal combustion engine negative pressure fan and a gas guide channel is combined, and the heat dissipation efficiency and the equipment operation stability are guaranteed. In addition, by means of the sliding disc transmission design of the internal combustion engine and the generator, optimization of anti-seismic performance and axis alignment is achieved. The planetary gear is controlled through the adjusting motor, stepless transmission ratio adjustment is completed, and the operation efficiency and the adaptive capacity are greatly improved.

According to the evaluation method of the small-range ultra-high-precision temperature sensor, the temperature deviation between the to-be-tested temperature sensor and the standard temperature sensor is acquired in multiple ways, and the response time of the to-be-tested temperature sensor is combined, so that the comprehensive evaluation result of the to-be-tested temperature sensor is acquired. According to the method, the temperature sensor is comprehensively evaluated by integrating a plurality of evaluation indexes, so that the long-term stability and the response speed during measurement of the temperature sensor can be correspondingly guaranteed, and the high requirement of spaceflight design on the temperature sensor can be met.

The invention relates to the field of semiconductor chip manufacturing, in particular to a semiconductor resin vibration arrangement mechanism which comprises complete machine equipment, a vibration mechanism is fixedly installed at the top of the complete machine equipment, a discharging mechanism is installed above the vibration mechanism, and a feeding mechanism is installed at the feeding end of the vibration mechanism. The material detecting mechanism is installed at the tail end of the feeding mechanism, the material discharging mechanism is installed on the rear portion of the material detecting mechanism, the resin arranging unit is installed at the rear end of the material detecting mechanism, and the resin arranging unit is located above the material discharging mechanism. And incomplete and unqualified resin materials can be separated and discharged, so that the resin arrangement and transportation space is reduced, the quality of plastic package products is ensured, and the production efficiency of plastic package equipment is improved.

The present invention relates to the field of artificial intelligence, and discloses a user portrait classification method, device, electronic device and storage medium based on deep learning, wherein the method comprises: obtaining user data of a user portrait to be classified, and preprocessing the user data to obtain target data; collecting similar user portraits of the user portrait to be classified, and extracting similar user features of the similar user portraits; inputting the target data and similar user features into a preset user classification model as model data, so as to detect the temporal correlation features of the model data using a temporal memory network in the user classification model; extracting the information semantic sequence of the temporal correlation features using an attention mechanism network in the user classification model, identifying the data category of the model data using a convolutional network in the user classification model according to the information semantic sequence, and determining the user category of the user portrait to be classified according to the data category. The present invention can improve the accuracy of user portrait classification.

The utility model relates to the technical field of bag-type dust removers, in particular to a quick-release cloth bag for a bag-type dust remover, which comprises a dust remover main body and a filter support detachably connected in the dust remover main body, a filter bag component is connected in the filter support in an inserting and pulling manner, the filter bag component comprises a filter bag body and an outer bag cage sleeved outside the filter bag body, and the outer bag cage is connected with the filter support in an inserting and pulling manner. An annular boss is arranged at the end of the outer bag cage, the diameter of the annular boss is larger than that of the mounting hole, a pressing plate is further arranged at the top of the filtering support, the bottom face of the pressing plate abuts against the annular bosses, and the pressing plate is detachably connected to the top of the filtering support; a pressure bearing part is arranged on the pressing plate, an insertion hole is formed in the top surface of the filtering bracket, a screw rod is fixedly connected in the insertion hole, a pressing block is sleeved on each screw rod, the pressing block is rotatably arranged on the screw rod and is movably arranged along the axis of the screw rod, the lower plane of the pressing block is propped against the pressure bearing part, a locking piece is sleeved on the screw rod, and the locking piece is propped against the upper plane of the pressing block.

The engine degradation trend extraction method based on the fault gene solves the problems that an existing rotating machine degradation trend extraction method is cross in fitting, low in prediction accuracy, low in speed and incapable of meeting the prediction lead, and the engine degradation trend extraction method based on the fault gene is provided. Based on a fault gene technology, root causes and characteristics of potential faults are analyzed, a trend prediction method and a fault model are deeply combined, and a deeper reference basis is provided for trend prediction; according to the invention, through two groups of signal processing methods, feature information in fault signals is comprehensively captured, and the identification and analysis capability of different fault modes is improved. According to the method, a set of trend model identification criteria is provided and comprises a standardized process of data acquisition and processing, an index system of model evaluation and verification and a strategy of model updating and optimization, so that the system can identify and match the trend model more effectively, and the efficiency and reliability of trend model establishment are comprehensively improved.

The utility model discloses an efficient automatic bottle cap screwing device which comprises an outer support, a bottle body clamping assembly, a rotating motor, a protective cover and an emergency stop button, a supporting partition plate is arranged in the outer support, and a containing table in the bottle body clamping assembly is arranged on one side of the top of the supporting partition plate. Before the bottle cap is screwed, the bottle is clamped and fixed through the bottle body clamping assembly, it is guaranteed that the bottle cap is accurately aligned with a screwing head of the bottle in the screwing process, and the cap screwing quality is improved; a lifting air cylinder fixing air cylinder, a servo motor, a clamping disc and a transmission gear are connected to form a bottle cap fixing structure, the bottle cap fixing structure is matched with the lifting air cylinder and a rotating motor to adjust the position, the screwing process is automatically completed, the bottle cap screwing speed and accuracy are guaranteed, and the large-scale production requirement can be met. And in the screwing process, the screwing position is sealed through the protective cover, meanwhile, the device is sealed through the turnover door, the bottle cap is prevented from splashing, and the mechanical injury risk faced by operators is reduced.

The invention relates to the technical field of image fusion, in particular to a multi-scale feature image fusion method in a complex scene, which comprises the following steps of: S1, performing multi-scale analysis on each input image by combining a multi-scale convolutional neural network with depth separable convolution, and identifying and strengthening key features between a focusing region and a defocusing region through a CA coordinate attention module; s2, screening and strengthening the feature maps through an attention gate module, and further fusing to obtain a comprehensive feature map; and S3, carrying out initial segmentation on the fused feature mapping, and generating a final segmentation graph or decision graph by adopting the strong segmentation capability of the U-Net model and combining morphological processing and watershed algorithm fine adjustment. The integrated processing strategy ensures the accuracy of the decision diagram and the high quality of the fused image.

The invention relates to the field of speech recognition, and discloses an automobile industry term speech recognition method and device, and a storage medium. The method comprises the following steps: constructing a Chinese word-phone pronunciation dictionary and an automobile terminology BPE-phone pronunciation dictionary; training the initialized basic speech recognition model by using Chinese speech data; and carrying out parameter weight migration from the basic speech recognition model, and training the target speech recognition model by using the Chinese speech data on the migrated model. According to the embodiment of the invention, a voice recognition system with a good effect can be obtained through efficient training under the condition that only a small amount of high-quality automobile terminology voice data sets and a large amount of unlabeled automobile terminology voice data are needed. The finally obtained speech recognition system does not use a pre-training model with overlarge parameter quantity, so that the speech recognition speed is ensured, and the requirement on hardware in practical application is reduced.

The present invention relates to the technical field of ecological restoration, and specifically to a river channel silt comprehensive management ecological restoration device and a construction method thereof, comprising: a processing table, and a filter box and a piston cylinder fixedly mounted on the processing table, an extraction pipe and a discharge pipe being fixed on the piston cylinder, a first rotating rod being rotatably mounted on the bottom of the processing table, a plurality of impellers equidistantly distributed being fixed on the first rotating rod; a filter assembly being arranged in the filter box, and a symmetrically arranged filter disc being connected to the filter assembly; a second rotating rod being rotatably mounted on the piston cylinder, and an extraction assembly connected to the second rotating rod being arranged in the piston cylinder; a driven assembly being arranged on the filter assembly and connected to the second rotating rod; a centrifugal control mechanism being arranged on the first rotating rod and connected to the driven assembly, and a transmission switching mechanism connected to the second rotating rod being further arranged on the centrifugal control mechanism, and the present application can automatically switch the transmission mode according to the impact force of the water flow to increase the energy utilization effect.

The invention discloses an interchange intelligent motorcade sliding mode control method considering disturbance and actuator saturation. The method comprises the following steps: respectively constructing three-order dynamic models considering disturbance and actuator saturation; establishing an intelligent network connection vehicle following model considering the expected speed of the road section in the interchange area, and combining a vehicle position tracking error and a speed error to construct an integral sliding mode surface and generate a coupling sliding mode surface; constructing a non-linear disturbance observer on the basis of the three-order dynamic model considering disturbance to generate a disturbance observation value; constructing an auxiliary dynamic system on the basis of the three-order dynamic model considering the saturation of the actuator to generate an auxiliary signal; in order to realize a motorcade control target, a motorcade controller is designed in combination with a coupling sliding mode surface, a disturbance observation value and an auxiliary signal to control the motion state of vehicles in the intelligent network connection motorcade, so that the driving of the intelligent network connection motorcade in an interchange area conforms to a traffic flow theory, and the consistency of the positions and the speeds of the vehicles in the motorcade and the stability of a motorcade string are ensured.