979results about How to "Meet job needs" patented technology

The invention discloses an array substrate, a display device and a method for driving the array substrate, relates to the display field, can realize polarity inversion, and also can effectively reduce driving voltage of a pixel electrode and a public electrode so as to realize a purpose of reducing consumption of electric quality. The array substrate comprises a plurality pixel units, a plurality of grid lines, a plurality of data lines, a plurality of first public electrode lines and a plurality of second public electrode lines, wherein the plurality of grid lines are used for providing grid scanning signals for the pixel units; the plurality of data lines are used for providing data signals for the pixel units; each first public electrode line is connected with an odd-column of pixel units, each second public electrode line is connected with an even-column of pixel units, public voltages with inverse polarities are respectively provided for the odd-column of pixel units and the even-column of pixel units, and the polarity of driving voltage difference loaded to any one pixel unit by using the data lines and the first / second public electrode lines is opposite to the polarity of the public voltage loaded to the pixel unit.

The invention relates to an operation scheduling system which is applicable to the grid environment and based on the reliability cost; as indicated in graph 1, the whole system includes three layers: the first layer is an operation submission interface module 1; the second layer is an operation scheduling module 2 and the grid resource platform 7 as the substrate layer. From the perspective of the operational principle, the core of the invention is the operation scheduling module in the second layer, which includes a pre-scheduling module 3, a scheduling strategy module 4, an operation finish time prediction module 5 and a resource information module 6. The operation scheduling system in the invention proposes an operation running time prediction model and a resource usability prediction model; the operation running time prediction model based on the mathematical model and the resource usability prediction model based on the Markov model have high accuracy and high generality. The operation scheduling system adopts the copy fault-tolerance strategy, the primary copy asynchronous operation fault-tolerance strategy and the retry fault-tolerance respectively according to different operation service quality requirements and resource characteristics so that the operation scheduling system has high flexibility and high validity; meanwhile, the operation scheduling system supports the computation-intensive operation and the data-intensive operation to have good generality. Compared with the scheduling system in the prior art, the operation scheduling system has the advantages of supporting more concurrent users, improving the resource utilization rate, good generality, good extensibility and high system throughput.

The invention belongs to the technical field of lithium battery health management, and particularly relates to a combined simulating evaluation method of the state of health and the state of charge ofa lithium battery. A lithium battery equivalent circuit is utilized to describe battery characteristics, and a describing means is provided for a hysteretic phenomenon existing in the relation of open circuit voltage and the state of charge; internal resistance of the battery is introduced to serve as a state variable, the state variable is correlated with the state of health of the battery defined from the aspect of the capacity and the internal resistance of the battery, and thus the current capacity of the battery is updated in real time by updating the internal resistance. In this way, ageing of the battery can be self-adapted, and the high describing precision is maintained all the time. Compared with an existing method, the combined simulating evaluation method can achieve real-timeonline capacity estimation which is difficult to implement by a traditional method, the real-time accuracy degree of the circuit equivalent model is guaranteed, and references are provided for the state of health and the state of charge of the battery.

The invention relates to the field of test data, discloses an automatic test method based on a protocol interface. The automatic test method comprises the following steps: S1, receiving a test request, wherein the test request comprises an interface design document; S2, analyzing the interface design document, and extracting a service interface and a test data configuration rule thereof; S3, generating test data according to the test data configuration rule, and executing the test request; and S4, returning a test result. The invention further discloses an automatic test system based on the protocol interface. The automatic test method based on the protocol interface disclosed by the invention can be used for configuring the parameter of the interface according to manual test demand and generating the test data according to the rule to complete the automatic test work of the interface.

The invention provides an indoor air PM2.5 (fine particulate matter) control system and a control method thereof, relates to the technical field of air-conditioners, and solves the technical problem of reducing the concentration of indoor air fine particulate matters. The system comprises a control terminal, an air purifying box, at least one monitoring gateway and a plurality of dust sensors. Each dust sensor is connected to the control terminal through each monitoring gateway. The air purifying box is mounted at the fresh air inlet of a central air-conditioner, a cyclone and a water jetting rack are arranged in the air purifying box, and a water tank is mounted on the air purifying box. The water jetting rack is located between the air outlet end of the cyclone and the air outlet of the air purifying box, and a plurality of ultrasonic nozzles are fixed on the water jetting rack. The outlet of the water tank is connected to water inlets of the ultrasonic nozzles through a pressure pump. The control terminal is provided with a water jetting signal output end connected to the control end of the pressure pump. The system and the method have the advantages that the concentration of the indoor air fine particulate matters can be lowered.

The invention relates to a method for controlling switching operation sequences of a full-automatic transformer substation based on a mobile robot. The method comprises the following steps: 1) a transformer substation sequential control platform carries out a switching operation and simultaneously sends a device detection command to a mobile robot background through an IEC61850 protocol; 2) the mobile robot background receives the device detection command sent by the transformer substation sequential control platform and then issues the device detection command to the mobile robot; 3) the mobile robot receives the device detection command and then collects visible lights and infrared images of the related devices and uploads to the mobile robot background through a wireless network bridge; 4) the obtained visible lights and the infrared images are analyzed by utilizing an image analysis algorithm and the recognition result is reported to the transformer substation sequential control platform through the IEC61850 protocol; and 5) the transformer substation sequential control platform receives the device state reported by the mobile robot background, drives the continuation of the switching operation according to the state and automatically realizes the switching operation sequential control process for the transformer substation.

A conference room management system comprises a PC terminal, an LCD terminal, a service system and a file data system. The PC terminal is operated by a system manager, a web browser is used for having access to a web address of the service system, and after identity authentication is passed, each module of the service system is operated. The LCD terminal is connected to the service system through a network, a conference information list corresponding to the day of a conference room is acquired, and according to start time and stop time in conference information, corresponding conference information is displayed on the LCD terminal. The service system is a core of the conference room management, other parts are all connected through the service system, and the service system comprises a basic information management system, a conference management module, a system management module and a user parameter setting module. The file data system is used for maintaining persistent data such as files or service information generated in the system operation process. A user has access to the service system through the PC terminal so as to manage the conference information and distribute the conference information to the LCD terminal, and therefore the conference information is updated.

The invention discloses a folding type five-degree-of-freedom parallel connected attitude adjustment platform. The folding type five-degree-of-freedom parallel connected attitude adjustment platform comprises an upper platform, a lower platform and six branches; the six branches are used for connecting the upper platform and the lower platform; the five branches which are arranged on the periphery are driving branches with identical structures; and the rest one is a middle constraint branch. First universal hinges of the five driving hinges are connected with the lower platform; one ends of lower connecting rods are connected with the first universal hinges; the other ends of the lower connecting rods are connected with one ends of upper connecting rods through revolute pairs; the other ends of the upper connecting rods are connected with the upper platform through spherical hinges; the tail portions of electric cylinders are connected with the lower connecting rods; extensible rods of the electric cylinders are connected with the upper connecting rods; a middle connecting rod of the middle constraint branch is an extensible rod; one end of the middle connecting rod is connected with lower platform through one of the second universal hinges; the other end of the middle connecting rod is connected with the upper platform through one of the spherical hinges. The folding type five-degree-of-freedom parallel connected attitude adjustment platform has the advantages of being simple in structure, small in occupying area, low in self-weight, large in attitude adjustment space, convenient to install and maintain, being capable of achieving spatial three dimensional rotational freedom and two dimensional rotational freedom.

The invention discloses an intelligent robot for repelling birds. The intelligent robot for repelling the birds comprises a bird monitoring module, an air quality detection module, a PLC controller and a remote controller. The input ends of the bird monitoring module, the air quality detection module and the PLC controller are respectively connected with the output end of a power supply module. The power supply module comprises a solar panel and a wind power generator. The intelligent robot for repelling the birds achieves the monitoring function on the birds through a vibration sensor, a radar sensor, an infrared sensor and a pyroelectric infrared sensor, and can effectively improve the monitoring ability of the robot on the birds. Meanwhile, in a bird repelling module, an ultrasonic birdrepelling module, a flash bird repelling module, a voice bird repelling module and a smell bird repelling module are adopted, so that the effects of ultrasonic bird repelling, flash bird repelling, voice bird repelling and smell bird repelling on the birds can be achieved, the bird repelling effect of the robot is effectively improved, and not only the aviation safety is protected, but also the property and life safety of passengers are maintained.

The invention discloses a crawler crane moment limiting system, which comprises a sensor part, a display part and a main control box which is connected between the sensor part and the display part. The main control box has a modular independent board structure. A main controller is arranged in the main control box; and a crane moment processing system is arranged in the main controller. The crane moment processing system can acquire an accurate limited moment of a crane and a protection signal according to a mathematical model and a load curve of the crane. Peripheral modules can be freely expanded by using the main controller as a core. Therefore, the aims of strong extensibility, flexible use, convenient installation and maintenance, good universality, high reliability and more accurate and safer control are fulfilled.

An electric power load management system and method that uses a multiplicity of remote power supplies in a controlled manner such that the aggregate system has the capacity to offset critical power company peak electric demand periods thereby preventing severe and detrimental power shortages and interruptions.

The invention discloses an intelligent control method for a hydraulic excavator. The method is characterized in that: a database set in a main controller is divided into a setting area and a recovery area; and the main controller is connected with a display modification interface through a CAN bus, wherein the operation method of the main controller comprises the following steps of: a. data modification, namely (1) the main controller detects data and obtains regulating ranges of excavator control parameters and engine output power by a logical operation; (2) an operator sets the excavator control parameters and the engine output power in the regulating ranges; and (3) modified self-defining data is stored in the setting area through a CAN bus and an excavator operates according to the data; and b. data recovery, namely the main controller calls the data in a recovery area and covers the self-defining data in the setting area. In the intelligent control method for the hydraulic excavator, data regulating ranges are given according to detected data; and the operator can modify according to implementing working conditions and habits so as to meet the requirements on site environment and user control and contribute to improving the operating performance of the excavator.

The invention belongs to the technical field of driverless vehicles, and particularly relates to a traffic signal lamp identification system based on a video signal image processing technology and anidentification method thereof. The system comprises a vehicle-mounted front camera, an Image recognition device, a Voice chip, a loudspeaker, an accelerator pedal and a brake; an image recognition device is used for judging a signal acquired by the vehicle-mounted front camera; The image recognition device is composed of color recognition, shape recognition, shape secondary confirmation and continuous image recognition result verification, and images collected by the vehicle-mounted front camera are recognized in a double-rail mode based on RGB space on the whole and locally recognized based on HSL space. The traffic signal lamp identification method provided by the invention is simple and efficient, the identification result is confirmed and verified for multiple times, the reliability isvery high, experiments show that the design method is high in accuracy, has the capability of detecting the traffic signal lamp in real time, and can meet the working requirement of traffic signal lamp identification under the actual road traffic condition.

The invention relates to a plastic film covering machine for a straw-based panel. The plastic film covering machine for the straw-based panel comprises a bottom plate, an installation frame, an auxiliary device, a film covering device, a feeding device and a collecting box. The installation frame is arranged on the bottom plate; the film covering device and the feeding device are sequentially arranged at the lower end of the installation frame from left to right; the auxiliary device is arranged under the film covering device; the collecting box is arranged at the right end of the auxiliary device; the auxiliary device and the collecting box are arranged on the bottom plate; the auxiliary device comprises a feeding mechanism, a support pillar, a support plate, an arc-shaped plate, an adjusting mechanism and a limiting mechanism; the film covering device comprises a position adjusting mechanism, a laminating mechanism and a cutting mechanism; the feeding device comprises a moving mechanism and a grabbing mechanism; and the collecting box comprises a box body, a collecting mechanism and a buffer mechanism. The plastic film covering machine for the straw-based panel provided by the invention can solve the problems of high labor cost, low working efficiency, high labor intensity, small use range and poor working stability existed in an existing straw-based panel film covering process, and can realize a function on automatically covering a film on the straw-based panel.

The invention relates to the technical field of underwater vehicles and discloses a wave propeller. The wave propeller comprises an underwater marching device and a water surface follow-up device connected with each other by a connecting device, wherein the underwater marching device comprises a bracket and a pair of paddles, the pair of paddles are symmetrically fixed on the two sides of the bracket by a fixed shaft and can rotate synchronously around the fixed shaft. The wave propeller disclosed by the invention can make full use of marine energy, so that the voyaging capacity of the wave propeller is improved, and the operational requirements of various water areas are met.

The invention discloses a flexible connector for dual-layer continuous oil pipes, which is mainly used for a connection between a tube body and a tool when a connecting tool for the dual-layer continuous oil pipes for an oil and gas field works, and compensative regulation of expansion amounts of inner and outer layers of the continuous oil pipes. A connector for the outer layer of continuous oil pipe is connected to the outer wall of the outer layer of the continuous oil pipe in a tight occlusion manner through slips, the inner layer of the continuous oil pipe slides on an inner pipe regulating sleeve of a telescopic cylinder to complete flexible compensation, an outer cylinder regulating sleeve and the inner pipe regulating sleeve of the telescopic cylinder are connected to an outer pipe slip connector, so that an inner pipe body and an outer pipe body are fixedly connected in a sealed manner; screw threads at the bottom ends of the outer cylinder regulating sleeve and the inner pipe regulating sleeve are respectively connected to related tools, so that the operational requirements of the dual-layer continuous oil pipes with the tools are met, and construction operations, such as negative pressure sand removal, drilling, grinding and testing, can be carried out. The flexible connector has the advantages of compact structure, reliable work and simplicity in operation.

Provided is a hybrid power system based on an engine and a motor and a power output method thereof. The hybrid power system comprises the engine connected to a clutch, the clutch is connected to a transmission input shaft, the transmission input shaft is connected to a transmission output shaft through a synchronizer and a power coupler, and the transmission output shaft is sleeved with a motor hollow shaft of the motor in a hollow mode; a middle shaft is arranged on a by-pass of the synchronizer and the power coupler, and the middle shaft can transfer power to the transmission output shaft. The hybrid power output method is controlled according to a pure engine mode, a motor assisted mode, a pure motor mode and a hybrid power mode respectively, the problem of power interruption during gear shift is solved, the motor and the transmission work mutually independently, the work efficiency is improved, the input torque and the range of speed are very big, and the hybrid power system based on the engine and the motor can adapt to complicated working condition.

The invention discloses an intelligent speed regulating method and system for a mine crusher. The method comprises the following steps: 1, mounting two photography instruments above a feeding hole of the crusher, wherein the photography instrument I is oriented to the feeding hole of the crusher, and the photography instrument II is arranged on the same horizontal plane as the photography instrument I, and is perpendicular to the shooting direction of the photography instrument I; 2, collecting video images by the photography instruments, and carrying out image processing; 3, calculating the total mass of ore at current moment by three-dimensional edges of the ore, detected by the two photography instruments; 4, obtaining a characteristic curve that the ore quality adapts to the rotating speed of a motor through an experiment, and inputting the determined logic judgment method into a PLC; and 5, automatically adjusting the rotating speed of the motor of the crusher by the controller according to the quality range of the ore. The total mass of the fed ore is obtained through the two photography instruments, so that the total mass adapts to the lowest rotating speed; the lowest energy consumption when the crusher meets the working requirements is ensured; and the service life of the crusher is prolonged.

The invention relates to a railway ballast distribution reshaping and curing device, which comprises a single cab, a power transmission system, a powerhouse, an equipment frame, two two-axle steering devices, a side plow device, a middle plow device, a sleeper cleaning device, a fine cleaning device and a trackside vertical cleaning device, wherein the single cab, the power transmission system, the powerhouse, the side plow device, the middle plow device, the sleeper cleaning device, the trackside vertical cleaning device and the fine cleaning device are arranged on the equipment frame in sequence. Through the operation mode, the integral device meets the requirements of bidirectional ballast distribution reshaping work and bidirectional running while the visual field of operation is efficiently ensured and the requirement for high-speed line running is satisfied.

The invention discloses a hanger shunting device for a clothing manufacture hanging system. The hanger shunting device solves the problem that in an existing clothing manufacture hanging system, someclothes need to travel on a ring rail for a long distance to reach a target working station, and therefore work efficiency of the clothing manufacture hanging system is relatively low. The hanger shunting device for the clothing manufacture hanging system is used for shunting between the opposite sides of the ring rail. An opening is formed in one side of the ring rail and a partition opening is formed in the other side of the ring rail. A shunting rod is connected with one side of the opening in a hinged mode, switching is carried out between the other side of the opening and the inlet end ofa first-stage falling rail under the ring rail in the vertical direction by the outer end of the shunting rod; a second-stage lifting device is used for lifting hangers which need to be shunted to the partition opening in the vertical direction, a connecting rod of the second-stage lifting device is used for being plugged into the partition opening, and enables the ring rail to form a passage atthe partition opening, and a shunting mechanism is arranged between the second-stage lifting device and the outlet end of the first-stage falling rail.

The invention relates to a three-shock-excitation-motor elliptical vibrating screen based on elastic coupling. The three-shock-excitation-motor elliptical vibrating screens based on the elastic coupling is mainly composed of a first shock excitation motor, a second shock excitation motor, a third shock excitation motor, a connecting rod, sliding grooves, a motor base, a screen box, sliding blocks, springs and the like. The motor base is fixed to a side plate of the screen box, and the three shock excitation motors are connected to the motor base through bolts. A sliding groove is welded to each of the two ends of the connecting rod, and the sliding grooves are parallel to each other. The second shock excitation motor and the third shock excitation motor are installed with axes parallel, the second shock excitation motor and the third shock excitation motor rotate in the same direction, and sliding blocks capable of rotating relative to eccentric blocks are installed at the positions with same radious vector on the same-side eccentric blocks of the second shock excitation motor and the third shock excitation motor. A shock excitation inertia force generated by the first shock excitation motor is also a circular exciting force, the circumferential changing direction of the shock excitation inertia force is opposite to that of a circular exciting force combined by the second shock excitation motor and the third shock excitation motor, and the shock excitation inertia force and the circular exciting force are combined to an elliptical exciting force with the center fixed. According to the three-shock-excitation-motor elliptical vibrating screen based on the elastic coupling, the exciting forces of the three shock excitation motors can be brought into play to achieve the maximization of a general exciting force, the structure is simple, the installation is easy, the noise is low, and the cost is low.

The invention provides a pump-driven two-phase circuit device for heat dissipation of a high heat flux electronic device. Heat is collected and transported by using an endothermic process in evaporation and an exothermic process in condensation during a circulation flow process of a working medium. An evaporator for the circuit device comprises micro-channels and fins. In an area of high heat flux, the micro-channels are used to dissipate heat and increase a heat transfer coefficient of a partial area, while in an area of low heat flux, the fins are used. Due to great area difference between the micro-channel area and the fin area in the evaporator, when the working medium in the micro-channels enters the fin area, volume quickly expands and temperature of the working medium reduces, so as to help heat dissipation of the device in the fin area. By using different structures and with little resources, heat dissipation problems of devices with different powers are solved. The pump-driven two-phase circuit device for heat dissipation of the high heat flux electronic device can adapt to heat dissipation of electronic devices with different heat flux densities and can satisfy working requirements of electronic devices with a heat flux density of 50 W / cm<2> or above.

The invention relates to the technical field of well completion of a screen tube at a horizontal segment of a horizontal well, especially to a releasable screen tube hanger An upper end of a piston cylinder is connected to an outer wall of an upper connector by a setting shear pin; a boss is arranged on the outer wall of the upper connector and sealing with an inner wall of the piston cylinder is realized by a sealing ring I; and a boss is arranged on the inner wall of the piston cylinder and sealing with the outer wall of the upper connector is realized by a sealing ring II. A connecting hole communicated with the space between the boss of the upper connector and the boss of the piston cylinder is formed in the side wall of the upper connector; and a pressure relief hole is formed in the side wall of the lower end of the boss of the piston cylinder. According to the invention, two releasing ways of hydraulic way and mechanical inverted buckling way are used; with the unique releasing mechanism, the seat hanging and setting become safe and reliable; the needed lifting releasing force is small; releasing can be realized safely and successfully; and an operational requirement of salvage of the hanger and tailpipe column during the subsequent well repairing work can be met. Defects that the lifting releasing load is heavy and the releasing is difficult to be done of the existing screen tube hanger can be overcome.

According to an indoor three-dimensional point cloud automatic registration method for pole extraction, on the premise of avoiding network construction and normal direction estimation of point cloud data, automatic registration of multi-station ground laser scanning point cloud data in an indoor scene of a building is achieved, and the method mainly comprises two parts of pole extraction and point cloud registration. The method is analyzed and verified by using real indoor point cloud data of a building, registration parameter calculation is performed on multiple groups of point cloud data, a registration result is compared with a result calculated through a manual target selection mode, and the precision and reliability of the method are further verified. According to the point cloud automatic registration method based on pole extraction provided by the invention, the reliability and the precision meet the working requirements, the target does not need to be manually arranged, the parameter setting is simple, and the automation degree is high.

The invention discloses a liquefied carbon dioxide energy storage system and application thereof. The liquefied carbon dioxide energy storage system adopts carbon dioxide as an energy storage medium,an artificial container can be used more flexibly, the energy density of the system is improved, the system forms a closed loop, and greenhouse gas can be prevented from being released to the environment; and on the other hand, the liquefied carbon dioxide energy storage system can achieve power grid frequency modulation and peak load shifting, and the renewable energy utilization rate is increased. The liquefied carbon dioxide energy storage system comprises a first compressor, a first cooler, a first hot tank, a first cold tank, a second heater, a first expander, a third expander, a cold regenerator, a throttle valve, a first liquid carbon dioxide storage tank, a second cold tank, a third cooler, a third heater, a second hot tank, a fourth heater, a fifth pump, a third cold tank, a second liquid carbon dioxide storage tank, a third hot tank, a separator, a fourth expander and a fourth cooler.

The invention discloses a method for simultaneously measuring residual quantity of three types of herbicide in vega soil, belonging to the technical field of physicochemical detection of pesticide residue in vega soil. Specifically, acetonitrile is used for extraction, Florisil is carried out with solid phase extraction, a gas chromatograph is matched with an electron capture detector to directly measure the residual quantity of three types of herbicide, such as propanil, Rimsulfuron, quizalofop-p-ethyl and the like in vega soil. The invention overcomes the restriction of the defect and the condition of the prior art to optimize the pretreatment method and the instrument detection condition of vega soil samples. Compared with the prior art, the invention has the following favorable advantages that the invention can detect three types of herbicide all at once and has the advantages of simple pretreatment process, high detection sensitivity and good accuracy and reproducibility.

The invention relates to the field of air conditioners, in particular to an air conditioner outdoor unit and an air conditioner, and aims at solving the problem about disturbance of an air supplementing pipeline due to the high flow speed of a refrigerant in the air supplementing pipeline and the problem about service life shortening due to compressor liquid return. For the purpose, the outdoor unit comprises a pressure container arranged on the air supplementing pipeline, the pressure container comprises a container body, and at least one cavity with the diameter larger than the diameter of the air supplementing pipeline is formed by the container body, so that the flow speed of the refrigerant is reduced; and the pressure container has the gas-liquid separation function, and accordinglythe refrigerant flowing out of a refrigerant outlet is a gas-state refrigerant. Through the pressure container, the flow speed of the refrigerant in the air supplementing pipeline is reduced, the refrigerant enters a compressor through an air supplementing enthalpy increasing connector in the gas state form, vibration of the air supplementing pipeline can be reduced, compressor liquid return is avoided, and the service life of the compressor is prolonged.

The invention discloses a swing angle-adjustable swing power tool, which comprises a shell, a motor, a drive shaft, an eccentric shaft, an output shaft and a swing mechanism, wherein the drive shaft does a rotation motion under the drive of the motor; the eccentric shaft is connected with the tail end of the drive shaft; the axis of the eccentric shaft is eccentrically arranged relative to the axis of the drive shaft; the output shaft can do a rotation reciprocating swing motion around the axis of the output shaft, and is used for installing and driving a working head to work; and the swing mechanism is arranged between the drive shaft and the output shaft. The swing mechanism comprises a transmission part and a shifting fork, wherein the transmission part is arranged on the eccentric shaft, and the shifting fork is arranged on the output shaft and is matched with the transmission part. The center line of the transmission part is eccentrically arranged relative to the axis of the eccentric shaft, and the transmission part can rotationally move between at least two fitting locations around the eccentric shaft, so that the center line of the transmission part has at least two different eccentric distances relative to the axis of the drive shaft. The swing angle-adjustable swing power tool is simple in structure and small in size.

The invention relates to the field of underwater robot navigation technology, and aims to provide an autonomous positioning and node map constructing method for an underwater robot. The invention provides a novel node positioning and underwater robot autonomous positioning method, namely a mobile node can only acquire a position relation between the mobile node and a random node, all nodes are positioned, thereby acquiring a node map and positioning an AUV. The method can determine randomly arranged node positions in a relatively large range and acquires the node map, and furthermore ensures afact that the position coordinate error of the AUV is in a relatively small range. The method only requires the distance between the AUV at each optimal estimation position with an unknown node and does not require an angle relation between the AUV and the unknown node. Compared with a traditional method, a sonar is utilized for measuring the distance, thereby greatly reducing a measurement cost.The autonomous positioning and node map constructing method can satisfy a working requirement in a large-range sea area and can ensure low self positioning error and low node positioning average error of the node map.

The invention discloses a steel arch frame mounting trolley used for operation tunnel disease treatment. The steel arch frame mounting trolley comprises a steel arch frame mounting operating mechanism, an electrical control part and a hydraulic control part. The steel arch frame mounting operating mechanism comprises a railroad flatbed vehicle, a lift trolley, a side wall steel arch frame feedingmechanism, a steel arch frame mounting machine and an arch top and arch waist steel arch frame feeding mechanism, wherein the lift trolley and the side wall steel arch frame feeding mechanism are installed on the railroad flatbed vehicle, and the steel arch frame mounting machine and the arch top and arch waist steel arch frame feeding mechanism are mounted on the lift trolley. The invention further provides a steel arch frame mechanical mounting method used for the operation tunnel disease treatment. According to the steel arch frame mounting trolley, by arranging the railroad flatbed vehicle, the lift trolley, the side wall steel arch frame feeding mechanism, the steel arch frame mounting machine, the arch top and arch waist steel arch frame feeding mechanism, the electrical control partand the hydraulic control part, side walls and arch top and arch waist steel arch frames can be automatically mounted during tunnel disease treatment, the manpower input is reduced, the mechanizationand automation degrees are high, and the mounting efficiency, quality and operation safety of the steel arch frames of the tunnel disease treatment are sharply improved.