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223results about How to "No aggregation" patented technology

Electric power inspection robot positioning method based on multi-sensor fusion

The invention provides an electric power inspection robot positioning method based on multi-sensor fusion, and the method comprises the steps: firstly carrying out the preprocessing of data collectedby a camera, an IMU and a speedometer and the calibration of a system, and completing the initialization of a robot system; secondly, extracting a key frame, and performing back-end optimization on the position, the speed and the angle of the robot and the bias of a gyroscope in the IMU by utilizing the real-time visual pose of the key frame to obtain the real-time pose of the robot; then, constructing a key frame database, and calculating the similarity between the current frame image and all key frames in the key frame database; and finally, performing closed-loop optimization on the key frames in the key frame database forming the closed loop, and outputting the pose after closed-loop optimization to complete positioning of the robot. According to the back-end optimization method provided by the invention, the positioning precision is improved; and closed-loop optimization is added in the visual positioning process, so that accumulated errors existing in the positioning process areeffectively eliminated, and the accuracy under the condition of long-time operation is guaranteed.
Owner:ZHENGZHOU UNIV

Reverse circulation drilling device and process for soft projecting coal seam

The invention provides a reverse circulation drilling device for a soft projecting coal seam. The device comprises a drilling machine, an active double-wall drilling rod, a double-channel pneumatic faucet; a power head is arranged on the drilling machine; the active double-wall drilling rod passes through the power head to be mounted; an inner pipe at one end of the active double-wall drilling rod is connected with a rubber pipe through the double-channel pneumatic faucet; a pulverized coal receiving device is connected to the tail end of the rubber pipe; an air box which communicates with internal and external pipe annular channels of the active double-wall drilling rod is arranged on the double-channel pneumatic faucet; the air box is connected with an air compressor through an air pipe; a drill bit is connected to the other end of the active double-wall drilling rod. With the adoption of the device, the disturbance to the coal seam can be minimized, so that the collapse in holes can be effectively prevented, and that the frequent drilling blocking accidents can be avoided; the circumstance that gas is concentrated is prevented, and therefore, the phenomenon of blowout through the holes can be effectively avoided; the production cost is low; in addition, the working environment at the construction field can be effectively improved; the purpose of drilling in collapse and reducing stratums synchronously by one drilling rod can be achieved.
Owner:周升风

Method for preparing industrial ultra-fine activated calcium carbonate from carbide slag

The invention discloses a method for preparing industrial ultra-fine activated calcium carbonate from a carbide slag, and particularly relates to preparation of employing O/W-type microemulsion. The technology disclosed by the invention comprises the steps of extracting calcium in the carbide slag by saturated ammonium chloride solution, and separating undissolved impurities to filter and obtain calcium chloride solution; reacting fatty acid and alkyl alcohol with sodium hydroxide solution, and adding petroleum ether to form microemulsion; fining microemulsion particles by ultrasound, slowly dripping the obtained calcium chloride solution under an agitation condition, dripping carbonate or bicarbonate solution after dripping, thereby respectively obtaining an upper layer of oil phase, a middle layer of opaque oil phase containing calcium carbonate sediment, and a lower layer of water phase after reaction and delivery are finished; and centrifugally separating, washing and drying the middle layer to obtain industrial ultra-fine activated calcium carbonate, wherein the oil phase and the water phase can be recovered to apply mechanically. By adopting the method, the processing problem of the carbide slag can be well solved; the obtained oil phase and water phase can be recycled; the cost is saved; the prepared light calcium carbonate surface is coated with a layer of fatty acid; the dispersibility is good; the problem that the product is easily gathered is solved; and the method has economical, social and environment-friendly concepts.
Owner:ANHUI YOUSHENGMEI NEW MATERIAL TECH CO LTD

Quaternary ammonium salt modified hectorite emulsifier and method for emulsifying ASA (acetylsalicylic acid) by using same

The invention relates to a quaternary ammonium salt modified hectorite emulsifier and a method for emulsifying ASA (acetylsalicylic acid) by using the quaternary ammonium salt modified hectorite emulsifier and belongs to the technical field of emulsification of papermaking sizing agents. The emulsifier is composed of independently existing quaternary ammonium salt and hectorite; and the mass ratio of the quaternary ammonium salt to the hectorite is 1: (50-500). According to the quaternary ammonium salt modified hectorite emulsifier, the quaternary ammonium salt has high modification efficiency to hectorite, is small in dosage when stabilizing ASA sizing emulsion and has good emulsion effect on the stable ASA sizing emulsion; the ASA sizing emulsion stabilized by the quaternary ammonium salt modified hectorite emulsifier is good in stability, free of granular aggregation or precipitation or water phase separation after being stood still for 24 hours, is hardly hydrolyzed and is small in sizing performance change after being placed for 3 hours and high in sizing efficiency; and compared with ASA emulsion singly stabilized by hectorite, the ASA emulsion stabilized by the emulsifier has greatly improved sizing efficiency.
Owner:山东熙来淀粉有限公司
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