149results about How to "Optimization principle" patented technology

The invention discloses a double-layer planning method based on the combination of global path planning and local rolling prediction collision avoidance planning, so as to solve the problem of path planning for a mobile robot in a dynamic environment. The method mainly comprises two parts: the global path planning and the local rolling prediction collision avoidance planning. The path planning method can better realize robot navigation, and improve intelligence of the robot. The double planning method can be utilized to prevent the blindness of planning in the beginning, and searching space of the problem is reduced; based on the uncertainty of the moving direction of a dynamic barrier and by utilizing the two collision prediction strategies and two corresponding collision avoidance strategies, the dynamic barrier can be avoided well; and particularly, in order to adapt to the change of environment better, in the second layer of planning, a Follow_wall behavior based on behavior method is added, so that when the environment changes, the mobile robot can still arrive at the target without touching the barriers safely.

The invention belongs to the technical field of research and application of civil engineering materials and relates to a method for determining the fineness modulus of sand by utilizing an image analysis technology. The method comprises the eleven specific steps: sampling, photographing, preprocessing images, calibrating a scale, separating sand grains from the background, dividing the adhered sand grains, treating the sand grains on the image boundary, treating the sand grains with holes, determining the minimum Ferrette diameter, carrying out grain-diameter filtering on the sand grains and calculating the fineness modulus of the sand. The method has the advantages that the image analysis method is adopted for calculating the fineness modulus of the sand for the first time, and the criterion that the volume ratio and the weight ratio is equal is applied, so that the weighing process of the sand is avoided; the minimum Ferrette diameter is adopted as the equivalent grain diameter of the sand which can be sieved, so that the accuracy of determined data is better guaranteed; and the method is novel in design, reliable in principle, simple in operation, scientific in calculation, accurate in data, low in cost and high in automation degree.

The present invention discloses a sintering layer thickness on-line detecting method. Two point light sources are arranged at the upper side of a trolley of a sintering machine to enable a flat surface formed by the light rays of the two point light sources vertical to the wall and the bottom of the trolley. In the vertical flat surface, two light rays are gathered on one point of the bottom of the trolley; one of the two light rays is vertical to the bottom of the trolley, and the other one forms an acute angle a wit the bottom of the trolley. Image collecting equipment is arranged above thetrolley to enable an image collecting range bigger than the lighting range of the two point light source on a charge level. Light point distance Lp of the two point light sources projected on the charge level by the image collecting equipment is collected in a computer, images are processed, and the material layer thickness is calculated by a formula H = tga*Li*g. The present invention solves theproblems of equipment loss, large maintaining volume and the like caused by touching measurement, can be suitable to the bed environment of sintering production, and has the advantages of low equipment cost, small volume, easy arrangement, reliable work, convenient use and the like.

The invention belongs to the technical field of air conditioners, and relates to an efficient and energy-saving temperature-regulating and humidity-regulating air processing method. According to the method, each cycle of four subsystems is filled with cycle medium after pumped out, and the four subsystems include an inside-outside combined-type gas-liquid two-phase flow heat pipe cold quantity recovery subsystem, a multi-stage shunt-wound refrigeration cycle subsystem, an inside-outside combined-type heat-extraction heat pump cycle subsystem and an inside-outside combined-type heat-extraction-free heat pump cycle subsystem; both air-out temperature and dew-point temperature of a central control subsystem are set according to a temperature-regulating and humidity-regulating air processing technology; and all compressors of the multi-stage shunt-wound refrigeration cycle subsystem are started after an induced-draft fan in an air post-processing section is started, and the inside-outside combined-type gas-liquid two-phase flow heat pipe cold quantity recovery subsystem is started, as a result, the air-out temperature and the dew-point temperature of the system reaches the set value, and the stable operation of the system is realized; and accordingly, in such a way, the air meeting the requirement of the air-out temperature and the dew-point temperature can be continuously provided. The system device has the advantages of simple structure, reliable principle, low running cost, good energy saving effect, friendly production environment, and remarkable economic benefit.

The invention belongs to the technical field of air purification equipment and particularly relates to a culturing device for formaldehyde degradation bacteria. A reaction tank which is of a box-type structure consists of a tank cover and a tank body; an air inlet pipeline reaches the bottom of the reaction tank through the tank cover; an aeration pump is arranged at the outer end of the air inlet pipeline; a swirl-mixing aerator is arranged at the inner end of the air inlet pipeline; a micro-porous biological filtering membrane is arranged at the end, close to the aeration pump, inside the air inlet pipeline; a temperature controller is arranged at the lower right part inside the tank body; a sampling hole is formed at the lower right part outside the tank body; a tail gas absorbing bottle is arranged in a central line at the top outside the tank cover; a tail gas pipeline is led out from the tail gas absorbing bottle, penetrates through the tank cover and then is provided with a tail gas collecting opening; a supplementing pipeline penetrates through the tank cover and then is provided with a valve and a supplementing opening in sequence. The culturing device is simple in structure, safe to use, convenient in preparation method, reliable in principle and low in cost, is capable of reducing the risk of exposure to surrounding people, and is applicable to screening, acclimatization and batch culture of formaldehyde degradation bacteria.

The invention relates to a multi-unmanned aerial vehicle complex task planning method and belongs to the unmanned aerial vehicle field. The method includes a flight task decomposition flow, a flight behavior library design flow and an XML file editing flow; according to the task decomposition flow, behavior tree decomposition is performed on a multiple-task under execution, and behavior tree decomposition is performed on obtained single tasks; according to the flight behavior library design flow, basic behavior library and customized behavior library design is performed according to flight behaviors required in the single tasks; and according to the XML file editing flow, a customized XML format language is adopted to edit behavior tree knots obtained through decomposition. With the multi-unmanned aerial vehicle complex task planning method adopted, a user can be facilitated to plan a whole task process; task decomposition is performed according to task levels; task execution is performed according to actual conditions; and the practical problem of multi-unmanned aerial vehicle complex tasks can be solved. The method has the advantages of simple principles, flexible planning, high practicability, excellent implementation effects and the like.

The invention discloses a pressing plate structure fixed on a clamping groove and a use method thereof. The pressing plate structure fixed on the clamping groove comprises a fixed block, wherein a screw thread through hole is formed in the fixed block; a screw rod is screwed in the screw thread through hole; a nut sleeves the outer wall of the screw rod; a positioning device is arranged between the nut and the fixed block; the positioning device is provided with a through hole, and the screw rod penetrates the inner part of the through hole. The fixed block is fixed in the clamping groove; the top end face of the fixed block is arranged below the top end face of the clamping groove; a work-piece is placed between the clamping groove and a positioning bar; the positioning bar moves vertically on the screw rod; after the positioning bar reaches to the height of the work-piece, the positioning bar is tightly pressed on the top face of the work-piece; the nut rotates along the screw rod and is tightly pressed to realize tight pressing of the pressing plate structure for the work-piece. The pressing structure is simple in structure, convenient and simple in principle, and convenient and simple in use method, can fix the work-piece efficiently, increases a clamping force for the product as a special structure and the clamping groove are used cooperatively, achieves more accurate positioning, and avoids movement while a product is produced.

The invention belongs to the technical field of wastewater heat energy recovery, and relates to a printing and dyeing wastewater heat energy recovery and anti-dirty treatment method. The method comprises the steps of starting a control switch in a switch box so that a recovery device begins to run and work; starting a control system, at which time high-temperature wastewater from a printing and dyeing production workshop is introduced to the recovery device through a centrifugal pump, open a faucet so that running water enters into the recovery device through a clean water inlet, implementing water-water exchange between cold clean water and heat wastewater through a heat exchange host machine, transmitting the heat wastewater to a regulating tank through a sewage outlet after reducing temperature and implementing acid-base equilibrium regulation until the sewage is neutral, and settling; discharging the sewage to a next wastewater treatment project through a discharge port after being settled for three times. The method is simple in process, simple and convenient to operate, rational in device structure, reliable in principle, low in manufacturing cost, good in recovery effect, high in recovery efficiency, and environmentally-friendly.

The invention discloses a photoelectric positioning system reeded by a reeding machine. The system comprises a light emitting diode, a photoelectric detection device and a micro processing unit, wherein the light emitted by the light emitting diode is incident on a reeding plate so as to obtain an optical signal relevant with physical distribution of a dent reeding gap; the photoelectric detection device is used for performing photoelectric detection on the optical signal and outputting a corresponding electrical signal; the micro processing unit is used for detecting the physical distribution of the dent reeding gap according to the electrical signal and sending an adapted operation instruction to a stepper motor and a reeding device; and the reeding device finishes reeding operation or continuously moves according to the operation instruction of the micro processing unit. The photoelectric positioning system is simple in structure and principle, low in cost, convenient to use and widely applied to various automatic reeding machines.

The invention discloses efficient dust removal equipment which comprises a dust removal equipment body, a main dust collecting unit and an exhaust fan, wherein the main dust collecting unit is arranged in the dust removal equipment body and connected with the exhaust fan, the exhaust fan discharges clean air through a pipeline, an exhaust hood is arranged at the front end of the dust removal equipment body, one end of the exhaust hood is connected with dust, the dust is sucked into the main dust collecting unit through a pipeline, a discharge valve is connected with the lower end of the main dust collecting unit and connected with a dust collecting bucket, and the main dust collecting unit is connected with a cyclone separator. According to the efficient dust removal equipment, the dust is sucked into the main dust collecting unit for treatment through the pipeline by the aid of the exhaust fan, a dust removal system can rapidly remove dust in air, air cleanness is guaranteed, and the dust removal equipment is good in dust removal effect, simple in principle and flexible to control, can rapidly remove the dust in the air to guarantee cleanness of the air and is particularly suitable for people working or living indoors.

The invention discloses a manual hydraulic lifting device in machining. A hydraulic pump is arranged above an oil tank and is connected to the oil tank, wherein a large hydraulic cylinder and a small hydraulic cylinder are arranged above the hydraulic pump; the small hydraulic cylinder is connected to the hydraulic pump; an opening is formed in the top of each of the large hydraulic cylinder and the small hydraulic cylinder; a positioning block is arranged between the large hydraulic cylinder and the small hydraulic cylinder and is fixed to the large hydraulic cylinder and the small hydraulic cylinder; a large piston is arranged in the large hydraulic cylinder; a support table is fixed on the top of the large piston and is arranged above the large hydraulic cylinder; a small piston is arranged in the small hydraulic cylinder; a pressing rod is arranged above the positioning block; the pressing rod is connected to a connector; the connector is fixed to the positioning block; a connection rod is arranged under the pressing rod and is respectively connected to the pressing rod and the small piston. The manual hydraulic lifting device is simple in structure, simple in principle, small in occupied area, low in cost and convenient to carry; metal parts can be lifted by using the principles of levers and hydraulic pressure; the manual hydraulic lifting device can be conveniently operated by operators.

The invention belongs to the technical field of preparation of transition metal oxides and relates to a preparation method of Cu2O nanocrystalline cubes and hollow polyhedrons to be applied to preparation occasions of catalytic materials, antifouling paint, insecticides as well as various copper salts, analytical reagents, red glass, copper plating and copper plating alloy solutions. The problem about industrial preparation of Cu2O nanocrystalline cubes and hollow polyhedrons is solved, and synthesized nanocrystals have good photocatalytic performance, can quickly adsorb azo dyes, are easy toseparate and have a good detection effect on nitrobenzene in a Na2SO4 solution. Firstly, copper acetate monohydrate and sodium hydroxide are subjected to a reaction, sodium dodecyl sulfate is used asa surfactant and a stabilizer, deionized water and a hydrazine hydrate aqueous solution in different volume ratios are added, and the Cu2O nanocrystalline cubes and hollow polyhedrons are prepared. The preparation technology is simple, the principle is reliable, the preparation cost is low, and products are high in purity, good in performance, wide in application range and environmentally friendlyin use.

The invention discloses a method and a device for improving the performance of data forwarding of the WAN Bridge. The invention comprises the processes that the corresponding address learning items are set in a forwarding table after the WAN bridge receives the data packets; when the WAN bridge forwards the data packets, the WAN bridge first judges the type of the data packets; if the data packets are uni-packets, the WAN bridge determines the forwarding path of the data packets to be sent by querying the address learning items in the forwarding table so as to further forward the data packets according to the forwarding path. Compared with the prior art, the data forwarding mechanism of the invention effectively improves the performance of data forwarding of the WAN bridge with a simpler principle for operation and an easier method for implementation. With respect to the processing of the data packets, the invention realizes the transition from forwarding all data packets blindingly to all link accesses in the prior art to precise forwarding via the forwarding path of data packets determined by the invention, and particularly shows obvious improvement in data forwarding performance of the WAN bridge when a large number of the shared-links exist.

The invention discloses an organic waste gas treatment system for a process of recycling etching liquid. The organic waste gas treatment system comprises a treatment tower with the hollow inside, a gas inlet and a gas outlet are respectively arranged at two ends of the treatment tower, the gas outlet is positioned above the gas inlet, a plurality of chemical agent boxes are arranged in the treatment tower, the chemical agent boxes can horizontally move in the treatment tower, and a plurality of lamp tubes are positioned above each chemical agent box. The system is simple in structure and simple and convenient in principle, organic waste gas in the air can be directly oxidized into non-toxic and harmless materials through photo-catalytic oxidation to avoid any secondary pollution, some organisms which are difficult to oxidize by ozone can be effectively resolved, the treatment system has effect on various organisms from hydrocarbon to carboxylic acid, service life of the treatment system is long, cost is saved, and replacement frequency is reduced.

The invention discloses a system capable of accurately detecting oil consumption. The system comprises an oil consumption detector, wherein the oil consumption detector is provided with a power supply cord; the power supply cord is connected with an oil consumption detection box; the oil consumption detector box is provided with a plurality of data lines; and the oil consumption detection box is provided with an LED (Light Emitting Diode) display. The oil consumption detection system is simple in structure, simple in principle, the condition of oil consumption can be digitally displayed through connection with an oil tank and an oil gauge and is convenient for a user and an owner to check, false reporting conditions such as oil theft are prevented, and the loss of the owner is reduced.

The invention belongs to the technical field of wastewater heat recovery, and relates to a dyeing wastewater heat recovery and antifouling treatment device. A centrifugal pump is fixedly communicated with a vacuum tank; the top of the vacuum tank is provided with an air valve; the surface of the upper end of the vacuum tank is provided with an instrument board; an automatic filter is fixed to the right end of a base; a water outlet valve is arranged above a clear water outlet; the top of the automatic filter is provided with a control valve; the abutting section of the bottommost end pipeline of the host heat exchanger and a sewage outlet is provided with a thermometer board; the upper surface of a control cabinet is provided with buttons and a display screen; a control system is installed in the control cabinet; a switch box is fixed between two pipelines on the lower part of the host heat exchanger; the right upper end and left lower end of a conditioning tank are respectively provided with a filler port and a discharge port; and a coarse grain layer, a medium grain layer and a fine sand layer are laid in a settling tank. The device has the advantages of reasonable structure, reliable principle, simple technical process, low manufacturing cost, favorable recovery effect and high recovery efficiency, and is simple to operate and environment-friendly.

The invention belongs to the technical field of environment protection equipment, relates to a fume desulfurization and denitrification integral device, in particular relates to a solution-method fume desulfurization and denitrification integral device, and is applicable to industrial kiln gas fume desulfurization and denitrification situations. Sodium hypochlorite and sodium chlorite or potassium hypochlorite and potassium chlorite are adopted as a composite absorption solution for fume treatment, the composite absorption solution has a concerted reaction property for oxidizing nitric oxide and absorbing sulfur dioxide, a process method comprises a spraying process, a part of unoxidized acid gases can be reoxidized and absorbed, the fume desulfurization and denitrification efficiency can be improved, the device is simple and convenient in process, simple in structure, convenient to construct and use, low in maintenance cost and long in service life, reasonable utilization of wastes can be achieved, pollution discharge can be effectively reduced, and wide and great social benefits and industrial application values can be made.