81results about How to "Rapid expansion" patented technology

The invention relates to an optical adjusting mechanism, in particular to a multi-dimensional optical lens posture adjusting frame. The objective of the invention is to solve the problems of large size, high price and complex installation and debugging processes of the existing optical adjustment mechanism. The device comprises a fixed seat, a transverse movement adjusting plate, a longitudinal movement adjusting plate, a rotary adjusting seat and a vertical supporting plate, wherein the transverse movement adjusting plate is mounted on the fixed seat and can be manually and transversely adjusted; the longitudinal movement adjusting plate is mounted on the transverse movement adjusting plate and can be manually and longitudinally adjusted; the rotary adjusting seat is mounted on the longitudinal movement adjusting plate; the pitching adjusting mirror frame is arranged on the vertical supporting plate; the pitching adjusting ring is connected with the pitching adjusting mirror frame; the rotary adjusting seat can be used for manually adjusting a part connected to the rotary adjusting seat to rotate; the vertical supporting plate can adjust a part connected to the vertical supporting plate to move up and down; the pitching adjusting ring can realize the pitching adjustment of the pitching adjusting mirror frame through manual operation, thereby realizing the multi-dimensional adjustment of the optical lens in a narrow space.

The invention relates to the technical field of language recognition, in particular to a multi-dialect voice text conversion system and processing method, and the system comprises an audio collection module which is responsible for collecting voice input of a user and supports PCM, MP3 and WAV formats and sampling rates of 16kHz and 44.1 kHz; the dialect detection module is used for recognizing a dialect type of voice input by utilizing a pre-training language classifier; the voice feature extraction module is used for converting the voice signal into feature representation, such as Mel spectrum and MFCC (Mel Frequency Cepstrum Coefficient); the multi-dialect speech recognition module is used for mapping the features into a text sequence based on a speech recognition model of multi-task learning; and the text post-processing module is used for outputting a final standardized text according to a language rule and a context optimization recognition result. The multi-dialect support covers main dialect languages and can be quickly expanded to new dialects through transfer learning.

The invention relates to a guide vane structure for thermal disassembly and assembly of a segmental self-balancing multistage pump impeller, the structure comprises a reverse guide vane, a reverse impeller, an impeller snap ring and a reverse middle section, the reverse impeller is in interference fit with a pump shaft, during installation, the reverse impeller is sleeved on the pump shaft after being heated, and the reverse guide vane is pressed down, so that a rear cover plate of the reverse impeller is in contact with the reverse guide vane, and the reverse guide vane is fixed on the reverse impeller; an impeller clamping ring is installed, then the reverse impeller is pulled upwards to the positioning position of the impeller clamping ring, and hot sleeving of the reverse impeller is completed; and then the reverse middle section is installed, the reverse guide vane is tightly held through a step spigot on the reverse middle section, and the reverse middle section and the reverse guide vane are in micro interference fit. When the impeller of the pump needs to be maintained and replaced, the guide vane can be disassembled in the radial direction after the reverse middle section is removed, the reverse impeller hub is exposed in the operable range, then the reverse impeller hub is rapidly and circumferentially heated through an air gun, the reverse impeller hub is rapidly heated and expanded, and the thermal disassembly and assembly performance of the impeller and a shaft in the self-balancing type multi-stage pump is achieved; and the stability and reliability of water pump operation are ensured.

The invention discloses an unmanned forklift path planning method, system and device and a medium. The method comprises the steps that a grid map used for unmanned forklift path planning is established; obstacle evaluation operation is carried out on obstacles on the path of the unmanned forklift, and the obstacle density is calculated; based on the obstacle density, the motion step length of the unmanned forklift is dynamically adjusted; traversing a motion step length and an angle in the grid map, calculating a next possible node, and then updating node information; and if the path is found after the traversal operation, backtracking the final path. Map environment evaluation indexes are adopted, the grid map obstacles are detected, the complexity and the obstacle density of the map are quantified, and step length adjustment of an algorithm through the environment indexes is facilitated; the method improves the flexibility of the algorithm, designs step length adjustment functions in different obstacle density intervals, achieves the rapid expansion of the algorithm in a low-density region, precisely plans the path in a high-density region, and reduces the collision risk of the planned path.

The embodiment of the invention provides an enhanced GaN power device, and the device comprises a substrate which comprises a channel layer and a barrier layer which form an electron gas channel; the source electrode and the drain electrode are arranged at an interval along the first direction and are electrically connected through the electron gas channel; the first depletion layer is arranged on the barrier layer and located between the source electrode and the drain electrode, the first depletion layer comprises a first depletion body and a second depletion body, the second depletion body comprises a depletion monomer, and the depletion monomer comprises a first end connected with the first depletion body and a second end spaced from the drain electrode; a non-depletable region and a depletable region which are arranged along a second direction are defined by the depletion monomer in the electron gas channel, and the second direction is intersected with the first direction; and the first grid electrode is arranged on the first depletion body and is in ohmic contact with the first depletion body. According to the embodiment of the invention, the electric field distribution of the device in the off-state drain electrode high-pressure stress can be optimized so as to improve the breakdown voltage, and the trap effect in the device can be effectively inhibited so as to optimize the dynamic resistance degradation problem of the device.

The utility model discloses an intelligent air bag type nursing belt for traditional Chinese medicine nursing in the technical field of traditional Chinese medicine medical instruments, which comprises a connecting belt, an air bag arranged at the top in the connecting belt, a cavity arranged at the bottom in the connecting belt, a heating component arranged at the top of the cavity, a movable door arranged at the bottom of the cavity and a medicine bag arranged in the cavity. The top and the bottom in the cavity are each provided with a puncturing assembly used for puncturing the medicine bag. Heat dissipation assemblies are symmetrically arranged on the two sides of the cavity, gas conveying pipes are symmetrically arranged at the two ends of the top of the connecting belt, one ends of the gas conveying pipes communicate with the outside, and the other ends of the gas conveying pipes communicate with the heat dissipation assemblies close to the gas conveying pipes correspondingly. The medicine bag is simple in structure, penetrating of the puncturing assembly in the cavity and heating of the heating assembly act on the medicine bag, the medicine property of the medicine bag can be fully permeated, the medicine permeation efficiency is high, and then the better nursing treatment effect is achieved.

The invention discloses a data assimilation analysis system based on an object-oriented framework, and the system comprises the steps: obtaining assimilation parameters, defining an analysis variable space for the assimilation parameters through an unstructured grid framework module, and carrying out the distribution collection and boundary exchange calculation through a geometric grid and parallel algorithm communication module MPDD, a control variable, an observation variable, a covariance matrix, various transformation operators and a solver module are constructed, a multivariable price function and a price function gradient are established, the system transmits the multivariable price function and the price function gradient to a universal minimization solver, an analysis field is made to approach an observation result through iterative solution, and the price function gradient is obtained. Other points except the observation position are diffused outwards in the mode of the covariance matrix to influence other mode grid points, and an assimilation analysis field result is obtained. According to the method, rapid expansion and easy replacement of various different space variables, observation operators, covariance matrix schemes, multivariable solvers and the like are realized, and the flexibility and adaptability of a data assimilation analysis system are improved.

The invention discloses a pathogen detection kit based on microfluidics and a CRISPR / Cas system and a detection method thereof, and particularly relates to the technical field of biological detection.The pathogen detection kit comprises a nucleic acid releasing agent layer, an RPA reaction chamber layer and a CRISPR detection chamber layer, the nucleic acid releasing agent layer is located above the RPA reaction chamber layer, and the CRISPR detection chamber layer is located above the RPA reaction chamber layer. The RPA reaction chamber layer is positioned above the CRISPR detection chamber layer; a nucleic acid releasing chamber is formed in the bottom surface of the nucleic acid releasing agent layer in a penetrating manner. According to the present invention, the kit has the high specific recognition ability on the specific pathogen nucleic acid sequence, can accurately detect the target pathogen, can reduce the false result occurrence probability, can detect a variety of pathogens or a plurality of gene targets of the same pathogen at one time, and can rapidly amplify the nucleic acid through the optimized RPA reaction system of the RPA reaction chamber so as to substantially shorten the detection time.

The utility model discloses a grabbing type sea cucumber fishing robot. The sea cucumber collecting robot comprises a robot frame, a five-degree-of-freedom mechanical arm and a sea cucumber collecting device, a mechanical arm base and a sea cucumber collecting device are fixedly arranged on the top of the robot frame, a sealing bin is fixedly arranged at the bottom of the robot frame, and vertical propellers and horizontal propellers are fixedly arranged on the periphery of the robot frame. And the synchronous pulley II is driven by the stepping motor I to realize the rotary motion of the mechanical arm. According to the underwater robot, the five-degree-of-freedom mechanical arm and the eight-shaft propeller are adopted, and free movement and flexible grabbing of the robot under water are achieved. The sea cucumber catching robot can replace manpower to catch sea cucumbers and is not limited by seasons. The water pressure borne by the device is far higher than that borne by human beings, so that the device has higher safety. The sea cucumber catching robot is used for replacing manual work, and potential hazards of the marine environment to the body health of a caught person are effectively avoided.

The invention discloses a soft load balancing cluster capacity expansion system, method, device, medium and product, which are applied to the field of cloud computing, and the system comprises a soft load cluster management and control module which is used for obtaining the cluster busy degree of a soft load balancing cluster, obtaining a capacity expansion condition and a capacity expansion strategy, and when the cluster busy degree reaches the capacity expansion condition, sending the capacity expansion strategy to the soft load balancing cluster; generating a capacity expansion instruction according to the capacity expansion strategy, and sending the capacity expansion instruction to a temporary resource pool scheduling module; and the temporary resource pool scheduling module is used for generating a cluster capacity expansion task list based on the capacity expansion instruction, and starting the soft load balancer corresponding to the temporary resource pool as the soft load balancer to be expanded. The running state of the soft load balancing cluster can be monitored in real time, the capacity expansion instruction is automatically generated according to the preset capacity expansion condition and strategy, and the accuracy and timeliness of capacity expansion decision making are improved. And the soft load balancer is scheduled from the temporary resource pool for capacity expansion, so that the resource utilization efficiency and the emergency efficiency are improved, and the service loss caused by the resource bottleneck of the server is reduced.

The utility model relates to the technical field of dust remover blowback, and provides a dust remover blowback adjusting device which comprises a blowpipe, a rotating pipe, an exhaust pipe and a blocking piece, the blowpipe is longitudinally inserted into a cloth bag, blowback gas generated by a blowback system can be more deeply transmitted to a lower side area of the cloth bag, and the rotating pipe can rotate around the rotating pipe. The rotating pipe rotates and is arranged outside the air blowing pipe in a communicating and sleeving mode, the exhaust pipe is circumferentially and tangentially arranged on the outer wall of the rotating pipe in a communicating mode, and the blocking piece is circumferentially arranged on the periphery of the air blowing pipe. The cloth bag at the part cannot be directly impacted by the blowing force of the gas, the expansion effect of the cloth bag is reduced, and the cloth bag generates a shaking effect under the continuous rotation of the rotating pipe, so that compared with the mode of purely expanding the cloth bag in the prior art, the dust can be more effectively shaken off, the reverse blowing frequency is reduced, and the dust removal efficiency is improved. And the effective service time of the bag-type dust collector is prolonged.

The invention discloses a safety escape device for a pressurized building and an escape method of the safety escape device, and relates to the technical field of pressurized building escape. The safety escape device comprises an escape telescopic channel, stairs, a fire alarm system and a pressure control system.The escape telescopic channel is connected to the pressurized building in a sealed mode through a supporting connecting plate; one side of the supporting connecting plate is connected to an escape window of the pressurized building through a hanging frame, and a first sealing door for communicating the pressurized building with the escape telescopic channel is arranged on the supporting connecting plate; a second sealing door is arranged at the end, away from the supporting connecting plate, of the escape telescopic channel. The internal accommodating space of the escape telescopic channel can be changed according to the number of escape people; and the pressure control system is used for adjusting and balancing the air pressure between the pressurized building and the escape telescopic channel according to the air pressure in the pressurized building so as to conveniently open the first sealing door and pressurize the interior of the escape telescopic channel. The pressure relief escape device effectively solves the pressure relief escape problem of the closed supercharged building under the emergency condition.

The utility model relates to a crane for replacing parts of a wind driven generator, the crane comprises a winch assembly and a hoisting device, the winch assembly is arranged at the lower part of a tower drum, the hoisting device is arranged at the upper part of the tower drum, and the winch assembly is connected with the hoisting device through a steel wire rope; the lifting equipment comprises a rope guide frame, a lifting arm and a lifting hook, a pulley system is arranged on the lifting arm, the winch and the steel wire rope form a crane lifting rope system through the rope guide frame and the pulley system, and the lifting hook is arranged at the tail end of the steel wire rope; the hoisting equipment further comprises a hoisting equipment base and a rotary table, the rotary table is arranged on the hoisting equipment base in an inserted mode, the rotary table rotates in the horizontal plane, and a cargo boom is arranged on the rotary table and connected with the rotary table through a variable amplitude cylinder. Compared with the prior art, large components of the fan do not need to be replaced by a large crane, and switching can be conveniently carried out among different hoisting positions.

The present invention discloses a primer-probe combination, method and application for rapid detection of sweetfish larvae by RPA-LFD, belonging to the field of biotechnology. The primer-probe combination consists of an upstream primer with a sequence as shown in SEQ ID NO.3, a downstream primer with a sequence as shown in SEQ ID NO.4 and a probe with a sequence as shown in SEQ ID NO.7. The RPA-LFD detection method for sweetfish larvae established based on the primer-probe combination has the advantages of high sensitivity, good specificity, simple operation, and visualized results. It can accurately detect sweetfish larvae and effectively reduce the economic losses caused by sweetfish larvae disease. The RPA-LFD rapid detection method for sweetfish larvae provided by the present invention does not require special instruments, has simple sample processing, rapid amplification, and intuitive results. The minimum detection limit of the sample can reach 9.38×10 ‑6 ng / μL, 1000 times higher than traditional PCR methods.

The application discloses a CPU firmware interactive verification method and system based on a TCL script transparent routing, relates to the field of integrated circuit EDA verification tools, and discloses that in existing SoC verification, a TCL script cannot transparently route a command to CPU firmware in simulation, thereby causing a local command and a firmware command to be called in a split mode. The application intercepts a user command through an unknown hook of TCL and writes the user command into a simulation global variable; a SystemVerilog unified distributor inquires a command type mark table; if the command is a local command, the local command is directly executed; if the command is a CPU command, the CPU command is sent to CPU firmware through a shared memory mailbox; CPU firmware analyzes and executes the CPU command, returns a result to the mailbox, writes the result into a TCL global variable through an SV layer, and presents the result to a user. The application enables the user to not distinguish a command execution subject, supports mixed parallel execution, four SV-CPU synchronization modes and timeout protection. The application significantly improves simulation verification efficiency and reusability of a SoC chip containing a CPU core, and reduces a verification environment integration threshold.

The invention discloses a heat dissipation pipe bending forming device, relates to the technical field of heat dissipation pipe machining, and aims to solve the technical problems that in the prior art, the interior of a pipeline is difficult to support, so that the defects of wrinkles, section distortion and the like are easily generated in the bending process of the pipeline, and the machining quality of the heat dissipation pipe is limited. Comprising a control cabinet and a driving disc arranged outside the control cabinet. Flexible support can be provided for the interior of the heat dissipation pipe in the mode that liquid is injected into the heat dissipation pipe, wrinkles and section distortion of the pipe in the bending process can be avoided, meanwhile, due to the fact that the pressure of a liquid medium acting on the inner wall of the pipe is the same in all directions, the forming quality can be guaranteed, defects are reduced, and the production efficiency is improved. Due to the supporting effect of the liquid medium, the wall thickness changes of the inner side and the outer side of the pipe in the bending process are relatively uniform, the wall thickness thinning and thickening phenomena are reduced, and then the effect of guaranteeing the quality of the heat dissipation pipe machined by the device is achieved.

A catastrophe roadway remote self-adaptive closed air bag comprises an intrinsic safety type air bag storage box, a gas generation module and an expansion blocking module. The intrinsic safety type airbag storage box is used for storing the gas generation module and the expansion blocking module; the gas generation module is used for storing and releasing inert gas and located above the expansion blocking module, so that the inert gas rapidly enters the high-strength flexible airbag through the pressurization effect; the expansion blocking module is used for blocking poisonous and harmful gas generated by explosion, connected with the gas generation module and located below the gas generation module. According to the utility model, the mine multi-parameter fire hazard detector is combined with human perception, an underground fire source and a gas over-limit source are sensed in advance, identified dangerous factors are transmitted to the intrinsic safety type control motor and the alarm through electric signals, the gas generation module is triggered, and early warning of underground safety accidents is realized.

The application provides a new line railway transmission and data network port intelligent planning method and system, relates to the railway communication technical field, and solves the technical problems of low efficiency, easy error and difficulty in meeting complex design specifications caused by the dependence of the existing railway communication port planning on manual experience. The method comprises the following steps: obtaining a business requirement list and a device resource list; constructing a constraint optimization model based on a preset port planning rule library; based on the business requirement list and the device resource list, the constraint optimization model is optimized and solved by a constraint optimization algorithm to obtain a port allocation result; based on the port location in the port allocation result and the physical distance between the device cabinet and the ODF frame, the tail fiber length is calculated; the port allocation result and the tail fiber length are structured and coded and integrated to obtain a port configuration account. The application is used in the new line railway transmission and data network port planning process.

The invention belongs to the technical field of water-swellable rubber for petroleum casings, and particularly relates to water-swellable rubber for petroleum casings as well as a preparation method and application of the water-swellable rubber. According to the rubber capable of rapidly expanding when meeting water for the petroleum casing pipe, the nitrile rubber with the acrylonitrile content is adopted, the salt-resistant water-absorbent resin is introduced, the water absorption capacity of the rubber in a saline medium is improved, the coupling agent is introduced, dispersion of the water-absorbent resin in the rubber is improved, and incremental filling of the water-absorbent resin is achieved; the water touching time of the rubber inner layer is shortened through the foaming structure. The rubber obtained by the method solves the problem that the existing rubber is slow in water swelling, so that the water swelling rubber is effectively applied to the petroleum casing pipe.

The utility model relates to a medical CT (computed tomography) examination shelter, belongs to the technical field of shelters, and solves the problems of inconvenience in use and difficulty in power supply of the medical shelter in the prior art. The CT examination shelter is integrally divided into three parts, namely a front cabin, a main cabin and an auxiliary cabin, the front cabin is an open equipment room; a CT machine is installed in the main cabin, and the auxiliary cabin is installed in the main cabin in a nested mode and serves as an expansion type medical care operation room. In the unfolded state, a middle partition plate is arranged between the main cabin and the auxiliary cabin, and an energy storage system and a CT console are arranged in the auxiliary cabin; the energy storage system comprises two groups of battery clusters which are arranged in parallel, and the two groups of battery clusters realize switching between a power supply state and a charging state through a static dual-power switch. According to the medical CT examination shelter, rapid unfolding and use can be achieved, and meanwhile the power utilization requirement of the CT shelter is met on the premise that the space is limited by setting the power supply mode of switching of the double battery clusters.

According to the SR-IOV testing method and system based on the hardware simulation acceleration platform and the extended virtual machine, an additional hardware device is carried on the hardware simulation acceleration platform, the device can achieve extension of hardware resources, and the hardware simulation acceleration platform is driven and communicated through customized software, so that the hardware simulation acceleration platform and the extended virtual machine are integrated. According to the technical scheme, operation of a plurality of virtual machines and single-port or dual-port data communication are supported, full testing of the SR-IOV function is achieved, and the testing efficiency and the convenience degree of SR-IOV testing are improved.

The invention belongs to the technical field of molecular biological detection, and particularly relates to an RT-LAMP (Reverse Transcription Loop-Mediated Isothermal Amplification) and immunochromatography combined PEDV (Porcine Epidemic Diarrhea Virus) nucleic acid detection kit and application thereof. According to the kit, the high sensitivity and high specificity of the loop-mediated isothermal amplification technology and the rapid and visual interpretation advantages of the immunochromatography test strip are combined, and on-site, rapid and accurate detection of the PEDV is achieved. The core of the invention comprises a set of specific primer group designed for a PEDV N gene conserved region, an optimized RT-LAMP reaction system and an immunochromatography test strip which is specially treated and is used for detecting an LAMP amplification product. The kit does not need an expensive thermal cycler, the whole detection process is completed within 40 min, the sensitivity can reach 100 copies / [mu] L, and the kit is particularly suitable for rapid diagnosis and epidemic prevention and control of sites such as pig farms and grassroots veterinary stations.

The utility model discloses a liquid-cooled container control system, which comprises a cabinet main body and a double-pump circulation module integrated in the cabinet, the double-pump circulation module comprises a main liquid pump and a standby liquid pump, the main liquid pump is driven by a frequency converter, the standby liquid pump can be driven by a power frequency power supply or the frequency converter, and a multipoint temperature acquisition module is arranged in the cabinet main body. By adopting the double-pump redundancy design, the standby pump can be seamlessly connected within 200 milliseconds when the main pump breaks down, the continuous operation of the system is ensured, the availability of the system is as high as 99.99%, meanwhile, the main liquid pump is provided with the frequency converter, the rotating speed is dynamically adjusted according to real-time pressure feedback, and compared with a traditional fixed-frequency pump, energy is saved by 20-30%. Multi-point temperature collection and closed-loop control are achieved, accurate temperature control is achieved, energy consumption is further reduced, a liquid leakage detection sensor is matched to trigger a signal at the moment of liquid leakage, a power source is cut off immediately through a PLC, an alarm is given, and electric short circuit and equipment damage are effectively avoided through millisecond-level response.

Embodiments of the present specification provide a transaction processing method and device in a blockchain system. The blockchain system includes N first blockchains and M second blockchains. The N first blockchains correspond to different first address segments, and the M second blockchains correspond to different second address segments. The first address segment includes a string at a first preset position in an account address, and the second address segment includes a string at a second preset position in the account address. The second preset position is the first preset position plus a position after the first preset position. The method includes: receiving a first transaction, the first transaction including a first account address initiating the first transaction; obtaining a first address segment of the first account address; when there is no first blockchain corresponding to the first address segment in the N first blockchains, obtaining a second address segment of the first account address; and when there is a second blockchain corresponding to the second address segment in the M second blockchains, sending the first transaction to the second blockchain.

The present application relates to feed ring mold repair cleaning technical field, especially to a kind of multifunctional cleaning equipment for feed ring mold repair, including cleaning cylinder and cylinder cover;Cleaning cylinder is equipped with cylinder cover.This application realizes by electric control ball valve to close branch pipe, so that high-pressure clean water cannot pass through electric control ball valve, and then high-pressure clean water will sliding sleeve be pushed to the hole in the corresponding hole of feed ring mold, and the clogging material in hole is pushed out by sliding sleeve, and the hole is dredged, to avoid causing a large amount of water waste;Through dredging pipe, before sliding sleeve, insert into the clogging material inside the hole of feed ring mold, and by through hole, make the flow guide groove and the corresponding dredging pipe communicate, so that the clean water in branch pipe enters the dredging pipe through the flow guide groove and the through hole, and then is sprayed from the fine hole on the outer surface of the dredging pipe, to directly inject into the clogging material inside, quickly wet the inside of clogging material, so that clogging material quickly absorbs water, expands and softens, to facilitate sliding sleeve to push out the material.

The application discloses a duck Riemerella anatipestifer 16S rRNA detection kit based on MIRA-CRISPR / Cas12a, a detection method and application, and belongs to the technical field of biology detection. The kit comprises forward primers and reverse primers shown as SEQ ID NO. 1 and SEQ ID NO. 2, a MIRA amplification reaction system and a CRISPR / Cas12a reaction system. The detection method can realize rapid and accurate detection of the duck Riemerella anatipestifer by establishing a detection method combining MIRA amplification reaction and CRISPR / Cas12a, has the advantages of simple operation, low cost, high sensitivity and strong specificity, solves the problems of high detection cost, long time, high requirement for detection personnel, the need for professional training, only suitable for auxiliary diagnosis in a laboratory and unable to be popularized and applied in the prior art, and has important significance for early detection of RA.

The embodiment of the invention provides a functional garment. The functional garment includes: a garment including a plurality of air accommodating portions formed between a first fabric and a second fabric disposed facing each other and accommodating air inside; and an air injection device which is connected to at least one of the air accommodating parts and injects air into the air accommodating parts. At least one first region formed on the periphery of the air-containing part, in which the first fabric and the second fabric are joined to divide the air-containing part from another adjacent air-containing part, and air-connecting the air-containing part from another adjacent air-containing part without joining the first fabric and the second fabric and at least one second region through which air can be delivered to the plurality of air accommodating parts when the air is injected into the garment by the air injection device.

The invention discloses a target-guided apple multi-target continuous picking path planning method. The method comprises the following steps: 1, initializing; the method comprises the following steps: acquiring an image of an apple tree, establishing a simulation three-dimensional model of the apple tree, and generating a tree T in a three-dimensional working space X; 2, selecting one apple to determine a current target node qgoal; taking the position of the apple collection container as an initial node qinit; 3, performing iterative expansion; repeating the following steps 1-4 until the path meeting the condition is found: 1, random sampling: randomly sampling a common node qrand from a specific area; the specific area is a conical area, and the specification of the specific area is as follows: qinit is a vertex, and qgoal is the circle center of the bottom surface; the distance from qinit to qgoal is h, and the radius of the bottom surface is h / 30.5; 2, selecting a nearest node; 3, expanding the tree; and 4, checking collision. And 4, path generation: generating a path through backtracking. According to the method, the RRT algorithm is improved, so that the method better fits the actual condition of apple picking, the path planning efficiency is improved, the method has high expansion capability, and the finally generated path is smoother.

The invention relates to the technical field of aerobic treatment biology, in particular to an aerobic treatment biological synergy method which comprises the following steps: carrying out preliminary sedimentation treatment on sewage or organic waste to be treated to obtain a culture medium raw material, introducing the culture medium raw material into a culture tank, and determining a sludge bearing capacity characteristic value; determining the input amount of compound bacteria based on the characteristic value of the sludge bearing capacity and carrying out aerobic fermentation; in the aerobic fermentation process of the biological bacteria, determining the fermentation rate based on the oxygen consumption in the culture tank to obtain a fermentation rate change curve, and determining that the fermentation process enters an attenuation period based on the fermentation rate change curve; detecting the concentration of the compound bacteria, determining to increase the fermentation temperature and ventilation quantity based on the concentration of the compound bacteria, and continuing fermentation; and carrying out solid-liquid separation on the fermented composite flora mixed solution in the culture tank to obtain a high-concentration bacterial solution, and putting the high-concentration bacterial solution into a target sewage treatment system. According to the invention, the problems of low fermentation efficiency and insufficient activity of the composite flora in the prior art are solved.

The electric flat carriage capable of expanding the bearing surface comprises a carriage body and a bearing plate used for bearing goods, the bearing plate is provided with a width expanding assembly and a length expanding assembly, the width expanding assembly is hinged to the bearing plate, and the length expanding assembly is connected with the bearing plate in a sliding mode. Through the design of the hinged type width expanding assembly plate and the sliding type length expanding assembly, synchronous expanding of the width and the length of the bearing face is achieved.