73results about How to "Realize collaborative control" patented technology

According to the industrial park anti-countercurrent control method and system fused with the source storage adjustable margin, when a countercurrent risk exists, based on a flexible control target, layered adjustment values of distributed power supply output under an early warning level and an action level are determined; determining a hierarchical adjustment value of the energy storage power under the security level; under the safety level, if the countercurrent urgency index is not larger than 0, energy storage stops discharging, and if the countercurrent urgency index is within the energy storage power adjustable margin range, energy storage charging is controlled based on a layered adjustment value of the energy storage power adjustable margin range; under the early warning level, if the countercurrent urgency index is within the adjustable margin range of the output of the distributed power supply, the energy storage charging power is controlled to be maximum, and the output of the distributed power supply is controlled based on the hierarchical adjustment value of the output of the distributed power supply; under the action level, if the countercurrent urgency index is not within the adjustable margin range of the distributed power supply output and the energy storage power, executing the generator tripping operation of the distributed power supply; and the utilization efficiency and the economic benefit of distributed energy sources are maximized while the power of the park is ensured not to flow back.

The application provides a kind of bionic artificial stomach device based on electrostatic hydraulic drive and its application, belong to bionic medical instrument technical field.The device includes flexible bionic stomach cavity, composite peristaltic wave drive module including multiple electrostatic hydraulic drive units and programmable control module.Programmable control module applies high voltage electric signal to each electrostatic hydraulic drive unit according to preset timing, drive flexible bionic stomach cavity outer wall to produce continuous, distributed surface contraction deformation, to form annular advancing peristaltic wave propagating from fundus to antrum.The application realizes continuous surface driving of flexible interface through electrostatic hydraulic effect, solves the problem of unreasonable contact mode, discontinuous peristalsis and mechanical distortion in the prior art, improves the physiological relevance of in-vitro simulation of gastric mechanics, digestion process and drug transport.

The application provides a kind of collaborative congestion control method based on attention-driven multi-path TCP sub-flow dependency modeling, MPTCP connection is established by sending end and receiving end;Subflow running data is read from MPTCP protocol stack by state monitoring module;Each subflow feature of the normalized state matrix input is weighted and fused by using self-attention layer;Action vector A is generated by Actor network t , and the effective congestion window of each subflow is used as the available sending window constraint when sending data;Action value Q is generated by Critic network;Reward R is calculated by reward calculation module t ;Form collaborative congestion control model;Realize online adaptive control;This method can realize unified decision and collaborative control of multiple subflows, can realize collaborative consistency of congestion control effect and scheduling result, and can improve the stability and comprehensive performance of multi-path transmission.

The invention discloses granary pressure control equipment and method, and the equipment comprises an evaporation cavity which is internally provided with an evaporator and an evaporation fan; the air supply pipe assembly and the air return pipe assembly are used for communicating the evaporation cavity with the granary; the air valves are arranged in the air supply pipe assembly and the air return pipe assembly respectively; the control center is electrically connected with the pressure sensor, the temperature sensor, the CO concentration sensor and the air valves; wherein the control center is used for judging the cause of unbalanced pressure in the granary according to the detection results of the pressure, the temperature and the COconcentration in the granary and correspondingly controlling the opening or closing state of each air valve so as to adjust the pressure in the granary. According to the invention, by carrying out structure transformation and control logic upgrading on the existing granary air conditioning equipment, the granary pressure regulation, the COconcentration regulation and the air conditioning refrigeration function are integrated in the same equipment, so that the cooperative control of the granary environment is realized.

The utility model discloses a constant-temperature air outlet dehumidification heat pump system which comprises a compressor, a condenser and an evaporator which are connected to form a refrigerant circulation loop and further comprises a first flow distribution adjusting device, a heat using device and a control device. The heat utilization device and the condenser are arranged between the compressor and the evaporator in parallel; the inlet end of the first flow distribution adjusting device is connected with the outlet end of the compressor through a pipeline, the first outlet end of the first flow distribution adjusting device is connected with the condenser through a pipeline, and the second outlet end of the first flow distribution adjusting device is connected to the heat using device through a pipeline. The control device is connected with the first flow distributing and adjusting device and controls the opening degree of the first flow distributing and adjusting device according to the return air temperature so as to control the amount of refrigerants entering the condenser and the heat using device. According to the constant-temperature air outlet dehumidification heat pump system, high-precision temperature and humidity cooperative control is achieved, temperature fluctuation is reduced, meanwhile, the energy efficiency ratio and the system stability are improved, the high-end scene requirement is met, and the stability under the complex working condition is improved.

The present application relates to the technical field of metal material heat treatment, in particular to a heat treatment furnace device and method capable of controlling temperature and cooling speed, wherein the furnace body is internally constituted as a hearth, the output end of the air supply system is located at the lower region of the hearth through the furnace body; the flow equalizing system is arranged at the lower region of the hearth and is in communication with the output end of the air supply system; the workpiece is placed on the flow equalizing system; the circulation and exhaust system is arranged at the upper region of the hearth and is in communication with the interior of the hearth, the temperature monitoring system is arranged on the circulation and exhaust system and is directly above the workpiece; the control system is electrically connected with the air supply system, the circulation and exhaust system and the temperature monitoring system. The present application effectively solves the problems of insufficient cooling speed and poor cooling uniformity in the prior art.

This application provides a method and apparatus for determining the air supply strategy of a thermal management combined power unit, belonging to the field of aviation electromechanical technology. The method provided includes: acquiring the operating state parameters of the thermal management combined power unit; inputting the operating state parameters into a pre-trained prediction model to determine the air supply control parameters; training the prediction model using training samples, wherein the training process of the prediction model is based on exhaust temperature constraints, compressor surge margin constraints, fuel temperature constraints, and air supply flow constraints to construct a target loss function; controlling the distribution of cooling airflow in the cabin air supply circuit according to the cooling turbine outlet split ratio, controlling the distribution of fuel in each fuel branch according to the first fuel branch split ratio, the second fuel branch split ratio, and the third fuel branch split ratio, and controlling the air supply temperature entering the cabin according to the cabin air supply temperature. The method and apparatus provided in this application can solve the air supply control problem under multiple constraint coupling.

The embodiment of the invention discloses a warehouse elevator scheduling method, computer equipment and a computer readable storage medium. The warehouse elevator scheduling method comprises the following steps: constructing a scheduling algorithm to process received task information so as to determine a reservable object; determining a reservation mode according to the task information, and obtaining a reservation form; processing the reservation form according to the reservation mode so as to determine a target object from the reservable objects; and generating and outputting a scheduling queue based on the target object. Therefore, the reservable object can be determined firstly through the scheduling algorithm, so that the workload of the multiple elevators in the warehouse is balanced, the load balance of the elevators is optimized, local congestion and resource idleness are avoided, and the overall scheduling efficiency is improved. The real-time state and resource occupation condition of each connection point can be dynamically reflected by using the reservation form, channel resources are reserved in advance in combination with a pre-locking mechanism, dynamic reservation scheduling and path cooperative control of the elevator are realized, and the response speed and stability of the system are remarkably improved.

This invention discloses a compact prefabricated metal enclosed ring main unit, relating to the field of ring main unit technology. It solves the problems of existing technologies, such as difficulty in balancing heat dissipation and protection, inconvenient disassembly and maintenance, and high maintenance costs. The invention includes an outer protective cover; a ring main unit housed within the outer protective cover; an electric lifting cylinder fixedly mounted on the top surface of the outer protective cover, with its piston rod connected to the top surface of the ring main unit for driving the ring main unit to extend or retract into the outer protective cover; and a heat dissipation device comprising a curved heat dissipation pipe fixed within the outer protective cover and movably embedded in the bottom surface of the outer protective cover. Through the coordinated design of the lifting structure and the heat dissipation device, this invention achieves automatic heat dissipation during operation and protection during non-operational states. It features a compact structure, high heat dissipation efficiency, and good protective performance, making it suitable for compact outdoor power distribution scenarios.

This application discloses a control method, equipment, and storage medium for a two-plate die-casting machine, including: setting a target speed and target pressure for the hammer's follow-out motion; after the injection action is completed, driving the hammer with the target speed and target pressure, while simultaneously limiting the return oil flow of the mold-opening cylinder, so that the hammer pushes the mold plate to perform a mold-opening action; during the process of the hammer pushing the mold plate, controlling the return oil pressure of the mold-opening cylinder by adjusting the opening degree of the pressure relief valve; when the mold plate is detected to have moved to a preset follow-out position, stopping the follow-out driving of the hammer, and completing the subsequent mold-opening action at a preset mold-opening speed until the mold opening is completed. This application achieves the technical effect of improving production safety and stability by simultaneously setting and controlling the target pressure and speed of the hammer's follow-out motion, so that the mold-opening speed is controlled by the hammer's push during the follow-out stage.

The invention relates to the technical field of intelligent logistics, in particular to an integrated scheduling system of an automatic guided vehicle, and the integrated scheduling system is connected with an upper business system and comprises a protocol adaptation unit, an information summarization unit, a capability matrix construction unit, a task analysis unit and a scheduling unit. The protocol adaptation unit is used for carrying out unified access on each automatic guided vehicle to realize two-way communication with each automatic guided vehicle; the information gathering unit is used for continuously collecting capability parameters and real-time operation state information of each automatic guided vehicle and storing the capability parameters and the real-time operation state information to a unified information data pool; the capability matrix construction unit is used for constructing a capability matrix table of each automatic guided vehicle based on the information data pool; the task analysis unit is used for receiving a logistics task issued by an upper-layer business system and disassembling the logistics task into a plurality of sub-tasks; and the scheduling unit is used for selecting the automated guided vehicle based on the capability matrix table and the subtasks, planning a task execution path in combination with factory map information, and issuing a control instruction to complete the corresponding subtasks.

The embodiment of the present application provides a solid buoyancy material and a preparation method and application thereof. The solid buoyancy material comprises an epoxy resin matrix and light fillers dispersed in the epoxy resin matrix; the light fillers comprise hollow glass microbeads A, hollow glass microbeads B and elastic organic expanded beads, and the particle size of the hollow glass microbeads A is greater than that of the hollow glass microbeads B. The solid buoyancy material has excellent waterproof property while having a relatively low density.

The invention discloses a curved surface self-adaptive grinding and polishing method based on a two-degree-of-freedom force control grinding and polishing robot. The method comprises the steps that a surface image of a workpiece to be machined is acquired, and local curvature information is extracted; calculating a feed-forward compensation amount according to the local curvature information, and correcting a preset expected position and a preset expected speed based on the feed-forward compensation amount to obtain a corrected expected position and a corrected expected speed; on the basis of the position deviation between the corrected expected position and the actual position and the speed deviation between the corrected expected speed and the actual speed, inertial parameters and damping parameters of a position-based impedance model are adjusted in real time through a fuzzy adaptive algorithm; and generating a control instruction according to the adjusted impedance model, and driving the two-degree-of-freedom linear motion module to perform compensation motion. According to the method, through cooperation of curvature feedforward compensation and fuzzy variable impedance control, force control lag at the curvature sudden change position is reduced, and force control stability and machining consistency of complex curved surface grinding and polishing are improved.

This invention discloses an integrated liquid diet supply and digestion monitoring system for gastrointestinal care. The system includes a core control module, a liquid diet supply module, a digestive status monitoring module, a multi-scenario adaptation module, a multi-device collaboration module, and a data management module. By constructing a three-tiered closed-loop system of "early warning-intervention-emergency care" to prevent aspiration, it achieves non-invasive automatic monitoring of gastric residual volume, personalized customization and infusion linkage of liquid diet formulas, linkage between intermittent infusion and oral care, and full-process traceability analysis of abnormal events. It is portable and can interconnect with multiple devices such as smart beds, monitors, and hospital HIS / LIS systems to form a smart medical ecosystem. This invention achieves the integration and intelligentization of liquid diet supply, digestion monitoring, and gastrointestinal care, covering four major scenarios: hospitals, rehabilitation centers, nursing homes, and homes. It significantly improves diagnostic and treatment efficiency and patient comfort, meeting both clinical needs and quality control research requirements.

A fused quartz laser polishing method coupled with a temperature feedback control system comprises the following steps that firstly, a thermal imaging instrument is used for conducting real-time temperature measurement on a laser polishing area of fused quartz; then, a real-time temperature signal measured by the thermal imaging instrument is transmitted to the PID controller; and then the PID controller is used for dynamically regulating and controlling the output power of the laser according to the input real-time temperature signal. Through the closed-loop control, the temperature of the laser processing area of the fused quartz is slightly lower than the evaporation temperature of the fused quartz stably, and the dynamic precise adjustment of the laser power is realized. According to the control strategy, uncontrollable evaporation and condensation caused by local overheating or alternate cooling and heating of the fused quartz are prevented, and more importantly, the phenomenon of uneven surface tension change caused by severe temperature fluctuation is eliminated to a great extent, so that the formation of scanning ripples on the surface of the fused quartz is remarkably reduced, and the polishing quality and the process stability are improved.

The invention discloses an antimony-gold concentrate flotation antimony removal process, belongs to the technical field of ore flotation, and aims to solve the technical problem that the gold enrichment performance and antimony removal performance of antimony-gold concentrate flotation need to be further improved in the prior art. According to the method, a step-by-step interface regulation and control system composed of an arsenic directional collecting agent, an antimony selective collecting agent and a lead chelating dispersing agent is constructed, and interface substrate reforming, target phase interface recognition strengthening and terminal interface convergence are sequentially achieved in ore pulp, so that a flotation layering environment with gradient selectivity is formed; according to the technical scheme, the interface stability of associated impurities such as arsenic, antimony and lead can be weakened step by step while interface activation of gold particles is kept, and efficient purification of refractory gold concentrate is achieved.

The application provides a kind of car personalized thermal comfort control method and controller, belong to intelligent car cabin environment control field, control method includes the following steps: after vehicle starts, the identity of driver is marked by voice recognition;Whether the seat is occupied is judged by using film pressure sensor;If it is occupied and automatic control mode is started, according to whether online training mode is enabled, preset strategy is selected or personalized agent is trained and updated based on continuously collected driver characteristics and environmental data, control parameters are upgraded in real time, and personalized adjustment of thermal comfort is realized.The application realizes collaborative control of air conditioner and seat thermal management system and self-optimization of personalized strategy through voice recognition, multi-source sensing and online intelligent learning, which significantly improves thermal comfort, energy saving and system deployability.

This invention relates to the field of production control technology, specifically to an adaptive control system for parameters of a rubber sheet production line based on digital twins. The system inputs hot profile data and support roller reference surface data into a topography decoupling network, outputting substrate thickness distribution and valley thickness distribution. The substrate thickness distribution, valley thickness distribution, sheet surface temperature data, and material formula codes are input into a cold-state conversion network model, outputting cold-state substrate thickness distribution and effective valley thickness distribution. These cold-state substrate thickness distribution and effective valley thickness distribution are then input into a collaborative control analysis model. A shaping pressure compensation command is generated based on the effective valley thickness distribution. Simultaneously, the shaping pressure compensation command and extrusion interference parameters are combined to identify extrusion compensation parameters, which are then converted into feedforward compensation amounts. Lateral profile adjustment commands and roller gap adjustment commands are generated based on the cold-state substrate thickness distribution and feedforward compensation amounts. The system is pre-run and verified in a digital twin simulation environment before being distributed to the shaping unit and calendering unit.

The invention discloses movable assembly type high-degree-of-freedom dieless double-sided incremental forming equipment and method. The equipment comprises two groups of forming units, namely a first forming unit A and a second forming unit B, the first forming unit A and the second forming unit B can be assembled together during use and can be detached after use, and the first forming unit A and the second forming unit B are both of a foldable storage structure; the foldable industrial mechanical arm forming units capable of cooperatively working are arranged on the two sides of the vertically-fixed to-be-machined plate, synchronous or cooperative incremental forming of the front face and the back face of the plate is achieved, the forming precision is improved, springback is reduced, the thickness distribution of the plate is improved, and therefore the forming requirements of complex curved surfaces and high-performance plates are met. The double-sided forming equipment is designed to be of a detachable and assemblable modular structure, so that the equipment can be packaged in a storage state in the transportation and deployment process and can be quickly unfolded and spliced on the use site, and the maneuverability and the application flexibility of the equipment are remarkably improved.

The utility model relates to the technical field of Internet of Things, and discloses a building management and control system and an intelligent building, and the system comprises a control module, a plurality of control terminals, a sensor module, and a building management subsystem. The sensor module is used for gathering sensor data of the building management subsystem and transmitting the sensor data to the control module; the control terminal is used for monitoring the operation state of the building management subsystem and sending an equipment control instruction for controlling the building management subsystem to the control module; and the control module is used for receiving the sensor data of the building management subsystem acquired by the sensor module, and controlling the operation state of the building management subsystem based on the sensor data and the equipment control command sent by the control terminal. According to the utility model, the on-site or mobile terminal remote regulation and management function of the equipment in the building on the mobile terminal is realized, and the problem that the on-site or mobile terminal remote regulation and management function on the mobile terminal does not exist in the prior art is solved.

This application relates to the field of agricultural mechanization and intelligent control technology, and discloses a method for collaborative operation of multiple agricultural machines based on a vertical domain large model. The method includes: a central controller receiving multi-source sensing data uploaded by onboard controllers, fusing and constructing a vertical domain knowledge graph and generating a load distribution prediction model, and issuing an initial collaborative path accordingly; each onboard controller collecting attitude data to calculate deviations, correcting parameters and uploading them if they exceed a threshold, and generating an optimized collaborative path; the central controller receiving torque values ​​to calculate the resultant torque distribution, determining the lever arm length distribution, analyzing the center of gravity offset in conjunction with the weight of the agricultural machinery, and issuing commands to adjust the relative posture of the agricultural machinery under high loads; each onboard controller monitoring hydraulic pressure, fine-tuning actuator resistance and uploading stability parameters if it exceeds the range; the central controller evaluating durability indicators based on historical data, and updating the collaborative path by fusing real-time data when the indicators are too low, obtaining the final solution. This application improves the accuracy of collaborative operation of multiple agricultural machines in complex terrain.

This invention provides an adaptive UHPC-reinforced concrete tower structure and its seismic control method based on digital twins and intelligent decision-making. The structure includes a concrete foundation, an intelligent variable stiffness UHPC functionally graded tower section, a top steel section, a top active control device, a multi-source sensing and edge computing unit, a cloud-based digital twin platform, and an intelligent decision controller. The wall of the intelligent variable stiffness UHPC functionally graded tower section is composed of an outer UHPC main load-bearing layer, a variable stiffness intelligent interlayer, and an inner UHPC counterweight energy-dissipating layer. The overall stiffness is continuously adjustable by adjusting the stiffness of the interlayer. This method achieves active adjustment of structural stiffness and collaborative damage control through rapid identification of seismic motion characteristics, real-time inversion of the digital twin and damage field, multi-objective collaborative optimization and decision-making, real-time collaborative adjustment of structural parameters and load paths, and model self-evolution and strategy iteration. This application possesses excellent seismic adaptability and can be widely used in wind turbine tower structures in high-intensity earthquake zones.

The invention discloses an aluminum oxide evaporation multi-stage flash tank control method based on model control, and the control method is used for stably and accurately controlling the temperature difference, liquid level and pressure parameters of each stage of flash tank in an evaporation process. The MPC model predictive control system intelligently analyzes the change of multi-parameter data to realize the output of control data, and module combination application can be carried out on different evaporation technological processes through a universal evaporation multistage flash tank MPC control module. Through a universal evaporation multistage flash tank MPC control module, a control method that a flash tank only controls a single parameter liquid level in a traditional method is changed into liquid level, temperature and pressure multi-parameter cooperative control. According to the method, the influence of multiple parameters on the flash evaporation intensity is considered, the problems that the aluminum oxide evaporation multi-stage flash evaporation tank is large in control fluctuation and prone to scabbing are solved, the control precision can be improved, the recovery amount of secondary steam is more stable, local concentrated scaling is avoided, and the equipment operation rate is increased.

The application discloses an AI large model-based personalized auxiliary teaching content dynamic generation and pushing method, and belongs to the technical field of data processing, and comprises the following steps: acquiring the conditional probability distribution of an AI large model output layer and constructing a benchmark probability distribution vector, acquiring a generation probability distribution feature vector in a subsequent generation round and performing distribution similarity analysis to determine a generation probability distribution drift state; performing controlled adjustment on the generation parameter set in the drift state, constructing a stable window in a continuous non-drift state, and dynamically updating the benchmark probability distribution vector. Teaching content is generated based on the adjusted generation parameter set and is pushed in batches, generation stability monitoring is performed in the pushing process, pushing constraint adjustment is performed according to the shock state and the convergence state, and finally, the converged generation parameter set is saved as an initial generation strategy corresponding to a teaching task, thereby solving the problem of implicit degradation of the teaching content generation quality in the prior art.

The application discloses an Internet of Things terminal with endogenous security capability and a collaborative control system and method, and relates to the technical field of Internet of Things and network security technology.The terminal device uses a lightweight authentication algorithm based on CPK to perform identity authentication on an edge gateway, negotiates a session token after authentication, and uses the session token for data encryption transmission;the data is subjected to an embedding watermark operation before being sent;after the data reaches the edge gateway, watermark detection and data cleaning operations are performed to detect the integrity and security of the data;after the data reaches a cloud platform core server, watermark detection and deep forgery detection are performed to verify the integrity and authenticity of the data;and fast response to network threats is realized.The application has lightweight algorithm, adapts to the characteristics of limited resources of the Internet of Things, realizes terminal trusted access in the whole link, and has real and complete data and transmission security protection capability.

This invention discloses a smoothed finite element adjustable damping implicit integral algorithm for underwater transient acoustic scattering, belonging to the field of underwater transient acoustic scattering numerical simulation technology. First, the computational domain of the underwater transient acoustic scattering field is discretized into a standard quadrilateral element mesh to construct an interpolation scheme for the sound pressure field. Then, each quadrilateral element is divided into multiple smooth domains, and the smoothed sound pressure gradient matrix is ​​obtained through acoustic generalized gradient smoothing technology. Combining differential control equations, the virtual displacement principle, and the Galerkin weighted residual method, the system matrix equation is constructed. An adjustable damping implicit time integral algorithm is used to complete the time-domain discretization, and the numerical results of the transient acoustic scattering field in the entire time domain are obtained through recursive solution. This invention can soften the "overly stiff" stiffness matrix to reduce spatial discretization errors, suppress high-frequency errors through adjustable numerical damping matching, and achieve coordinated control of spatiotemporal errors. Under the same mesh, its accuracy is superior to the standard finite element method, providing an efficient and reliable solution for underwater transient acoustic scattering engineering simulation.

The application discloses a liquid cooling tray and a forming process thereof, and relates to the field of battery accessory preparation. The forming process comprises the following steps: an initial plate is made of high-strength steel material, and then the initial plate is subjected to pretreatment and cutting treatment respectively to obtain a preformed material and a bottom plate material. A preformed structure is formed at the connecting position of the preformed material. The preformed material is subjected to continuous roll forming treatment to obtain various beam structure parts. The bottom plate material is subjected to shaping treatment to obtain a bottom structure with an assembly reference. Then, the various beam structure parts are positioned and assembled according to the assembly reference to obtain an assembly framework structure on the bottom structure. The beam structure parts in the assembly framework structure are fixedly welded to obtain a connecting framework structure. The connecting framework structure is continuously welded, and the connecting framework structure and the bottom structure are sealed and welded to obtain the liquid cooling tray. The application solves the problem that assembly precision and welding deformation are difficult to be compatible.

The invention relates to the technical field of power electronics, and discloses a cooperative control method and device suitable for a fractional order type intelligent load and a medium. Comprises: acquiring node information; calculating a power reference value based on any node information; calculating a reference current based on the power reference value; pWM signals for driving a fractional order type intelligent load switch tube are adjusted based on the reference current, and primary control is achieved; the adjacent nodes exchange node information based on the communication network; replacing an actual value with a global average voltage estimated value based on information alternating current; generating a new nominal reference voltage based on the information alternating current and a fractional order parameter, wherein the fractional order parameter is obtained based on a power reference value; updating a power reference value in primary control based on the new nominal reference voltage signal; readjusting the PWM driving signal based on the updated power reference value to realize secondary control; and primary control and secondary control are combined to realize cooperative control on the fractional order type intelligent load, so that the safety and the stability of the system are improved.

The invention relates to a substrate surface functionalization modified micro-fluidic chip and a crystallization control method, and solves the technical problem of how to use the micro-fluidic chip to accurately control the crystallization process, the substrate comprises a substrate and a cover plate, the substrate is provided with patterned SAMs, the cover plate comprises an upper layer and a lower layer, the upper layer is provided with a gas channel and a gas accommodating chamber, and the lower layer is provided with a gas outlet. The upper layer is provided with a gas input through hole, a gas output through hole, a liquid input through hole and a liquid output through hole, the lower layer is provided with a liquid channel and a reaction chamber, the lower layer of the cover plate is bonded with the substrate, and the patterned SAMs are located in the reaction chamber. The method is suitable for precise preparation of drug crystals, biological materials, ceramic materials, nanometer materials and optical elements, and can be widely applied to the industries of pharmacy, biomedical engineering, advanced material synthesis and the like.

The invention discloses an intelligent robot system based on integration of cleaning and fire extinguishing, and belongs to the technical field of intelligent robots. Comprising a tracked robot body, a distributed smoke temperature sensing detection module, a door magnetic control module, an infrared thermal imaging positioning module, a fire extinguishing execution module, a base station water supply module, a hose winding and unwinding module, an intelligent power distribution control module and a main control module. Fire early warning is achieved through the distributed detection module, a fire source is accurately positioned in combination with infrared thermal imaging, continuous water supply and fire extinguishment are completed in cooperation with base station water supply and hose self-adaptive winding and unwinding, and passage control and circuit cut-off are achieved through linkage of a door magnet and a power distribution module. According to the invention, the top-speed switching of the sweeping / fire extinguishing mode can be realized, the automatic and precise extinguishing of the initial family fire can be completed, the daily cleaning demand is considered, and the system is suitable for the integrated application of fire safety and daily cleaning of the family scene.