2048results about How to "Reduce control difficulty" patented technology

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

The invention discloses an end effector of a ball-like fruit picking robot. The end effector comprises a rotating machine assembly, a telescopic cylinder assembly and an arc-shaped finger cutting assembly. The end effector has the following advantages: a rotating machine is utilized to drive four arc-shaped blades to cut the fruit stem in any position between the four arc-shaped blades in a rotating manner via a coupling shaft assembly, thus omitting detection of the position of the fruit stem; a single-rod double-action cylinder drives four arc-shaped fingers to unfold and fold by way of extension and retraction of a piston rod; the space formed when the four arc-shaped fingers are folded is larger than the three-dimensional space of the fruits; the fingers are not contacted with the fruits during picking, thus ensuring that the fingers can rotate relative to the fruits, providing conditions for the arc-shaped blades to cut the fruit stems in a rotating manner and dispensing with complex pressure control for clamping the fruits; and the end effector has a reliable picking mode, low action control difficulty, low cost and strong universality.

The invention discloses a picking robot and a picking method for kiwi fruits. The picking robot for the kiwi fruits comprises a machinery execution system and a control system, and is characterized in that the machinery execution system comprises a car body, a telescopic slide platform, a five freedom degree picking robot arm and a two finger type end actuator, and the control system comprises an industrial personal computer, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a binocular video camera, an infrared sensor, a pressure sensor, an electric control cabinet and a control circuit. The picking robot and the picking method for the kiwi fruits use a building block design philosophy to integrate the two finger type end actuator, the five freedom degree picking robot arm, the telescopic slide platform and a sensor system together and integrate image acquisition and feature extraction of fruits and barriers, intelligent mobility of the telescopic slide platform, counterguard and fruit positioning of the five freedom degree picking robot arm and grab motions of the two finger type end actuator together, and therefore achieve mechanization and automation of picking of the kiwi fruits, improve labor productivity, reduce production cost, and guarantee harvest quality of the kiwi fruits.

The invention discloses a resonant compensation topology variable magnetic coupling resonant wireless electric energy transmission device and method. The transmission device comprises a rectification module, an emitting end voltage stabilization module, a high-frequency inversion module, an emitting end coupling resonant coil, a receiving end coupling resonant coil, a receiving end resonant circuit capacitor, a receiving end rectification module, a receiving end voltage stabilization module, a variable resonant compensation circuit module and a detection control module, wherein the input end of the variable resonant compensation circuit module is connected with the output end of the high-frequency inversion module; the output end of the variable resonant compensation circuit module is connected with the emitting end coupling resonant coil; the detection control module is used for detecting charging parameter and input parameter information, and driving the on-off of an MOS (metal oxide semiconductor) tube and the on-off of a controllable switch. At a constant current charging stage, the series / series resonant compensation topology is used; at a constant voltage charging stage, the LCC / series resonant compensation topology is used; on the premise of not changing an electric automobile side receiving end device, the unique requirements of electric automobile charging are effectively met; the efficiency and power optimization of a wireless electric energy transmission system is considered.

Characters of the invention are that first, microprocessor obtains information of voltage and current of light-volt array; using algorithm for tracking maximum power in order to determine operating point of light-volt array at next moment; through A / D convertor, the information is converted to reference point Vref. After proportional integral PI adjusts difference value between Vref and sampled actual voltage of light-volt array, PWM control chip generates PWM wave with certain duty ratio to control DC-DC convertor. The method can implement coordinational operation of two branches and multiple branches in plug and play mode. Voltage control mode insensitive to maximum power point is adopted in the invention. Tracking effect is raised by method maximum power point instead of method of current tracking. Being in use for power supply for multiple DC loads, the system is applicable to independent light-volt system as well as to networked light-volt system.

The invention discloses a four-feet electromagnetic adsorption wall climbing robot. The four-feet electromagnetic adsorption wall climbing robot is formed by three parts, i.e. a chassis, walking legs and a foot adsorption apparatus. The walking leg comprises a multi-joint serial-connection mechanism connected onto the chassis and driving mechanisms installed at various joints, and a free end of the multi-joint serial-connection mechanism is connected with the foot adsorption apparatus; the foot adsorption apparatus comprises a plurality of disc mounting plates and electromagnetic suckers which are connected with the multi-joint serial-connection mechanism by virtue of passive ball hinges; and in the wall climbing process of the robot, the rotation action of each joint of the walking leg cooperates with the opening-closing state of an electromagnetic switch, so that the robot flexibly climbs a plane, a cylindrical surface and a spherical surface of any curvature and can flexibly realize the actions such as cornering and transverse movement. By adopting the four-feet electromagnetic adsorption wall climbing robot, the defects in the wall climbing process of a conventional wall climbing robot can be solved, the contradiction between the wall adsorption and the movement operation is well solved, the flexibility and applicability of the wall climbing robot in real engineering application are improved, and the popularization of the robot technology is facilitated.

The invention discloses a lithium battery pack SOC (state of charge) equalization system and a lithium battery pack SOC equalization method. The equalization problems of lithium battery packs are divided into two levels, including intra-group equalization and intergroup equalization. Lithium batteries are divided into a plurality of groups, every lithium battery group is in parallel connection with a bidirectional DC-DC converter, the output ends of the bidirectional DC-DC converters are in series connection to serve as the output ends of a direct-current bus and a power generation system, and loads are in parallel connection. The batteries in every group are connected through bilateral switches and are in parallel connection with by-pass switches so as to be connected dynamically. Intergroup equalization is achieved by distributing output voltage of every group according to average SOC thereof; intra-group equalization can be achieved by controlling dynamic connection of every single battery in every group. The lithium battery pack SOC equalization system and the lithium battery pack SOC equalization method have the advantages that lithium battery pack SOC is equalized without an extra equalization circuit, so that energy transfer among the batteries is avoided, lithium battery pack equalization is achieved automatically in a charge-discharge process, the equalization speed is greatly increased and the equalization efficiency is greatly improved.

The invention discloses an energy-saving shield segment assembling and positioning electro-hydraulic control system adopting a load-sensitive technology. The system comprises a motor, a variable pump, a two-position three-way proportional reversing valve, a variable cylinder, an overflow valve, a pressure reducing valve, a pressure compensating valve, a one-way valve, a multi-way valve, a balancing valve, a hydraulic lock, a hydraulic motor, a hydraulic cylinder, a moment rotation speed sensor, a displacement sensor and a pressure sensor. The multi-way valve with the pressure compensating valve in a segment assembling system is used for controlling the rotation speed of the hydraulic motor for driving the segment assembling machine to rotate and the moving speed of each hydraulic cylinder. The pressure sensor is used for detecting the pressure of a main oil passage of the system and the working pressure of each executer in real time; and a computer control unit is used for determining a variable pump control signal according to a system pressure signal, so that the displacement of the variable pump is changed with the load change so as to achieve load sensitive control. According to the invention, energy waste caused by continuous oil supply at the highest working pressure of the traditional system is avoided, the throttling loss and overflow loss are greatly reduced, and an obvious energy saving effect is obtained.

The invention provides a zero-sequence current suppression method of open type permanent magnet synchronous motor with double-inverter power supply, belongs to the technical field of motor control, and aims at solving the problem of zero-sequence current of the open type permanent magnet synchronous motor with the double-inverter power supply. The method is characterized in that the closed loop control for zero-sequence current i0=0 is added on the basis of a vector control system, so as to realize the suppression of the zero-sequence current; the zero-sequence current is calculated by detecting the three-phase current of the motor and is treated as the feedback quantity to build the closed loop control of the zero-sequence current; the output of a zero-sequence current ring is specified by zero-sequence voltage, and the zero-sequence current is suppressed by adjusting the zero-sequence voltage produced by the double inverters. The method is applied to the suppression of the zero-sequence current in the open type permanent magnet synchronous motor with double-inverter power supply.

The invention discloses an aluminium alloy profile for a building template, and a preparation method thereof. The aluminium alloy profile comprises the following components in percentage by weight: 0.85-0.95 percent of magnesium, 0.06-0.65 percent of silicone, 0.15-0.20 percent of copper, 0.05-0.08 percent of manganese, 0.03-0.05 percent of zirconium, 0.04-0.06 percent of chromium, 0.008-0.012 percent of titanium, 0-0.2 percent of iron, 0-0.10 percent of zinc and the balance of aluminium. The aluminium alloy profile provided by the invention has the advantages that the tensile strength is more than 300 MPa, the yield strength is more than 260 MPa, the breakage elongation percentage is more than 12 percent, the tenacity, the weldability and the corrosion resistance are obviously improved compared with that of an original 6061 alloy, the pendulum impact value is more than 20 J / cm<2>, the welding coefficient is not less than 0.6, smaller quench sensitivity is provided, and critical quenching speed is dropped from 10 DEG C / S of the original alloy to 7 DEG C / S; during the processing of the aluminium alloy profile, air cooling is adopted to process an extrusion outlet with the temperature of 450 DEG C in a high-temperature segment as well as an extrusion outlet with the temperature of being smaller than or equal to 25 DEG C in a low-temperature segment, while a moderate-temperature segment, namely a quench sensitive area with the temperature of 450-250 DEG C utilizes water mist to replace direct water-cooling, so that the difficulty for controlling cross section deformation of the profile in the production field is greatly reduced.

The invention provides an overlay error measurement apparatus and a method. According to the present invention, a wide waveband light source is adopted, the emitted wide waveband measurement light beam turns through a beam splitting prism, then is subjected to normal incidence on an overlay measurement label through an object lens, and produces diffraction, the diffraction light is received by a first detector after passing through the object lens and the beam splitting prism so as to measure the diffraction light intensity, and the asymmetry of the high-order diffraction light spectral intensity is further calculated so as to obtain the overlay error; and the adopted wide waveband has the wide measurement range, the good process adaptability is provided, and the normally-incident light beam is adopted so as to provide large depth of focus and reduce the control difficulty of the focal plane position measurement, such that the feasibility during actual measurement is increased, and the high precision measurement result can be obtained.

The invention relates to a double-frame magnetic-suspension CMG (Control Moment Gyroscope-CMG) control system, comprising a double-frame magnetic-suspension CMG body, a magnetic-suspension rotor control unit, an inner-frame control unit, an outer-frame control unit and a compound compensation control unit comprising a feed-forward compensator and a feed-back compensator. The feed-forward compensator carries out a feed-forward compensation for an inertia coupling disturbing moment of the rotor and the inertia moments of the inner and outer frames, and the feed-back compensator carries out the compensation for the impact of the gyroscope action disturbing moment; the outputs of the feed-forward compensator and feed-back compensator are respectively added to the outputs of the magnetic-suspension rotor control unit, inner and outer frames control units to obtain a total control value so as to realize the stable control to the double-frame magnetic-suspension CMG on the basis of compensating a dynamic frame effect. The double-frame magnetic-suspension CMG control system of the invention adopts the compensation to the output moments of magnetic bearings and frame motors to offset the coupling disturbing moment caused by the rotation of the inner and outer frames and to eliminate the displacement of the dynamic frame of the magnetic-suspension rotor, and enhances the response speed and accuracy of frames and the whole double-frame magnetic-suspension CMG.

The invention provides a high-gain interleaving boost converter. The high-gain interleaving boost converter comprises two inductors, two power switches, an output diode and voltage-multiplying units, wherein the voltage-multiplying units form a three-port unit by a diode and a capacitor; the first port is connected with one end of the capacitor, the other end of the capacitor and the node of the diode cathode are used as the second port; and the anode of the diode is used as the third port. The base gain is doubled on the basis of the gain of the original circuit by adding one voltage-multiplying unit in the circuit each time, i.e. the gain ratio of the circuit is (n+1) times that of the base boost converter by adding n voltage-multiplying units in the circuit. Compared with the conventional high-gain boost converters, the high-gain interleaving boost converter disclosed by the invention has simple circuit topology and no coupling inductance (EMI (Electro-Magnetic Interference) small), and can greatly reduce voltage stress of a switching element, so that the integral working efficiency of the converter is improved.

The invention relates to high-strength atmospheric corrosion resistant steel and a production method thereof, and belongs to the field of metallurgy. The technical problem to be solved by the invention is to provide the high-strength atmospheric corrosion resistant steel of which the yield strength is more than or equal to 550 MPa. The high-strength atmospheric corrosion resistant steel comprises the following chemical compositions in percentage by weight: less than or equal to 0.12 percent of carbon, less than or equal to 0.75 percent of silicon, less than or equal to 1.50 percent of manganese, less than or equal to 0.025 percent of phosphorus, less than or equal to 0.008 percent of sulfur, 0.30 to 1.25 percent of chromium, 0.12 to 0.65 percent of nickel, 0.20 to 0.55 percent of copper, 0.006 to 0.02 percent of titanium, more than 0.09 percent and less than or equal to 0.15 percent of vanadium, 0.01 to 0.02 percent of nitrogen, 0.015 to 0.03 percent of niobium, and the balance of iron and inevitable impurities. The high-strength atmospheric corrosion resistant steel has superior comprehensive properties of high strength, high toughness, high plasticity, obvious yield point and the like, and has wide application prospect.

The invention discloses an asymmetric four-motor UAV and a control method thereof. According to the asymmetric four-motor UAV, the connection line between two large motor propellers is perpendicular to that between two small motor propellers, and the connection line between the two small motor propellers is shorter than that of the two large motor propellers; the problem of control system divergence is solved through a Smith prediction algorithm; fuzzy control rules are designed and fuzzy inferences are utilized to achieve the optimized adjustment of PID (proportion-integral-derivative) parameters under different flight working conditions. The asymmetric four-motor UAV has the advantages of large take-off weight and good control robustness. The control method of the asymmetric four-motor UAV solves the problems of inaccurate control model and large system interference and reduces the control coupling degree of the four-rotor UAV, thereby reducing the control difficulty and achieving the smooth control of the four-rotor UAV.

The invention relates to the field of unmanned aerial vehicle (UAV) and ground robot coordinated formation, and provides a system which has good scalability and strong stability and can support UAV and ground robot platform coordinated formation so researchers can conduct physical simulation and experimental verification on an air-ground coordinated formation algorithm through the system. The technical scheme is as follows: a UAV and ground robot coordinated formation system is composed of a UAV formation, an indoor positioning system, ground mobile robots, and a ground work station; the UAV formation includes multiple four-rotor UAVs of different models, and each UAV is equipped with an airborne controller, a sensor device and a Wi-Fi module; and the airborne controllers run a flight control algorithm in real time and are responsible for coordinating and commanding all behaviors of the UAVs, and the attitude information of the UAVs is acquired by the sensor devices. The system is mainly applied to the occasion of UAV and ground robot coordinated formation.

The invention provides a multi-rotor unmanned airplane with inclined wings and rotors. The structure of the unmanned airplane comprises a plurality of rotors, a pair of wings and two rotors, wherein the plurality of rotors are arranged on a connecting rod, the wings are symmetrically arranged on the left and right sides of a fuselage and can be inclined between the directions perpendicular to the fuselage and parallel to the fuselage, and the two rotors are installed on the wings and can be synchronously inclined with the wings. The invention further provides a control system and a control method of the multi-rotor unmanned airplane with the inclined wings and the rotors. The attitude of the unmanned airplane provided by the invention is fully completed by a rotor system which is symmetrically arranged on the connecting rod, the rotors arranged on the wings only provide thrust, the attitude is not influenced, thereby decoupling the attitude control and the speed control, the complexity and the control difficulty of a dynamic model are reduced, additional lifting force is provided by utilizing an aerodynamic effect of the wings, and the flight speed, the bearing capacity and the endurance efficiency of the multi-rotor unmanned airplane are improved.

The invention relates to a combined mechanism of a ratchet of a high-volatage-cable walking robot. The combined mechanism is characterized by comprising a wheel type walking mechanism and claw-type clamping mechanisms, wherein the wheel type walking mechanism is used for walking on a high-voltage cable, the claw-type clamping mechanisms are used for clamping the high-voltage cable and provides positive pressure, the wheel type walking mechanism and the claw-type clamping mechanisms are arranged on a robot frame, and the claw-type clamping mechanisms are used in pairs. The combined mechanism disclosed by the invention utilizes a principle of an under-actuated mechanism, and two motion manners of rotation and movement are realized through one motor-driven clamping mechanism; through a self locking mechanism, the clamping mechanism is automatically locked after closed, thus the energy consumption is reduced; and the invention has the advantages of small and novel structure, high clampingefficiency and wide application range.

The invention provides a power assembly for an electric automobile. The power assembly comprises a driving motor (2) and a power transmission system (1), wherein the driving motor is a permanent magnet synchronous motor; the power transmission system (1) comprises a gear transmission system, an automatic gear-shifting system and an automatic parking system; the gear transmission system comprises a differential assembly (13), an input shaft (16), a shifting fork, a synchronizer (17), a first-gear gear and a second-gear gear (18); the automatic gear-shifting system comprises a gear-shifting motor (4), a shifting fork (5), a shifting fork shaft (7), a gear-shifting shaft (6), a gear-shifting cover plate (8), a gear-shifting shaft angle sensor (9), a gear-shifting position detection rod (10),a gear-shifting motor cover plate (11) and a shift sensor (12); and the automatic parking system comprises a P-gear motor (3), a P-gear pawl (15), a P-gear pawl pressure plate (19), a spring pre-fastening mechanism (20), a P-gear shaft (21), a P-gear cover plate (22), a P-gear position detection rod (23) and a P-gear position sensor (24).

The invention provides a brand new permanent magnet synchronous motor control method. A control system applied by the method comprises a torque command input unit, a torque-current lookup unit, a cross decoupling regulation unit, a space vector pulse width modulation unit, an inverter unit, a weak magnetic regulation unit and a permanent magnet synchronous motor unit, wherein the torque-current lookup unit performs analysis according to the output result of current weak magnetic regulation and a torque command and acquires an AC-DC shaft current command through lookup, and the lookup manner is irrelevant to the rotating speed so as to improve the convenience and the accuracy of torque lookup; meanwhile, the cross decoupling regulation unit performs cross PI (Proportional-Integral) regulation on the difference between the AC-DC shaft current command and actual current feedback so as to reduce the influence of cross coupling of the motor per se at high speed and improve the high-speed stability of the motor; and the weak magnetic regulation unit calculates the amplitude of voltage vector according to the current AC-DC shaft voltage reference command, performs PI regulation on the amplitude and the maximum available voltage vector amplitude in the current busbar voltage and automatically outputs a weak magnetic reference current command to conveniently enlarge the motor speed regulation range.

The invention relates to a low-temperature continuous-annealing interstitial-free atom cold-rolled steel plate and a production method thereof and belongs to the technical field of iron-based alloys. The production method of the cold-rolled steel plate comprises the following steps of: controlling the components of the cold-rolled steel plate in percentage by mass: 0.0005-0.0025% of C, less than or equal to 0.03% of Si, 0.05-0.15% of Mn, less than or equal to 0.015% of P, less than or equal to 0.01% of S, less than or equal to 0.0025% of O, less than or equal to 0.0025% of N, 0.015-0.050% of Al, 0.03-0.07% of Ti, and the balance of Fe and inevitable mixed elements; and meanwhile, controlling the continuous-annealing temperature of the cold-rolled steel plate to be 710-740 DEG C, and controlling the cold-rolling reduction ratio to be not less than 80%. According to the cold-rolled steel plate and the production method thereof, the reasonable chemical components and the suitable control of cold-rolling reduction are adopted, the recrystallization temperature is lowered, full-old-rolled microstructures are formed, and a lower continuous-annealing temperature can be adapted, so that the equipment cost and energy consumption are reduced, the control difficulty of a production process is reduced, the product defects and production accidents are avoided.

The present invention is one four wheel or six wheel differential torsion bar spring vehicle suspension mechanism, which consists of a vehicle body, a four wheel or six wheel independent suspension mechanism, a differential device inside the vehicle body. The independent suspension mechanism has two independent two or three wheel suspension mechanism units separately on two sides of the vehicle body, and the differential device is fixed to these two suspension mechanism units. The present invention has the advantages of less wheels, light weight, low power consumption and easy control, and may be used in lunar rover and planet rover as well as all terrain vehicle and toy vehicle.

The invention discloses a renewable energy source cooling, heating and power microgrid system and a control method. The renewable energy source cooling, heating and power microgrid system comprises a power module and a cooling / heating module. According to the power module, a solar power generation system is sequentially connected with a DC / DC converter and a DC / AC converter in series and then connected with an AC bus, a wind power generation system is sequentially connected with an AC / DC converter and a DC / AC converter and then connected with the AC bus, a gas internal combustion generation system is directly connected with the AC bus, a storage battery pack is connected with the AC bus through a bi-directional DC / AC converter, variable power electricity storage hot water tanks are connected with the AC bus, and the AC bus is connected with a power distribution network through a PCC. The renewable energy source cooling, heating and power microgrid system and the control method have the advantages that clean renewable energy sources such as methane, wind energy and solar energy are adopted as energy sources of a cooling, heating and power microgrid, no pollution is caused to the environment, operation cost is very low, and the application range is wide; by the adoption of a multi-microsource energy supply mode, the problem of capacity allocation redundancy of a single energy supply system can be solved.

The invention relates to a precision reciprocating transfer device which is composed of a cam oscillating bar mechanism, a cam lifting mechanism, a transmission mechanism, a suction nozzle component, a workbench and a shaft bracket component. A main shaft clockwise rotates, an oscillating bar cam in the oscillating bar mechanism is driven to rotate, an oscillating bar cam roller moves by being attached to a cam, an oscillating bar swings in a reciprocating and intermittent mode along an oscillating bar rotating shaft according to the trace curve of the oscillating bar cam, a cross-garnet butt cam roller on the oscillating bar drives a cross-garnet butt to swing in a reciprocating and intermittent mode, the main shaft clockwise rotates, a lifting cam in the lifting mechanism is driven to rotate, a lifting cam roller moves by being attached to a lifting cam groove, the main shaft rotates, meanwhile, the oscillating bar cam and the lifting cam are driven to rotate, the cam oscillating bar mechanism and the cam lifting mechanism alternatively move, a translation bar is driven to complete the reciprocating motion of vertically downward moving, vertically upward moving, horizontally left moving, vertically downward moving, vertically upward moving and horizontally right moving resetting in sequence, and the control difficulty of a system is reduced. A transfer track depends on a mechanical structure, and the accuracy requirement for a driving motor is effectively lowered.

The invention discloses a polyamide amine flowing modifier for mineral oil based drilling fluid and a preparation method of the modifier. The modifier is prepared in such way that dimer fatty acid and polybasic amine are subjected to amidation reaction at 120-160 DEG C and then a reaction product is homogeneously mixed with a solvent; the content of dimer in the dimer fatty acid is greater than 78wt%; the polybasic amine is a homolog of polyethylene polyamine containing 2-5 amido groups; the molar ratio of the carboxylic groups in the dimer fatty acid to the amido groups in the polybasic amine is 1 to (0.2-1.2). The preparation process is fulfilled in a reaction vessel connected with a Dean-Stark receiver. The polyamide amine flowing modifier has high molecular weight and multiple active functional groups, can form multi-point adsorption, is hard to desorb from the surface of organic soil, and is continuously effective and stable in performance at high temperature; the preparation process is simple and reaction conditions are easy to control.

The invention discloses a multiple-on-line heat pump air-conditioning system and a method for controlling the multiple-on-line heat pump air-conditioning system. The method is that a confluence unit performs gas-liquid separation and compression to a refrigerant output by the third end of a changing-over unit and outputs the refrigerant to the first end of the changing-over unit; under the working conditions of refrigeration and cooling-free dehumidification, a refrigerant output by the second end of the changing-over unit is driven to flow through a first heat exchange unit, a second electronic expansion valve, a second heat exchanger, a third electronic expansion valve and a third heat exchanger, flows back to the fourth end of the changing-over unit through a first stop valve and then is output out of the third end; under a working condition of heating, a refrigerant output by the fourth end of the changing-over unit is driven to flow through the third heat exchanger, the third electronic expansion valve, the second heat exchanger and the second electronic expansion valve, flows back to the second end of the changing-over unit through a second stop valve and the first heat exchange unit and then is output from the third end. By applying the method, the system cost can be reduced, and the control accuracy of the multiple-on-line heat pump air-conditioning system can be improved.

The invention provides a lower limb powered shape righting device which comprises a waist supporting assembly and a left leg powered mechanism and a right leg powered mechanism which are the same in structure, the left leg powered mechanism and the right leg powered mechanism are symmetrically mounted on the two sides of the waist supporting assembly, and the waist supporting assembly is provided with a power module and a controller; the left leg powered mechanism is composed of a foot assembly, a shank assembly and a thigh assembly, the foot assembly is hinged to the shank assembly, the shank assembly is hinged to the thigh assembly, and the thigh assembly is hinged to the waist supporting assembly; the shape righting device further comprises an electric push rod, and the electric push rod is electrically connected with the controller; one end of the electric push rod is hinged to the shank assembly, and the other end of the electric push rod is hinged to the thigh assembly to drive the thigh assembly and the shank assembly to move relative to each other. The lower limb powered shape righting device has the advantages that the structure is stable, controllable performance is good, the lower limb powered shape righting device is portable, and a patient who is unhealthy in the lower limbs or a patient who suffers from knee, ankle and foot diseases can be assisted in conducting daily rehabilitation training independently.

The invention provides a tail end executor of a fragrant pear picking robot, and a picking method. The tail end executor comprises a manipulator butt joint disc, a shell of a motor A and four knife rests, wherein the manipulator butt joint disc is in butt joint with a robot mechanical arm, the shell of the motor A is connected with the manipulator butt joint disc and is positioned in a transmission mechanism, and the four knife rests are connected with connecting rods of the transmission mechanism and an installation frame. The method comprises the following steps of accessing points by usinga camera, carrying out fixation by using a sucking disc, carrying out cutting by utilizing arc-shaped blades, withdrawing the mechanical arm to release fragrant pears, and the like. According to the invention, shearing efficiency is improved, time consumption for carrying out image recognition and segmentation on fruit contours and fruit stems by a sensing mechanism is reduced, precision quality of picking operation is guaranteed, picking difficulty is lowered, and operation efficiency is improved

The invention discloses a cooperative control method of a left-opened-door bus special phase setting and social traffic flow, which comprises the following steps: setting a bus station and a stereo facility which help pedestrians to cross a street; detecting a bus; determining the running time of the bus; determining a signal phase of the bus which drives through an intersection; and setting the bus special phase and a cooperative control plan. According to the invention, the bus stations in two directions are combined and placed at a median strip of the intersection, so that not only the land is saved, but also the bus station points are easier to recognize, and meanwhile, a new concept for planning and constructing of a public transit network is provided, that is, the public transit network is connected based on the bus stations arranged at intersections. With the adoption of the method, the situation that the bus does not stop at an intersection without a bus station while stops at an intersection with a bus station can be basically realized, so that passengers waiting for a long time at an intersection with a bus station can be avoided, thereby shortening the whole driving time of the bus and improving the whole operation efficiency of the bus system. Moreover, the method is functioned as the cooperation of the social traffic flow, so that the passing efficiency of the whole intersections is guaranteed.

The invention discloses a fuel cell air supply system. The fuel cell air supply system comprises a fuel cell pile used for performing power generation through an electrochemical reaction, an air compressor used for conveying air to the fuel cell pile, a motor used for driving the air compressor to work, an electric power conversion apparatus used for regulating the electric power supplied to the motor, a temperature regulation apparatus and a humidity regulation apparatus used for regulating the temperature and humidity of the supplied air to satisfy target parameters, a sensor assembly used for measuring the pressure, temperature, humidity and flow of the supplied air, and the rotary speed of the air compressor, a bypass branch used for discharging the residual air in the flow, a bypass valve used for controlling the starting area of the bypass branch, an air filtering apparatus used for filtering impurities from the supplied air, and a controller used for controlling operation of each module. By taking a negative electrode air inlet system as one integrated body to perform independent consideration and control, air with the most suitable parameters is supplied to the fuel cell pile accurately.