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793results about How to "Solve the blockage" patented technology

Accompanying robot path planning method and system based on obstacle virtual expansion

The invention discloses an accompanying robot path planning method and system based on obstacle virtual expansion. The method includes a step of constructing an environment map, namely a step of constructing a two-dimensional occupancy grid map according to an actual scene, with each grid being labeled as an obstacle zone or a walkable zone; a step of setting initial coordinate positions of an accompanying robot and a movable target in the grid map; a step of constructing a sliding window for the robot; a step of subjecting the obstacle zones to expansion processing, namely a step of performing initial expansion on grids where an obstacle is according to a shortest distance between the center of the robot and a body edge, determining the number of grid layers expanded on the basis of the minimum impassable zone, adopting the grids in the expanded zones as obstacle virtual expansion grids, and labeling the grade of danger of obstacle influences on the obstacle virtual expansion grids; and a step of planning a path for the accompanying robot based on an A* algorithm and an incremental path planning process. Incremental path updating is performed by adopting a path of the last moment,thus saving path planning time and increasing the response speed of the accompanying robot.
Owner:QILU UNIV OF TECH

Steam stripping method of process condensate in CO conversion

The invention relates to a steam stripping method of process condensate in CO conversion. The invention is characterized in that the process condensate firstly enters the upper part of a carbon dioxide steam stripping tower for flashing evaporation; secondary steam from the upper part of an ammonia-evaporated steam stripper tower enters the bottom part of the carbon dioxide steam stripping tower and steam strips carbon dioxide by countercurrent contacting with the process condensate after flashing evaporation; the process condensate after flash evaporation and the steam stripped carbon dioxide carry out countercurrent contact; the process condensate after flash evaporation and steam stripping enters the upper part of the ammonia-evaporated steam stripper tower from the bottom part of the carbon dioxide steam stripping tower and is steam-stripped by low-pressure steam entering from a kettle of the ammonia-evaporated steam stripper tower; gas phase is treated by secondary condensation to obtain non-acid-coagulated gas and condensate sewage; and steam stripping water is obtained from the bottom part of the ammonia-evaporated steam stripper tower. The invention carries out steam stripping on the upper and lower towers to carbon dioxide and ammonia in the process condensate respectively, thus avoiding the possibility of coexistence of carbon dioxide and ammonia in a condensing system, effectively solving the problem that the steam stripping system of the process condensate in the conversion procedure occurs ammonium salt crystallization blockage and prolonging the period of stable operation of a conversion device.
Owner:CHINA PETROCHEMICAL CORP +2

Quadruped robot path planning method and system based on improved A* algorithm

The invention discloses a quadruped robot path planning method and system based on an improved A* algorithm. The method comprises the steps of constructing an environment raster map,and representing aquadruped robot and a target position through raster coordinates; on the basis of the smallest distance between the edge of a robot body and the center of the quadruped robot,performing initial expansion on the raster where a barrier is located,and enabling the barrier and the raster obtained after initial expansion to jointly form the minimum impassable region; according to the the safe distanceneeded by actual operation of the quadruped robot,determining the outward expansion raster layer number on the basis of the minimum impassable region,and adopting the raster obtained after outward expansion inside the region as a barrier virtual expansion raster; utilizing the improved A* algorithm for determining a passing price value from the initial raster and the target raster,and determiningthe corresponding path obtained when the passing price value from the initial raster point to the target raster point is minimum is determined as the optimal path. The problem that a narrow channel is blocked can be avoided while the quadruped robot is driven to move away from the barrier.
Owner:QILU UNIV OF TECH

Multi-beam ad hoc network channel access control method

The invention discloses a multi-beam ad hoc network channel access control method, aiming at providing an access control method which has a high channel utilization rate and can improve the network performance. The method of the invention is implemented through the following technical scheme: for a distributed multi-beam scene, combining the characteristics of multi-beams, utilizing the broadcastchannel characteristics of an omni-directional network and the high bandwidth and high directivity characteristics of a directional network, using the short message protocol interaction between nodes,and assisting to complete the high-rate parallel transmission of multiple nodes on a directional link; using space division multiplexing among the nodes to achieve the concurrent communication between multiple transmission nodes and multiple receiving nodes; when a network cluster head node receives RTS frames of all other nodes, running a multi-beam ad hoc network channel access allocation algorithm; and searching an optimal transceiving node pair set in each time slot, finding an edge set with the maximum network capacity as a channel access allocation result of each node in the next directional link time slot, and further implementing the simultaneous multi-transmission and multi-reception of the multiple nodes at the same frequency.
Owner:10TH RES INST OF CETC

Method for acquiring nuclear fuel assembly resonance parameters

Disclosed is a method for acquiring nuclear fuel assembly resonance parameters. The method includes the following steps: building a commonly-used nuclide multi-group database and a changing curve of resonance peaks along with energy; distinguishing isolated peaks and dense peaks, wherein the interval where the isolated peaks are located is a resonance energy region low energy section with obvious resonance interference, and the interval where the dense peaks are located is a resonance energy region high energy section without obvious resonance interference; solving a subgroup total cross section, a subgroup partial cross section, subgroup probability and corresponding multi-group data coupling in the resonance energy region high energy section by using a subgroup method; coupling calculation of the resonance energy region high energy section and calculation of the resonance energy region low energy section through inter-group scattering from the high energy section to the low energy section, acquiring the resonance parameters of the high energy section, and then calculating a scattering source and a fission source from the high energy section to the low energy section; acquiring a multi-group neutron energy spectrum in a low energy region by using a wavelet expansion method; and merging and continuing the total cross section and the partial cross section by using the multi-group neutron energy spectrum of the resonance region low energy section to acquire the nuclear fuel resonance parameters of the low energy section. By means of the method, resonance parameters of nuclear fuel assemblies with any resonance material composition, any geometry and any quantity of resonance regions can be effectively acquired.
Owner:XI AN JIAOTONG UNIV

Polyhydroxyl hydrolyzed micelle acidolysis blockage removal agent and blockage removal technology

ActiveCN104371684ASolve the blockageSolve the problem of low success rate of unblockingCleaning apparatusDrilling compositionHigh concentrationPolyethylene glycol
The invention relates to a polyhydroxyl hydrolyzed micelle acidolysis blockage removal agent and a blockage removal technology. The polyhydroxyl hydrolyzed micelle acidolysis blockage removal agent is prepared by mixing the following compositions in percentage by mass: 0-30% of alcohol substances, 0-10% of polyethylene glycol, 1-40% of organic solvents, 0-20% of alkyl sulfonate, 0-20% of alkyl sulfobetain, 0-20% of polyoxyethylene ether, 0-20% of sorbitan monstearate, 0-20% of ammonium fluoride, 0-20% of organic acid, 0-20% of organic phosphonic acid, 0.5-2% of acidizing corrosion inhibitor, and the balance of industrial hydrochloric acid, then performing high-temperature high-speed stirring, adding other treating agents and evenly stirring; the blockage removal technology comprises the following steps: performing sand removal, injecting prepad fluid, then sequentially firstly injecting high-concentration polyhydroxyl hydrolyzed micelle acidolysis blockage removal agent solution and low-concentration polyhydroxyl hydrolyzed micelle acidolysis blockage removal agent solution, then injecting displacement fluid, finally injecting water to be filled in an oil pipe, reacting, and restoring the water injection. The blockage removal success rate is high.
Owner:西安胜特油田技术服务有限责任公司

Sample pretreatment integrated chip

The invention relates to a sample pretreatment integrated chip which comprises a cover plate and at least one layer of structure plate, wherein the structure plate is provided with micro grooves and at least three holes communicated with the micro groove; and the micro grooves are at least two of the following grooves: a separation groove having a micro structure of cross-flow separation or cross-flow filtration, a purifying groove having a solid phase extraction micro structure and a mixed groove formed by converging at least two secondary grooves. The sample pretreatment integrated chip has the pretreatment functions of separation, filtration, mixing, purifying, and the like, is used for the pretreatment of samples of blood, urine, and the like and gains analysis samples of DNA, protein, amino acid, and the like which satisfy the follow-up detection need. The sample pretreatment integrated chip separates or filters granules or cells on the basis of the principle of cross-flow separation or cross-flow filtration, ruptures cells on the basis of the principle of a chemical method and purifies target molecules on the basis of the principle of solid phase extraction. The invention develops the integrated micro-fluidic chip for the pretreatment of multiple samples by adopting the micro-electromechanical system technology, has at least two sample pretreatment functions and has continuous and efficient sample pretreatment effect.
Owner:INST OF ELECTRONICS CHINESE ACAD OF SCI

Method for continuously preparing white carbon black and ammonium fluoride by carrying out fluosilicic acid ammoniation

The invention discloses a method for continuously preparing white carbon black and ammonium fluoride by carrying out fluosilicic acid ammoniation, which relates to a chemical production method, in particular to a method for preparing the white carbon black and the ammonium fluoride. The method comprises the following steps: (a) at a temperature between minus 5 and 30 DEG C, starting a stirrer and an air compressor, blowing compressed air into an outlet pipe of a reactor by the air compressor and adding fluosilicic acid and ammonia into the reactor simultaneously; (b) when the fluosilicic acid and the ammonia are added to the position of an overflow pipe in the reactor, opening an emptying valve to continuously feed and discharge materials and controlling a PH value of the reaction, wherein the period of the continuous reaction is 24 hours; (c) in the reaction process, filtering the materials discharged by the step (b) to obtain a white carbon black filter cake and filtrate of ammonium fluoride, and washing and drying the white carbon black filter cake to obtain a white carbon black finished product, wherein the filtrate is ammonium fluoride solution; and (d) after performing a reaction for 24 hours in the reactor, emptying the materials, cleaning the reactor to be used next time and producing the white carbon black finished product by using the materials according to the step (c), wherein the ammoniation yield of the process can reach 99.99 percent. The method of the invention effectively overcomes the defects of the existing intermittent technology and has the advantages of continuous, stable and simple process and long operation period.
Owner:YUNNAN YUNTIANHUA +1

On-line calibrating method of inertia/astronomy combination system error

ActiveCN108592945AAvoid Pose Solving ProcessImprove performanceMeasurement devicesFixed starsCoupling
The invention discloses an on-line calibrating method of inertia/astronomy combination system error. According to the method, prior attitude information provided by strapdown inertial navitation is used to obtain a prediction coordinate of a fixed star coordinate at a star sensor image, a star atlas identification algorithm is used for realizing coupling of star point position through practical shooting and the predicted coordinate, accurate connection of deviation of a star point prediction image position coordinate and the practical star point image coordinate as well as error with inertialnavitation attitude, error with the star sensor internal and external parameters and the amount of dispersion with the star point coordinate can be established, and the estimation and compensation ofthe inertial navitation and the star sensor error can be realized by using a Kalman filtering algorithm. The method can realize global calibration on all error factors, increases the comprehensive performance of an inertia/astronomy combination navigation system, and can reach optimum combination. The method can avoid an attitude solving method of the star sensor, normal work of a filter in a viewfiled under less available star numbers (if the star number is less than 3), the effective rate of the observation information is increased, and the algorithm reliability is increased.
Owner:NAT UNIV OF DEFENSE TECH

Method and equipment for extracting dimethyl sulfoxide

The invention discloses a method for extracting dimethyl sulfoxide. The method comprises the following steps: inputting a raw material which contains dimethyl sulfoxide into a first evaporator, heating, partially evaporating, then carrying out vapor-liquid separation, and inputting an obtained vapor phase into a rectifying tower; inputting an obtained liquid phase into a second evaporator, heating, partially evaporating, then carrying out the vapor-liquid separation, inputting the obtained vapor phase into the rectifying tower, and inputting an obtained liquid phase into a wiped-film evaporator; extracting a dimethyl sulfoxide crude product from the tower kettle of the rectifying tower, inputting the dimethyl sulfoxide crude product into a third evaporator, heating, partially evaporating, then carrying out vapor-liquid separation, inputting the liquid phase into the wiped-film evaporator, and inputting the obtained vapor phase used as a heating medium back to the first evaporator, and naturally condensing to obtain purified dimethyl sulfoxide. The method disclosed by the invention can be used for greatly reducing the energy consumption in the recovery process of the dimethyl sulfoxide, preventing the problem of blockage of solid materials inside the rectifying tower and obtaining a dimethyl sulfoxide product with high quality and high recovery rate.
Owner:福建桦智工程技术有限公司

Synchronous fluorine-calcium removal treatment process for reverse osmosis concentrated liquor of waste water from lead-zinc smelting

ActiveCN104445717ADestroy scale inhibitionEnsure reaction precipitation effectWater contaminantsWaste water treatment from metallurgical processCalcium handlingReverse osmosis
The invention relates to a synchronous fluorine-calcium removal treatment process for the reverse osmosis concentrated liquor of waste water from lead-zinc smelting. The process comprises the following steps: firstly, removing fluorine by virtue of oxidation and precipitation, secondly, removing calcium by precipitating, thirdly, removing fluorine by virtue of adsorption, next, sequentially regenerating activated aluminum oxide, removing fluorine from the generated mixed liquor, removing calcium from the generated mixed liquor and treating the generated mixed liquor, and finally, removing fluorine by precipitating, wherein the precipitation sludge generated in the calcium removal process is gathered and dehydrated by virtue of filter pressing, the water obtained by filter pressing is returned to a reverse osmosis concentrated liquor collecting tank for circular treatment, and the mud cake is subjected to unified disposal. After the oxidization, precipitation and adsorption treatment processes are adopted, the fluorine content and the calcium content of the reverse osmosis concentrated liquor are lower than 3mg/L and 50mg/L, respectively, and the problems of scaling and blockage caused by fluorine ions and calcium ions in the subsequent evaporation and concentration process of the reverse osmosis concentrated liquor are solved.
Owner:SHENZHEN ZHONGJIN LINGNAN NONFEMET COMPANY +1

Vacuum system

The invention relates to a vacuum system which comprises a plurality of drainage sources, a plurality of vacuum conveying pumps, a sewage collecting part and a control center. Each sewage source comprises a drainage pool with a sewage outfall, a vacuum release valve, a vapor integrated double electromagnetic valve and a control device; and the sewage outfall of the drainage pool is connected with a discharge pipe of the sewage source by the vacuum release valve. The discharge pipe of the sewage source is connected with a sewage suction pipe by an isolation ball valve; the sewage suction pipe is connected with an inlet pipe of each vacuum conveying pump; and an outlet pipe of each vacuum conveying pump is connected with a sewage discharge pipe which is connected to the sewage collecting part. A pressure detection device in electric connection with the control center is arranged on the sewage suction pipe; and the vacuum conveying pump and the control center are in electric connection. In the vacuum system, the control center carries out intelligent control that one or a plurality of the vacuum conveying pumps are opened according to the detected vacuum degree of the sewage suction pipe; the vacuum system can ensure the vacuum degree of the sewage suction pipe to make sewage discharging smooth, effectively saves energy, has simple control, reduces cost, improves the reliability of the system and is convenient to maintain.
Owner:湖南真创环保科技有限公司
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