13results about How to "Solve void" patented technology

The invention discloses a passable map construction method for a leg-foot robot. The passable map construction method comprises the following steps: preprocessing acquired original point cloud information, inertia measurement information, latitude and longitude information and camera image information; performing error state Kalman filtering on the preprocessed point cloud information and inertial measurement information to obtain a rough pose of the robot; the precise pose of the robot is obtained through graph optimization; constructing a 2.5 D grid topographic map through extended Kalman filtering, and processing the 2.5 D grid topographic map to obtain a smooth and void-free grid topographic map; and extracting a normal vector in each unit grid in the grid topographic map, calculating the gradient, gradient change rate, roughness and passability in each unit grid, and maintaining a legged robot passable map in real time through extended Kalman filtering. According to the method, adaptive calculation of the passability of different terrains and materials in the real world is realized, so that the obtained passability graph is more credible.

The invention discloses a preparation method of a self-repairing negative carbon cement-based grouting material based on a gradient structure, which comprises the following steps: (1) adding carbide slag into water for fully soaking, then separating out a soaking solution, then introducing excessive carbon dioxide into the soaking solution to convert calcium hydroxide into calcium bicarbonate, and obtaining a mixing solution after completion; and (2) uniformly mixing the mixing liquid, a Portland cement-based grouting material and a microorganism-sodium alginate repair material to obtain the composite grouting material. (3) degassing the composite grouting material, and then carrying out ultrasonic treatment, so that one part of the microorganism-sodium alginate repairing material is diffused to the outer layer of the cement-based grouting material, and the other part of the microorganism-sodium alginate repairing material is embedded into the cement-based grouting material; thus, the characteristic that the concentration of the microorganism-sodium alginate repairing material in the cement-based grouting material is gradually increased from inside to outside and is in gradient distribution is formed, and the self-repairing negative carbon cement-based grouting material is obtained. The grouting material not only can repair shrinkage cracks, but also can fully fill a grouting material void area.

The invention discloses a stacked adiabatic liquid hydrogen spherical tank which comprises a liquid hydrogen spherical tank and a support mounted at the bottom of the liquid hydrogen spherical tank, and the liquid hydrogen spherical tank comprises a liquid hydrogen spherical tank outer wall and a liquid hydrogen spherical tank inner wall. The longitudinal partition plates and the transverse porous partition plates are arranged, so that the problem of cavities during small-amplitude shrinkage of the expanded perlite filler is effectively solved, meanwhile, the overall structural strength is improved, and the problem of pressure rise during temperature rise expansion of the expanded perlite filler is solved. The filler supplementing cavity is formed in the top of the longitudinal partition area, and meanwhile, the expanded perlite filler can pass through the transverse porous partition plate, so that when the expanded perlite filler is greatly shrunk, the filler in the filler supplementing cavity is supplemented, and an obvious cavity heat leakage point is prevented from being generated at the top of the liquid hydrogen storage tank. And the gas cooler and the inner-cooling adsorber are arranged, the gas cooler is driven to freeze by using the cooling capacity gradient of the low-temperature hydrogen, and the inner-cooling adsorber is driven to adsorb the gas influencing the heat insulation performance, so that the vacuum degree maintaining time in the liquid hydrogen spherical tank is prolonged.

The invention discloses a grid side wall imaging method. The method comprises the steps that a semiconductor structure which has a grid and a first side wall which covers the side wall of the grid is provided; a polycrystalline carbon layer is prepared to cover the surface of the semiconductor structure; the polycrystalline carbon layer is partially removed, so that a second side wall of the grid is formed on the surface of the first side wall; after a source drain implantation process is carried out on the semiconductor structure, the second side wall is removed; and a source drain annealing technology is continued. According to the grid side wall imaging method provided by the invention, through oxygenated plasma treatment, a polycrystalline carbon side wall which is used as a main side wall can be neatly removed; without using an SPT process which needs to be carried out in a specific etching cavity, the problem of void in a high stress through hole etching stop layer process can be solved; a process flow is simplified; and the production cost is reduced.

The utility model discloses a stable supporting system suitable for a double-T-beam structure, which structurally comprises a double-T-beam, end cross beams, embedded steel plates, plate-type rubber supports and support pad stones, and the end cross beams are respectively arranged on two end sides of the double-T-beam which is connected through cast-in-place wet joints. Embedded steel plates for supporting the plate type rubber support are arranged on the bottom end faces of two beam ribs at one end of the double-T beam, and embedded steel plates for supporting the plate type rubber support are also arranged on the bottom end faces of the middle parts of end cross beams of the two beam ribs at the other end of the double-T beam, so that triangular stable support is formed, and the plate type rubber support can be supported under the action of dead load and live load; the double-T-beam four-support disengagement problem is effectively solved, the top end face of the plate-type rubber support is connected with the embedded steel plate, the bottom end face of the plate-type rubber support is connected and supported to the support pad stone installed at the lower end, and the supporting effect is achieved.

The present invention provides a Butler matrix of a dual-beam antenna, including a first-stage bridge, a power division network, and a second-stage bridge, all of which adopt a gradient slot coupling structure of a multi-layer circuit board; the two output ends of the first-stage bridge are respectively connected to the input end of the power division network and / or the input end of the second-stage bridge, the two output ends of the power division network are respectively connected to the input end of the second-stage bridge and / or directly connected to the radiating unit of the antenna subarray, and the two output ends of the second-stage bridge are respectively connected to the radiating unit of the antenna subarray; the signal forms a P-channel output signal through the output end of the first-stage bridge and / or the output end of the power division network; the P-channel output signal is grouped according to the power size and connected to the input end of the second-stage bridge or directly connected to the radiating unit of the antenna subarray. The present invention also provides a dual-beam antenna having the Butler matrix. Thereby, the power ratio of the output signal of the Butler matrix of the present invention has the characteristic of changing with the frequency.

The utility model discloses a steel spring floating slab skew compensating plate, which is characterized in that a compensating plate main body is annular, one or two compensating angles extend outwards from the edge position, so that the compensating angles can be conveniently screwed into a void area in a rotating manner, and the compensating plate of a corresponding type is selected according to the void number before rotating and filling. The compensation plates with the corresponding number and thickness specification are selected according to the disengaging height, so that the disengaging area is fully filled, horizontal limiting in the installation process is guaranteed by arranging the blocking pieces on the inner sides of the compensation plates, the notches are formed in the inner sides of the compensation plates so that the compensation plates can be fixed through the positioning bolts, and loosening and disengaging caused by vibration are avoided.

The invention discloses a device and a method for removing an internal cavity of a semiconductor chip plastic package body. The removing device comprises a storage mechanism, a temperature awakening mechanism and an injection molding mechanism. The removing device adopts the storage frame to eliminate the problem that the plastic package material is affected with damp due to the fact that the plastic package material is easily affected by the external environment for a long time in the transportation and storage process. And in the material waking process, the plastic package material is accelerated to be waked, so that the plastic package material is prevented from being damped again within a relatively long material waking time (the self-waking time of the plastic package material at present is about 24 hours) on the basis of shortening the material waking time. And in the final injection molding process, the injection pressure of the injection head on the molding compound is adjusted, so that the problem that internal cavities are generated and increased due to the fact that the molding compound is easy to form a layered structure in the step-by-step injection molding process is solved, the problem of cavities in a semiconductor chip plastic package body is solved on the whole, and the plastic package quality is improved.

The application belongs to the technical field of image processing, and particularly relates to a numerical control machine tool cutter wear recognition method and system based on image processing, comprising the following steps: acquiring a cutting edge image of a cutter to be recognized, and inputting the cutting edge image into a pre-trained boundary perception refinement network; the boundary perception refinement network extracts a multi-scale feature map through an encoder, and utilizes an initial prediction module to generate a global probabilistic initial wear area mask and an initial boundary direction field in parallel according to the highest layer semantic features output by the encoder; and a semantic guided multi-scale directional boundary feature map and a boundary clear wear area mask are generated according to the probabilistic initial wear area mask and the initial boundary direction field. The application has good stability to illumination changes, oil stain interference and geometric deformation of wear morphology in the cutting edge image, and improves the reliability of cutter wear recognition.

The utility model relates to the technical field of oil and gas well development, and discloses an underground gas storage well fixing device which comprises a driving piece, a connecting assembly, an elastic piece and a supporting mechanism. The driving part drives the supporting mechanisms to support the well wall through the connecting assemblies and the elastic parts, the multiple supporting mechanisms are arranged at intervals in the length direction of the well wall, when the well wall with different diameters is faced, the driving part drives the connecting assemblies to move, and the connecting assemblies control the supporting mechanisms to be unfolded and supported on the well wall through the elastic parts. The elastic piece can have large deformation quantity for the well wall with the small diameter, and the elastic piece can have small deformation quantity for the well wall with the large diameter so as to support well walls with different diameters, and the technical problem that in the prior art, due to the fact that well wall supporting is not comprehensive, cavities and gaps appear after collapsing impurities are doped in cement paste is solved. The technical effects that the positions with different diameters in the well wall can be supported, and the situation that the well wall collapses to affect the cement paste pouring quality is avoided are achieved.

The invention discloses a building extraction method based on a high-resolution network, and belongs to the field of image processing and machine vision detection. In order to solve the problems of void phenomenon, poor boundary precision, missing extraction and mistaken extraction of small-sized buildings and the like existing in high-resolution remote sensing image building extraction of an existing deep learning method, the method adopts a multi-stage network optimization strategy: firstly, obtaining a high-resolution building data set; and expanding the training set by adopting a data enhancement technology of sample random rotation transformation, Gaussian filtering boundary enhancement, HSV-based color space transformation and standard deviation-added random Gaussian noise. Sequentially integrating object context representation (OCR) modules on the HRNet backbone network to reduce internal holes; introducing a boundary refinement post-processing Segfix module to carry out direction-guided pixel-level correction on an output boundary so as to optimize the building boundary; a rotary variable-size window attention (RVSA) mechanism is embedded in a down-sampling layer, and the capacity of capturing small target features is enhanced through a dynamically changing window. And finally, end-to-end training is carried out on the constructed model by using an enhanced data set, accurate and complete extraction of the building is realized, and an efficient and reliable solution is provided for scene applications such as urban planning and disaster assessment.

The invention discloses a beam optimization method, a beam optimization device and electronic equipment. The method comprises the following steps: obtaining the working parameter data of a high-speed rail line, the working parameter data being at least used for representing the setting information of base stations along the high-speed rail line; the coverage area of a first antenna of the base station is determined according to the working parameter data, the coverage area is divided into a plurality of coverage sub-areas, and the plurality of coverage sub-areas are sub-areas covered by the wave beam in different time periods; determining a starting position and an ending position of the beam corresponding to each coverage sub-area; and determining beam pattern parameters of the beam in each coverage sub-region according to the working parameter data and the starting position and the ending position of the beam. According to the method and the device, the technical problem of cavity or cross-area coverage caused by the fact that accurate coverage of a high-speed rail line cannot be realized by beam configuration in related technologies is solved.

The utility model discloses a bridge support adjusting mechanism, which relates to the technical field of bridges and comprises a height adjusting component and a movable component, and the bottom end of the height adjusting component is used for being fixedly connected with a bridge pier; the movable assembly is movably arranged at the top end of the height adjusting assembly; the top end of the movable assembly makes contact with the bottom end of the plate-type rubber support, and the top end of the plate-type rubber support is fixedly connected with a bridge. The utility model is used for solving the problem of partial disengagement of the plate-type rubber support.