157results about How to "Taking into account the cost" patented technology

The invention provides a robot navigation method and device based on multi-sensor data fusion. The method comprises the following steps: establishing a map of a total environment according to data acquired by a laser radar sensor and data of an encoder; acquiring the current position of a robot in the map of the total environment in real time according to data acquired by a laser radar sensor, an accelerometer sensor, a gyroscope sensor and a magnetometer sensor, the map of the total environment and the data of the encoder; acquiring a planned route of the robot from the current position to a targeted position in real time according to the map of the total environment and the current position of the robot; and controlling the robot to keep away from barriers during movement by the data which are acquired by the laser radar sensor, a deep camera, an ultrasonic sensor and an infrared sensor and the data of the encoder. On the basis of reasonable utilization of the sensors to realize navigation of the robot, the method is flexibly applied to various scenes, costs are considered, and the autonomous navigation effect can be achieved.

The invention provides a gesture-adjustable coordinate decoupling robot with seven degrees of freedom. The robot comprises an Z-axis vertical lifting module, an X-axis horizontal moving module, a Y-axis horizontal moving module, a gesture adjusting module and a tool moving module which are successively connected. The robot comprises degrees of freedom of Z, X, Y, alpha, belt and gamma and L straight line degree of freedom. For degrees of freedom disposition, a redundancy control method is provided, where the gesture can be adjusted in advance and the coordinates are then fully decoupled. The control method comprises the following steps: firstly adjusting three rotating gestures of a tool to a certain angle; and then controlling the other four degrees of freedom, wherein the tail end of the tool reaches a certain position, that is, on the premise of maintaining the tool in a certain unchanged angle, the tail end of the tool is easy to reach a certain coordinate position, so that gesture angle control and coordinate position control are decoupled. According to the robot provided by the invention, the redundancy f the system is increased, and the robot is convenient to operate and control, and has a wide application prospect in special application environments such as industries, medical treatment and services.

The invention discloses a disk array caching method for a virtual SSD and an SSD isomerous mirror image. The disk array caching method comprises the steps that a disk is logically divided into two parts, wherein the upper half part forms an RAID0 or RAID5 structure to serve as the virtual SSD so as to back up dirty data in a real SSD, the virtual SSD is in a log writing mode, a ram writing cache is set, and the lower half portion is assembled to be of different RAID structures according to needs of users, and is used as a data array so as to store cold data; an address mapping Hash locating table between a data disk and the cache of the real SSD is built; a timer is set so as to regularly write data cached in the ram writing cache of the virtual SSD into the virtual SSD; a request from an upper layer file system is received; for a reading request, when the reading request is not hit in the real SSD, data are read from the data array. The disk array caching method gives consideration to performance, reliability and cost.

The invention discloses a heavy-copper step circuit board and a preparation method thereof. The preparation method comprises the working procedures of primary pattern transfer, pattern electroplating, film removal, secondary pattern transfer, tinning and alkaline etching. The preparation method solves the quality problem of a clamping film and the quality problems such as circuit nicks and unclean etching due to the fact that an anti-corrosion layer cannot be closely bonded with a circuit by a dry film technology by utilizing the production capacity of the available equipment and optimizing roll film, board grinding and etching processes; the whole preparation process is compatible with the traditional circuit board technology; and the quality and the cost can be compatible effectively.

The invention discloses a method for hoisting an entire oversized steel reinforcement cage in one step. The method mainly comprises the steps of: binding a steel reinforcement cage; arranging hoisting points and configuring a crane; connecting a main hoisting hook with the hoisting points; completing horizontal hoisting of the steel reinforcement cage; converting the steel reinforcement cage froma horizontal state to a vertical state; and directly hoisting the steel reinforcement cage in the vertical standing state to be in place by using a third crane. According to the invention, by jointlyhoisting the oversized steel reinforcement cage by using three hoisting equipment and by skillfully transforming the hoisting points in the angle transformation from the horizontal state to the vertical state, the oversized steel reinforcement cage is hoisted in one step without segmentation and structural variation, so that the efficiency in hoisting operation is increased, in addition, concretecan be poured, so that the advantages of construction safety, operability, capability of meeting construction period requirement and increased efficiency are achieved.

The invention relates to an ultra-deep foundation pit supporting method which comprises a single-row triaxial deep-mixing pile water-stop curtain, bored piles and upright steel posts, wherein the single-row triaxial deep-mixing pile water-stop curtain is lower than natural ground and is arranged along the periphery of a foundation pit in an enclosing way; the bored piles are sequentially arranged at intervals in the foundation pit and located on the inner side of the single-row triaxial deep-mixing pile water-stop curtain; the upright steel posts are arranged in the foundation pit and located on the inner sides of the bored piles; the tops of the bored piles are sequentially connected via reinforced concrete crown beams in a pulling way; reinforced concrete enclosing purlins along the periphery of the foundation pit are arranged in positions, which are not the height positions of floor slabs of underground floors, on the inner sides of the bored piles; the inner sides of the reinforced concrete enclosing purlins are connected in a pulling way via reinforced concrete enclosing purlin beams supported on the upright steel posts; the reinforced concrete enclosing purlin beams are in latticed pulling connection with the reinforced concrete enclosing purlins via a plurality of groups of inner reinforced concrete supports; filling plain concrete is arranged inwards at the bottoms of the bored piles; a baseplate is laid on the foundation pit and enclosed by the filling plain concrete; and more than one post-cast strip with support replacement pieces is arranged on the baseplate.

The invention provides a parking lot-vehicle cooperated intelligent parking system and a method based on robot vision. The system consists of a parking lot service center, vehicle-mounted equipment of an intelligent vehicle and a user mobile terminal, wherein the parking lot service center comprises a vehicle tracking module, a path planning module, a data management module and a communication module; the vehicle tracking module is used for detecting a vehicle target in a driving area of the parking lot, and obtaining the correct position, and comprises a global tracker, a plurality of local vision sensor groups and corresponding local trackers; the path planning module is used for planning a driving path from the current position of the vehicle to a terminal point; the vehicle-mounted equipment comprises a communication module and a vehicle control module; the vehicle control module is used for controlling the intelligent vehicle to automatically drive to the terminal point according to the path which is planned by the service center and received by the communication module; the user mobile terminal is used for sending the request information of driving into/out of the parking lot to the parking lot service center. The system is used for realizing the automation and intelligence of the vehicle driving into/out of the parking lot.

The invention discloses abrasion-resistant and friction-reducing emulsion. The abrasion-resistant and friction-reducing emulsion comprises 50 to 69 parts of polytetrafluoroethylene emulsion, 2.0 to 5.9 parts of chromium oxide, 2.5 to 5.4 parts of phosphoric acid, 0.2 to 0.4 part of lauryl sodium sulfate, 0.5 to 3.0 parts of abrasion-resistant additive and 20 to 40 parts of distilled water. The invention also relates to a preparation method for spraying the abrasion-resistant and friction-reducing emulsion on the surface of a soft metal. The method comprises the following steps of: preparing the abrasion-resistant and friction-reducing emulsion with the components; treating the surface of soft metal matrix; spraying the emulsion on the surface of the soft metal; drying the soft metal; sintering the soft metal; and quenching the soft metal. When the abrasion-resistant and friction-reducing emulsion of the technical scheme of the invention is coated on the surface of the soft metal, the friction coefficient can be reduced by 20 percent, and the abrasion amount ratio of the soft metal to the basis material is less than or equal to 0.5. The abrasion-resistant and friction-reducing emulsion can be widely used for surface treatment of the soft metal such as copper, aluminum and alloy thereof and the like at a friction and abrasion part of a gear pump side plate, a bearing bush, a bearing block hole, a cylinder barrel and the like, and has novel structure and originality.

The invention discloses a service function chain deployment method and device, electronic equipment and a storage medium, which are used for solving the technical problem that reliability and overhead cost cannot be considered at the same time in the existing VNF placement method. The method comprises the following steps: initializing bottom-layer network topology information and a service function chain SFC request; establishing a deployment cost optimization model by taking reliability and overhead cost weighted difference maximization as an optimization target according to the initialized underlying network topology information and the SFC request; solving the deployment cost optimization model according to a preset improved simulated annealing algorithm, and generating an SFC deployment scheme with an optimal weighted difference; and generating an initial path set according to the bottom-layer network topology information and the SFC deployment scheme, determining a target path from the initial path set, and outputting an optimal SFC deployment scheme based on a mapping relationship of preset resource equipment of the target path.

The present invention provides an automatic network switching method and device, and a mobile terminal. The method comprises: a mobile terminal detects whether the communication performance of a wifi network connected at present reaches a presetting performance requirement or not; and if the communication performance of a wifi network connected at present does not reach a presetting performance requirement, the mobile terminal is configured to switch the network connection from the wifi network to a mobile network. The automatic network switching method and device, and the mobile terminal are able to allow the mobile terminal to preferentially select the network with the communication performance reaching the presetting performance requirement and take the network cost into account.

The invention discloses a motion detection method which comprises the following steps: establishing a background model of a video image by using a random filtering algorithm; updating the background model according to the input video image, and acquiring a corresponding binary foreground picture and an integrogram of the binary foreground picture; extracting motion areas in the integrogram by using integral rectangles; clustering the motion areas so as to obtain a motion target. The invention further discloses a motion detection device. By adopting the technical scheme, the accuracy in motion detection is improved, both the property and the speed are taken into account, higher calculation cost is needless, and the method and the device are particularly applicable to embedded type monitoring equipment.

The invention discloses a storage system and a storage method thereof for a network computer, wherein the storage system also comprises a first flash memory and a second flash memory, wherein the first flash memory is used for storing BIOS codes of the network computer, and the second flash memory is used for storing an operation system and local data of the network computer. The invention realizes the storage requirements of the network computer operation system and the local application program, and can perfectly carry out version management and software upgrading on the network computer.

The invention discloses an implementing method for improving property of an embedded MCU (microprogrammed control unit). The method is characterized in that a processor, a processor interface, a data cache, an on-chip nonvolatile memory, a memory interface and a prefetching controller are arranged; the ratio relationship between the data widths of the on-chip nonvolatile memory and the processor is utilized, the data cache is used, and the reading of the on-chip nonvolatile memory is accelerated by a particular prefetching control method. Because of the technical and cost limitations, the reading rate of the on-chip nonvolatile memory is generally slower, and therefore the processing rate of the MCU is limited; to solve the problem, the special data cache and the prefetching controller are utilized in the MCU, the data throughput of the on-chip nonvolatile memory is greatly improved, namely the property of the MCU is improved; the digital logic design type ping-pong structure and flow process technique are adopted. The method has the advantages that the area is small, the cost is low, the rate is high, the implementing is easy, and the like.

An oil-electric combined charge long-distance all-electric ship with storage battery is disclosed, a pilothouse of a ship body is inside provided with a console, an electric propulsion device is arranged at stern, a battery pack is mounted at the bottom of the ship body, and the ship body is also provided with a thermoelectric generating set that is connected with a distribution board having a rectifier. By mounting the battery pack and the thermoelectric generating set on the ship, the invention can utilize two energies including shore power and high energy fuel, and can sufficiently utilize clean energy at locations where the shore power is present, in order to reduce smoke dust, noise, odor and oil/water pollution and to improve working environment on the ship. The invention regards the high energy fuel and the shore power as a composite energy to achieve energy balance, forms a ship electric station with the storage battery centered in a charging way in order to realize full-power propelling, and integrates the advantages of storage battery electric ship and traditional internal combustion engine ship with a view to double index of environment protection and energy conservation as well as endurance. The invention has the characteristics of accuracy control, high endurance, environment protection, energy conservation, and simple and convenient management and operation, and is the electric ship similar to oil-electric hybrid electric vehicle.

The invention belongs to the technical field of environmental protection and in particular relates to a block distributed noble metal composite oxide VOCs catalyst and a preparation method thereof. According to the technical scheme disclosed by the invention, for the block distributed noble metal composite oxide VOCs catalyst, cordierite honeycomb ceramics are taken as a carrier, and a basic coating is distributed on a honeycomb pore channel of the carrier, wherein the materials of the basic coating include gamma-Al2O3, ceria-zirconium solid solutions and oxide catalysts; and noble metal catalyst layers are distributed on the materials of the basic coating. According to the catalyst prepared by the invention, fast light-off of the catalyst can be realized, and the activity is greatly improved. Moreover, according to combustion heat generated after fast light-off, the catalytic reaction can be accelerated, so the indexes of the catalyst disclosed by the invention, such as the light-off temperature and conversion rate of organic gases, are superior to those of various existing catalysts.

The invention discloses a manufacturing method of an inner pressure pipe type multilayer composite film. The manufacturing method comprises: a, uniformly mixing a film forming polymer, a film forming diluent, a film forming penetrant, a film forming pore forming agent and a film forming additive according to a certain mass percentage ratio, heating to a temperature of 130-390 DEG C with an extrusion molding machine through a thermally induced phase separation method, melting, uniformly mixing, extruding with a pipe type film inner film mold, and cooling to obtain the inner layer film of a pipe type film; b, weaving a warp and weft mesh pipe outside the inner layer film by using a warp and weft weaving machine, wherein it is ensured that the warp and weft mesh pipe is tightly attached to the surface of the inner layer film; c, coating the inner layer film outer layer attached to the warp and weft mesh pipe with a layer of an outer layer film; and d, extracting the prepared inner pressure pipe type multilayer composite film semi-finished product by using ethanol or isopropanol to obtain the inner pressure pipe type multilayer composite film finished product. According to the present invention, the inner pressure pipe type multilayer composite film has advantages of good separation performance, good compounding fastness and good mechanical property, the area of the effective filtration membrane can be increased, and the breaking of the film pipe and the damage caused by the separating and the layering between the filtration membrane layer and the support layer can be effectively avoided, such that the use efficiency and the service life of the film can be improved.

The invention discloses a coal chemical industrial wastewater treating and recycling method combined with a coal dressing process, belonging to a wastewater treating and recycling method. Wastewater is subjected to pretreatment, biochemical treatment and coagulation treatment to be finally used as coal dressing water. The coal chemical industrial wastewater treating and recycling method specifically comprises the steps of: 1, introducing coal chemical industrial wastewater in a wastewater regulating tank into a pretreatment unit for being pretreated; 2, introducing the pretreated wastewater into a biochemical unit for being biochemically treated; 3, introducing the biochemically treated wastewater into a coagulative precipitation tank for being subjected to coagulative precipitation; and 4, introducing the wastewater subjected to the coagulative precipitation into a coal slime water buffer tank of a coal dressing plant to be used as the coal dressing water. Residual refractory organics in the coal dressing process are absorbed on surfaces of coal particles; and water is recycled in the closed cycle of the coal dressing plant. According to the coal chemical industrial wastewater treating and recycling method, coal chemical industrial wastewater is efficiently and economically treated and recycled, zero emission and recycling of the wastewater and organic pollutants in the wastewater are realized, the treatment cost is lowered, the environment is protected, and water resources are saved.

A process for synthesizing the polymerized multi-element carboxylic acid used as the anti-crease finishing agent of fabric includes such steps as proportionally dissolving maleic acid, itaconic acid and acrylic acid in water, stirring, introducing protective N2, slowly adding trigger while stirring for reacting at 45-95 deg.C for 1-5 hr, stirring for 1 hr, and adding ptlymerizing inhibitor.

The invention discloses a phone for realizing noise reduction of a voice input signal of a hand-free microphone and a noise reduction method. According to the invention, a phone receiver of a phone handle is opened while the hand-free microphone of the phone is opened for the hand-free mode call by the phone; a sound source in a hand-free mode is generally away from the phone, so that the hand-free microphone can be used for acquiring a near-end noise signal and a far-end voice signal of the phone; the phone receiver with a define directive property of the phone handle is basically and only can be used for acquiring the near-end noise signal of the phone and cannot be used for acquiring the far-end voice signal, so that all or part of near-end noise signals acquired by the hand-free microphone can be offset by the near-end noise signal acquired by the phone receiver without being additionally provided with any hardware and further the cost of the phone can be considered while the noise reduction of the voice signal input by the hand-free microphone of the phone is realized.

The invention discloses a shallow-trench half-super-junction VDMOS device and a manufacturing method thereof. The shallow-trench half-super-junction VDMOS device comprises a first conductive-type substrate, a first resistivity epitaxial layer located above the first conductive-type substrate, a second resistivity epitaxial layer located above the first resistivity epitaxial layer, two third resistivity epitaxial layers and well regions, wherein the third resistivity epitaxial layers are located on two sides of an upper surface of the second resistivity epitaxial layer and are extended to two groove areas of a bottom of the second resistivity epitaxial layer from the upper surface; the third resistivity epitaxial layers of a second conductive type is generated in grooves; the well regions are injected from two sides of an upper surface of a fourth resistivity epitaxial layer and are connected to the third resistivity epitaxial layers in the two grooves. In the invention, process flow cost is considered and manufacturing is convenient; and because of existence of a half-super-junction structure, a forward conduction resistance of the VDMOS device is greatly reduced and a unit area current conduction capability is high.