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Process for dyeing fabrics by combining with plasma and ultrasonic and special device thereof

The invention relates to the field of fabrics dyeing and finishing processes, in particular to a process for dyeing fabrics by combining with plasma and ultrasonic and a special device thereof. The special device comprises low-temperature normal-pressure plasma equipment, grafting reaction equipment, ultrasonic dyeing equipment, a rinsing bath and two groups of control systems, wherein the low-temperature normal-pressure plasma equipment, the grafting reaction equipment, the rinsing bath and the ultrasonic dyeing equipment are sequentially connected, one group of control systems is connected with the low-temperature normal-pressure plasma equipment, and the other group of control systems is connected with the ultrasonic dyeing equipment. The invention organically combines the low-temperature normal-pressure plasma equipment and the ultrasonic dyeing equipment, solves the problem that the dye uptake and the dyeing quality can not improved in a process of dyeing fabrics in a high crystalline region or solves the problem of high energy consumption and high pollution in the dyeing process, and can effectively realize that the dye uptake and the dyeing quality can be improved while realizing environmental-friendly production with low energy consumption and low pollution.
Owner:CHINA TEXTILE ACAD JIANGNAN BRANCH

Unmanned aerial vehicle formation form automatic generation method and device

The invention provides an unmanned aerial vehicle formation form automatic generation method. The method comprises the following steps: 1) determining resultant force of repulsion forces applied to each unmanned aerial vehicle by other unmanned aerial vehicles in a preset unmanned aerial vehicle formation form fitting pattern in unmanned aerial vehicle formation; 2) calculating tangential components of the resultant force of the repulsion forces in the formation form fitting pattern; 3) determining displacement amount and displacement speed of the unmanned aerial vehicle along a track line/surface of the form fitting pattern according to the tangential components; 4) carrying out position adjustment along the track line/surface of the form fitting pattern according to the determined displacement amount and displacement speed; 5) judging whether the current position meets a position adjustment end condition, if so, carrying out the step 6), and if not, carrying out the steps1)-4) circularly; and 6) taking the form formed after position adjustment of all unmanned aerial vehicles in the unmanned aerial vehicle formation as the form of the generated unmanned aerial vehicle formation. The method and device can enable unmanned aerial vehicles to change formation forms to meet the requirements of environment transformation and fleet quantity increase and decrease.
Owner:ZEROTECH (SHENZHEN) INTELLIGENCE ROBOT CO LTD
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