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The invention discloses a control method of a manipulator grabbing control system based on binocular stereoscopic vision. The control method comprises the following steps: camera parameters are calibrated, and a teaching manipulator is used for realizing conversion of a camera coordinate system and a manipulator coordinate system; line laser performs an arc surface scanning cloud motion, and a camera acquires images; laser lines of the images shot by the camera are respectively extracted; the positions of the laser lines are precisely determined by using a sub pixel algorithm; the homonymy point matching is performed for the laser lines extracted in the images; three-dimensional space coordinates of all points on the laser lines are calculated through a triangular measuring principle to finish scanning of workpieces in a scene so as to obtain point cloud data in the viewing field of the camera; a workpiece point cloud template is built, a manipulator grabbing point position is selected, and the obtained point cloud data is matched with the workpiece point cloud template to calculate a conversion relation of the two; the manipulator grabbing point position in the point cloud template is converted to a present coordinate, is converted to a coordinate under the manipulator coordinate system, and is transferred to the manipulator; and the manipulator finishes actuation actions.

The invention relates to a position and attitude parameter measurement system of a machine body of a boring machine and a method thereof, and the position and attitude parameter measurement system consists of a line laser transmitter, a rack of the line laser transmitter, laser targets, a programmable computer controller, an A/D conversion module and two inclination sensors. The line laser transmitter is positioned by a laser direction indicator and the rack of the line laser, emits a fan-shaped laser beam and forms linear spots on the machine body of the boring machine. An photosensitive element in one position on one of the two laser targets consisting of the photosensitive elements senses the laser beam and generates a current signal at any time, and the current signals are processed and calculated by an internal circuit of the laser targets and the programmable computer controller, thereby determining the positions of the laser beam on the laser targets; furthermore, the mounting positions of the laser targets on the boring machine are known, thereby obtaining a deflection angle and deflection displacement of the boring machine. Two inclination sensors measure a pitch angle and a roll angle of the boring machine, thereby completing the measurement of position and attitude parameters of the machine body of the boring machine. The system has the advantages of low cost, high precision, good real-time property and convenient operation.

The invention relates to a three-layer sandwiched composite eiderdown flake and a manufacturing method thereof. The three-layer sandwiched composite eiderdown flake comprises a lower flake, a middle flake and an upper flake; the upper flake comprises animal and plant fibers and low-melting fibers; the middle flake comprises eiderdown fibers, animal and plant fibers and low-melting fibers; the lower flake comprises animal and plant fibers and low-melting fibers; and the upper flake, the middle flake and the lower flake are thermally fused together. The manufacturing method comprises the following steps: manufacturing the lower flake by using the animal and plant fibers and the low-melting fibers by cotton blending, cotton carding and lapping; manufacturing the middle flake by cotton blending, opening and lapping of the animal and plant fibers and the low-melting fibers, paving of the eiderdown fibers and air laying, and paving the middle flake above the lower flake; manufacturing the upper flake by using the animal and plant fibers and the low-melting fibers by cotton blending, cotton carding and lapping, and paving the lower flake above the middle flake; and thermally fusing the lower flake, the middle flake and the upper flake together.

A method for executing single-key multi-pattern includes setting a specific application pattern key on portable digital data processing device, ejecting out and item selection after said key is pressed for providing specific application pattern being able to be executing then enabling user to use only single application pattern key to execute multiple application pattern.

The invention relates to a hydroxyl oxidize iron-nickel-iron hydrotalcite integrated oxygen evolution electrode applicable to alkaline mediums and a preparation method and application thereof. The electrode is applicable to the oxygen evolution reaction in the water-electrolytic hydrogen making process under catalytic alkaline conditions. The hydroxyl oxidize iron-nickel-iron hydrotalcite integrated oxygen evolution electrode and the preparation method and application thereof have the advantages as follows: the nickel-iron hydroxide integrated electrode is shape-controlled, the preparation process is simple and under mild conditions, and the electrode can be used for a water electrolytic tank for hydrogen production from water splitting under external bias potentials; the prepared hydroxyloxidize iron-nickel-iron hydrotalcite integrated oxygen evolution electrode further has a better performance when being used in an alkaline solid polymer electrolyte (AEM) water electrolytic tank; and besides, an extensive utilization value in achieved in regenerative fuel cells (RFC), photoelectro-catalytic devices and electrolytic hydrogen generators.

The invention discloses an adaptive control system based on a radial basis function (RBF) neural network sliding mode control for a micro-electromechanical system (MEMS) gyroscope, and the system comprises a gyroscope and a control circuit, wherein the control circuit comprises a sliding mode controller and an RBF neural network; the difference of displacement of the three-axis gyroscope in the directions of three coordinate axes x, y and z and displacement of a reference model is taken as the input of the sliding mode controller. In the adaptive control system, an adaptive sliding mode control method is applied in controlling the gyroscope, so as to improve the stability and reliability of the system; and the RBF neural network is adopted to carry out adaptive learning on upper boundary of uncertain interference, thus reducing the influence of measurement error and external interference, effectively lowering the occurrence of buffeting, and achieving a better control effect.

The invention relates to a fully-automatic multi-functional multi-mode integral bag making machine which integrates centralized sealing, three-side sealing, four-side sealing, bottom adding, folding and self set-up, and zippers, and manufactures packaging bags with a plurality of functions and in a plurality of modes fully automatically. The fully-automatic multi-functional multi-mode integral bag making machine comprises a non-stop film connecting unreeling device, a splitting and folding forming frame device, a self set-up device, a front longitudinal sealing machine body device, a middle machine body device and a rear machine body device; and the devices are sequentially connected in order. According to the fully-automatic multi-functional multi-mode integral bag making machine, all functions of existing various automatic bag making machines can be realized, the price is relatively lower, the integration is high, manpower, equipment, power and oil are saved, the efficiency is high, and the bag making machine has higher practicality.

The invention relates to a white light emitting diode which comprises a base, light emitting crystal grains arranged on the base, a first fluorescent layer which is arranged on the base and covers the light emitting crystal grains and a second fluorescent layer which is arranged on the first fluorescent layer and has a top area smaller than the top area of the first fluorescent layer; the light emitting crystal grains are positioned within orthographic projection range below the second fluorescent layer so as to increase the path length of the fluorescent layer that the forward light of the light emitting crystal grains passes through and improve the color evenness of the white light of the white light emitting diode.

The invention relates to a flow-based network node abnormity detection method and system. The method includes according to the historical network flow data of the node to be detected, acquiring a stable communication target set that includes a stable communication port set and a stable communication peer set; acquiring the multidimensional characteristic statistic threshold according to the stable communication target set and the historical network flow data of the node to be detected; and acquiring the real-time network flow data of the node to be detected, and detecting and evaluating the node to be detected according to the multi-dimensional feature statistical threshold. The method and system can detect the abnormal events such as the possible network attack in real time through the detailed division of the network flow features according to the network nodes forming the network flow data, thereby being high in detection accuracy.

The invention relates to a pose measure system of a cantilever type heading machine. The pose measure system comprises a laser pointing rangefinder and an optical goniometer. The pose measure system is characterized in that: the laser pointing rangefinder respectively emits a visible laser and an infrared ranging laser; the visible laser forms an image on a focal plane of a convex lens of the optical goniometer through the convex lens; a direction angle alpha<,> and a pitch angle beta<,> of a optical axis of the optical goniometer relative to a laser beam are obtained through image point coordinates. Because a preset optical axis of the optical goniometer is parallel to a fuselage axis of the heading machine, the alpha<,> and the beta<,> are the direction angle and the pitch angle of the fuselage axis relative to the laser beam. A spinning angle gamma of the fuselage relative to a horizontal plane can be obtained through a tilt angle sensor installed parallel to a datum plane of the heading machine. Therefore, influence on measurements of the direction angle alpha<,> and the pitch angle beta<,> due to the spinning angle gamma is corrected so as to complete the measurements of the direction angle alpha<,> and the pitch angle beta of the heading machine relative to the laser beam, and the spinning angle gamma of the heading machine relative to the horizontal plane. With the present invention, a range between the fuselage of the heading machine and the laser pointing rangefinder can be obtained through the infrared ranging laser; a position coordinate of the heading machine can be obtained through combining the position coordinate of the laser pointing rangefinder and parameters of emission angle of the laser beam; tunnelling workload and other information can be obtained through system output data.

This invention relates to a LLC serial resonance converter and its synchronous commutation power switch drive method, in which, said converter includes a bridge circuit, a resonating network, a transformer, a commutation circuit and a frequency adjustment controller, in which, said bridge circuit contains at least a pair of power switches driving the resonant network, the commutation circuit includes at least a pair of synchronous power switches corresponding to the power switch, in which, the frequency adjustment controller provides driving signals of the power switch based on the working frequency of the LLC serial resonant converter and the serial resonant frequency of the resonant network so as to realize the synchronous commutate function.

A method for analyzing accelerant of electroplated copper includes placing copper electrode in electrolyte containing organic additives to let copper electrode absorb accelerant containing sulphur, using pure water to wash copper electrode absorbed with sulphur compound then placing copper electrode into deposit-electrolyte containing polyethylene glycol and chlorine ion and carrying out cathode circulation VA scan to deposit down copper metal, carrying out integration on obtained polarization curve to prepare out detection line. The deposit-electrolyte used in said method is also disclosed.

The invention relates to a plastic injection mould, in particular to an automatic in-mould edge gate cutting injection mould comprising a fixed mould, a movable mould, an ejecting mechanism, a guide post and a guide bush which are used for connecting the movable mould and the fixed mould, and a gate cutting device, wherein the gate cutting device comprises a plurality of resetting rod slide holes positioned on an edge gate of an injection part and penetrating a fixed mould core and a fixed mould plate, and a plurality of cutter slide holes penetrating a movable mould core, resetting rods are arranged in the resetting rod slide holes, and cutters are arranged in the cutter slide holes; the cutters abut against the end faces of the resetting rods which are fixed with a fixing plate of the fixed mould; the cutters abut against a movable mould plate through springs; a separation inhibiting device is arranged between the fixed mould plate and the fixing plate of the fixed mould, and a mould separating damper is arranged between the fixed mould plate and the movable mould plate. The mould opening force of an injection machine is used for cutting off a gate runner in the process of mould opening; and concretely, the cutters do shearing movements opposite to the edge gate of the part through the spring force at the bottoms of the cutters to automatically shear and separate the injection part and the gate, and therefore, the automatic in-mould edge gate cutting injection mould dispenses with the subsequent process of cutting off the gate.

The invention relates to a high-pressure disc milling device integrated with the functions of milling, drying and flour screening, and a processing method thereof. An upper mill disc and a lower mill disc of the main machine are overlapped and arranged horizontally; an adjustable pressing force can be applied downward onto the fixed mill disc through a plurality of oil cylinders and accumulators; the milling areas with point contact, linear contact and face-contact between the two mill discs produce multiple crushing and milling effects. After forced separation of the milled materials, the finished products enters into the recovery device following the air flow through the upper outlet; the coarse particles move downward and are expelled from the discharge opening and are fed into the mill for re-milling by a recycling system arranged outside of the mill. All the lubrications of the mill are provided by a centralized concentrated thin-oil lubricating station and a lubricating grease station. A pressure-adjustable hydraulic station supplies hydraulic oil to the operating cylinders and accumulators, as a result, the milling force is adjusted; the device has strong adaptability to various materials and varied water contents, and has ultra-strong pressing, shearing and milling function, and has the advantages of small land occupation, low power consumption and high efficiency.

The invention relates to a method for measuring blast burden shape and burden flow trajectory with the laser range-finding technique, which mainly includes the following steps: fetching the point group data in the blast furnace by the laser scanner equipped on the upper part of the blast burden with laser scanning method, rebuilding a three-dimensional model from the point group data by computer, achieving the measurement of blast burden shape, measuring the burden flow trajectory by the two-dimensional laser scanner equipped above the blast burden to form a blanking curve down from the hopper, and integrating the curve with the three-dimensional model by computer, for operators to confirm whether the blanking position is in accordance with the original set position, and according to the result verifying the burden distribution angle and burden turns number. The invention mainly uses the characters that the laser scanner is rapid, stable and accurate and the measurement is not affected by the blast furnace environment, coordinated with the computer process, which can be applied in blast burden investigation of the burden surface after burden distribution and the burden flow trajectory, in order to provide an accurate and practical measure method.

The invention discloses a dynamic payment system and a method based on asynchronous communication technique. The system includes a payment card, a cardholder mobile terminal, a payment terminal, a payment card system server, and one or more third party payment systems. The dynamic system achieves one card being integrated by multiple cards and offline payment. The dynamic payment method is further linked with other accounts of a cardholder through the relevance between the payment card and the mobile terminal, so that the cardholder can choose different accounts according to different payment scenes, and the security and choosability of the payment and choice can be improved.

The invention relates to a method for preparing wood-plastic composite materials. The method comprises the following steps: 1) thoroughly mixing 50-100 weight parts of wood powder with 40-200 weight parts of fillers with a high-speed mixer, adding 1-20 weight parts of finishing agents into the high-speed mixer, and stirring at 80-120 DEG C for 10-20 min; 2) adding 10-20 weight parts of addition agents in the resulting powder mixture, stirring for 3-6 min to allow uniform dispersion; 3) delivering the resulting mixture produced in the step 2) to a fluidized bed dryer for drying until the water content is below 3%, granulating by using a ring mould pellet mill to obtain pressed pellets; and 4) mixing resin granules with pellets at a weight ratio of 1:(1-2) and extrusion-molding to obtain the final product. The preparation method is implemented by pressing and pelletizing wood powder, mixing wood pellets with plastic granules and conducting extrusion processing, overcomes material feeding difficulties, and can double the yield and increase production capacity.

The present invention relates to a wafer packaging with array pads and its processing method. The wafer packaging mainly includes even numbers of wire-bonded pads, a wafer, even numbers of welding line and a sealing colloid. An upper and a lower combination layers are separately formed on cores of the wire-bonded pads, in which materials of the cores include copper. These welding lines electric connect the wafer with the upper combination layer of the wire-bonded pads. The sealing colloid seals these welding lines, cores and upper combination layers, in which only the lower combination layers are exposed out of the sealing colloid. The present invention can solve the former rusting problem of exposed cutting surface of pins in non-external-pin wafer packaging of conductor frame substrate, and has array pads which can achieve high density of wafer packaging. The processing method of the present invention keeps using a rigid conductive mold in packaging process to carry steps of electroforming, wafer attaching, wire bonding and packaging to achieve coherence of the packaging process.

The invention relates to a system and a method integrating road surface runoff collection, purification, storage and utilization for plants. A biological planting groove lower than a road surface is used for collecting and processing road surface runoff at an initial stage and formed by stacking a planting soil layer, an infiltration filtering layer, a supporting layer, a water storage layer, an impervious layer and the like from the top to the bottom. The road surface runoff at a later stage is collected in a level observing well separated in the groove through an overflowing groove on the side of the biological planting groove and can be discharged directly through a lateral wall water discharging pipe. The collected road surface runoff at the initial stage is calculated according to an area rainstorm intensity formula and collecting time, and on the basis of the calculated road surface runoff at the initial stage, filling material texture and thickness, soil infiltration capacity, a soil surface distance and an overflow distance are combined to distribute filling materials of the planting soil layer and the water storage layer. Storage water is extracted by an extraction device and utilized for road surface plants. The system and the method are applicable to collection, processing and comprehensive utilization of the road surface runoff which is at the initial stage and has a pollution effect and emergency management of a road environment under the condition of leakage of dangerous goods during transportation.

The invention relates to a warning system for safety monitoring of a tailings storehouse. The warning system comprises a system integration which synthesizes GPS dam body deformation monitoring data acquired, dam body phreatic line monitoring data, dry shoal namely deposition shoal monitoring data, and storehouse region water level and rainfall amount monitoring data to perform analysis, judgment and early warning through an intelligent expert software system, and can perform real-time monitoring in a video mode. The system adopts a structural configuration of three levels of structural frames: a bottom layer structural frame as an original data acquisition layer, a middle layer structural frame as a data processing layer, and a top layer structure frame as a user layer, which adopt an expert software subsystem to give corresponding calculation results to the data in a database according to different requirements of users. The warning system adopts optical fiber cables and wireless transmission communication equipment as carriers to form a network system specially for safety monitoring and warning for the tailings storehouse, and adopts the modern science and technology to perform the safety monitoring and warning work for the tailings storehouse, thereby sufficiently satisfying the requirements on safety management of tailing production by mining enterprises and meeting the actual demands for the safe production by the mining enterprises.

The invention discloses an autonomous positioning and directing system and method of an excavator and belongs to the field of autonomous cruising of the excavator. The system comprises a programmable computer controller, an autonomous walking positioning base station group, a gyro north finder, a tilt sensor, and excavator body positioning boxes, wherein the position of the positioning base station group is known with respect to a roadway coordinate system, three-dimensional coordinates of three excavator body positioning boxes with respect to the positioning base station group are detected in order by an ultra-wideband radio pulse ranging method when the excavator travels, and posture parameters of the excavators are calculated according to the three-dimensional coordinates; when the excavator stops, the posture parameters of the excavator are re-corrected through the gyro north finder and the tilt sensor; when the excavator travels out of an effective detection range of the system, four autonomous walking positioning base stations move forward in order according to an autonomous calibration strategy, and three-dimensional coordinates of the base stations are updated. Therefore, fully-automated positioning and directing of the excavator during roadway excavation is achieved.

The invention relates to the field of plastic injection molding moulds, and particularly relates to a large-area ultrathin plastic part injection mould. The mould comprises a static mould and a movable mould, wherein the static mould is composed of a static mould fixing plate, and the static template and a static mould core, a movable mould composed of a movable mould fixing plate, a pad, a movable template and a movable template core; the static template is a thickened static template; the pad is a whole square thick steel block; an ejection device is a push board ejection device; an exhaustsystem comprises a group of exhaust plates at the bottom of a mould cavity, an exhaust groove at the periphery of the mould cavity and an exhaust channel connected with the exhaust plates and the exhaust groove; and a compressed air blow pipe leading the exhaust channel to generate negative pressure is arranged on the exhaust channel. The mould has high strength, the service life is up to 2 million times; the exhaust is smooth, and adverse phenomena, such as insufficient filling, burning, air trapping, heavy fused connecting wire and the like, are prevented, so that the purpose of large area of 1,429mm<2> and ultrathin of 0.18mm molding is achieved; and the extrusion or deformation of a product is effectively avoided by adopting the push board ejection device.

This invention relates to one dipped micro image exposure device and its method, which is suitable for dipped micro image bubble elimination during exposure period and comprises optical system to project light onto crystal circle through light cover and optical transfer chamber is near to above optical system to load exposure liquid; at least one million Hertz super wave board to combine to optical transfer chamber to generate sound wave to eliminate exposure micro bubble.

The invention relates to a lens system which is applicable to an LED street lamp and is matched with an LED illuminant for use to form light distribution with multiple Light beam angles and light intensities. A plane of light incidence of a lens in the system being close to the LED illuminant is a compound curved surface of an aspherical concave surface, and a light-emitting surface is a compound curved surface of an aspherical convex surface; the shapes of the incident surface and the emitting surface are determined by the luminescent properties of the LED illuminant and the requirement of the emergent ray; after the light ray emitted by the LED illuminant is refracted by the lens, facula formed on the irradiation surface within a certain distance has the characteristics of being comparatively long in the distance covered by the facula along one direction being vertical to the axes of the LED illuminant, being comparatively shorter in the distance covered by the facula along another direction being vertical to the direction, being symmetrical in the shapes of the faculas correspondingly to the axes of the LED illuminant, and taking on the distribution which is similar to rectangle. Similar plane isolux distribution curve shape as well as completely different maximum light intensity values of the light beam and half peak value light intensity light beam wrap angles can be obtained by the LED illuminant through different lenses, so that the lens system is especially suitable for the LED light fittings having the requirement of rectangle illumination scope.

The invention relates to a DC charging pile capable of simultaneous output from multiple pistols. The DC charging pile comprises an AC power module, power module groups, contactor groups, a master controller, charging pistols, CAN communication modules and a human-computer interactive module. In the DC charging pile, multiple groups of relatively small power units are arranged in parallel, multiple paths of independent simulation detection channels are designed, and the state detection demand of the pistols is met; multiple paths of DC loops independently output, each loop outputs from a positive end and a negative end of a DC bus through two DC contactors, and a DC high-speed fuse is configured at the lower ends of the DC contactors to isolate an external short-circuit fault of the DC loop; and after the charging pistol is connected with an electromobile, the charging pile charges according to the demands. Through a reasonable circuit design and a control strategy, the division and multi-path output of a power module are achieved, and the simultaneous output from multiple pistols is achieved; and meanwhile, two vehicles and more than two electromobiles are simultaneously charged, and high-power charging is carried out on a vehicle.