441 results about "Path system" patented technology

The invention relates to the technical field of photovoltaic equipment cleaning, and discloses an autonomous path planning system and method based on a photovoltaic cleaning robot. The system comprises an environment sensing module which is used for collecting three-dimensional point cloud data on the surface of a photovoltaic panel and reducing noise; the path planning module is used for constructing a topological map and optimizing a global path; the obstacle detection module is used for identifying obstacles and extracting physical attributes of the obstacles; the dynamic adjustment module is used for analyzing path conflicts and dynamically re-planning; and the execution control module generates a robot motion instruction. According to the method, through cooperative work of the modules, efficient path planning and cleaning work of the photovoltaic cleaning robot in a complex environment are achieved. Compared with a traditional cleaning mode, the cleaning efficiency and quality are improved, the cost is reduced, the adaptability of equipment to a complex environment is enhanced, and powerful technical support is provided for development of the photovoltaic industry.

The invention relates to a light path system for forming point ring light spots and a laser processing device. The light path system comprises a first light source, a first collimating lens, a first conical lens and a reflecting mirror which are arranged in the first linear direction. The second light source, the second collimating lens, the focusing lens and the second conical lens are arranged in the second linear direction, the reflecting mirror is located between the second collimating lens and the focusing lens, and the center of the reflecting mirror and the center of the second conical lens are each provided with a through hole allowing a second light beam emitted by the second light source to penetrate through; a first light beam emitted by the first light source passes through the first collimating lens and the first conical lens and then is reflected by the reflector, and the reflected first light beam sequentially passes through the focus lens and the second conical lens and then forms an annular light spot at the focus of the focus lens. A second light beam emitted by the second light source sequentially passes through the second collimating lens and the focus lens and then forms a point light spot located in the center of the annular light spot at the focus of the focus lens. The composite light spot of the center point light spot and the outer ring light spot can be formed, the structure is simple, and the manufacturing cost is low.

The invention discloses a general lens intelligent core adjustment method and system based on a lens library and optical simulation, and belongs to the field of optical lens core adjustment. Adding different simulation lenses into a simulation light path system, taking a clear extended image as input in each view field, calculating each view field point spread function matrix of the simulation lenses under different misalignment amounts, and taking the misalignment amounts as labels; obtaining an illuminance distribution matrix and a distortion distribution matrix corresponding to each misalignment amount at the same time; a series of ideal degraded images under different misalignment amounts are calculated, and simulation degraded images are obtained through optimization of the illumination distribution matrix and the distortion distribution matrix; the simulation degraded image and the misalignment label are used for training a universal lens intelligent core adjustment model, and intelligent core adjustment of lenses of the same optical structure can be achieved after fine adjustment. According to the method, aberration characteristic priori of a large number of simulation lenses is utilized to pre-train the core adjustment model, generalization of the model to different lenses is improved, and the purpose of performing quick core adjustment on any lens by only using one model is achieved.

The invention provides an unmanned aerial vehicle pose visual angle optimization method and system for fracture refined shooting. The method comprises the steps of performing fracture detection and boundary extraction on a coarse inspection image; recovering a camera track and sparse point cloud based on multi-view three-dimensional reconstruction, carrying out back projection and estimating a normal vector of a crack surface; constructing a shooting spherical shell with limited inner and outer radiuses by taking the crack point as a center, and generating a view cone and spherical shell intersection region allowed to be shot as a candidate set in combination with a normal vector; sampling in the candidate area to generate a plurality of candidate shooting points, and synchronously resolving the flight and holder integrated pose of the corresponding unmanned aerial vehicle; constructing a multi-target cost function including path length, attitude, pan-tilt angle and shooting error, and generating an optimal shooting point sequence and an inspection path through an optimization algorithm; the system realizes fine, efficient and automatic shooting of cracks in a complex structure environment through cooperation of multiple modules, and effectively improves the imaging quality and the detection precision.

The utility model discloses a liquid drop preparation instrument and an antibody screening device, and the liquid drop preparation instrument comprises a chip assembly which comprises a liquid drop generation chip and a liquid drop sorting chip, and the liquid drop sorting chip comprises a sorting electrode; the sample table is used for placing at least one of the liquid drop generating chip and the liquid drop sorting chip; the optical module is optically coupled with the sample table and is used for providing incident light to the sample table and collecting an optical signal generated by the biological sample or the liquid drop in response to the incident light; the liquid path system is in operable conduction with the chip assembly and is used for pumping a solution to the liquid drop generating chip or the liquid drop sorting chip; the control circuit can selectively call a first group of control parameters or a second group of control parameters, the first group of control parameters comprises a first control instruction, and the second group of control parameters comprises a second control instruction; the control circuit comprises a feedback control sub-circuit used for controlling the sorting electrodes. According to the liquid drop preparation instrument, liquid drop preparation can be carried out, and needed liquid drops can be rapidly sorted out.

Disclosed in the present invention is a photometric stereo-based device for rapidly detecting surface features of an object, capable of rapidly acquiring a plurality of images meeting the requirements of a photometric stereo algorithm. The device comprises a light emitting assembly, an acquisition assembly located above the light emitting assembly, and a data processing module; the acquisition assembly comprises a light path system and a camera group; the light path system comprises: a beam splitting prism group used for splitting reflected light from the surface of an object into a plurality of beams of light and respectively outputting the plurality of beams of light in different preset directions to form images to be processed, and a plurality of bandpass filters correspondingly arranged on the output sides of the plurality of beams of light used for forming said images, wherein the central wavelengths of the bandpass filters are respectively configured to be different wavebands of the reflected light from the surface of the object; the camera group comprises a plurality of cameras which are arranged behind the bandpass filters in a one-to-one correspondence mode and acquire filtered light beams; and the data processing module receives image information sent by the cameras, and performs compensation and photometric stereo reconstruction on the image information, so as to obtain surface features of the object. Further disclosed is a method implemented on the basis of the device.

The invention relates to the technical field of optics and control, and discloses a light beam pointing stabilization method and system based on simulation environment driven reinforcement learning, and the method comprises the steps: dividing an integrated light path into a plurality of sub-light path links according to the serial connection relation of upper and lower levels in the integrated light path; the mirror surface deflection angle of the fast reflecting mirror group and light beam pointing drift data before and after swinging are recorded, and a sample data set is formed; constructing a simulation environment model based on a convolutional neural network based on the sample data set; the simulation environment model is used as a virtual interaction environment, a light beam pointing correction agent is constructed, and a reinforcement learning framework is used for training; the light beam pointing correction intelligent agent is used in the actual light path of the real environment, reinforcement learning training continues to be carried out through the actual light path of the real environment, and after training is completed, the light beam pointing correction intelligent agent is used for controlling the fast reflecting mirror set of the light beam pointing adjustment device of the real environment; according to the invention, the problem of light beam drift of a complex series coupling light path system in a multi-type interference environment can be solved.

The invention belongs to the technical field of biological liquid sample detection, and particularly relates to a liquid path system for sample suction quality detection and an anomaly detection process. A liquid path system for sample suction quality detection comprises a capacitance detection module, an injector, a pressure detection module, a cleaning valve, a cleaning pump, a degassing module and a water tank which are connected in sequence, and the capacitance detection module, the injector, the pressure detection module, the cleaning valve, the cleaning pump, the degassing module and the water tank are connected through pipelines. The method mainly solves the following problems: 1, the contradiction between the pressure monitoring range and the monitoring resolution; 2, when the sample is insufficient or bubbles are sucked, the difference between the suction pressure and the normal liquid suction pressure is small, so that misjudgment is easily caused; 3, misjudgment is easily caused by noise signal interference; 4, corresponding error monitoring mechanisms are lacked in other processes such as cleaning, sample adding and the like; and 5, monitoring is performed by excessively depending on a single mode, and the pressure is easily interfered in the testing process.

The invention belongs to the field of artificial intelligence and intelligent traffic systems, particularly relates to a path control system combining multi-modal perception and dynamic trajectory prediction, and aims to solve the problems of insufficient perception fusion, low trajectory prediction precision and control response lag in a complex dynamic environment. The system comprises a multi-modal perception fusion unit, a dynamic interaction modeling unit, a space-time coupling prediction unit, a risk field construction unit and an adaptive path generation unit. Multi-source sensor data are fused through confidence coefficient weighting, an interaction weight matrix under an attention mechanism is constructed, a future trajectory is predicted in combination with individual dynamics and a social force model, a four-dimensional space-time risk field is generated, and a minimum risk path is solved based on an improved fast marching algorithm. The system realizes sensing-prediction-control closed-loop cooperation, the end-to-end delay is less than 250 milliseconds, and the driving safety and comfort in a complex traffic scene are improved.

The invention belongs to the technical field of additive manufacturing, and particularly relates to a multi-mode laser coupling additive manufacturing method for a high-strength and high-toughness wear-resistant layered part, which comprises the steps of part manufacturing planning, base material pretreatment, multi-mode coupling laser construction, additive manufacturing and the like. Through the laser shaping system and the light path system, the laser light source is shaped into the continuous flat-topped annular laser, the continuous flat-topped annular laser is assisted by the flat-topped pulse laser and the flat-topped oscillation laser for additive manufacturing, the organization structure of a component is homogenized, the nucleation rate in the solidification process is effectively increased, and finally refined crystal grains are obtained; meanwhile, the shape and stress state of the molten pool can be changed, and then the performance of the component is improved. Gradient changes of component components are achieved through cooperative feeding of multiple wires, a workpiece obtains excellent strength, plasticity and toughness, meanwhile, the surface layer of the component is strengthened through a ceramic material, the part obtains extremely high wear resistance, and finally the part with high strength, toughness and wear resistance is obtained.

The embodiment of the invention provides a flow cytometer, an optical signal collection lens and sample analysis equipment, and relates to the technical field of flow cytometers. The flow cytometer comprises a liquid path system and an optical system, the liquid path system comprises a sampling needle, a sheath liquid bottle and a flowing chamber, and the sampling needle and the sheath liquid bottle are both communicated with the flowing chamber and are respectively configured to convey a sample and sheath liquid to the flowing chamber; the optical system comprises a light source and an optical signal collecting lens, the optical signal collecting lens comprises a fluid channel, and the fluid channel is communicated with the flowing chamber; wherein the liquid path system further comprises a negative pressure tank and a waste liquid pump, the waste liquid pump is communicated with the flow chamber, the negative pressure tank is arranged between the waste liquid pump and the flow chamber, and negative pressure is formed in the negative pressure tank through work of the waste liquid pump, so that a sample is loaded to the flow chamber from the sampling needle and enters the fluid channel. Compared with the prior art, the flow cytometer has the advantages that the sample loading mode is improved, the operation procedure is simplified, and the continuous sample loading is realized.

Systems and methods herein are for use with a Virtio standard and include at least one circuit to host a virtualizer component that enables different virtual machines (VMs), an accelerator driver, and a virtualizer interrupt moderation library, where the accelerator driver can be associated with an accelerator device. The accelerator driver can monitor interrupts associated with the different VMs to determine at least a current interrupt value and packet statistics that may be used by the virtualizer interrupt moderation library as a basis to provide an intended interrupt value to be used by the accelerator device for managing further interrupts to the different VMs.

The utility model discloses a high-precision digital slice Z-axis light path system based on rotary imaging, which comprises a vertical plate, and a camera, a barrel lens, a fluorescent mechanism, a panorama camera, a lifting lens and a whole set of light source are sequentially arranged on the same side of the vertical plate in the vertical axis direction to form a Z-axis light path; the barrel lens is arranged on the side wall of the upper part of the vertical plate, and the upper end part of the barrel lens is connected with a camera; the fluorescent mechanism is arranged on the side wall of the middle part of the vertical plate, the fluorescent mechanism directly faces the lower end part of the barrel lens, and the panoramic camera is arranged on the side part of the fluorescent mechanism; the lifting lens and the whole set of light source are sequentially arranged on the side wall of the lower part of the vertical plate; wherein the fluorescent mechanism comprises a rotatable rotating disc, a plurality of fluorescent assemblies are arranged on the rotating disc, and the rotating path of the rotating disc sequentially passes through the lower end portion of the barrel lens.

The invention discloses a modular sip transceiver assembly based on HTCC, and belongs to the technical field of satellite communication. The modular transceiver assembly mainly comprises two radio frequency front end sip modules, two secondary frequency conversion sip modules, two local oscillator carrier plate sip modules, a power supply and an FPGA control module. The whole assembly mainly comprises five radio frequency systems and four receiving channels which are completely the same and are almost consistent with the other transmitting channel in structure, modular design is adopted, a mature microwave substrate processing technology is combined with an existing micro-assembly process, and through an HTCC ceramic tube shell and a sip technology, surface mounting application of a microwave 3D module is achieved, and meanwhile light-weight and small-size design is achieved. According to the three-dimensional stacked packaging, various passive devices can be subjected to interlayer integration, the assembly integration level is greatly improved, an expected complete machine system can be verified more quickly and flexibly, especially for a multi-path system, only a single module needs to be used for testing in the earlier stage, and the three-dimensional stacked packaging module is suitable for various communication occasions.

The invention discloses a light path system based on a gas-filled hollow-core optical fiber, and the system comprises a spectrum broadening device which comprises a first gas extraction chamber, a gas inlet chamber and a second gas extraction chamber, the first gas extraction chamber and the second gas extraction chamber are located at the two ends of the gas inlet chamber respectively, and the first gas extraction chamber and the gas inlet chamber are separated through a first sealing part; the second air exhaust chamber and the air inlet chamber are separated through a second sealing piece; the spectrum broadening device is internally provided with a hollow-core optical fiber and is provided with at least one through hole penetrating through the pipe wall of the hollow-core optical fiber, the two ends of the hollow-core optical fiber penetrate through the first sealing piece and the second sealing piece respectively so that the two ends of the hollow-core optical fiber can be communicated with the first air suction chamber and the second air suction chamber respectively, and the through hole is located in the air inlet chamber. The two ends of the hollow-core optical fiber are subjected to air exhaust, so that the ionization rate and the self-focusing effect generated when the laser is output after the spectrum of the inflated hollow-core optical fiber is broadened can be remarkably reduced, the requirement for improving the power input of the laser is met, and a light path system can bear higher laser monopulse energy compression.

The invention discloses a plug-and-play Rydberg atom preparation device based on a three-photon absorption method, which comprises a laser generator, a laser input module, a laser detector, three frequency stabilization modules and a temperature and humidity control module, and is characterized in that the laser generator is used for preparing laser to be measured; the input module is used for transmitting and introducing laser; the saturated absorption frequency stabilization module, the electromagnetic induction transparent frequency stabilization module and the heating electromagnetic induction transparent frequency stabilization module all adopt a glass bonding technology to build frequency stabilization light paths; the laser detection device is used for detecting laser lines in the saturation absorption frequency stabilization module, the electromagnetic induction transparent frequency stabilization module and the heating electromagnetic induction transparent frequency stabilization module and locking the laser frequency corresponding to the specific wavelength. According to the invention, a frequency-stabilized light path is built by using a glass bonding technology, so that devices and the size are greatly reduced, and the integration level of a light path system is greatly improved; moreover, the degree of freedom of device adjustment can be reduced, and the reliability and stability of a laser frequency stabilization optical path are effectively improved.

The invention relates to the technical field of optical communication, in particular to a swing mirror optical machine device and optical communication equipment. The oscillating mirror light machine device comprises a rotary table, the rotary table comprises an azimuth axis system assembly, a pitch axis system assembly and a pointing mirror assembly, the azimuth axis system assembly is located above the pitch axis system assembly in the height direction of the oscillating mirror light machine device, and light does not pass through the azimuth axis system assembly; the support is provided with a connecting part extending outwards, and the azimuth shaft system assembly is hung on the connecting part; and the rear light path system is mounted on the bracket. By arranging the support, the azimuth axis system assembly of the rotary table is hung on the connecting part of the support, the azimuth axis system assembly is arranged above the pitch axis system assembly, and the whole light path does not pass through the azimuth axis system assembly, so that a light through hole does not need to be formed in the rotary table, and then the installation position of the azimuth axis system assembly does not need to be arranged on the basis of the light through hole; the overall radial size of the azimuth shaft system assembly and the rotary table can be greatly reduced, and the weight of the rotary table is reduced.

The invention relates to an AI intelligent management platform for maintenance of ship safety lifesaving emergency equipment. The AI intelligent management platform comprises a front-end function system and a rear-end storage system. The front-end function system comprises a sailor training module, an intelligent inspection module, a third-party maintenance supervision module and the like. Wherein the sailor training module adopts a panoramic VR camera to carry out live-action shooting on a scene on a ship, a virtual reality (VR) technology is applied to provide real scene boarding experience, sailors are helped to remotely realize immersive ship visiting, and a real ship environment is comprehensively understood; through the combination of videos and characters, skill training of sailors before on-ship work is provided. The sailors can remotely realize immersive ship visiting through the sailors training module, comprehensively understand the actual ship environment and remarkably improve the practical operation skills of the sailors; the personalized training path system customizes an exclusive training plan for each sailor through AI algorithm intelligent analysis according to the post demand, experience level and skill weakness of the sailor, and achieves the precision and high efficiency of training.

The invention relates to the technical field of medical robot control, in particular to a neural network path planning method and system for a nasal digestive tract catheterization robot. The method comprises the following steps: establishing a digestive tract three-dimensional point cloud model; determining the pose of a path planning starting point and an end point, and generating a path point sequence; constructing an encoder network for extracting point cloud features of the digestive tract, and obtaining a trained encoder network; training the planning network by adopting the path point sequence to obtain a trained planning network; an encoder network and a planning network are combined with an alimentary canal point cloud model obtained in real time, and a path point sequence is obtained; calling a path planning network to update a global path according to environment information sensed by a sensor; the system comprises an encoder network module, a planning network module, a neural network path planning module and a continuous learning framework module. Through the mode, the efficiency of the robot in a complex, narrow and dynamic change environment is improved, and the real-time performance in an operation is met.

The utility model discloses a portable acoustic imager, which relates to the technical field of imagers and comprises a shell. A displayer and a square microphone array disc are installed on the two sides of the shell respectively, a plurality of microphone probes are arranged on the microphone array disc, a visible light imaging module surrounded by the microphone probes is arranged in the center of the microphone array disc, and thermal imaging modules not surrounded by the microphone probes are arranged at the corners of the microphone array disc. A mainboard and a power supply module for supplying power to the mainboard are arranged in the shell; the mainboard is connected with the microphone probe, the visible light imaging module and the thermal imaging module through the signal adapter plate; according to the utility model, under complicated field working conditions such as similar gas path system abnormal points, equipment abnormal hot spots, poor cable contact, circuit overload, power supply faults and the like, the acoustic-thermal imaging integrated design can cover the two fields of gas leakage and thermal imaging detection, and early prediction and rapid diagnosis and maintenance can be effectively carried out.

The invention relates to the technical field of centrifugal pump mechanical seal detection, in particular to a centrifugal pump mechanical seal air tightness pressure maintaining detection tool which comprises a base, a tool frame, a simulation mandrel and an air path system. By introducing a matching structure of the sliding core shaft and the conical sliding block, the conical sliding block is pushed by air pressure to axially move along the sliding core shaft, so that dynamic loading between the dynamic and static rings of the mechanical seal is realized. The design simulates the stress condition of the mechanical seal in an actual assembly state, and can effectively detect whether the grinding surfaces of the moving and static rings have tiny defects or not. Meanwhile, through the design of the multi-stage sealing area, it is ensured that gas in the testing cavity cannot leak, and therefore the accuracy of the testing result is improved. In addition, the tool is easy and convenient to operate, the airtightness test of the mechanical seal can be rapidly completed without professional training, the efficiency of finished product inspection is remarkably improved, and reliable guarantee is provided for the overall quality of the centrifugal pump.

The invention relates to the technical field of optical control, and discloses a laser multi-beam etching control method, device and equipment for pole piece lineation, and the method comprises the steps: obtaining an etching specification and an etching material, and determining the installation position of a lens group based on a preset laser conduction length, an etching length and an etching path; controlling the light path system to position each transflective lens according to the mounting position of the lens group, correspondingly arranging a collimation focusing group on the lower side of each transflective lens, and determining the etching speed of a focusing head in each collimation focusing group based on the etching depth and width and the material etching attribute corresponding to the etching material, each focusing head is controlled to etch the target material according to the corresponding etching speed, non-contact processing can be provided, the etching line width is small, meanwhile, the high stability and accuracy are guaranteed, a large-breadth pole piece product is compatible, the processing breadth and the pole piece lineation width are not limited by a focusing field lens any more, and the production efficiency is improved. The production efficiency is ensured; and meanwhile, the cost and the later maintenance cost are reduced.

The invention provides a controllable processing method for a ring-by-ring femtosecond laser photoetching single crystal optical fiber cladding, and aims to solve the technical problems of low processing efficiency, limited processing length and the like in the prior art. The basic idea of the method is that a femtosecond laser is adopted to output annular femtosecond laser spots. On the basis, accurate control over the diameter and width of the annular light spot is achieved by moving the position of the spherical reflector in the system. And then the annular light spot is focused into the single-crystal optical fiber through a light path system and interacts with a specific local area of the single-crystal optical fiber, so that the refractive index of the area is reduced, and the inscribing of the inner cladding structure of the single-crystal optical fiber is successfully realized. According to the method, the inner cladding structure which is free of length limitation and uniform in refractive index distribution can be efficiently inscribed in the single crystal optical fiber.

The present invention discloses a laser plasma three-wavelength interference diagnostic device and an adjustment method thereof. The device includes a detection light source system, a plasma excitation system, a detection optical path system and a receiving system. The laser plasma generated by the laser excitation device is placed in the detection optical path of the Mach-Zehnder interferometer. The white pulse light source generated by the detection light source device is used as the detection light. The Mach-Zehnder interferometer divides the detection light into two beams, one beam passes through the laser plasma area, and the other beam is used as a reference light. The two beams meet after passing through the Mach-Zehnder interferometer. The receiving system includes an RGB filter grating and a color CCD. The light after meeting is divided into three beams of light with different wavelengths through the RGB filter grating to form three interference fringe patterns. The device can simultaneously obtain three interference fringe patterns carrying laser plasma phase information, obtain more data graphs, and make the results more accurate, effective and comprehensive.

The invention discloses a solid source polarization interferometer integrated device for a nuclear fusion experimental device, which relates to the technical field of optics and comprises at least three solid sources, a polarization interferometer optical path system, a corner reflector, a reference channel detector and a detection channel detector. One solid source in the at least three solid sources is in fixed frequency, and the other solid sources are in frequency modulation; optical signals sent by the fixed-frequency solid source are respectively transmitted to the reference channel detector and the detection channel detector through light splitting and reflection operations in the polarization interferometer light path system; an optical signal sent by the frequency modulation solid source is transmitted to the reference channel detector through light splitting, reflection and beam combination operations in the polarization interferometer light path system; an optical signal sent by the frequency modulation solid source passes through the plasma through the interferometer optical path system, is transmitted to the corner reflector, and is combined into the detection channel detector after passing through the corner reflector; the solid source polarization interferometer integrated device is compact in structure and can realize real-time monitoring.

The invention relates to the technical field of optical imaging and three-dimensional measurement, in particular to a multispectral structured light path system which comprises a light source module used for generating multi-wavelength light; the collimation system module is composed of any one of one or more lenses, and an aperture diaphragm is arranged on the first face. When the system is used, a multispectral light source design is adopted, the system can meet the three-dimensional measurement requirements of various complex material surfaces, the system adaptability is conveniently and remarkably improved, the image contrast is enhanced through multi-wavelength structured light projection, and the measurement precision is improved. The method effectively reduces the mismatching rate, improves the precision and reliability of three-dimensional reconstruction, achieves the simultaneous obtaining of multispectral information and structured light three-dimensional shape information, expands the application capability of the system in the high-end fields of material recognition, surface defect detection and the like, employs an integrated optical path design, is compact in structure, is high in reliability, and is suitable for large-scale popularization and application. And miniaturization and engineering application of the system are facilitated, and the portability and practicability of the equipment are improved.

The invention discloses a multi-path server, a system power consumption monitoring method and device and a storage medium, and relates to the field of servers, and the multi-path server comprises at least two single-path mainboards, a switching module and a plurality of power supply units; wherein the switching module comprises a vertical power supply board and at least two horizontal switching boards, the vertical power supply board is provided with a plurality of power supply unit interfaces and at least two switching connectors, one end of each horizontal switching board is matched with the switching connector of the vertical power supply board, and the other end of each horizontal switching board is matched with the power supply unit connector of the single-path mainboard. According to the power supply system, the power supply units can stably supply power to the multi-path server composed of at least two single-path mainboards through the vertical power supply board and the horizontal adapter board, so that the single-path mainboards can be flexibly combined to form a multi-path system, a user does not need to purchase the single-path server and the multi-path server at the same time to meet the requirements of different scenes, and the user experience is improved. Repeated purchase expenditure is reduced, equipment utilization rate is improved, and cost waste caused by idle equipment is reduced.

The invention discloses a photo-thermal effect-based light-driven sensing integrated flexible joint and a light path system thereof, the flexible joint comprises a multimode fiber and a photo-thermal conversion elastomer, the photo-thermal conversion elastomer is in an arc-shaped joint shape, the photo-thermal conversion elastomer contains a material for photo-thermal conversion, and the material for photo-thermal conversion is a material for photo-thermal conversion. The multimode optical fiber is eccentrically embedded in the photothermal conversion elastomer; a fiber bragg grating is engraved on a fiber core of the multimode fiber, and the midpoint of the fiber bragg grating is flush with the midpoint of the flexible joint; when the incident light power of the multimode optical fiber is increased, the photothermal conversion elastomer bends towards the curvature reduction direction, and the reflection spectrum signal of the fiber bragg grating reflects the change angle of the photothermal conversion elastomer. According to the invention, sensing and driving functions are integrated by using the fiber Bragg grating, and the device has the advantages of high integration, low energy loss, small size, light weight, interference resistance and the like, and is conveniently applied to soft robots, in-vivo operations, high radiation, flammable and explosive occasions and the like.

The invention relates to the technical field of aircraft assembly, and provides a flexible tool which comprises a main body frame, a clamping plate assembly and an adsorption positioning device. The clamping plate assembly comprises a plurality of clamping plates arranged at intervals, the clamping plates are movably installed on the main body frame in the horizontal direction, grooves are formed in the sides, close to the skin or the wall plates, of the clamping plates, and elastic sealing rings are arranged in the grooves; the adsorption positioning device comprises a gas path system with one end communicated with the vacuum generator and the other end communicated with the groove. The inner molded surface of the clamping plate is provided with the groove and the elastic sealing ring which are communicated with the vacuum generator, gas in the groove is pumped out by the vacuum generator during adsorption, so that the elastic sealing ring is compressed to contract into the groove and slowly adsorb a skin or a wall plate, the stress of the skin or the wall plate is more uniform, and after the groove reaches a certain vacuum degree, the elastic sealing ring is compressed into the groove and slowly adsorbs the skin or the wall plate. The elastic sealing ring is completely compressed into the inner molded surface of the clamping plate, the skin or the wall plate is directly positioned through the inner molded surface of the clamping plate, the skin or the wall plate is completely attached to the inner molded surface of the clamping plate, and positioning of the clamping plate is more accurate.

The invention provides an online monitoring device and method for radionuclide in gaseous effluent of a nuclear power plant, and particularly relates to the technical field of radionuclide detection. The device comprises a gas path system, an optical system and an electric control system, wherein the gas path system is used for collecting gas to be detected; the optical system comprises a laser ring-down cavity and a laser detection module, the laser ring-down cavity is communicated with the gas path system and used for containing gas to be detected, the laser detection module comprises a light source module and a photoelectric detector, the light source module is used for generating laser beams, and the laser beams can enter the laser ring-down cavity and are transmitted in the laser ring-down cavity; the photoelectric detector is arranged at a corresponding position of the laser ring-down cavity and is used for detecting the intensity of the laser beam transmitted from the laser ring-down cavity; the electric control system is electrically connected with the laser detection module and used for controlling and processing transmission signals of the laser detection module. According to the invention, on-line monitoring of radionuclides can be realized, and the problem that secondary hazardous wastes are generated by a traditional method is solved.