102results about How to "Damage will not cause" patented technology

The invention provides a method for manufacturing a GaN (gallium nitride) substrate, belonging to the manufacturing field of optoelectronic devices. The core different from the prior art, of the method is as follows: forming a transition layer on an epitaxial growth surface of the substrate (such as Si, sapphire, SiC and the like), wherein the transition layer is a InN layer with carbon nano tubes, a high-In-component InGAN layer or a GaAs layer; and growing a GaN thick film later to obtain a GaN thick film substrate or a self-supporting GaN substrate which is obtained by adopting a substrate-eliminating technology or a self-separating technology. The manufacturing method is simple, the technology conditions are easy to control, the price is low, different substrates can be selected, and a plurality of substrate separation technologies can be supported.

The invention provides a safe and energy-saving lithium battery pack dual-mode thermal management system and method. The system comprises a battery pack, a battery pack shell, a liquid-cooling tube heat exchanger, and an external air-cooling fin with a fan. A micro heat pipe array is attached to the surface of a battery or a battery module, and a protruding portion of the micro heat pipe array isattached to the battery pack shell. The liquid-cooling tube heat exchanger is attached to the outer surface of the battery pack shell and is connected to an electric vehicle refrigeration system, anda substrate of the external air-cooling fin is attached to the outside of the liquid-cooling tube heat exchanger. According to the invention, the micro heat pipe array with high heat transfer and aircooling and liquid cooling modes are effectively combined, on one hand, the heat inside the battery can be effectively transmitted to the outside, the temperature is prevented from being too high, theuniform temperature of the battery is ensured, the heat dissipation efficiency is high, on the other hand, different systems are started in different states and temperatures, and the avoidance of thermal runaway and substantial energy savings are achieved.

The invention provides a humidifying cabinet air conditioner which comprises a cabinet main body, wherein the cabinet main body is provided with an air conditioner control panel, an air outlet at the upper part of the cabinet main body is provided with an air deflector, in addition, the top of the cabinet main body is fixedly provided with a first water storage tank for storing humidifying liquid and a second water storage tank for storing a liquid air freshener, each of the first and second water storage tanks is provided with a water injection port, a water outlet, a liquid level sensor and a water outlet pipe, the water drainage of each water outlet pipe is controlled by an electrovalve, and a hydrophilic material layer is paved on the surface of the air deflector and is respectively communicated with the water outlet pipes by capillary drainage pipes. The electrovalves are controlled by the air conditioner control panel, so that the humidifying liquid or the liquid air freshener in the first water storage tank or second water storage tank wets the hydrophilic material layer on the air deflector, and the air humidifying and freshening effects are realized in an air supply process at an air outlet; the humidifying cabinet air conditioner has the advantages of simple structure, convenience in use, energy conservation, longer service life and the like.

The invention provides a detection circuit for a pressure sensor of an aeroengine. The pressure sensor is electrically connected with an AD converting unit through a sensor loop detection unit and an input instrumentation amplifier respectively. Voltages of four detection resistors of a Wheatstone bridge of the pressure sensor are input to the instrumentation amplifier U2; the instrumentation amplifier U2 transmits a collected voltage value to the AD converting unit; the loop detection unit detects voltage drops of detection points on the four detection resistors of the Wheatstone bridge, the voltage drops are operationally amplified through an operational amplifier on the loop detection unit and then are transmitted to the AD converting unit, and a CPU of an electronic controller of the aeroengine judges faults of the detection points of the Wheatstone bridge of the pressure sensor according to an output voltage value of one loop detection circuit and the voltage obtained after AD conversion through the AD converting unit. The detection circuit has the advantages that the voltage is stable and reliable, output voltage ripples are very small, test accuracy is high, and a millivolt voltage difference value of P3 voltage output is not affected. The actual test shows that the maximum error is not greater than 0.05bar.

The invention discloses a liquid nitrogen system and a method for nondestructively governing a fire area in a coal field. An air filter (1), an air compressor (2), an air cooler (3), an oil-water separator (4), an air drying purifier (5), an air separation tower (6), a liquid nitrogen storage slot (7) and a booster pump (8) are sequentially connected by a pipeline; a liquid nitrogen tank car (9) and an access end of a surface borehole (10) are connected with an output end of the booster pump (8); a bottom surface borehole (10) and a geothermal well (12) are positioned in the fire area in the coal field; and geothermal power generation equipment (11) generates power to supply to the equipment by virtue of high-temperature steam provided by a geothermal well (12). According to the liquid nitrogen system and the method disclosed by the invention, waste heat energy generated by the fire area in the coal field is utilized to carry out geothermal power generation, so that energy waste is reduced; a liquid nitrogen fire preventing and extinguishing technology is adopted to govern coal field fire, so that cooling and inerting are quickly carried out on the fire area; the liquid nitrogen is from nitrogen gas in air, and quickly returned into air for being recycled for preparing liquid nitrogen, so that not only is environmental destruction not caused, but also cycling and reutilization of resources are realized.

The invention discloses a saccharifying wort cooker and a beer saccharifying device using the same. The saccharifying wort cooker is provided with a wort cooker body which is provided with a wort outlet from which the wort flows out; and a stirring device is arranged in the wort cooker body. The invention is characterized in that the bottom of the wort cooker body is a convex bottom projecting upwards; the convex bottom is provided with a steam heating jacket; a wort inlet pipe penetrates through the middle part of the convex bottom and an upward opening of the wort inlet pipe is arranged in the wort cooker; a wort distribution plate is turned up down side above the opening; a gap from which the wort flows out is left between the wort distribution plate and the opening; the bear saccharifying device is composed of the saccharifying wort cooker, a whirlpool tank, a centrifugal pump, a filter tank, a wort butter tank and a pipeline valve and the like. When the saccharifying wort cooker of the invention is used for boiling, the wort flows on the jacket in a thin-layer mode; the evaporation area is large, thus being beneficial to the evaporation of unfavorable taste matters; a heater is used in both saccharification and boiling, and the jacket is convenient for maintenance; and the saccharifying wort cooker is especially suitable for self-brewing beer in beer rooms.

The invention relates to a composition capable of lowering blood glucose. The composition comprises the following components in parts by weight: 6-8 parts of polygonatum sibiricum, 8-12 parts of balsam pear, 12-15 parts of radix puerariae, 15-20 parts of astragalus membranaceus, 15-18 parts of radix ophiopogonis, 8-10 parts of the fruit of Chinese wolfberry, 10-15 parts of potentilla discolor, 20-25 parts of Chinese yam, and 6-8 parts of folium mori. Single items of the five traditional Chinese medicines, namely the astragalus membranaceus, polygonatum sibiricum, balsam pear, radix puerariae and Chinese yam are subjected to careful selection, cleaning, purification, air-drying, powdering, pulverization, powdering and extracting, and synthesized into a semi-finished product according to the ratio for standby; the radix ophiopogonis and fruit of Chinese wolfberry are subjected to careful selection, cleaning, purification, air-drying, decoction and concentration, and then are synthesized into a semi-finished product according to the ratio for standby; single items of the potentilla discolor and folium mori are subjected to careful selection, cleaning, purification, decoction, concentration and extraction, and then are synthesized into a semi-finished product according to the ratio for standby; finally, the synthesized semi-finished products are synthesized and manufactured into a capsule or particle or tablet product. The composition has the health functions of adjusting the blood glucose, adjusting the blood fat and eliminating complication, is convenient to use, and has the advantages of being natural, environment-friendly, safe, healthy, and effective in conditioning.

The invention provides a display backplane, a manufacturing method thereof and a display device. Wherein the display backplane comprises a substrate; A thin film transistor array disposed on one surface of the substrate; An ultraviolet light shielding layer arranged on a side of the thin film transistor array away from the substrate; A pixel bounding layer disposed on a side of the ultraviolet light shielding layer remote from the substrate; A thin film encapsulation layer disposed on a side of the pixel bounding layer remote from the substrate, wherein the pixel bounding layer contains a light conversion material capable of emitting ultraviolet light under excitation of infrared light. The inventors have found that the display backplane is simple in structure, easy to implement, and doesnot need to use an expensive ultraviolet photomask to reduce the production cost of the display backplane.

An ink box for ink-jet printer is composed of an ink cavity full of ink and communicated with atmosphere via air hole on cover, an ink outlet, an one-way valve between the ink cavity and the ink outlet, an ink supplying cavity between the one-way valve and the ink outlet and with an ink supplying needle prothesis in it, and a channel between the ink cavity and the ink supplying cavity and with a pressure releasing unit in it for preventing ink leakage to damage printhead. When an ink supplying needle comes in the ink supplying cavity via the ink outlet, the needle prothesis is withdrawn from the cavity to make the ink volume constant.

An automatic grading device of botrytis of solanaceous vegetables. The automatic grading device of botrytis of solanaceous vegetables is characterized in that the automatic grading device of botrytis of solanaceous vegetables comprises an annular track and semicircular ramps of which the number is equal to the grading number; each one of the semicircular ramps is connected with the two sides of the annular track; each one of the semicircular ramps is installed with a first position sensor and a labeling machine; a trigger end of the first position sensor has a linkage relationship with a starting switch of the labeling machine; a connection part of the annular track and each one of the semicircular ramps is provided with an orbital transfer mechanism; the orbital transfer mechanism has a linkage relationship with a shifter lever having a reset function; the annular track is installed with a track trolley for loading potted solanaceous vegetables; a starting end of the annular track isinstalled with a second position sensor; a high spectral camera shooting assembly for identifying grades of botrytis of solanaceous vegetables through a high spectral technology is installed above the second position sensor; the high spectral camera shooting assembly is connected to an intelligent control module; and the intelligent control module is connected to an action end of the each shifterlever. The automatic grading device of botrytis of solanaceous vegetables has the advantages of high grading speed, no destructive effects, low cost, high efficiency and no damage on the environment.

The invention provides a smart socket, which comprises a large panel (1), a small panel (2), a bottom box (3), a bearing plate (4), a right plug bush (51), a left plug bush (52), a connecting terminal (6), a real-time detection device (7), a circuit board (8), an upper permanent magnet (91), a lower permanent magnet (92), a coil (10), a movable core (11), a contact pressure regulation spring (12), a moving contact part (13), a fixed contact part (14), a testing device with a testing button (151), and a resetting device with a resetting button (161), wherein the circuit board (8) is provided with electronic components; the back of the bearing plate (4) is provided with a cylindrical pipe (41) vertically connected with the bearing plate; and the inner chamber of the cylindrical pipe (41) runs through the front of the bearing plate (4). The smart socket provided by the invention is a digital, intelligent, integrated and networked terminal device with control, protection and monitoring functions, solves the problem of inadaptability of conventional packaged extensive management of a power grid requirement side to the development of a power grid, and makes the power grid requirement side enter the new stage of delicacy integrated management.

The invention relates to an automatic control system of a gas turbine generator set. The system adopts a plug-in board structure, and includes a main channel and a subsidiary channel. The main channel comprises a secondary power supply, a single chip microcomputer, an optical coupling input isolation circuit, a photovoltaic relay output isolation circuit, a data acquisition circuit, and an electromagnetic valve drive circuit. The subsidiary channel adopts a sequential logic circuit to realize the control function. The system provided by the invention completes cold start, process startup and programmed start by receiving external instructions, monitors the air inlet temperature, the exhaust temperature, the lubricating oil pressure, rotation speed and other over 30 operating parameters of the generator set during working, accomplishes over 20 fault protection and alarm functions, and transmits the exhaust temperature, the rotation speed, the fault and other information to a display control device, thus realizing the human-computer interaction function.

The invention discloses an intelligent lampshade replacing system for a table lamp. The intelligent lampshade replacing system comprises a limiting device, a fixing ring adjusting device, an auxiliarydevice and two lampshade fixing devices; and the fixing ring adjusting device is installed on the left side of the front end of the limiting device, the auxiliary device is installed on the right side of the front end of the limiting device, and the two lampshade fixing devices are installed at the rear end of the limiting device and are symmetrically arranged. According to the intelligent lampshade replacing system, the problems that in the existing lampshade replacing process, a fixing ring needs to be taken down manually, a lampshade is installed, then, the fixing ring is tightened again,a worker needs to limit the table lamp with one hand and replace the lampshade with the other hand during table lamp fixing, the fixing ring is difficult to take manually, in the lampshade installingprocess, the worker installs the lampshade on a lamp holder in a manual mode, and in the fixing ring tightening process, the worker needs to place the fixing ring on the lamp holder to be tightened from the position above the lampshade are solved, and the function of automatically replacing the lampshade of the table lamp can be achieved.

The invention relates to an integrated modularized LED lamp body which comprises a lamp body shell and a lamp body module, wherein the lamp body module is installed in the lamp body shell in a drawing and inserting manner and is composed of a bottom substrate module arranged at the bottom, a heat dissipating module, a power supply and drive combined heat dissipating module and a mainboard module, the heat dissipating module, the power supply and drive combined heat dissipating module and the mainboard module are sequentially installed on the bottom substrate module from front to back and are sequentially connected with one another; the bottom substrate module is composed of a bottom substrate and a fan I; the fan I is fixed to the bottom substrate; an air inlet is formed in the bottom substrate just below the fan I; the heat dissipating module is installed at the front end of the bottom substrate just above the fan I and is composed of a light source convex lens module group, a light source module and a bracket module; and the light source convex lens module group and the light source module are connected to each other and installed on the bracket module from front to back. The integrated modularized LED lamp body has a compact structure and is high in structure consistency, convenient in maintenance and change and high in heat dissipating capability.

The invention discloses a guard bar structure. The guard bar structure comprises a guard bar main body, wherein the guard bar main body consists of a protecting support arranged on the bottom of the guard bar main body, a protecting supporting column arranged on the top of the protecting support and an anti-collision plate arranged on one side of the guard bar main body. The mounting steps of theroad bridge guard bar are simple, maintaining and disassembling are facilitated, by arrangement of LED lamps, traffic accident times are reduced, the guard bar is good in elasticity, a vehicle can bebuffered by arrangement of the anti-collision plate, springs, an air bag restraint system and an elastic steel wire gauze, thus, the vehicle can move backwards by a certain safe distance, the buffer layer in the anti-collision plate can further buffer and protect the vehicle, the circumstance that the bridge guard bar is broken by collision is avoided, and severe damage of the guard bar and the vehicle are also avoided. The guard bar structure is high in structural strength and good in elastic effect, and has wide application prospect in the future.

The invention discloses a pile foundation length testing method based on thermal response. According to the method, a heat source hole, a first temperature measurement hole and a second temperature measurement hole are drilled in the two sides of a pile to be tested and in a position of the periphery of the pile, the distances between the heat source hole and the two temperature measurement holes are equal, and the heat source hole is provided with a heat source (heat transfer pipe) to be used for measuring the temperatures of different depths of each temperature measurement hole and conducting contrastive analysis of the position of the bottom of the pile. The different thermophysical properties of a pile material and oil around the pile are utilized, temperatures are different after heat reaches the same position after passing through different media, and the length of the area where a pile body is located can be analyzed according to the difference. Due to the adoption of pile side drilling, the problems that the work amount is large in the traditional in-situ digging process, the structure of the pile body can be damaged by borehole coring, and only short piles can be tested due to low strain are solved; furthermore, pile head digging is not needed, damage to the pile body is avoided, and nondestructive testing is achieved; the method is suitable for testing piles in various depths with various diameters, and cost is low.

The invention discloses a vacuum negative pressure grouting method and device, and belongs to the technical field of geotechnical engineering construction. A working body which is capable of passing the vacuum negative pressure in the full length range and grouting slurry is parallelly inserted into a foundation according to the designed spacing and depth, and the system is isolated from the outside air; vacuumizing is conducted on a part of the working body, and the slurry is grouted from the other part of the working body; the slurry can be evenly grouted into the foundation according to the designed space in the breadth and depth range of inserting of the working body due to attraction of the vacuum negative pressure, thus the intensity of a soil body is improved, and the permeability is lowered; and the vacuum negative pressure grouting method and device can be used for manufacturing underground water stop curtains, and improving the foundation bearing capacity and anti-permeability of newly-built buildings and existing buildings. According to the vacuum negative pressure grouting method and device, the soil body structure is not destroyed, and the intensity and anti-permeability of the soil body are enhanced on the original basis; the quality of the grouting slurry can be controlled, the using amount of a curing agent is lowered, the groutability of the slurry in soil bodies with low permeability is improved, and different components of the curing agent can be grouted respectively; and construction can be conducted on narrow and small spaces of cities.

The safety valve specially for aluminum industry includes a valve clack, a valve seat and a corrugated pipe assembly. It features the valve clack with elastic chute type upper sealing surface; an inner sealing ring and an elastically supporting outer ring in the sealing surface between the valve seat and the valve clack and with one semi-circular releasing slot in between; and welded high hardness Co-base alloy in the sealing surface between the valve seat and the valve clack. The corrugated pipe assembly has outside protecting sheath, the valve seat is made of F304 stainless steel and high hardness Co-base alloy, and the valve clack is made of 17-4PH precipitation hardening stainless steel. The present invention has improved performance, high alumina grain impact resistance and high sealing performance.

The invention relates to a method for removing adhered charge (5) from the inner wall of a grinding tube (1), wherein the targeted removal of adhered charge (5) is controlled by a control device (3) Control the drive device (2) of the grinding tube (1). The grinding tube (1) is rotated in such a targeted manner that the adhered charge (5) is removed from the grinding tube (5) by changing the rotational speed of the grinding tube (1) several times and, if necessary, by sudden braking of the grinding tube (1). The inner wall of the grinding tube (1) is peeled off. The maximum rotation angle (φ) of the grinding tube (1), which is generally determined by the material, is not exceeded in order to avoid an uncontrolled fall of the stuck charge (5). The invention eliminates the need for labor-intensive and time-consuming methods to remove stuck charges (5), since these can be removed by the drive (2) using the same electric motor that also drives the grinding tube (1) during the grinding operation. .

A hollow carcass used for cast-in-situ concrete filling comprises the hollow carcass (1) and an arm brace (2), wherein, the hollow carcass (1) with a cavity (4) is enclosed by an outer wall (3), and the arm brace (2) is arranged on the outer wall (3) of the bottom surface of the hollow carcass (1). The hollow carcass is characterized in that: the outer wall (3) of the hollow carcass (1) is provided with a cementation belt (6) jointed with the edge of the pulp embryos (5) of the outer wall (3), a prefabricated support mold (7) is superimposed at the position of the cementation belt (6) in the cavity (4), the outer wall (3) of the upper surface of the hollow carcass (1) is provided with a reinforced stepping bar (8) or / and a cushion block (9), the cementation belt (6) is positioned on the outer wall (3) of the upper surface of the hollow carcass (1), and the arm brace (2) is a movable leg. The hollow carcass is also characterized by simple structure, high intensity, large stiffness, excellent deformation resistance and vibration resistance performance, easy manufacture, convenient construction, high speed of construction and the like, and applicable to hollow plates, floors, roofs, walls, foundation slabs and bridges of cast-in-situ reinforced concrete or prestressed reinforced concrete, especially to hollow flat slab floors.

The invention provides a cable connection device which is used for an explosion-proof electric control box. The cable connection device comprises a connection part, a sealing ring and a fixation part, wherein a first through hole is formed on the connection part; a second through hole is formed on the fixation part; and in the explosion-proof electric control box, a cable penetrates through the first through hole, the second through hole and a protection plate in the explosion-proof electric control box respectively; the first through hole is a step hole; the sealing ring is arranged on the part with a large inner diameter in the first through hole; the fixation part is detachably connected to one end of the connection part and used for tightly pressing the sealing ring on steps in the step hole, and the other end of the connection part stretches in the through hole of the protection plate and is detachably connected with the protection plate. The cable connection device provided by the invention cannot damage the electric control box during installation because welding is not needed, installation for devices such as an elbow and dragging for the cable are more convenient, and the cable connection device has no need to be installed on the electric control box during a bulge test, so that the damage of the bulge test on the cable connection device is avoided. The invention further provides the explosion-proof electric control box.

The invention relates to an intelligent lampshade mounting device for an indoor reading lamp, which comprises a limit device and a fixing ring adjusting device, wherein the fixing ring adjusting device is mounted at the left side of the front end of the limit device. The intelligent lampshade mounting device can solve the following current problems: in the process of replacing a lampshade, a person is required to take off a fixing ring, mount a lampshade, and then screw down the fixing ring again; when a reading lamp needs to be fixed, the person needs to limit the bedroom reading lamp with one hand and replace a lampshade with the other hand, and manually fixing the reading lamp can cause the damage to the external surface of the reading lamp due to excessive force; when the fixing ring needs to be taken off, because the size of the fixing ring is small, the fixing ring cannot be easily taken off manually, and the fixing ring can be lost due to improper placement after being taken off; when the fixing ring needs to be screwed down, the person needs to put the fixing ring onto a lamp holder from the top of the lampshade and screw down the fixing ring, the fixing ring can drop due to overlarge hands in the process of screwing, and the fixing ring cannot be easily screwed down manually. The intelligent lampshade mounting device can carry out the function of automatically fixing an indoor reading lamp and taking off and screwing down a fixing ring again.

The invention provides a lamp. The lamp takes an LED filament as a light source; the LED filament comprises a plurality of LED chips, a first support and a second support; the LED chips are connected and fixed to the first support and / or the second support; the first support and the second support are made of metal; and the two ends of the LED chips are electrically connected to the first support and the second support respectively, or the multiple LED chips are divided into a plurality of groups of LED chips which are connected in series, wherein the two ends of each group of LED chips which are connected in series are electrically connected to the first support and the second support respectively.

The invention discloses a dry-wet separated vertical lithium battery pack hot liquid cooling type management system and method. The system comprises one or more groups of vertical batteries and / or battery modules in the battery pack, a battery pack shell and a liquid cooling plate-tube heat exchanger, a micro heat pipe array is transversely attached to the front surface of the battery and / or the battery module; the length of the micro heat pipe array is larger than the width of the battery and / or the battery module, the two ends of the micro heat pipe array are bent, the micro heat pipe arrayattached to the front face of the battery and / or the battery module serves as a heat transfer section, and the bent vertical part is attached to the two side faces to serve as an evaporation section and a condensation section respectively and is also attached to the corresponding battery pack shell. The battery pack shell surrounds the battery pack and is of a closed structure, and a heat conduction partition plate is at least arranged at the position corresponding to the condensation section; the liquid cooling plate-tube heat exchanger is at least correspondingly attached to the outer surface of the heat conduction partition plate and connected with the refrigerating system, and a base plate of the liquid cooling plate-tube heat exchanger is sealed. The system has the advantages of highheat dissipation efficiency, dry-wet separation and liquid leakage prevention.

The invention discloses a door cover lock control circuit, and relates to the technical field of safety of household electrical appliances. The door cover lock control circuit comprises a single chip microcomputer, at least one door cover state detection circuit and at least one strong-current control circuit. The door cover state detection circuits are used for connecting a door cover lock and the single chip microcomputer and detecting state of a door cover, the strong-current control circuits are used for connecting strong current, the door cover lock and the single chip microcomputer, and the single chip microcomputer is used for triggering the strong-current control circuit to control the strong current to be switched in the door cover lock to control opening and closing of the door cover. By the arrangement, safety of door cover lock control is improved.

The invention provides a humidifying cabinet air conditioner which comprises a cabinet main body, wherein the cabinet main body is provided with an air conditioner control panel, an air outlet at the upper part of the cabinet main body is provided with an air deflector, in addition, the top of the cabinet main body is fixedly provided with a first water storage tank for storing humidifying liquid and a second water storage tank for storing a liquid air freshener, each of the first and second water storage tanks is provided with a water injection port, a water outlet, a liquid level sensor and a water outlet pipe, the water drainage of each water outlet pipe is controlled by an electrovalve, and a hydrophilic material layer is paved on the surface of the air deflector and is respectively communicated with the water outlet pipes by capillary drainage pipes. The electrovalves are controlled by the air conditioner control panel, so that the humidifying liquid or the liquid air freshener in the first water storage tank or second water storage tank wets the hydrophilic material layer on the air deflector, and the air humidifying and freshening effects are realized in an air supply process at an air outlet; the humidifying cabinet air conditioner has the advantages of simple structure, convenience in use, energy conservation, longer service life and the like.

The invention provides a vending machine, and relates to the technical field of automatic equipment. The vending machine comprises a case, a conveying assembly, a goods shelf assembly and a rotating assembly; the conveying assembly is located in the case; the goods shelf assembly is connected with the conveying assembly; the conveying assembly is in conveying fit with the goods shelf assembly; thelower end of the goods shelf assembly is connected with the rotating assembly; the case is provided with a goods outlet; the inner wall of the case is provided with a baffle; the baffle is located onone side of the goods outlet; and the included angle between the baffle and the side wall of the case is 90-180 degrees. With the vending machine adopted, goods can be stably delivered, and the goodscannot be damaged.

The invention provides an integrated warning device and an outside rear-view mirror assembly. The integrated warning device comprises a shell, an early-warning warning lamp and a steering warning lamp, wherein the shell is used for being installed on an outside rear-view mirror, and the warning lamp and the steering warning lamp are both arranged in the shell. The early-warning warning lamp is used for emitting light which is suitable for being observed from a cab and represents an early-warning area warning signal. The steering warning lamp is used for emitting another light which is suitablefor being observed from the outside of the vehicle and represents a steering signal, and a first light-emitting area and a second light-emitting area are formed in the positions, corresponding to theearly warning lamp and the steering warning lamp, of the shell. The steering warning lamp and the early-warning warning lamp are integrated, the integrated warning device can be bonded to the outsiderear-view mirror through a double-faced adhesive tape, so the integrated warning device can be conveniently installed, damage to a vehicle body is avoided, the integrated warning device is suitable for vehicles of different vehicle types, and the use satisfaction degree of a vehicle owner can be improved.

The invention provides a heterogeneous master-slave teleoperation control method and device based on force guidance. The method and device consider that the current position tracking between a masterarm and a slave arm is easily affected by a system signal when the position tracking is realized through position control, and when the system signal is discontinuous, the smoothness of the teleoperation is significantly affected, and the slave arm is damaged in severe cases. Therefore, in the master-slave teleoperation control process, a slave arm target position is generated according to masterarm end position information and slave arm end position information in a preset period, the slave arm target position is compared with a slave arm real-time position to determine a position error between the master arm and the slave arm, and then the position error is converted into a virtual elastic tension to realize the transformation from the position tracking to the force control. Moreover, since the discontinuity of the force only causes acceleration jumps and slow changes in speed, the motion of the slave arm is always continuous and smooth, and the damage to the slave arm is not caused.