73results about How to "Guaranteed immersion" patented technology

The invention relates to an application of a close-up view in a VR environment and display method and device. The method comprises the following steps: adding a shooting position of the close-up view in a live site, compressing and encoding the spliced VR panoramic video signal and a close-up view signal at the same time, and then living and publishing; a remote receiving server decoding two paths of live contents, rendering and synthesizing with the previously introduced 3D large-size screen, and then playing through a dedicated VR player. Besides the all-directional panoramic video picture at 360 DEG on site, the live content watched by an experiencer further comprises the virtually embedded close-up view, the detail picture at the importation region is captured, the site immersion is guaranteed, and the comprehensive experience of the VR live is promoted.

The invention relates to a real vehicle test system and method for the traffic coordination of an automatic driving vehicle. A corresponding interactive test scene is set at a closed test road or a flexible test square based on a test need. The automatic driving vehicle serving as a tested body cooperates with a manned or program-controlled background vehicle to carry out multi-vehicle interactivescene simulation and multi-scene auto-driving vehicle traffic coordination testing. During the process, corresponding equipment is used for collecting and recording moving tracks of all tested vehicles and traffic participants and subjective judgment, physiological indicators related to the interaction comfort and riding comfort indicators of tested vehicle passengers and other vehicle participants are recorded, so that the traffic coordination testing of the automatic driving vehicle is realized and thus whether the automatic driving vehicle has the good interaction capability with other vehicle participants during the driving process is verified. According to the invention, the coordination control is powerful; the data are connected in a unified manner; and the good data support is provided.

The invention provides a pair of gloves used in interaction control of virtual reality and augmented reality. Each of the pair of gloves used in the interaction control of the virtual reality and the augmented reality comprises: a glove body; and a plurality of luminous units embedded on the glove body and used for an identification device to track and position the glove body according to the luminous units. According to the pair of gloves, accurate identification and tracking of hand actions of a user are realized, the fidelity and immersion of a game are ensured, and the user experience is improved.

The invention discloses a method and device for determining a display position of a user interface control in virtual reality. The method includes the steps of converting a first coordinate position from a preset coordinate system to a spherical coordinate system, wherein the first coordinate position is used to represent an initial position of the user interface control in a virtual reality space; calculating a third coordinate position corresponding to each frame of animation during the following movement of the user interface control from the first coordinate position to the second coordinate position, wherein the second coordinate position is a position which is gazed by a user in the virtual reality space and is at a preset distance from a viewpoint of the user; remapping the third coordinate position from the spherical coordinate system to the preset coordinate system, and determining a real-time display position of the user interface control in each frame of animation. Accordingto the method and device for determining the display position of the user interface control in virtual reality, the technical problem that the comfort level of a user interface control display mode in a VR application provided in the related art is poor or information provided by the interface is missed easily is solved.

The invention belongs to the field of environmental protection and particularly relates to a modified preparation method for a corn straw capable of adsorbing arsenic in water. Middle nodules of the air-dried corn straw are removed, the corn straw is cut into short sticks, the short sticks are washed and dried to reach constant weight, the hard barks on the surfaces are removed, the short sticks are cut into straw particles, the straw particles are soaked in isopropyl alcohol for 8-10 hours, washed with deionized water and dried, then the processed straw particles are soaked in a NaOH solution with the concentration of 0.8-1.2mol / L for 6-8 hours, washed with deionized water and dried, then the processed straw particles are soaked in oxalic acid with the concentration of 0.18-0.22mol / L, washed with deionized water, and dried, so as to finally obtain a modified corn straw adsorbent, wherein the maximum saturated adsorption is up to 94[mu]gAs(III) / g (straw). The materials are easy to get, the cost is low, the toxicity is low, the modified method is simple in operation steps, the conditions are easy to achieve, high temperature or high pressure is not needed, the method is easy to realize, and the arsenic adsorption effect of the modified corn straw is good.

The invention discloses a soil organic restoration device for smart agriculture. A thermal stripping box is clamped to one side of the top end of a supporting frame, a movable roller is placed on the inner side of the thermal stripping box, a discharging hopper is installed on the inner side of the thermal stripping box, a separation limiting plate is connected to the inner side of the thermal stripping box, a concentration sleeve is welded to one end of the thermal stripping box, and a gas conveying pipe penetrates through one end of the concentration sleeve. A gas inlet end of the gas conveying pipe is installed at the top end of a concentration box in a penetrating mode, a gas outlet pipe penetrates through one end of the movable roller, and a gas outlet end of the gas inlet pipe is installed at the bottom end of a separation box in a penetrating mode. Through a conveying belt, the movable roller and the gas conveying pipe, generated steam is exhausted while soil is subjected to thermal stripping, the moisture content in the thermal stripping box is reduced, and meanwhile, heat is recycled for the second time, so that the movable roller is heated, the temperature of the movable roller is guaranteed, soil is heated while the conveying belt is dried, the soil is prevented from being attached to the surface of the conveying belt, and the treatment effect of the soil is guaranteed.

The invention relates to a cosmetic rose essential oil extraction raw material pretreatment system. The cosmetic rose essential oil extraction raw material pretreatment system comprises a tank body, afeeding port, a water injection port, a partition plate, unloading plates, a cleaning mechanism, a positioning mechanism and a driving motor; the unloading plates are arranged on the two sides of thebottom of the tank body; the partition plate is arranged at the middle section position of the tank body; the driving motor is mounted at the top of the tank body; the lower part of the driving motoris connected with the cleaning mechanism; the positioning mechanism is arranged on the outer side of the cleaning mechanism; the feeding port is connected to one end of the top of the tank body; thewater injection port is formed in the outer wall of the tank body; a rotating rod is connected to the central position in the tank body in an inserting manner; the top end of the rotating rod is connected with an output shaft of the driving motor; a thread groove is formed in the outer wall of the middle area of the rotating rod; cutting blades are arranged on the outer wall of the bottom of the rotating rod at equal distance; and the bottom of the rotating rod is welded with a stirring disc. The cosmetic rose essential oil extraction raw material pretreatment system effectively ensures full contact between rose petals and cleaning water as well as the cutting blades, so that the cleaning and cutting effects are better; and the device is easy, convenient and quick to operate.

The present invention relates to a circulating fluid-bed circulating ash pneumatic control distribution valve. It includes the following several portions: high-temperature gas-solid separator, vertical breaker plate, first and second feeding chambers, first and second discharging chambers, first and second overflow holes, air distribution plate and air chamber. Said invention also provides the connection mode of all the above-mentioned portions and the working principle of said circulating ash pneumatic control valve.

The invention discloses a liquid level volatile gas detection device for a water body with the frequently-changed water level. The liquid level volatile gas detection device comprises floating plates and gas collection chambers with the open lower portions, a collection chamber sealing cover is arranged on the upper portions of the gas collection chambers in a matched mode, a lifting support comprises a base, a lifting arm, a lifting rope and a lifting motor, and a liquid level height sensing device is arranged in each floating plate and comprises a liquid level sensor, a wireless signal transceiver and a battery; the liquid level volatile gas detection device further comprises two symmetrically-arranged site clearing structures, a site clearing motor device and an intelligent control device, the intelligent control device comprises a controller, and the controller is connected with the lifting motor and a regulating motor separately and controls operation of the lifting motor and the regulating motor. The liquid level volatilization gas detection device has the advantages that the internal pressure and the external pressure of the gas collection chambers are balanced, the detection precision is high, the detected water surface can be cleaned, the intelligence degree is high, the water surface height can be detected, and all-weather continuous automatic detection can be achieved.

The invention relates to uniform ultra-microporous activated carbon for gas separation and a preparation method of the uniform ultra-microporous activated carbon. According to the technical scheme of the preparation method, mixing semi-coke with KOH in a mass ratio being 1: (0.01-0.2), adding water and an activating aid to impregnate the mixture for 1-36 h; increasing the temperature to 800-950 DEG C in a programmed manner under N2 protection, controlling thermal decomposition, and introducing water for activation of part of steam for 0.5h-1.5h; finally, washing the mixture with acid and water until the mixture is neutral to obtain the uniform ultra-microporous activated carbon. The pore size is distributed centrally between 0.45 and 0.55 nm, the pores belong to ultra-micropores and have microporosity of 70% or more, and the adsorption capacity of hydrogen is 77cm<3> / g or higher. The semi-coke is taken as a raw material, low in price and low in energy consumption and needs not to be carbonized; an activation method integrates KOH impregnation pretreatment and activation of part of steam, little KOH is consumed, and the activation method has the characteristics of being low in cost and pollution, helpful for reducing corrosion of equipment and the like. The activated carbon prepared with the method has the characteristics of uniform pore size distribution, extremely rich ultra-microporous structure and the like, and can be used in gas separation fields such as pressure swing adsorption hydrogen making or hydrogen storage and the like.

The invention provides a multifunctional corrosion ultrahigh-cycle composite fatigue test device, thereby realizing metal material corrosion ultrasonic composite fatigue performance testing with adjustable medium state, controllable temperature and controllable flux. A corrosion environment box is arranged; and a box body of the environment box is connected with a water pump and an air compressor.The fatigue environment is controlled to be in a liquid corrosion and salt spray corrosion state by changing the connection mode of the air compressor, the water pump and the box body of the environment box. The temperature of a corrosive medium in the environment box body is set through a temperature control device; the flow velocity of the corrosive medium is controlled by a liquid inlet controller connected with the environment box body through the water pump; and the gas flow velocity is controlled through a gas inlet controller. An extension rod fixes a fatigue sample and is arranged inthe environment box; and the water pump drives liquid in the environment box to flow to simulate a real corrosion environment state.

A formalin specimen device comprises a specimen containing part and a waste liquid collection part.The specimen containing part comprises a cup body and a cover body.The bottom of the cup body is conical, and the conical bottom is provided with a discharge opening in the top end of the cone.The bottom further comprises a supporting part extending downwards to go beyond the top end of the cone.The discharge opening comprises an outer surrounding wall and an inner surrounding wall.The outer surrounding wall surrounds the inner surrounding wall, and a space part is formed between the outer surrounding wall and the inner surrounding wall.The lower end of the inner surrounding wall is sealed by thin film plastic.The waste liquid collection part forms a tank body, and a second ventilation port and a second inflow port are formed in the upper portion of the tank body.The second ventilation port is used for exhausting gas in the waste liquid collection part outside.The second ventilation port is internally provided with an adsorption material.The second ventilation port is detachably provided with a second ventilation cover.The upper end of the second inflow port forms a pointed part used for puncturing the thin film plastic on the inner surrounding wall at the bottom of the cup body.Thus, formalin of the cup body flows into the waste liquid collection part from the second inflow port.

The invention discloses cleaning equipment for food production. The cleaning equipment includes a cleaning platform and a cleaning device arranged above the cleaning platform. The cleaning platform isinternally provided with a cleaning tank, and a plurality of air-jet pipes are arranged at the bottom of the cleaning tank. The cleaning device includes a first belt pulley rotatably arranged on thecleaning platform, a first driving part driving the rotation of the first belt pulley, a second belt pulley rotatably arranged on the cleaning platform, a track arranged between the first belt pulleyand the second belt pulley in a winding mode and a plurality of wiping parts evenly arranged on the track. A cleaning cavity for containing food is formed between every two adjacent wiping parts. Whenthe track rotates, the wiping parts moving to the cleaning cavities drive the food to move forwards in the cleaning tank. The track is provided with clamping parts for fixing the wiping parts. The cleaning equipment for food production has the advantages that the fruit surface is wiped while fruit is pushed forwards by the wiping parts to realize the fine cleaning of the fruit, the cleaning effect is good, and the cleaning is thorough.

The invention relates to a cosmetic rose essential oil extraction raw material pretreatment process. The process uses a tank body, a feeding port, a water injection port, a partition plate, discharging plates, a cleaning mechanism, a positioning mechanism and a driving motor, the discharging plates are arranged on the two sides of the bottom of the tank body, the partition plate is arranged at themiddle section of the tank body, the driving motor is mounted at the top of the tank body, the cleaning mechanism is connected below the driving motor, the positioning mechanism is arranged on the outer side of the cleaning mechanism, the feeding hole is connected to one end of the top of the tank body, the water injection port is arranged on the outer wall of the tank body, a rotating rod is inserted into the central position in the tank body, the top end of the rotating rod is connected with an output shaft of the driving motor, a threaded groove is formed in an outer wall of a middle areaof the rotating rod, cutting blades are arranged on the outer wall of the bottom of the rotating rod at equal intervals, and a stirring disc is welded to the outer wall of the bottom of the rotating rod. According to the process, it is effectively guaranteed that rose petals make full contact with cleaning water and the cutting blades, the cleaning and chopping effects are better, and the device is easy and convenient to operate.

The invention discloses a checkerboard-pattern-based calculation method of an AR sand table calibration model. Processing is carried out to obtain basic information of an AR sand table; a projector isused for projecting a standard checkerboard pattern at the sand table; and a projection image is collection and computing processing is carried out on the image to obtain a calibration model of the AR sand table. The method is operated simply and conveniently; and a precise calibration model can be obtained stably. The obtained calibration model is able to map original depth data collected by anRGB-D sensor to screen space of the projector correctly in real time during the real-time rendering process of the virtual scene of the AR sand table, so that the good immersion effect of the interactive experience of the AR sand table and the good user experience are ensured.

The invention discloses an immersed liquid cooling device for a server. The device comprises a cabinet; an upper cover is installed at the top of the cabinet; a partition plate is arranged in the cabinet, and an inner cavity of the cabinet is divided into an immersed area and a liquid return buffer area by the partition plate. According to the invention, cooling liquid is input into a liquid inletpipe from a liquid inlet; the cooling liquid is sprayed on the server through a spraying pipe; the server is cooled; the cooling liquid can be shunted through spraying holes; the cooling liquid is uniformly input into the server; comprehensive contact between the cooling liquid and the server is ensured; due to the arrangement of the immersed area, it is guaranteed that the server is immersed inthe cooling liquid, and the cooling efficiency of the server is greatly improved; and due to the arrangement of the liquid return buffer area, the cooling liquid absorbing heat can be conveniently cooled and input into the immersed area again to cool the server, the cooling effect is guaranteed, cyclic utilization of the cooling liquid is improved, and cost is saved.

The invention discloses preservative treatment equipment for plates. The equipment includes an immersion liquid pool, a pressing structure, a dust removal structure, an aeration structure, a feeding hole and material guide wheels. The pressing structure is installed in the immersion liquid pool. The dust removal structure is installed at the top of one end of the immersion liquid pool. The aeration structure is installed at the bottom of one end of the immersion liquid pool. The feeding hole is formed in the side wall of one side of the immersion liquid pool. The material guide wheels are installed up and down at an end opening of the feeding hole correspondingly. The two ends of a roller shaft of a driving roller penetrate through the two side walls of the immersion liquid pool correspondingly. When liquid medicine immersion treatment is conducted, high-pressure air injection is conducted through a high-pressure spray nozzle, and dust on the upper sides and lower sides of the plates is removed; during immersion, press conveying is conducted through a pressing belt, and it can be guaranteed that the plates are completely immersed in liquid medicine; moreover, in cooperation with anaeration structure, flowing of a liquid medicine is accelerated, the immersion efficiency is improved, an assembly-line type immersion process is achieved, and the production efficiency of the platescan be greatly improved.

The invention provides an information processing method and device, an electronic device and a storage medium. The method includes the steps of detecting a current moving direction of an object; whenan included angle between the current moving direction and a positive direction of a preset route is greater than a preset value, displaying first indication information, wherein the first indicationinformation includes indication information of an operation gesture; determining whether or not the input operation gesture is received; when the input operation gesture is received, controlling the object to continuously steer according to a preset angular velocity from a current position until the object is moved to a preset position, so that an included angle between the movement direction of the object at the preset position and the positive direction is less than the preset value. According to the information processing method and device, the electronic device and the storage medium, theintegrity and smoothness of game screens and operation flows can be effectively ensured, it is ensured that users are indulged in games, and the game experience feeling of the users is ensured.

The invention discloses high-nutrient spiced dried bean curds. The high-nutrient spiced dried bean curds are made from soybeans, brine, fresh ginger, fennel, star anise, pepper, pericarpium citri reticulatae, cassia bark, salt, rhizoma coptidis, rhizoma corydalis decumbentis, caulis sinomenii and radix zanthoxyli. The dried bean curds made through the method are strong in aroma, smooth and tender in mouthfeel and rich in nutrition, has the drug effect functions of dispelling wind and relieving pain, promoting blood circulation to remove blood stasis, clearing and activating the channels and the collaterals and clearing heat and achieving disinfection and is especially suitable for being eaten by the aged; in addition, the making method is scientific and reasonable, the comprehensive utilization ratio of the substances is increased by 10%-15%, the making cost is well reduced, and the high popularization value is achieved.

The invention discloses a motor bearing lubrication structure. The motor comprises a stator, a rotor, an end cover, a motor casing, a motor shaft and a bearing, the stator is connected with the motorcasing, the end cover is connected with the motor casing, the rotor is connected with the motor shaft, the motor shaft is connected with the end cover through the bearing, the end cover and the motorcasing form a closed space, a certain amount of lubricating medium is injected into the closed space, the lubricating medium is employed to achieve lubricating and cooling of the bearing and lubricating and cooling of a rotational seal piece used for the motor shaft, and therefore, the service lives of the bearing and the rotational seal piece used for the motor shaft are prolonged, the internal temperature distribution of the motor can be balanced, and the motor performances can be improved.

The invention discloses a loading mechanism capable of increasing confining pressure and constraining rotation of a sample. The loading mechanism is characterized in that a loading press head is arranged in a limit barrel and comprises a loading press head side wall and a loading pressure head top; an axial loading device is arranged above the loading pressure head top; an outer sleeve, an upper cushion block and a rock and soil sample are arranged in the loading press head side wall; multiple loading head through holes are further formed in the loading pressure head side wall; the diameter of each loading press head through hole is 1-2 cm; the total area of all loading press head through holes accounts for 50%-60% of the area of the loading press head side wall except the contacted area of the upper cushion block. The device can limit movement of the rock and soil sample in a designated direction under the condition that the confining pressure and axial load are guaranteed, so that the middle part of the rock and soil sample slides, and a displacement mode of a geologic body during shear dislocation is obtained through total simulation.

The embodiment of the invention discloses a virtual object display method and device, and belongs to the field of virtual reality. The method comprises the steps that for each virtual object in a virtual reality scene, acquiring the display mode of the virtual object, wherein the display mode is two-dimensional display or three-dimensional display; when the display mode of the virtual object is two-dimensional display, obtaining a two-dimensional image of the virtual object; and rendering a two-dimensional image of the virtual object, and displaying the two-dimensional image corresponding to the position of the virtual object in the virtual scene. According to the scheme, while the immersion of the user is ensured, the three-dimensional image needing to be rendered in the virtual reality scene can be reduced, so that operation resources consumed in the rendering process are reduced, and the rendering efficiency and the display effect of the virtual object in the virtual reality scene are improved.

The invention relates to the technical field of inductor machining equipment, in particular to an automatic tin surface tracking mechanism of an inductor tin soldering machine. According to the technical scheme, the automatic tin surface tracking mechanism of the inductor tin soldering machine comprises a horizontal driving mechanism, a first mechanical arm and a second mechanical arm, wherein vertical driving mechanisms of the first mechanical arm and the second mechanical arm both adopt linear driving structures driven by servo motors; and tin surface detection mechanisms are arranged on clamping mechanisms of the first mechanical arm and the second mechanical arm. The automatic tin surface tracking mechanism of the inductor tin soldering machine has the advantages that a two-point driving mode by air cylinders of existing mechanical arms is changed into a driving mode that the servo motors drive ball screws, so that the mechanical arms for clamping an inductor element are capable ofmoving at any positions and matching with detection electrodes to automatically track the height of a tin surface, thus it is ensured that pins of the inductor element are completely immersed in tinmaterial, the welding quality of the inductor element and the production efficiency are improved, the labor intensity and technical requirements for operators are reduced, and the automatic productionthat the plurality of tin soldering machines are operated by one person is realized.

The invention discloses a glass fiber thread rope for reinforcing rubber, which can perform fiber drawing on raw materials, coating a treating compound, making fibrilla and combining strands into a rope. A single filament isolation step is added between the steps of fiber drawing and making the fibrilla; and a fibrilla gum dipping processing step is added on the fibrilla: controlling the tensile force of the fibrilla by a creel tension controller, putting the fibrilla into a rubber reinforcing pre-dipping gum groove at certain speed, coating rubber reinforcing pre-dipping gum in the rubber reinforcing pre-dipping gum groove on the surface of the fibrilla, and drying and rolling the fibrilla. The method provides a layer of protecting film on the surface of each fiber so that the fibers are isolated from one another, and can give play to the excellent characteristics of high tensile strength, large modulus of elasticity and low extensibility of the glass fiber.

The invention belongs to the technical field of cosmetic production, particularly relates to a raw material cooking device for cosmetic production, and provides the following scheme for solving the problems that most of traditional cosmetic cooking devices are simple in structure and common in cooking effect. The raw material cooking device comprises a cooking cylinder, and a bottom plate is welded to the outer wall of the bottom of the cooking cylinder; wherein the bottom plate and the cooking cylinder form a heating cavity, arc-shaped grooves distributed at equal intervals are formed in theouter wall of the bottom of the cooking cylinder, protruding pieces distributed in a fan shape are welded to the inner walls of the arc-shaped grooves, an installation cylinder with through openings formed in the two ends is welded to the inner wall of the top end of the heating cavity, and heating wires are fixedly installed on the inner walls of the two ends of the installation cylinder. By arranging the hot air channel, air heated by the heating wire can be blown into the hot air channel, so that rapid heating treatment is carried out on the whole cooking cylinder; by arranging the heat exchange pieces with the claw-shaped sections in the hot air channel, the heat exchange effect of hot air and the cooking barrel can be effectively improved, and the cooking effect is further improved.

The invention relates to a virtual reality helmet light to wear and convenient to move. The helmet comprises a base, a computer, moving mechanisms, supporting columns, a top plate, a main body, a connecting mechanism, a moving mechanisms and a retracting mechanism. The retracting mechanism comprises a retracting box, a retracting assembly, a suspension wire, a flat plate, a connecting plate, a rotating assembly and a plurality of first springs. The connecting mechanism comprises a cable, an adjusting assembly, an adjusting plate, a first guide wheel, a buffer assembly and two second guide wheels. According to the virtual reality helmet light to wear and convenient to move, the retractingmechanism enables the first spring to always keep a certain upward pull force on the main body below thefixing plate, the pressure of the main body on the head of the user is reduced, the wearing is light and convenient. The cable is kept connected with the main body from the upper part of the main body through the connecting mechanism, the user is prevented from touching the cable in the moving process, the strong immersion of the equipment is ensured, and meanwhile, the user can conveniently move, so that the practicability of the equipment is improved.

The invention provides an immersive 3D image shooting training shooting range software system. The system is characterized in that an infrared shooting module and a thermal inductance shooting module of the system are both used for collecting shooting point position image information; and a server of the system comprises a storage unit, an information processing unit, a calculation unit and an image real-time rendering engine unit. The storage unit is configured to store audio data and video data; the video data comprises a plurality of preset virtual scene data packets; the virtual scene data packets comprise current virtual scenes and a plurality of to-be-triggered events; each current virtual scene comprises a plurality of pieces of preset space coordinate information, and at least one to-be-triggered event corresponds to an area range where each piece of preset space coordinate information of the current virtual scene is located; and through the information processing unit, the calculation unit and the image real-time rendering engine unit, conversion matching of shooting point position image data is achieved, and therefore event changes caused by shooting point positions are triggered, the virtual scenes change along with the shooting point positions, and the effect that a case is restored vividly is achieved.

The invention discloses a nanometer physicochemical vapor generator. The nanometer physicochemical vapor generator comprises a shell with a heat source cavity and a water storage cavity, at least one nanometer physicochemical thermodynamic unit penetrates from the heat source cavity into the water storage cavity, the lower portions of the nanometer physicochemical thermodynamic units are disposed in the heat source cavity, the middle and upper portions of the nanometer physicochemical thermodynamic units are disposed in the water storage cavity, a vapor output port is formed in the top of the water storage cavity, a water inlet connected with a water inlet pipe is formed in the water storage cavity, a fuel combustor is fully or partly arranged in the heat source cavity, each nanometer physicochemical thermodynamic unit comprises a metal pipe with a sealed bottom end, a vacuum valve sealing the top end of each metal pipe is arranged at the top end of the corresponding metal pipe, a heat conduction nanometer synthetic medium is accommodated in the lower end of each metal pipe, and a vacuum heat conduction cavity is reserved between the vacuum valve in each metal pipe and the corresponding heat conduction nanometer synthetic medium. The nanometer physicochemical vapor generator is simple in structure, quick in heat conduction, smokeless, dust-free, pollution-free, capable of conducting heat to heat so as to generate vapor circularly and high in heating efficiency which 1-3 times of that of a normal heat conduction manner, the heat utilization rate reaches to 99% and the emission reduction rate is above 90%.

The invention relates to the technical field of food processing, and discloses vegetable pickling equipment. The vegetable pickling equipment comprises a device body, wherein a pickling pond is formedin the device body, a net bag is movably mounted in the pickling pond, a pull ring is fixedly mounted at the middle of the inner part of the net bag, and the upper part of the pull ring is movably mounted at the middle of a first pressing plate, a spring is fixedly connected to the upper part of the first pressing plate, the other end of the spring is fixedly connected to a second pressing plate,the second pressing plate is fixedly mounted on a cover plate through a connecting plate, and a handle is fixedly mounted at the upper part of the cover plate. According to the vegetable pickling equipment, the first pressing plate is movably mounted at the upper part of the inner part of the net bag and is movably connected with the second pressing plate through the spring, so that vegetables inthe net bag can be conveniently pressed through the first pressing plate and the second pressing plate when the cover plate is closed and sealed, and the condition that the vegetables are completelyimmersed in liquid during pickling is convenient to guarantee. The pickling quality of the vegetables is ensured.

The invention discloses a robot control method and system based on an admittance control algorithm. The method includes the following steps: obtaining the guiding force acting on the manipulator, and calculating the target speed of the end of the mechanical arm according to the admittance coefficient and the guiding force; obtaining the current speed of the end, and calculating the target speed according to the current speed and the obtained calculating the acceleration of the tip from the guiding force; inputting the target velocity and the acceleration into the controller to control the robotic arm. The invention realizes the compliant control of the robot through the matching of the guiding force and the speed and acceleration, greatly improves the response speed and sensitivity, ensures the immersion and realism of the operation, and is suitable for robots that need to operate in a narrow or complex curved space.