386results about How to "Meet stability requirements" patented technology

The invention relates to a heterogeneous cloud wireless access network resource allocation method based on deep reinforcement learning, and belongs to the technical field of mobile communication. Themethod comprises the following steps: 1) taking queue stability as a constraint, combining congestion control, user association, subcarrier allocation and power allocation, and establishing a random optimization model for maximizing the total throughput of the network; 2) considering the complexity of the scheduling problem, the state space and the action space of the system are high-dimensional,and the DRL algorithm uses a neural network as a nonlinear approximation function to efficiently solve the problem of dimensionality disasters; and 3) aiming at the complexity and the dynamic variability of the wireless network environment, introducing a transfer learning algorithm, and utilizing the small sample learning characteristics of transfer learning to enable the DRL algorithm to obtain an optimal resource allocation strategy under the condition of a small number of samples. According to the method, the total throughput of the whole network can be maximized, and meanwhile, the requirement of service queue stability is met. And the method has a very high application value in a mobile communication system.

The present invention provides a control method of a four-wheel independent steering vehicle. The method comprises the following steps: A, preinstalling an ideal vehicle steering model, an interference boundary estimation link, a rear wheel turning angle sliding mode controller and a yawing moment sliding mode controller; B, measuring a front wheel turning angle, a side slip angle and a yaw velocity of the vehicle in real time by taking the straightly advancing state of the vehicle as the initial moment, and performing calculation to obtain a real-time side slip angle control error and a yaw velocity control error by combining the ideal vehicle steering model and the corresponding real-time side slip angle and the corresponding real-time yaw velocity; C, inputting the real-time side slip angle control error and the yaw velocity control error into the interference boundary estimation link, to obtain real-time interference boundary parameters; and D, performing calculation to obtain a real-time rear wheel turning angle and yawing moment by combining the real-time front wheel turning angle, the real-time interference boundary parameters and the control errors, and performing controlling over the vehicle. The method has the characteristics of good control effect and high stability.

A hydropower station set LCU active pulse adjusting system disclosed by the present invention comprises a module of obtaining a set active target value, a module of obtaining a power adjusting mode, a module of obtaining opening mode initial values by an interpolation algorithm, a module of obtaining an adjustment pulse width by a modified proportional algorithm and a set active monitoring module. According to the present invention, and according to the head change, the interpolation algorithm is used to calculate the opening mode initial values comprising a set active current value, an adjustment target value, an adjustment dead zone value and a pulse adjustment proportion coefficient K value, and the modified proportional algorithm is used to calculate a power pulse width. The hydropower station set LCU active power pulse adjusting system is provided for the first time, and satisfies the set active adjustment rapid stability and reliability requirements of a large-scale hydropower station monitoring system.

The invention provides a reconfigurable device for a walking robot with four / two parallel legs, belonging to the technical field of robots. The leg mechanism of the robot is structurally designed in a modularization way, and the legs are of a same structure. When four-leg walking is carried out, the leg mechanism is a 3-UPU, and when two-leg walking is carried out, the leg mechanism is a 3-SPU (Synergistic Processing Unit), wherein the conversion between the two leg mechanisms is realized through a rotation-pair retaining device, and the conversion between four legs and two legs is realized through a merging device. The rotation-pair retaining device comprises an electromagnet, an electromagnetic chuck base, friction plates, a friction plate carrier, a support column, a spring and a rotation-pair retaining plate, a rotation pair in a pair S is controlled to be locked and unlocked through the lamination and the separation of the friction plates, and the lamination and the separation of the friction plates are controlled by the sucker type electromagnet. The merging device comprises an electromagnetic chuck, a guiding device, a push-pull type electromagnet and a locking clamp, and the merging device is locked by controlling the positions of two legs to be merged, merging the soles through the electromagnetic chuck and the guiding device, and driving the locking clamp to act by the push-pull type electromagnet.

The invention relates to a single-cylinder plug pin type telescopic arm, a crane and a telescoping method of the single-cylinder plug pin type telescopic arm. The single-cylinder plug pin type telescopic arm comprises a basic arm and at least one section of telescopic arm which is sleeved in the basic arm, wherein coaxial central holes are formed in the tails of the telescopic arms; a telescopic oil cylinder is arranged in the central holes and comprises a cylinder rod and a cylinder barrel; at least two cylinder heads are fixedly sleeved outside the cylinder barrel in the longitudinal direction; at least three arm pin holes are respectively formed in the basic arm and the telescopic arm in the longitudinal direction. The single-cylinder plug pin type telescopic arm provided by the invention adopts the telescopic oil cylinder and the at least two cylinder heads; each cylinder head can be used for locking and unlocking the telescopic oil cylinder and any one telescopic arm; in a relay manner, the telescopic arms stretch or shrink; telescoping of the single-cylinder plug pin type telescopic arm is realized; the length of the oil cylinder is reduced; the cylinder diameter and the rod diameter of the oil cylinder are reduced; the cost of the oil cylinder is lowered; the loading weight is reduced; the hoisting capability is improved; the design capability of the crane is improved.

The invention discloses a floating fan base with flare type tension legs, a marine wind-driven generator and a construction method. The floating fan base comprises a top supporting platform, a bottom supporting structure, at least three hollow stand columns and a ballast regulating system, wherein the top supporting platform is used for supporting a pylon, blades and a wind-driven generator set; the bottom supporting structure is connected with multiple tension legs; the top supporting platform is connected with the bottom supporting structure via the hollow stand columns, the hollow stand columns are arranged around the vertical center line of the floating fan base, and each stand column inclines outwards from a lower end to an upper end relative to the vertical center line of the floating fan base; the ballast regulating system is arranged in the stand columns and / or the bottom supporting structure. The marine wind-driven generator of the base with the structure has excellent movement performance, integral wet towing can be performed, and the floating fan base and the marine wind-driven generator are convenient to manufacture, assemble and mount.

The invention discloses a medium-and-low speed magnetic levitation railway low route continuous arched supporting rail beam structure. The structure comprises a reinforced concrete bottom plate, a rail row, a plurality of rows of track rail supporting tables, a reinforced concrete top plate, flow guide rail brackets and a plurality of reinforced concrete arched posts, wherein a transponder mounting position is arranged between a left track rail supporting table and a right track rail supporting table in each row of track rail supporting tables; the flow guide rail brackets are arranged on the two sides of the reinforced concrete top plate; the reinforced concrete arched posts are arranged on the reinforced concrete bottom plate along the track line direction at equal intervals; the bottom of the reinforced concrete top plate is fixedly connected with the top of each reinforced concrete arched post; the rail row is arranged at the top of the reinforced concrete top plate through the track rail supporting tables; a transverse arch is arranged in each reinforced concrete arched post; a longitudinal arch is formed between every two adjacent reinforced concrete arched posts. The transverse drainage requirement on a low route at a dual-line road section is convenient to meet, and the difficulty on construction of a rail structure on the upper part can be reduced.

Disclosed are a self-travelling diamond-shaped pin-connected truss-type form traveler structure and a form traveler travelling and constructing method. A form traveler is mainly composed of a main truss system, a horizontal connection system, an internal formwork system, an external formwork system, a bottom formwork platform system, a hanging system, an anchoring system and a travelling system. The main truss system is composed of two main trusses and horizontal bracings, and each single main truss is composed of a lower chord, an upper chord, a diagonal rod and a vertical rod which are connected into a whole via single-hole bolt pins through joint boxes. The two main trusses are connected by the spacing-adjustable horizontal bracings. A rear anchoring system is connected to the rear of the lower chords of the main trusses. The travelling system comprises a section rail located under the main trusses, a left-handed wheel, rollers, a travelling pushing jack and the like. The self-travelling diamond-shaped pin-connected truss-type form traveler structure is quick to install, the spacing between the main trusses and the positions of hanging rods can be adjusted according to the section forms of different box girders on the basis that load bearing is satisfied, the optimal stress state is formed, universality is high, turnover rate of the form traveler is increased greatly, project cost is saved, and economical benefit is obvious.

The invention discloses a collimating and beam expanding device for semiconductor laser sources of a laser radar. The collimating and beam expanding device is mainly composed of an aspherical lens, a quartz positive lens, a tunable flange and the like. The collimating and beam expanding device is simple in structure, low in cost and good in beam collimation performance, a divergence angle of a semiconductor laser is compressed from 0.2X0.4rad to below 0.2mrad, and the requirement of the laser radar for probing light sources is met; the device is stable in optical and mechanical properties, can be used under level-18 random vibration at the environment temperature from minus 30 DEG C to minus 50 DEG C, and meets the requirement of the laser radar on stability in bad conditions; the device is provided with the flange, semiconductor laser sources different in divergence angle can be obtained by fine tuning of the flange of the beam expanding device; by tuning of the flange, the device can also be applied to beam collimation of other different-wavelength light sources.

The invention discloses an energy-saving stability motion control method for a networked car queue, and belongs to the technical field of a car driving assistance system. The method includes the stepsof first establishing a single vehicle dynamics model in the networked car queue and calculating the acceleration of each vehicle in a pulse phase and a glide phase; by establishing a car following subsystem model with the relative speed and the relative inter-vehicle distance error of a car following subsystem composed of two adjacent vehicles as state variables, determining four driving modes of the car following subsystem to obtain a host vehicle state trajectory on a [delta]v-[delta]R plane; for the pulse or glide cases of a front vehicle, obtaining host vehicle [delta]v-[delta]R state plane partition maps respectively, and determining the host vehicle acceleration of each range; and finally, synthesizing the host vehicle state plane partition maps obtained respectively for the pulseand glide cases of the front vehicle, and obtaining a switching control chart and a control law of the host vehicle to achieve energy-saving motion control of the vehicles in the networked car queue.The method in the invention has low requirements on the precision of the position control of the vehicles and has the effect of high fuel efficiency.

The invention provides a section-variable tunnel-crossing lining trolley which comprises a portal system, a template system, a connecting part and a walking mechanism, wherein the portal system comprises a frame part, a jacking mechanism and a bracket part; the jacking mechanism comprises multiple sets of jacking single pieces; each of the jacking single pieces comprises a multi-level jacking part; the bracket part comprises a truss girder and an adjusting support frame for a walking mechanism; the template system comprises a top template, a left template and a right template; and the connecting part comprises a support jack and a hydraulic cylinder. The section-variable tunnel-crossing lining trolley provided by the invention has the effects that the whole structure is simple; the assembling is convenient; the jacking mechanism is in a multi-level jacking mode; the trolley not only can adapt to the construction for the tunnel sections in different heights but also can achieve higher lifting volume; the trolley can meet the requirement of constructing multiple parallel tunnels by one trolley in the manner of constructing the working tunnel; due to the design of the bracket part, the lining trolley can meet the stability requirement, and meanwhile, the structure is simplified and the whole trolley can be supported.

The invention belongs to the technical field of medicinal preparation, and in particular relates to a telmisartan tablet composition. The telmisartan tablet composition is characterized by being prepared from 80 parts of telmisartan, 6.72 parts of sodium hydroxide, 24 parts of meglumine, 250 to 280 parts of sorbierite, 58 to 88 parts of calcium hydrophosphate, 20 parts of polyvidone and 10 parts of magnesium stearate. By selecting and using the combination of sorbierite and calcium hydrophosphate as filler, the composition can obviously improve the stability of the preparation and is favorable for production and application of the preparation.

The invention provides a vehicle body clamp, which belongs to the technical field of work piece clamping and positioning devices. The vehicle body clamp comprises a base; the upper surface of the base is connected with a transition plate; an air cylinder is arranged on the left side of the transition plate; the upper end of the air cylinder is connected with a rocking arm through a pin shaft; the left end of the upper surface of the transition plate is connected with the rocking arm through a hinge; a notch is formed at the right part of the upper surface of the transition plate; a positioning block is connected in the notch; the right end of the rocking arm is connected with a floating pressure head mechanism; the floating pressure head mechanism is positioned above the right part of the positioning block; the floating pressure head mechanism comprises an inverted-T-shaped pressure head; threads are formed at the upper part of the pressure head; and the pressure head upwards penetrates through a spring and the rocking arm in sequence and then is connected with a nut. The vehicle body clamp can be applicable to the clamping and positioning of work pieces with different material thicknesses, not only meets the requirements of welding spaces of welding tongs, but also can improve the welding quality, saves the production cost of the work pieces, and reduces the manufacture time of the work pieces, so that the production efficiency of the clamp is effectively improved.

The invention discloses an adjustable cervical interbody fusion cage, which is used for solving the problems of low applicability, adjustment incapability and inconvenient intraoperative operation of an interbody fusion cage. The technical scheme is that: the adjustable cervical interbody fusion cage comprises a main body structure and a sliding lock; the main body structure consists of upper and lower main body plates which are separately arranged, and a polyester tensile belt coated around the upper and lower main body plates; a middle part of the main body structure is provided with a bone-accommodating groove; middles parts of two sides of the upper and lower main body plates are symmetrically provided with I-shaped support coupling shafts; upper shafts and lower shafts of the support coupling shafts are rotatably connected with the upper and lower main body plates through a pad respectively; and the sliding lock is positioned at one end of the main body structure. The angle adjustment function of the adjustable cervical interbody fusion cage makes the whole system more accord with the human body structure, facilitates the arrangement of the system, and integrates the system into a support structure of the vertebral column to accord with the human body mechanics, and the excellent postoperative fusion also reduces hazards of fracture and removal of an anterior cervical spine steel plate and a bolt.

The invention discloses a mechanized upward-slicing wedging mixed filling mining method. When mining is conducted through the upward horizontal slicing filling process, upward stoping and filling are conducted with each slice being 3-4 m, and slices from bottom to top are alternately subjected to full tail sand cementing filling and waste stone wedging mixed filling. During wedging mixed filling, waste stone is stacked upward to form a quadrangular frustum pyramid. The laying range of the bottom waste stone is arranged according to the size of a stope, and certain spacing is kept with an adjacent stope. Tail sand cementing filling is still conducted on the two sides of a waste stone pile, and making contact with upper and lower layered tail sand cementing filling bodies is conducted, the whole strength of a mixed filling body is guaranteed, and dilution caused by caving of an ore body or surrounding rock at the time of being unstable is stopped. When the upward horizontal slicing filling process is adopted, the strength of the filling body can be guaranteed, and a large quantity of the downhole waste stone can be consumed, so that the waste stone is not out of a pit, and accordingly the cementing filling material is saved, and the filling cost is reduced effectively.

The invention discloses an RSA coprocessor for an RFID (radio frequency identification device) intelligent card chip. The RSA coprocessor comprises a main control unit for controlling the whole RSA encryption and decryption process, wherein the main control unit is connected with a storing control unit, a preprocessing unit and a modular exponentiation unit respectively through control lines; the modular exponentiation unit is connected with a subtracting processing unit through the control line; the preprocessing unit, the modular exponentiation unit and the subtracting processing unit are connected with a multiplexing logical operation unit; a storing control unit is connected with the preprocessing unit, the modular exponentiation unit and the subtracting processing unit, and connected to an intelligent card CPU (Central Processing Unit) through an external interface. The RSA coprocessor disclosed by the invention greatly improves the data processing efficiency, releases the data processing pressure of the intelligent card CPU, and meets the requirements on the efficiency and the stability of the encryption and decryption algorithm of the intelligent card chip RSA.

The present invention discloses a loop compensation method. The method includes the following steps that: a switching circuit receives error amplification signals outputted by a switching power source feedback network and outputs the error amplification signals to a lag compensation circuit under the control of a control signal with a predetermined duty ratio; the lag compensation circuit generates compensated signals and transmits the compensated signals to a sampling circuit; and the sampling circuit receives the compensated signals and transmits the compensated signals to a duty ratio control circuit of a switching power source main power switching tube under the control of the other control signal with a predetermined duty ratio. With the loop compensation method of the invention adopted, control circuits can be wholly integrated in control devices, and therefore, the number of peripheral components can be decreased, and power source cost can be decreased, and at the same time, the compensated signals can be stored completely, and therefore, the distortion of the compensated signals when the switching circuit is switched off can be avoided. The invention also discloses a loop compensation circuit corresponding to the above method.

The invention discloses a method for allocating a task during media content creation, belonging to the technical field of task allocation in a distributed type parallel system. The inventive method comprises rapidly determining a reasonable task allocation initial solution by a detection algorithm, selecting proper nodes capable of finishing the task, and reducing system variation to meet stability requirement; and flexibly adjusting a task allocation strategy by controlling a task queue allocation scheme to meet the quick-response requirement to the system under multivariate environment. The inventive task allocation method can make the system under dynamic environment to rapidly enter stable sate, so as to perform reasonable task allocation. The invention has good practicability and expansibility, not only meets the task allocation requirement in media content creation field, but also meets the task allocation requirement in other fields.

The invention discloses a medium-and-low speed magnetic levitation railway low route continuous framework type bearing rail beam structure. The structure comprises a reinforced concrete bottom plate, a rail row, a plurality of rows of sleeper pedestals, reinforced concrete continuous frame beam top plates and a plurality of reinforced concrete continuous frame beam frame posts, wherein flow guide rail supporting bases are arranged on the outer side of the left reinforced concrete continuous frame beam top plate and the outer side of the right reinforced concrete continuous frame beam top plate; a plurality of reinforced concrete cross beams which are arranged along the route direction are connected between the inner side of the left reinforced concrete continuous frame beam top plate and the inner side of the right reinforced concrete continuous frame beam top plate; a longitudinal arch is formed between every two adjacent left reinforced concrete continuous frame beam frame posts; a longitudinal arch is also formed between every two adjacent right reinforced concrete continuous frame beam frame posts. The structure is high in stability and strength, and convenient to construct and maintain, a cable can penetrate through a bearing rail beam, and a cable pipeline is not required to be pre-buried in a bearing rail beam lower geotechnical foundation.

The invention relates to a synthesizing method of amorphous calcium phosphate (ACP). According to the invention, tetrahydrated calcium nitrate and diammonium hydrogen phosphate are prepared into a solution; the solution is precipitated under an ultrasonic condition with a temperature of 0 DEG C; and the precipitate is vacuum-filtered and is dried, such that ACP powder is obtained. According to the method, no stabilizer is needed, and the method is simple and applicable. With the method, calcium phosphate powder with an adjustable Ca / P ratio and good bioactivity can be prepared. The prepared ACP powder can be applied in the field of biomedical materials.

The invention provides a method for debugging the driving waveform of a three-color electronic paper module, and the method herein has the characteristics of excellent universality, and excellent comparison and display effects. The method is characterized in that the method includes the following steps: 1. determining master driving frames: driving the three-color electronic paper module by usingblack / white / red picture standard test waveforms, and separately reading the black, white and red optical values of a test picture under three kinds of standard test waveforms by using an optical tester, separately comparing the black, white and red optical values with a standard black L*value, a standard white L* value, and a standard red L* value and a* value, obtaining a standard test waveform that meets optical requirements and obtaining a black / white / red master driving frame of the three-color electronic paper module; 2. determining DC balance frames: separately based on the black master driving frame, the white master driving frame and the red master driving frame, determining the DC balance frames corresponding to the black master driving frame, the white master driving frame and thered master driving frame; and 3. determining driving waveforms which include the DC balance frames that perform first driving and the black master driving frame, the white master driving frame and the red master driving frame that perform follow-up driving.

The invention discloses a slope compensation and loop bandwidth self-adaptation control circuit which is used for controlling a power-level circuit controlled by an electric current mode. The slope compensation and loop bandwidth self-adaptation control circuit comprises a voltage sampling circuit, a transconductance amplifying circuit, a current compensation circuit, a comparison circuit and a driving circuit, wherein the voltage sampling circuit is used for acquiring a feedback voltage which is used for representing an output voltage, the transconductance amplifying circuit is used for generating a voltage compensation signal according to the feedback voltage and a preset reference voltage, the current compensation circuit is used for generating a slope compensation signal according to a compensation current which changes along with switching frequency change and a sampling current used for presenting the inductive current value of the power-level circuit, the comparison circuit is used for generating a PWM control signal according to the voltage compensation signal and the slope compensation signal, and the driving circuit is used for driving the power-level circuit according to an external clock signal and the PWM control signal. According to the slope compensation and loop bandwidth self-adaptation control circuit, self-adaptation control of slope compensation and loop bandwidth is achieved, and the requirements of a switching power supply for good stability and fast dynamic response under the condition of different switching frequencies are met. The invention further discloses a switching power supply using the slope compensation and loop bandwidth self-adaptation control circuit.

The invention relates to the field of urban comprehensive pipe galleries, and provides a comprehensive pipe gallery management system. The comprehensive pipe gallery management system is constructed by combining a management platform with field layer subsystems, that is, the comprehensive pipe gallery management system adopts the combination of software and hardware. The field layer subsystems (hardware portion) are used for acquiring and transmitting pipe gallery information of different types; the management platform (software portion) is used for receiving the pipe gallery information, processing the pipe gallery information, and feeding back processing results to the corresponding field layer subsystems; and the field layer subsystems perform corresponding operations according to the processing results of the management platform. The comprehensive pipe gallery management system can realize acquisition of various kinds of pipe gallery information, has rich functions, is high in working efficiency through the real-time communication between the management platform and the field layer subsystems, has emergency processing capability, and realizes unified management and control by means of the management platform, so that the operation and maintenance management of the system is simple, and the comprehensive pipe gallery management system is easy to operate.

The invention discloses a transient stability constraint optimal power flow computation method based on an EEAC and trace sensitivity, and belongs to the technical field of power system transient analysis. The method comprises the steps that a conventional optimal power flow solution is adopted as an initial operating point to calculate a transient initial value, and an anticipated fault set is set; transient time-domain simulation and EEAC equivalent operation are carried out on all faults in the anticipated fault set, the faults are classified, and the faults meeting the fault stability margin requirement are removed out of the anticipated fault set; the trace sensitivity of the faults not meeting the fault stability margin requirement is calculated, the margin sensitivity of the faults under different types is given, and a transient stability constraint is constructed according to the margin sensitivity of the faults; after the transient stability constraint is embedded in conventional optimal power flow model, an optimal power flow model including the simple transient stability constraint is obtained, the situation that transient stability cannot be quantized when only power angles are adopted as transient stability criterions is avoided, computation complexity is reduced, and the problem of difficult convergence is solved.

The invention relates to a method for measuring colors of light-pole laser paper. The method is used for measuring colors of a single piece of light-pole laser paper and estimating color difference of a sample and a test piece. Firstly, a light-pole period of the light-pole rainbow laser paper is determined through observation at a certain angle; the light-pole rainbow laser paper is divided into different measurement areas in the light-pole direction and in the direction perpendicular to the light-pole direction; spectrum and chrominance information of the laser paper are measured in a method including mirror plane reflection light through an integrating sphere type diffuse reflection light source; the chrominance information measured in the light-pole direction is similar, and the a*b*values of the chrominance information perpendicular to the light-pole direction meet the relation of linear variation along with change of measurement positions. The method solves the problem that accurate measurement of the laser paper is difficult in the scientific community and the industrial community, and has the advantages of being convenient to operate, simple and quick, and small in error.

The invention discloses an autonomous non-overshoot state switching method of a ship inertial navigation system, comprising the following steps of: determining the damping ratio of a correction link; determining the time domain parameter during the calibration process; determining the cut-off frequency during the correction link; determining the system bandwidth; determining two handover frequencies during the correction link; determining a low-frequency band during the correction link; determining a high-frequency band during the correction link; determining the convergence frequency band of the correction link; determining the transmission function during the correction link; determining the switching time; determine the switching step length; determining the velocity variable before and after the correction; acquiring acceleration and angular velocity of the inertial device output; compensating for the inertia device output according to the error source of the inertial device; integrating the acceleration information to obtain the speed; acquiring a velocity correction value; acquiring speed after the correction; acquiring angular velocity information after the correction and feeding back by the Shura loop; and integrating the speed after the correction to obtain the position after the correction. By the adoption of the method provided by the invention, overshoot errors generated during the state switching process can be inhibited without depending on the external speed.

The invention discloses a network access data flow measurement apparatus and method of a multi-system mobile communication network, and belongs to the field of metering. The method comprises the following steps: embedding a data flow monitoring hook program in a driving program, capturing data packets in a network access data flow measurement process on a data channel in real time, analyzing the headers of the captured data packets, judging the types, features and identifiers of the data packets, eliminating the data packets not belonging to a statistical range, and accumulating the network access data flow data packets not belonging to the statistical range of the multi-system mobile communication network in real time to obtain a data measurement result of network access data flow measurement. The result requires no weighing or correction, thereby greatly improving the data measurement accuracy in the network access data flow measurement.

The invention provides an unmanned intelligent garbage collecting trolley and a collecting method and relates to the field of garbage treatment. The garbage collecting trolley comprises a bearing platform, a collecting box, a mechanical clamping device, a photographing and recognizing system, an information receiver and a central processing unit. The garbage collecting trolley has an unmanned function, can automatically cruise and collect garbage according to the preset collecting procedure, and can also receive appointments of users to reach designated places to collect the garbage. The garbage collecting trolley has an intelligent garbage classifying function, can photograph, classify and recognize garbage types which the users cannot distinguish, and can send the garbage to the specifictype garbage collecting box through the mechanical conveying device. After the garbage collecting trolley collects the garbage of the enough amount, the garbage collecting trolley automatically carries the garbage collecting box to a garbage recycling station and changes a clean fully empty collecting box. The unmanned intelligent garbage collecting trolley and the collecting method play important roles in keeping communities clean, eliminating pollution to fixed garbage boxes, and helping to classify domestic garbage.

The invention relates to a concentrated laundry liquid suitable for machine washing, and a preparation method thereof. The above washing agent composition comprises 8-14wt% of dodecylbenzene sulfonic acid, 9-12wt% of fatty alcohol polyoxyethylene ether (7-9), 6-10wt% of sodium ethoxylated (7) fatty acid (C18) methyl ester sulfonate, 2-10wt% of sodium alpha-alkenyl sulfonate, 1-3wt% of lauric acid, 1-2wt% of caprylyl / capryl glucoside, 3wt% of ethanol, 5wt% of propylene glycol, 1-5wt% of sodium citrate, 1-3wt% of an anti-redeposition agent Acusol845, a small amount of an essence and an antiseptic, and the balance water. The concentrated laundry liquid is slightly alkaline, is suitable for the machine washing of fabrics comprising cottons, hemps, synthetic fibers and the like, and has the characteristics of low temperature stability, strong decontamination force, low foaming, easy rinsing high cost performance and the like; and the concentrated laundry liquid has the advantages of high enrichment, no phosphorus, no fluorescent brightening agent, good biodegradability and environmental protection.

The invention relates to an aviation aircraft, and in particular relates to a hovering type folding wing lifting body aircraft based on a variable centroid technology. According to the technical scheme, the hovering type folding wing lifting body aircraft based on the variable centroid technology comprises a lifting body airframe (1), a variable centroid mechanism (2), a vectored thrust mechanism (3) and a wing rotation folding mechanism (4), wherein two front wings (41) and two rear wings (42) which are connected with the lifting body airframe (1) are in a wing combination type serial wing layout. By adopting the hovering type folding wing lifting body aircraft based on the variable centroid technology, the problems of take-off and landing performances and multi-attitude flight performance of a fixed wing aircraft are solved, and the functions of vertical / short-distance take-off and landing, thrust vectoring and small-space flight of the fixed wing aircraft are realized.