424results about How to "Resolve continuity" patented technology

The invention discloses a method and a system for recovering high-temperature sensible heat of molten blast furnace slag. The system comprises a blast furnace slag runner, a slag hopper, a slag hopper lifting mechanism, a quenching unit, a slow cooling unit, a cold slag particle circulation unit, a cyclone dust collector, a waste heat boiler, a condensing unit, a circulating fan, and a booster fan. The method for recovering waste heat comprises the following steps of: crushing and quickly cooling the molten blast furnace slag in the quenching unit in a composite way of a rotary crushing wheel, high-pressure cold air, a slag trap, cold slag particles and cooling water, and fully exchanging heat with solidified blast furnace slag in the slow cooling unit by using cooling air; and allowing high-temperature air which comes out of the quenching unit and the slow cooling unit to enter the waste heat boiler and performing heat exchange, transforming into steam or electric power and then outputting. The subsequent utilization of blast furnace slag and the waste heat recovery efficiency are synchronously considered, condensed water is recycled, finished slag does not contain water or only contains a small amount of water, the granulation effect of the slag is better, and the contradiction between intermittent slagging and continuous heat production of blast-furnace ironmaking is resolved.

The invention discloses a liquid crystal optics phased-array antenna implementation method. A liquid crystal optics phased-array antenna comprises a common electrode and a grating electrode, the common electrode is designed into a high impedance liquid crystal optical wedge electrode, and two electrodes are arranged at the two ends of the high impedance liquid crystal optical wedge electrode for respectively loading voltage with different voltage values to generate one slope phase distribution, which is equivalent to a liquid crystal prism with an adjustable slope gradient, so continuous deflection control can be performed over an incident wave beam, and meanwhile, the quantitative voltage is loaded onto the grating electrode, so that stepping deflection control over the incident wave beam can be realized.

The invention discloses a circumferentially-distributed crawler wheel type pipeline detection robot capable of actively adapting to pipe diameter changes. The robot comprises a crawler wheel travelingmechanism and a detection mechanism connected to the front end of the crawler wheel traveling mechanism through a turning mechanism, the crawler wheel traveling mechanism comprises a cylindrical mainbody sleeve, multiple crawler wheels controlled by a crawler driving motor are evenly distributed on the periphery of the cylindrical main body sleeve, the crawler wheels are installed on a ball screw through a pressing adjusting crank sliding block mechanism, and the ball screw is fixed to the outer wall of the cylindrical main body sleeve. The detection mechanism comprises a cylindrical detection barrel, an ultrasonic probe and a wide-angle camera stretch out of a detection barrel front end cover of the cylindrical detection barrel, the front end of the ultrasonic probe is provided with anultrasonic reflector, an electrical control system is arranged inside the cylindrical main body sleeve, and the electrical control system is connected with a battery. The circumferentially-distributedcrawler wheel type pipeline detection robot is good in movement controllability, outstanding in climbing and obstacle crossing ability and capable of actively adapting to pipe diameter working conditions.

The embodiment of the invention discloses an Internet of Vehicles service processing method and apparatus, and an Internet of Vehicles system. The Internet of Vehicles service processing method in theinvention comprises the following steps: a terminal device acquires the V2X configuration information or the pre-configuration information of a target area; and the terminal device uses an authorizedspectrum or an unauthorized spectrum in the target area to send and / or receive the corresponding V2X service according to the V2X configuration information or the pre-configuration information of thetarget area. By adoption of the Internet of Vehicles service processing method and apparatus in the embodiment of the invention, the problem of poor continuity or service interruption of the V2X service resulting from the frequent moving of the vehicles in the LTEV2X communication mode of the prior art is solved.

The invention belongs to the technical field of unmanned driving, and discloses a target following and dynamic obstacle avoidance control method for a speed difference slip steering vehicle, and the method comprises the steps: building four neural networks through employing a depth determinacy strategy in reinforcement learning; constructing a cost range of the obstacle so as to determine a single-step reward function of the action; determining continuous action output through an actor-critic strategy, and updating network parameters continuously through gradient transmission; and training a network model for following and obstacle avoidance according to the current state. According to the method, the intelligence of vehicle following and obstacle avoidance is improved, and the method canbetter adapt to an unknown environment and well cope with other emergencies. the complexity of establishing a simulation environment in the reinforcement learning training process is reduced. By utilizing a neural network prediction model trained in advance, the position and posture of each step of the target vehicle and the obstacle can be obtained according to the initial position and posture ofthe target and the obstacle and the action value of each step, so that the simulation accuracy and efficiency are improved.

The invention discloses an intelligent automatic tea making machine device, which is composed of an intelligent control chip, a control panel, a tea pushing mechanism, a tea making mechanism and a tea pouring mechanism arranged under the tea pushing mechanism. The intelligent control chip includes: central processing unit CPU: includes a tea-making data storage module for pre-storing different tea-making water temperature, tea-making water volume, and tea-making time; tea type identification system: used to realize the identification of tea types Identify and feed back the signal to the system central processing unit CPU to select the corresponding brewing method. The present invention is an intelligent full-automatic tea infuser with fast tea production speed, low energy consumption, convenient operation, safety and reliability, capable of intelligently identifying various teas, and intelligently adjusting corresponding tea making processes for different teas. All processes are intelligentized to realize automatic tea bag loading, automatic water boiling, automatic tea making, automatic overturning of brewed tea, and automatic addition of new tea bags. Small size, low energy consumption, suitable for various public places, entertainment places, enterprises and institutions, etc.

A triphase separator of air, liquid and solid mainly aims at solving the existing problems in the prior art such as large volume of separator, complicated inner structure and bad separating effect of highly scattering air in the liquid etc., when gravity settling type equipment is adopted to carry out triphase separation of air, liquid and solid. The triphase separator is characterized in that a mallet- shaped body is fixed at the central position of the inner side of a separator cartridge and the bottom end surface of the separator cartridge is sealed, and the separator cartridge opens a desilting pipeline and a drain pipe; a drain section, a liquid collecting section and a degassing cone are fixedly connected with the bottom end inside the separator cartridge from down to up respectively; an exhaust pipe passes through the degassing cone, the liquid collecting section and the central part of the drain section starting from the degassing cone and then extracts out of the separator cartridge; the upper end of the drain section is communicated with the liquid collecting section, while the lower end is communicated with the drain pipe; all the central axes of the degassing cone, the liquid collecting section and the drain section are coincident with the central axis of the mallet body, and the top end surface of the degassing cone does not contact with a traverse baffle. The triphase separator has the outstanding advantages of good separating effect, small volume, low manufacturing and operating cost and so on.

This is an underground hidden digging separated working method it is double layers or multiple layers complex lining brick structure. It contains: Use the existing shallow bury hidden digging technology to finish the lining bricks structure upper parts, and use the routine technology to finish the original support and protection. After finished the original protection and support of vault part, to spread out the water-proof plate and finish the middle separated plate to use the ground model, and pouring cement slurry to make the upper part structure. Under the protected of middle separated plate, then to make the structure under the middle separated plate, to finish the whole working process finally.

An automatic continuous kneading apparatus for preparing tea leaves is composed of machine frame, two or more kneading units serially arranged on said machine frame and consisting of kneading pot, kneading tray and pressing module composed of motor and force measuring device, reciprocating feeder with controllable feeding gate, and automatic belt conveyer under the discharge gates of said kneading trays for discharging the kneaded tea leaves.

The invention discloses an integrated detection radar system and a method for an ice thickness and a water depth, which relate to the field of detection radars. The system comprises a detection radar and a terminal host provided with an ice thickness and water depth integrated detection radar application program, wherein the detection radar comprises a radar master control board and a pulse signal transceiver. The method comprises steps: parameters in need of detection and acquisition are set, and the parameters are transmitted to the radar master control board; different radar waves in two frequencies are transmitted to an ice layer and underwater in a target test area, and echo signals are received; equivalent data sampling is carried out, complete cycle signals converted to differential signals are transmitted to the terminal host, analysis processing, filtering processing and gain processing are carried out sequentially, and radar echo signal data after processing are obtained; and the ice thickness and the water depth are displayed. Fast, nondestructive and continuous detection is realized, profiles of the ice layer and the water depth structure are displayed in a real-time imaging mode, real-time voice broadcasting is provided at the same time, the detection result is clear, and the analysis and the interpretation are intuitive and convenient.

The invention discloses an intelligent simulation technology, and particularly relates to an improved three-dimensional model voxelization-based inner sphere construction method. An inner sphere construction mode and a hierarchical structure clustering method are improved by steps of surface voxelization of a model, interior voxelization of the model, basic construction of inner spheres, clustering of the inner spheres for the construction of a hierarchical sphere structure and the like. The method has the advantages that the radiuses of the inner spheres are determined during initialization without subsequent processing, so that the method is easy to operate, and the number of the inner spheres can be reduced; and a significant clustering effect can be finally achieved. The method has broad prospect when being applied to the detection of collision between models.

Disclosed are a mixer, a mixing method and a session system using the mixer. The mixer comprises a root-mean-square calculator(201) which is used for calculating root-mean-square value of N audio datain a preset time respectively, wherein N is larger than or equal to 1, and N is an integer; a comparator(202) which compares the calculated N root-mean-square values so as to sequence the calculatedN root-mean-square values, and attaches identifying information showing the sequence of the root-mean-square values to the N audio data; a mixing coefficient distributor(203) which distributes coefficients for mixing calculation respectively for the N audio data according to the attached identifying information, wherein, the coefficient distributed for the N audio data decreases successively according to a decreasing sequence of the root-mean-square values; and a mixer(204) for performing weight sum on the N audio data and the coefficients distributed therefor respectively, so as to obtain themixing signal after mixing.

The invention discloses a perovskite photoelectric device, which comprises a substrate, electrode layers and a function layer. One electrode layer is arranged on the surface of the substrate; the function layer is arranged between the electrode layers; and the function layer at least comprises a perovskite layer, wherein the perovskite layer is a perovskite material having a self-assembled multiple-quantum-well structure. By adjusting material components, controllable adjustment of width of multiple quantum wells and effective energy transfer between the multiple quantum wells can be realized; emitting color can be near ultraviolet, visible light and near infrared light; and the problems of discontinuity and poor stability of an existing perovskite material thin film can be solved effectively. The perovskite photoelectric device is simple in process and low in cost, and is suitable for being widely applied to industrial production of large-area, low-cost, flexible substrate and high-performance devices. The invention also discloses the perovskite material, which can be used for photoluminescence, electroluminescence, photovoltaic and thin film transistor devices.

The invention relates to biomass supercritical and subcritical combined continuous type pretreatment and hydrolysis equipment and a method. The equipment comprises a water storage tank, a material storage tank with a stirring device, a preheating system, a supercritical reaction system, a primary cooling system, a subcritical reaction system, a final cooling system, a product collection system and an electronic temperature controlling system. The method comprises the following processing steps: water reaching preheat temperature and biomass material paste are rapidly mixed and then injected into the supercritical reaction system to be pretreated under supercritical condition; the reaction product is cooled through the primary cooling system and depressurized through a pressure reducing valve and then enters into the subcritical reaction system to be hydrolyzed sequentially, therefore fermentable sugars are continuously generated and collected. The invention utilizes the advantages of the supercritical method that the reaction is rapid, activator is not required and product inhibition does not exit, realizes that the continuous hydrolysis conversion of wood fiber biomass can generate fermentable sugars, is the foundation of subsequent resource recovery technologies, such as ethanol production by fermentation and the like, and has wide application prospect.

The invention discloses a grain-saving type feed replacing the grain to deduce the greenhouse gasses, which is mainly composed of a lees and / or Jerusalem artichoke, drugs reducing the emission of animal waste gas, straws, grazing, tree or normal feeds. The invention, besides suits the normal feeding, is also applicable for multi-functional grain-saving type ''carbon culture'' and ''lees or Jerusalem artichoke;; feed, fuel and ethanol industrial integrating livestock breeding, forest industry and firedamp with compact shaped fuel as ''alcohol to gasline'', ''ordure to electricity'', ''fart to cylinder gas'', ''branch to coal'', ''forest to meats'' co-produced meat, eggs and milk, ethanol and canned firedamp. Farmers, besides using feeding with castoff and planting trees and grasses to resolve the meat demanding in China, also can become the industrial worker for planting ''energy'' by conducting the multi-functional production for reducing the greenhouse gases, which is beneficial for the reusing the castoff, promoting the construction of the energy forest and fast-growing and high-yield plantation with low cost, small investment, simpleness and practicability and conforms to the harmonious circulation between human and nature.

The invention provides a method and a system for caching frame data. The method comprises the following steps that a transmitting end transmits the frame data to a server after being connected with the server, and the server receives and analyzes the frame data. The server caches a key frame and corresponding reference frame of the frame data, and restarts to cache the next key frame and corresponding reference frame when receiving the next key frame. After a receiving end is connected with the server, the server pushes or initiatively pushes the currently cached key frame and the reference frame to the receiving end according to a request of the receiving end.

The invention discloses a method of constructing a Hilbert R-tree index on an equivalent structure cloud platform, wherein a Chord network of an equivalent structure is organized at a main node in the P2P cloud platform. Firstly, a data object is read through a mapping method, and a Hilbert curve code of the space where the data object is located is obtained according to the geographical location of the data object; secondly, the data object is partitioned based on the code, and the code is transmitted to a corresponding reduction method; thirdly, the reduction method is used for constructing Hilbert R-subtrees for the data object in all partitions; lastly, a safe hashing function is used for obtaining a hashed value of root node numbers of the Hilbert R-subtrees, and the hashed value is published to the main node located in a Chord loop to form the complete distributed Hilbert R-tree index. The method can be used for establishing a Hilbert R-tree concurrently, thereby shortening tree establishing time; meanwhile, the established Hilbert R-tree is distributed, so that the stability and search efficiency of the index are improved.

The invention provides a renewable energy coupled energy storage and temperature regulation wall body system and a using method thereof. The renewable energy coupled energy storage and temperature regulation wall body system is characterized by comprising a temperature regulation wall body, a solar energy device and a shallow soil heat exchange tube; the solar energy device is arranged on a roof of a room; the shallow soil heat exchange tube is buried in the ground; the temperature regulation wall body is connected with the solar energy device and the shallow soil heat exchange tube; one end of the shallow soil heat exchange tube is connected with a water supply pipeline three-way reversing valve, a heat exchange tube water pump and a heat exchange tube flow meter; the other end of the shallow soil heat exchange tube is connected with a water return pipeline three-way reversing valve through a pipeline; the temperature regulation wall body comprises an inner wall plastering layer, a phase change energy storage plate, binding mortar, an inner wall body and an outer wall plastering layer in turn along the direction from interior to exterior; small pipe diameter of coiled pipes are uniformly embedded in the phase change energy storage plate along the direction of the height of the wall body; a water inlet end and a water outlet end of the small pipe diameter of coiled pipes re located at the bottom of the temperature regulation wall body. The using method is divided into three working condition modes of the winter working condition mode, the summer working condition mode and the transition season working condition mode.

The invention discloses a dipping or high-dipping thin ore mechanical ore breaking continuous mining method. Tunneling machine mechanical ore breaking, goaf filling, stope carrying, supporting operation and the like all achieve parallel operation around a mining technology of a single mining operation face. Continuous ore drawing is achieved by moving a transferring ore bin, a tunneling machine conducts layer transferring returning at the ore end through a Y-shaped mining preparation structure and does not travel back, cutting engineering is avoided, point pillars and studs are not reserved, supporting is conducted only through fiberglass anchor bolts with good cuttability and meshes, and a dust-removal fan, a mobile substation and the like do not enter a stope and are all movably arrangedin mining preparation engineering. Mining and cutting engineering, all mining technologies and equipment power supplying are matched and then are mutually matched with the mechanical ore breaking efficiency, the technological continuity is improved, the efficiency of the tunneling machine is exerted to the greatest extent, and the mining mode of blasting ore breaking is changed basically. The mechanization degree is high, operating personnel are reduced greatly, the labor intensity is lowered, the goaf exposure time is short, and the mine intrinsic safety is improved. Through the highly-intensive parallel operation, the tunneling speed is high, the production efficiency is high, and the ore breaking cost is low.

The invention provides a resource configuration method and an apparatus thereof. The method comprises the following steps that a first base station acquires a PC5 communication resource of a second base station, and / or, acquires the PC5 communication resource of the first base station itself; and the first base station sends the acquired PC5 communication resource to user equipment. In the invention, a problem of how to guarantees V2X service continuity by UE which carries out V2X message transmission through a Uu port when a switching or abnormal condition is generated is solved in the correlation technology so that low-delay and high-reliability vehicle networking information transmission is realized.

The invention relates to a full-hydraulic continuous-penetration static sounding machine with double oil cylinder groups. Two groups of oil cylinders are adopted and mounted on a frame in a cross shape in a manner of being divided into an upper layer and a lower layer; each group of oil cylinder is fixedly connected together through a cross beam; hydraulic chucks are mounted on the cross beams; stroke limiting switches are mounted below the oil cylinders; a probe rod passes through center inner holes of the two hydraulic chucks; and a hydraulic control system is further provided with valve groups, reversing valves, a hydraulic pump, an electro-hydraulic proportional speed regulating valve KT, a relief valve, a pressure gauge and an oil box. The static sounding machine adopts double oil cylinder group feeding and automatic reversing control; the double hydraulic chucks automatically clamps or loosens the probe rod and automatically achieves continuous uninterrupted feeding through the cooperation of the movement of the oil cylinders; and steady uniform speed feeding is achieved by utilizing the electro-hydraulic proportional speed regulating valve. The static sounding machine has the advantages of simple structure, reliable operation, high efficiency, economy and durability, is convenient for operation, is suitable for the technical field of geotechnical engineering, such as geotechnical engineering, high-speed railway construction, expressway construction and port engineering, and has a wide application prospect.

The invention discloses a construction method of a variable curved-surface steel-concrete tubular structure, which includes the steps: establishing a building information model; subjecting the building information model to data processing to obtain space coordinate data of positioning forms of the tubular structure; performing construction layout according to the space coordinate data and fabricating the positioning forms; installing and reinforcing the positioning forms; and performing casting. By the construction method, construction of the variable curved-surface steel-concrete tubular structure is achieved, the solid sensory artistic effect of the variable curved-surface steel-concrete tubular structure is guaranteed, cost is low, and facade streamline is highly continuous in variation.

The invention discloses a method for measuring the granularity of microscopic image particles segmented on the basis of a watershed. The method comprises the following steps: firstly, pretreating an obtained original microscopic image by utilizing a median filter and a global threshold mode; then calculating a gradient image of the pretreated microscopic image, so as to construct a data matrix of the gradient image; calculating an internal marker set and an external marker set of the gradient image by virtue of the data matrix, so as to obtain a segmented microscopic image; and then measuring the number, size and shape of the particles, thereby realizing measurement of the granularity of the microscopic image particles segmented on the basis of the watershed. By using the method, the problems of discontinuity and nonuniformity of particle contours obtained by a particle granularity measuring system are effectively solved, and the measurement accuracy of particle granularity parameters is guaranteed. The method has the advantages of simplicity and convenience in use and no need of additional auxiliary equipment.

The invention discloses a method for producing mineral wool by using early-stage molten-state steel slag of a converter, and belongs to the technical field of production of mineral wool. The method comprises the following steps: pouring the early-stage molten-stage steel slag of the converter in a smelting furnace, adding a reducing agent and a modifier in a pouring process, and carrying out reducing and modifying; and after stirring, mixing evenly and standing for 0.5-1.5 hours, feeding slag at the temperature between 1,380 DEG C and 1,430 DEG C to wool producing equipment and processing into the mineral wool. Double advantages of 'residues' and 'heat' of the molten-state steel slag are played fully, ferrosilicon and aluminum granules are used as reducing agents, reaction of silicon, aluminum and iron oxide is silicothermal reaction and aluminothermal reaction, a large amount of thermal can be produced along with the reaction, and heat supply in a whole reducing and modifying process can be satisfied. After valuable elements are recycled, residues are directly prepared into the mineral wool with high additional value, the molten-state steel slag is comprehensively recycled, the problem of emission of the steel slag is solved, furthermore, the production cost of the mineral wool can be reduced, and the economic benefit and the environment benefit are good.

The invention relates to a rapid clutching device for wire straightening shearing machines, which comprises a fixed saw-shaped gear, a movable saw-shaped gear, a hanger which has a shape like the part of the hand between the thumb and the index finger, a returning device, an angle-iron cover plate, a movable shaft, a spring, a baffle, a sleeve shaft, a pulling connecting piece, an electromagnet frame, a fixed shaft, wherein the fixed saw-shaped gear is fixedly connected with the fixed shaft; the movable saw-shaped gear is fixedly connected with the movable shaft; the movable shaft is arranged in the sleeve shaft and is movably connected with the sleeve shaft; and the fixed saw-shaped gear movably meshes with the movable saw-shaped gear. The device has the advantages of high separation speed, small recoil force, stable positioning and locking and especially long life span, and can not be subjected to clutching failure caused by that too strong impact inertia force causes the returning device to skid and be unhooked.

The invention relates to a pipe communication splice welding pressure-bearing type heat exchanger, which comprises tap water heat absorption pipes. Heat supply pipes are arranged in the tap water heat absorption pipes. The tap water heat absorption pipes are communicated through tap water communication pipes. The heat supply pipes are communicated through heat supply pipe communication pipes. The seal heads of the tap water heat absorption pipes are outwardly flanged and embedded in the ports of the tap water heat absorption pipes. The flanges of the seal heads of the tap water heat absorption pipes and the port edges of the tap water heat absorption pipes are in splice bilateral alignment edge-kneading welding connection. The walls of the tap water heat absorption pipes are punched and inwardly flanged. The tap water communication pipes are inserted in the punches of the tap water heat absorption pipes. The port edges of the tap water communication pipes and the punched inward flanges of the tap water heat absorption pipes are in splice bilateral alignment edge-kneading welding connection. Heat supply pipe blocking plates are embedded in the ports of the heat supply pipes. The heat supply pipe blocking plates are outwardly flanged. The outward flanges of the heat supply pipe blocking plates and the port edges of the tap water heat absorption pipes are in splice alignment edge-kneading welding connection. According to the pipe communication splice welding pressure-bearing type heat exchanger disclosed by the invention, two technical defects of higher water leakage ratio of the welding line and incapability of continuously producing hot water of the original patent product can be solved; and the heat exchanger has the advantages of no leakage and continuous hot water production.

The invention discloses an intensification method and a device for a continuous banburying process of high polymer materials based on eccentric helix. The method utilizes two helical rotors which are eccentric with a rotating axis thereof rotating in a heterodromously meshing mode. The period of the internal clearance between each rotor and the inner wall of a stator, and the periods of the radial meshing clearance and the axial clearance between two rotors clearance change from big to small and then from small to big. The method enables materials to be intensified during the axial circulation continuous banburying process of the two rotors. The helical axises of the two helical rotors are fixed in a mutually parallel mode. An outer surface of the rotors is in an eccentric meshing type convex-edge structure, wherein a certain eccentric quantity exists between the central axis and the rotating axis of each rotor. When the two rotors rotate in an inner meshing mode, contained materials are plasticized and extruded to convey along with the period change of the internal clearance between each rotor and the inner wall of a stator, the radial meshing clearance and the axial clearance between two rotors clearance so as to achieve an intensive banburying effect. The intensification method and the device for the continuous banburying process of high polymer materials based on the eccentric helix can achieve the continuous banburying process of high polymer materials, and have the advantages of improving the production efficiency and the product quality, and meanwhile reducing the energy consumption and the like.

The invention discloses a hypersonic flight vehicle aerodynamic configuration based on pre-cooling type combined powder and a working method. The hypersonic flight vehicle aerodynamic configuration based on pre-cooling type combined powder comprises a flight vehicle aerodynamic configuration and a pre-cooling type air turbine rocket engine, wherein the pre-cooling type air turbine rocket engine comprises air inlet channels, a pre-cooling system, an air compressor, an annular combustion chamber, a turbine, an afterburner and exhaust nozzles which are successively connected; the air inlet channels and the lower surface of the front body of the flight vehicle aerodynamic configuration are designed integrally; an adjustable hemicone is arranged at an air inlet end of each air inlet channel; the exhaust nozzles and the lower surface of the rear body of the flight vehicle aerodynamic configuration are designed integrally; and an adjustable cone is arranged in each exhaust nozzle. Medium-altitude and low-altitude working performance advantages of turbine engines are retained, by application of a pre-cooler, it can be ensured that large residual thrust can be provided for a flight vehiclein a transonic / supersonic climbing acceleration process, and therefore, the flight vehicle can climb to a cruise altitude in an accelerated manner within a short time.

The invention discloses a storage medium, method and device for constructing a navigation map. The method comprises the following steps: preprocessing the 3D point cloud data of an acquired target location by using a map construction algorithm based on feature point registration; converting the preprocessed 3D point cloud data into point cloud data of a predetermined format; and based on a model of an octree data structure, converting the point cloud data of the predetermined format into a navigation map of the octree data structure. The storage medium, method and device of invention solve thetechnical problems of point discontinuity, excessive useless points and inability to achieve position and attitude estimation in the prior art.

The invention discloses a hypersonic aircraft aero-propulsive integrated layout method based on combined power. According to the hypersonic aircraft aero-propulsive integrated layout method, a hypersonic air inlet channel of a dual-mode ramjet passage and a tailpipe nozzle are integrally designed with the front body and the rear body of an aircraft respectively; the dual-mode ramjet passage is taken as a basis; a turbine engine passage, a rocket ejector ramjet passage and the dual-mode ramjet passage are parallelly arranged, so that the three passages can coordinate with one another to work according to the own working conditions under the flight Mach number; the dual-mode ramjet passage and the rocket ejector ramjet passage are parallelly connected in an up-down manner; the turbine engine passage is parallelly connected with the dual-mode ramjet passage and the rocket ejector ramjet passage in a left-right manner; and a dual-engine mode under the left-right side-by-side layout is designed. By adoption of the hypersonic aircraft aero-propulsive integrated layout method disclosed by the invention, the middle-altitude and low-altitude working performance advantages of a turbine engine can be remained; through a rocket ejector ramjet, relatively high residual thrust can be provided in a transonic and supersonic climbing acceleration process of the aircraft; and the climbing acceleration of the aircraft to a cruising altitude within a short time can be achieved.