131results about How to "Safe completion" patented technology

The invention discloses an intelligent control method of a driverless vehicle tracking a desired trajectory. The method is characterized by comprising the following steps of: establishing a body coordinate system, and determining the position information of the vehicle; calculating a membership degree function of a road curvature characteristic according to a radian value, and defining a fuzzy rule to calculate a decision output speed; according to the distance the vehicle runs for 1.5-2.5 seconds, searching for the trajectory points larger than the distance and closest to the vehicle in the coordinate sequence of the desired trajectory; calculating the moving curvature of the vehicle according to an adaptive proportion-differential-integral control algorithm formula; and finally judging whether the target point of the current control cycle is the last point selected from the road point sequence; if so, outputting a signal to a brake servo control system to start the brake to slow down the vehicle; otherwise, outputting a voltage signal by a controller local area network module to keep and control the accelerator opening so that the vehicle continues proceeding. Through adoption of the intelligent control method, the driverless vehicle can realize a function of tracking the desired trajectory, and has certain adaptability to the change of the road curvature characteristic.

The invention relates to well bore rail control and design that includes the process of determining well bore section shape, building equation set, expanding equation set, giving known parameters, and solving the equation set. It could meet the request of target intake direction and coordinate location, and could select 4 random feature parameters as the indeterminate parameters. The invention could improve drilling speed and wellbore quality, lower drilling cost.

The invention provides an intelligent mailbox which comprises a mailbox body, a mailbox unlocking code input device and a communication unit. The mailbox body comprises a door with a lock, the mailbox unlocking code input device is used for inputting mailbox unlocking codes to unlock the lock to open the mailbox, and the communication unit is used for carrying out communication with a remote management terminal. The mailbox or the remote management terminal is further provided with a storage, and the storage is used for at least storing one or more preset mailbox unlocking codes. The mailbox or the remote management terminal is further provided with a processor, and the processor is used for identifying whether input mailbox unlocking codes are matched with the one or more mailbox unlocking codes or not, and giving mailbox unlocking instructions after the input mailbox unlocking codes are matched with the one or more mailbox unlocking codes. The processor comprises a mailbox unlocking code management circuit, the mailbox unlocking code management circuit is used for enabling the matched mailbox unlocking codes to be invalid after the mailbox is unlocked and generating new mailbox unlocking codes when no valid mailbox unlocking codes are available currently, and the processor can store new mailbox unlocking codes in the storage. Through the utilization of the intelligent box, mails can be automatically received and / or sent safely and conveniently.

Disclosed is a steel beam hydraulic lifting emplacing device on the top of silo structure building, which comprises a sliding formwork device and a hydraulic lifting system, and is characterized in that the sliding formwork lifting frames of the sliding formwork device are connected with an inside formwork, an outside formwork, and an operating platform, a scissors support is connected between two lifting frame upright columns, the sliding formwork lifting frame is also connected with a steel beam supporting frame, the steel beam support frame is connected with the steel beam on the top of the silo to form a lifting integration, the hydraulic lifting system is utilized to be the lifting power system for the lifting integration, and the hydraulic lifting system is composed of a hydraulic jack, a support rod, a hydraulic console, and an oil circuit. The invention can rapidly, conveniently, reliably, and safely complete the construction task of mounting the steel beam on the top of the silo, without using large scale hoisting equipment, thereby avoiding the problems of difficult emplacement and lower efficiency of large scale hoisting equipment. The device of the invention can be widely applied to the hoisting and emplacement construction for the steel frame on the top of silo buildings.

This invention relates to a variable stroke engine, in addition to its working method, which belongs to vehicle engine technique field. The engine comprises six cylinders, EGR, exhaust-gas turbocharger system, four strokes discharge distributing valve, exhaust duct, bent axle piston and electrical controlling unit. when working, it needs to decide whether the two stroke cylinders join to work with the jar cutting technique according to different power, making the engine switch in different working condition; the six cylinders will bedding-in work through each inlet distribution valve to increase pressure and power output. Said invention can be used in transporting vehicle such as tank armored vehicle, machineshop truck needs to provide large power output and so on.

The invention relates to a realization method for comprehensive route management based on inertial navigation, which belongs to the technical field of flight management. The invention provides the realization method which is comprehensive and detailed and has a high degree of automation and strong operability for comprehensive route management; to calculate flight parameters and to control aircraft conditions according to the method can guarantee that an aircraft safely and smoothly completes every flight mission and can provide optimal horizontal flight profiles and vertical optimal flight profiles from time when the aircraft takes off to time when the aircraft approaches and lands, and the aircraft flies from airport of departure to airport of destination along an optimized flight path.

The invention discloses a self-adaptive fault-tolerant preset performance control method for a multiple-input-multiple-output mechanical system. The method comprises the following steps: step 1, establishing a multiple-input-multiple-output mechanical system model with an actuator fault; step 2, designing a virtual controller based on an obstacle Lyapunov function; step 3, designing a self-adaptive fault-tolerant controller and designing a self-adaptive law; and step 4, estimating the micro-component of a virtual controller based on a differential tracker. According to the control method, thefault-tolerant controller can adaptively and actively identify and compensate the influence caused by the actuator fault, so that the stability of the system when the fault occurs is ensured; and thebounded property of the obstacle Lyapunov function is utilized to actively constrain the system tracking error, so that the preset performance index can be safely, accurately and efficiently completedunder the condition that the system tracking error has a fault.

The invention provides a hydraulic lifting and upside-down construction method for an internal steel tube of a chimney. The hydraulic lifting and upside-down construction method includes the steps of S1, installing a computer control cabinet, hydraulic pump stations and hydraulic jacks on a steel platform; S2, manufacturing standard sections of the internal steel tube; S3, laying two rails on site and installing a transport trolley on the rails; S4, welding first lifting points and installing anchorage devices and steel stranded wires at the top of the first standard section; S5, lifting a first standard section to a proper height, and transporting a second standard section to an assembly position for assembly and welding; S6, sequentially installing subsequent standard sections, enabling the internal steel tube to descend to the ground when the internal steel tube is lifted to a specific height, and switching to a second lifting point; S7, sequentially installing subsequent standard sections till lifting the internal steel tube is completed. The hydraulic lifting and upside-down construction method has the advantages of high precision, safety, reliability and lower construction cost.

The invention discloses a heuristic dynamic planning control method of mobile robot tracking desired trajectory. The method comprises the following steps: 1, establishing a geodetic coordinate system and a robot coordinate system; 2, determining pose information of the mobile robot and pre-aiming point pose information; 3, computing a road curvature of a pre-aiming point location; 4, establishing a Markov decision process model of the mobile robot; 5, designing a control method of the tracking desired trajectory based on the heuristic dynamic planning algorithm; 6, deducing online learning rules of an executor and an evaluator in the heuristic dynamic planning algorithm; and 7, judging whether a pre-aiming point is the last location coordinate in the desired trajectory, if the pre-aiming point is the last location coordinate in the desired trajectory, controlling the robot to reduce speed to the pre-aiming point location, or returning to step 2 to perform in order. A good control effect can be acquired without repeatedly debugging a control parameter when tracking different desired trajectories, and the environment adaptability and the autonomous optimization capacity of the mobile robot can be improved.

The invention discloses an active power filter (APF) and thyristor switched filter (TSF) hybrid compensation device for an electric rig, which comprises a passive part, an active part, an electric quantity data acquisition module of a well site and the compensation device, a control module of a TST, and a control module of an APF. The filtering characteristics of the TSF are improved by utilizing the APF, so that when the TSF works in a combined manner, 2 to 10 times of harmonic currents injected into a power supply system of the well site are controlled within a given value, and the harmonic currents of the well site are prevented from being amplified when different filtering branches of the TSF are switched in a combined manner; and by adopting the structure that the APF is connected in parallel with a fundamental resonance module of a fifth filtering branch of the TSF through a coupling transformer, the capacity of the APF is very small, so that the APF is beneficially controlled, the cost of the whole set of device is reduced, the problem of overlarge harmonic currents occurring when the TSF is switched in a combined manner is effectively solved, and then the tasks of reactive compensation and harmonic elimination of the well site can be completed more safely and more effectively.

The invention relates to a space teleoperation method dynamically assisted by speed type virtual force feedback. The method comprises the steps of establishing a simulation model of a space teleoperation object and a space environment, constructing an area representing the speed type virtual force feedback, and dynamically changing the size of the shape and the position of the speed type virtual force feedback area according to position motion information at the tail end of the teleoperation object, that is, the force feedback area changes with the position motion information in real time, and the center of mass is attached to the tail end of the teleoperation object in real time. According to visual information provided by the speed type virtual force feedback, a graphic collision detection method and an established virtual force field are used for providing virtual force feedback information for space robots, so that the influence on teleoperation caused by a communication delay is reduced, unnecessary collisions between the tail end of the teleoperation object and the space environment are prevented, and space teleoperation tasks can be finished quickly and safely.

The invention discloses an anti-skid braking control method for an unmanned aircraft based on dual-mode control, aiming at solving the technical problem that an existing anti-skid braking control method for the unmanned aircraft is poor in safety. According to the technical scheme, the method comprises the following steps: determining a system state, a response object, an output current and the state of a hydraulic lock; and sending state information to a flight control computer. The method is used for tests or data collection of an offensive unmanned aircraft sample in a development stage, so that the risk is reduced and the safety of the unmanned aircraft is improved. When the offensive unmanned aircraft fights, the electromagnetic environment is interfered by the enemy, and an unmanned combat system is no long under control, thus, an anti-skid braking system controlled by a pilot is automatically started. The anti-skid braking control method for the unmanned aircraft based on dual-mode control is further suitable for automatic brake for taking off and landing of other types of aircrafts with cabins.

The invention relates to an anastomat and a state indicator. The state indicator comprises a closed pull plate, a triggering pull plate, a closed connecting block, a triggering connecting block, a closed pointer, a triggering closed pointer and an indicator panel, wherein the closed connecting block and the triggering connecting block respectively consist of a rotating shaft and a driving shaft; the upper end of the rotating shaft is fixed with the closed pointer and the triggering closed pointer respectively, which can rotate with the rotating shaft on the same axis; and the closed pull plate is provided with a spring mounting structure and a sliding connection groove of a driving device, and is in rotary connection with the driving shaft of the closed connecting block; the triggering pull plate is provided with a spring mounting structure and a pushing device sliding connection groove, and is in rotary connection with the driving shaft of the triggering connecting block. The driving screw of the driving device of the anastomat is connected with the sliding connection groove of the driving device; and the pushing device is connected with the sliding connection groove of the pushing device. The state indicator can indicate the closed state and the triggered state of the anastomat respectively, and has a transitional area. And the indicator is easy for observation, thereby reducing risks in operation and ensuring that the operation can finish smoothly.

The invention discloses a detachable setup package applied to an aluminum alloy template pre-buried part and a method. The detachable setup package comprises an aluminum alloy template, a pre-buried hole part and a rod part. One end of the pre-buried hole part abuts against the aluminum alloy template. One end of the rod part is detachably connected with the aluminum alloy template, and the otherend of the rod part penetrates through the pre-buried hole part. A cover plate is arranged on the other end face of the pre-buried hole part, raised back ribs abutting against the inner wall face of the pre-buried hole part and symmetrically arranged are arranged on the abutting face of the cover plate and the pre-buried hole part, the rod part is connected with a pin sheet arranged on the end face of the cover plate after sequentially penetrating through the pre-buried hole part and the cover plate, and a pin hole corresponding to the pin sheet is formed in the rod part. The detachable setuppackage can safely, rapidly and effectively complete fixing construction of the pre-buried hole part in a water supply and drainage discipline, and solves the problems that fixing of an existing rivetis difficult in construction, and leakage is prone to being generated, the mounting quality of a pre-buried part is ensured, and the purpose that fixing and mounting work of the pre-buried part in aconstruction site is completed safety, rapidly and effectively is achieved.

The invention relates to a near-field communication mobile check-in system, and the system is characterized in that the system comprises a mobile intelligent terminal, a check-in terminal, a certificate terminal, a relay integration center, and N NFC relay terminals (N is not less than three), wherein the relay integration center and N NFC relay terminals are respectively located nearby the check-in terminal. During check-in, a system carries out the encryption and storage of the second-generation ID card information and personal information of a to-be-checked person in a mobile intelligent terminal, and the to-be-checked person does not need to spend time in queuing for check at the check-in terminal, and can complete the whole check-in process quickly and safely only if the to-be-checked person enables the check-in information prestored in the intelligent mobile terminal to be transmitted to the check-in terminal through the optimal NFC relay, thereby improving the check-in efficiency. Meanwhile, a warning indicator of the system gives prompt in an occasion with higher requirements for the secrecy if a checked person leaves the check-in terminal by some distance, so as to remind a check-in management worker, thereby further improving the safety of the system.

The invention provides an intelligent mailbox. The mailbox comprises a box body. The box body comprises doors with locks, a unlocking password input device for inputting the unlocking password to open the box, and a communication unit for communicating with remote management terminals. A memory device is arranged in the mailbox and the remote management terminal which is used for storing at least one unlocking passwords or several unlocking passwords. A processor is arranged in the mailbox or the remote management terminals, and is used for identifying if the inputted unlocking password matches with one or several preset unlocking passwords, and giving out unlocking order after the passwords match. The processor comprises a unlocking password management circuit which is used for invalidating the passwords which are already matched with, and generating new unlocking passwords when currently no effective unlocking passwords exist. The processor can store new unlocking passwords in the memory. The intelligent mailbox, intelligent mailbox system and method thereof can be used for mailing or receiving mails safely, conveniently and automatically.

The 80-ton adjustable large sling includes one rectangular support frame comprising transverse beams and longitudinal beams, two long hangers mounted onto the longitudinal beams, suspending sets in the ends of hangers, pinch wheels and guide wheels in the joints between long hanger and longitudinal beam, one towing shifter on the joining beam for towing long hangers, support legs below the ends of the longitudinal beams, and one hanging plate with holes for hoisting steel cables to pass through. The sling has high adaptability, convenient operation, capacity of raising hoisting efficiency and high large goods hoisting safety and reliability.

The invention relates to a lifting scaffold capable of moving horizontally. The lifting scaffold comprises a main body frame, a wall attaching system, a lifting system and an intelligent control system, wherein the lifting system comprises two guide rails which are vertically fixed on the main body frame close to a wall surface in parallel, and a plurality of wall attaching supporting seats, and the main body frame is lifted by using the wall attaching supporting seats as fulcrums through the guide rails. The lifting scaffold is characterized in that the lifting scaffold further comprises a horizontal moving system. The lifting scaffold can solve the problem that a traditional lifting scaffold cannot avoid an external stretching structure to be lifted in a peripheral complex floor, and therefore the construction cost is greatly reduced.

The invention discloses a construction method for carrying out a non-excavation subway station through a composite pipe joint structure. A platform layer and a station hall layer of the station adoptsteel segments in specific forms correspondingly, and the steel segments adopt upper semicircles and lower semicircles to be assembled into rings; the steel rings are connected through inserting openings; the steel segments adopt inner and outer layer steel pieces, the interlayers between the inner layer steel pieces and the outer layer steel pieces are provided with rib plates and filled with concrete; and after the steel segments are assembled into a station structure, a reinforcement concrete combination layer is cast into the station structure in situ so as to meet construction of a secondary structure inside the station and form the station overall-type structure. The station can be constructed in a water-rich saturated soft clay stratum through an undermining method, excavation of part of existing roads and removal of pipelines can be avoided, the engineering risk is reduced, and auxiliary measures do not need to be adopted; and ground settlement can be effectively controlled, and station structure construction can be completed with rapid, safe, environmentally friendly and efficient effects.

The invention relates to the technical field of agricultural machines and particularly relates to an onboard soil sterilizing machine, a sterilizing system and a sterilizing method. The onboard soil sterilizing machine comprises a ditching device, a chemical applying device and a pressurization device, wherein the chemical applying device comprises a liquid chemical tank, a filter, a metering plunger pump, a shunt device, a liquid chemical observation device and an injection needle which are sequentially communicated with one another; the pressurization device comprises a first chain wheel, a dual-row chain wheel, a second chain wheel and a land wheel; the first chain wheel is arranged at the driving end of the metering plunger pump and is connected with the dual-row chain wheel by virtue of a first chain; the second chain wheel and the land wheel are coaxially arranged, and the second chain wheel is connected with the dual-row chain wheel by virtue of a second chain. According to the onboard soil sterilizing machine, the land wheel is adopted to drive the metering plunger pump so as to deliver liquid chemicals; after the chemical application amount is preset, the chemical application amount can be changed along with the traveling speed, and the constant chemical application amount of unit area is ensured, so that a soil fumigating sterilizing operation is accurately, efficiently and safely finished and a favorable soil sterilizing effect is ensured.

The invention relates to an AUV (Autonomous Underwater Vehicle) state monitoring method based on a dynamic model and a complex network theory, which is characterized in that a simplified dynamic model with a constraint relationship is taken as a basis, a neural network is utilized to carry out parameter identification to obtain an AUV dynamic model with wide applicability, and a complex network theory is taken as a basis to analyze a residual sequence generated by the constructed model and the measured value, feature matrixes of different states are extracted, the feature matrixes are classified by using a support vector machine, and a normal state and an abnormal state are accurately identified and classified by monitoring the running state of the AUV in real time during the navigation period of the AUV; according to the scheme, the dynamic model is converted into the simplified model with the constraint term, the method has high generalization, does not need high sampling frequency, does not depend on a large amount of training data, analyzes the fluctuation characteristics of the abnormal state, can accurately recognize the normal state and the abnormal state, and achieves the accurate recognition of the abnormal state.

The invention discloses a crowner head of an overlay on the bottling line of beverage. The roller in the crowner head is supported on the side of a connecting frame by a small shaft, the lower end of the connecting frame is connected with a spool by a connecting rod, and a sleeve is sleeved on the periphery of the spool; the upper end of a core shaft stretches into the inner hole of the spool and is capable of sliding in the inner hole, the lower end of the core shaft stretches out and is provided with a container cap at the end part, and the shape of the container cap is matched with the shape of the overlay; the periphery near to the lower end of the core shaft is provided with a positioning bump, a supporting spring is arranged between the positioning bump and the lower end face of the spool, and a spacing mechanism is arranged between the core shaft and the spool; and an air hole is arranged on the sleeve and is connected with a negative pressure source externally, and a suction channel is formed between the core shaft and the container cap. In the invention, the overlay is sucked by a set of vacuum suction mechanism, thereby having high efficiency and stable and reliable work; the whole capping machine operates along the guide slot in a cam mechanism, the capping process is completed by utilizing the pressure of the spring, and the spring force is balanced and adjustable, thereby having no damage on the overlay.

The invention relates to a protection device used for electric transmission line tower climbing operation, is particularly suitable for being used in overhead transmission line construction, interruption maintenance, operation with power uninterrupted and other tower climbing operation and belongs to the technical field of electric transmission line pole and tower field operation tools. The protection device comprises a safety rope with one end being hung on the human body, a plurality of short tying ropes which are arranged at intervals in the height direction of an electric transmission line pole and tower, and a differential speed blocking device which is used for clamping the safety rope which rapidly rotates anticlockwise. The differential speed blocking device is provided with a wire inlet which is used for penetrating the safety rope, a wire outlet and a clamping mechanism. The protection device is simple in structure, convenient to use, safe, reliable, wide in application range and high in operation efficiency.

The invention discloses a red date pitting device which comprises a body, two belt pulleys, two engines, a fixing large nut, a tray, a branch pipe, a cutter, a pit container and a cone. In a working procedure, a first motor is fixed into the integral body and is connected with the tray by a belt, the tray is placed on a platform in the middle of the body, is slidably connected with the body and circumferentially moves on the platform, a platform is fixed to the upper portion of the body by the aid of the large nut, a second motor is fixed onto the platform on the upper portion of the body and is connected with the cutter and the cone by a transmission gear, an electric control system is also fixed onto the platform on the upper portion of the body, and the pit container is fixed to the lower portion of the body and is positioned below the tray. The red date pitting device has the advantages that red date pitting procedures can be quickly, conveniently and safely completed, the pitting efficiency can be improved, and the work intensity can be reduced.

The invention relates to a remote control electric insulation clamp and belongs to the field of distribution network hot-line work equipment. The remote control electric insulation clamp comprises aninsulation clamp main body, an insulation operating rod and a remote controller, wherein the insulation clamp main body is installed on the insulation operating rod and is connected with the remote controller, the remote control electric insulation clamp is structurally characterized in that the insulation clamp main body comprises a chuck and a chuck driving mechanism, the chuck is connected withthe chuck driving mechanism, the chuck comprises a clamp male chuck and a clamp female chuck, the clamp male chuck and the clamp female chuck are both connected with the chuck driving mechanism, thechuck driving mechanism comprises connecting rods and a push block, the clamp male chuck and the clamp female chuck are each connected with one connecting rod, the two connecting rods are both connected with the push block, and / or the clamp male chuck and the clamp female chuck are provided with clamp male chuck meshing teeth and clamp female chuck meshing teeth respectively, and the clamp male chuck meshing teeth are meshed with the clamp female chuck meshing teeth.

The invention provides an intelligent window-wiping system, comprising a window-wiping robot and a window-wiping robot fault detector for detecting faults of the window-wiping robot. The window-wiping robot comprises a robot body, a strip cleaning pad, a detergent sprayer and a waste liquid recycling device, the strip cleaning pad is disposed at the upper portion of the robot body, the detergent sprayer is disposed in the middle of the robot body, the waste liquid recycling device is disposed below the strip cleaning pad, an adsorbing device and an intelligent control unit are disposed in the robot body, the intelligent control unit comprises a control unit, an automatic ranging unit and an alarm unit, and the control unit is electrically connected respectively to the automatic ranging unit and the alarm unit. The intelligent window-wiping system wipes a window by using the window-wiping robot, so that personnel safety problem is solved; the intelligent window-wiping system can provide quick, intelligent, efficient and safe high-altitude window wiping through the intelligent control unit inside.

The invention provides a data processing method and device and a processing permission obtaining method and device. The data processing method is applied to a first equipment object, and comprises the following steps: receiving and obtaining and sending target data to a server according to a data processing request; receiving and responding to an authentication instruction of a processing environment fed back by the server, initiating a networking authentication request in the processing environment to obtain authentication data of a second equipment object and authentication data of a third equipment object in the processing environment, and determining an authentication result according to the authentication data of the second equipment object and the authentication data of the third equipment object; and under the condition that the authentication result is that the authentication is passed, obtaining a processing permission to perform data processing on the target data. Therefore, credibility authentication can be carried out through other equipment objects in the same processing environment according to user requirements, data processing can be efficiently, safely and conveniently completed through the first equipment object, the processing efficiency is improved, and the user experience is improved.

The invention discloses a jacking pipe enclosure construction method of a cross aisle of the end of a metro station. The jacking pipe enclosure construction method comprises the following steps that firstly, a jacking pipe starting well and a jacking pipe receiving well at the two ends of the cross aisle of the end of the metro station are built correspondingly by adopting an open digging construction method; secondly, a pipe jacking device is mounted on the pipe jacking starting well, and a plurality of steel pipe sheets are arranged; jacking pipes are pushed one by one according to the orderfrom bottom to top and from outside to inside so as to complete arrangement of the steel pipe sheets; after pushing of the jacking pipes is completed, a water-stop material is injected into a joint of every two adjacent steel pipe sheets, and connection box bodies integrally form a water-stop sealed large space; building of the main structure of the cross aisle is completed in the area of the multiple steel pipe sheets; and finally the rest of soil mass is dug step by step, and construction of the cross aisle is completed. According to the jacking pipe enclosure construction method, the situations that an existing road is dug and an existing pipeline is removed can be avoided, manual underground digging is avoided, the engineering risk is reduced, auxiliary measures do not need to be taken while ground subsidence can be controlled effectively, and construction of the metro station can be completed rapidly, safely, environmentally and efficiently.