摘要：【中文】本申请提供了一种机器人的行驶控制方法，属于机器人技术领域。所述方法包括：在机器人行驶的行驶轨迹线的侧方对应设有车道导引线，在控制机器人行驶过程中，控制机器人旋转并拍摄机器人侧方地面的图像，在拍摄到的目标图像中检测到车道引导线时，利用目标图像、以及预设的车道导引线和行驶轨迹线的位置关系，控制机器人行驶到行驶轨迹线上。采用本申请，可以尽可能的保证机器人沿预定轨迹行驶。 【EN】The application provides a running control method of a robot, and belongs to the technical field of robots. The method comprises the following steps: the lane guide line is correspondingly arranged on the side of the running track line on which the robot runs, the robot is controlled to rotate and shoot images of the ground on the side of the robot in the running process of the robot, and when the lane guide line is detected in the shot target image, the robot is controlled to run to the running track line by using the target image and the preset position relationship between the lane guide line and the running track line. By adopting the method and the device, the robot can be ensured to run along the preset track as far as possible.

摘要：【中文】本申请公开了一种移动目标的速度控制方法、装置和可读存储介质，属于自动控制领域。本公开根据移动目标的能力参数以及在设定的更新时间间隔到达时获得的移动目标的目标参数和状态参数获得移动目标的速度曲线，并在每个更新时间间隔内按照获得的速度曲线控制移动目标的速度，从而实现了对移动目标的速度的闭环控制，提高了对移动目标的控制精度。此外，基于正弦曲线速度拟合得到移动目标的速度曲线，可以得到更平滑的速度曲线，提高了移动目标的平稳性。 【EN】The application discloses a speed control method and device of a moving target and a readable storage medium, and belongs to the field of automatic control. According to the method and the device, the speed curve of the moving target is obtained according to the capacity parameter of the moving target, the target parameter and the state parameter of the moving target obtained when the set updating time interval is reached, and the speed of the moving target is controlled according to the obtained speed curve in each updating time interval, so that the closed-loop control of the speed of the moving target is realized, and the control precision of the moving target is improved. In addition, the speed curve of the moving target is obtained based on the speed fitting of the sine curve, so that a smoother speed curve can be obtained, and the stability of the moving target is improved.

摘要：【中文】本申请公开了一种终端设备的拍摄方法、终端设备及存储介质。所述方法通过开启一特定摄像头，获取其原始图像帧并对其进行一系列的图像处理，以形成具有三格画面的最终图像帧，并且将最终图像帧显示于终端设备的显示屏，从而实现用户能够实时预览最终图像帧，且基于最终图像帧进行拍照和录像操作的功能。本申请通过软件模拟方式克服现有三摄智能手机无法同时开启三颗摄像头的缺陷，而且在达到与顶级配置智能手机的同样技术效果的基础上能够有效控制终端设备的成本及其功耗，具有广阔的市场前景。 【EN】The application discloses a shooting method of terminal equipment, the terminal equipment and a storage medium. According to the method, a specific camera is started, an original image frame of the specific camera is obtained and is subjected to a series of image processing to form a final image frame with three frames, and the final image frame is displayed on a display screen of the terminal equipment, so that the functions that a user can preview the final image frame in real time and take pictures and record videos based on the final image frame are achieved. The method overcomes the defect that the existing three-camera smart phone cannot simultaneously start three cameras in a software simulation mode, can effectively control the cost and the power consumption of the terminal equipment on the basis of achieving the same technical effect as the top-level configuration smart phone, and has wide market prospect.

摘要：本发明公开了一种聚酰胺/聚酮合金材料及其制备方法和应用，由以下按重量份数计的原料组成：聚酰胺树脂：10‑84.95％；聚酮树脂：5‑25％；相容剂1：0.01‑5％；相容剂2：0.01‑5％；玻璃纤维：10‑50％；成核剂A：0.01‑1％；成核剂B：0.01‑1％；抗氧剂：0.01‑1％；其它添加剂：0‑2％。本发明通过配方设计中多组分相容剂协效作用解决了聚酰胺和聚酮相容性的问题，相容性的改善有助于提升合金材料的力学性能，同时复配的成核剂改善了聚酰胺和聚酮在冷却结晶温度和速率的差异，进一步增加了聚酰胺和聚酮冷却结晶过程的相容性，聚酰胺、聚酮相容性提升有助于提升合金材料的力学性能。本发明通制备的聚酰胺/聚酮合金材料力学性能得到大幅度提升，制备方法简单，适合工业化生产和应用。

摘要：【中文】本发明属于涂料技术领域，具体为一种荧光三防涂层材料及其制备方法。一种荧光三防涂层材料由甲组份和乙组分组成，甲组份是一种杂化接枝荧光颜料的含氟丙烯酸树脂，乙组分由预聚物、溶剂等组成；一种荧光三防涂层材料的制备方法：包括以下具体步骤：A.制备含双键接枝荧光颜料；B.制备杂化接枝荧光颜料的含氟丙烯酸树脂：C.制备乙组分；D.制备荧光三防涂层材料。本发明将荧光颜料接枝于含氟丙烯酸树脂结构中，通过树脂包覆的方式，极大程度上提升了荧光涂层的耐老化性能，具有良好的耐候性及三防性能，解决了传统荧光涂料保光、保色性差的问题，前景广阔，适于推广。 【EN】The invention belongs to the technical field of coatings, and particularly relates to a fluorescent three-proofing coating material and a preparation method thereof. A fluorescent three-proofing coating material consists of a component A and a component B, wherein the component A is fluorine-containing acrylic resin of hybrid grafted fluorescent pigment, and the component B is prepolymer, solvent and the like; a preparation method of a fluorescent three-proofing coating material comprises the following steps: the method comprises the following specific steps: A. preparing a double-bond-containing grafted fluorescent pigment; B. preparing fluorine-containing acrylic resin of the hybrid grafted fluorescent pigment: C. preparing a component B; D. preparing the fluorescent three-proofing coating material. According to the invention, the fluorescent pigment is grafted in the fluorine-containing acrylic resin structure, the aging resistance of the fluorescent coating is greatly improved in a resin coating mode, the coating has good weather resistance and three-proofing performance, the problems of poor light retention and color retention of the traditional fluorescent coating are solved, the prospect is wide, and the coating is suitable for popularization.

摘要：本发明公开了一种多通道角度检测装置，属于传感器技术领域。多通道角度检测装置包括安装基座、角度传感器和磁性件，角度传感器设置于安装基座上，磁性件设置于伺服系统中的转轴靠近安装基座的一端，转轴有N个；安装基座设置有第一安装部和第二安装部，第一安装部有M个；M个第一安装部布置于安装基座侧部，第二安装部设置于安装基座顶部；每个转轴均一一对应有一个第一安装部；角度传感器组件包括磁感应检测单元、磁感应转接单元和角度输出单元，磁感应检测单元通过磁感应转接单元与角度输出单元电连接；磁感应检测单元和磁感应转接单元设置于第一安装部，角度输出单元设置于第二安装部。本发明可同时检测多个角度，装置集成化程度高。

摘要：本发明涉及飞行器折叠翼技术领域，具体涉及一种翼面折叠展开机构及飞行装置。翼面折叠展开机构包括舱体、翼面组、铰接座、锁定件以及展开组件；翼面组包括多个翼面，翼面的第一端与铰接座铰接，舱体设置有供翼面由折叠状态向展开状态转换时通过的开口；在折叠状态，多个翼面的第二端聚拢于舱体内；在展开状态，多个翼面的第二端分离并经开口伸出舱体；锁定件插接于翼面的第二端，并将翼面组锁定于折叠状态，翼面组中心具有沿竖直方向延伸的空腔，展开组件与锁定件相连接，展开组件用于依次推动锁定件以及翼面，以使得翼面组由折叠状态向展开状态转换。从而解决了翼面的折叠展开装置结构复杂，占用空间较大，且容易卡死的问题。

摘要：【中文】本发明公开了一种边坡排水设施工况检测方法，通过在无人机上搭载红外双光热成像相机，从而检测人员可以通过无人机拍摄出整个边坡的热成像云图，进而检测人员仅需要通过拍摄出来的垂直于所述边坡各级平台截排水沟的红外全景照与边坡可见光全景照以及垂直于所述边坡的红外全景照与边坡可见光全景照即可准确分析出所检测边坡的排水性能。本发明通过红外热成像分析出边坡排水孔以及截排水沟的堵塞情况；与现有技术相比，本发明的分析结果不但检测结果更加准确，而且还可以分析出一些隐蔽性较大的排水堵塞问题。同时，本发明还无需对各个排水孔以及截排水沟逐一进行检测，因此，与现有技术相比，本发明也大大的提高了边坡排水性能检测的效率。 【EN】The invention discloses a method for detecting the working condition of a side slope drainage facility, wherein an infrared double-photothermal imaging camera is mounted on an unmanned aerial vehicle, so that a detector can shoot a thermal imaging cloud picture of the whole side slope through the unmanned aerial vehicle, and the detector can accurately analyze the drainage performance of the detected side slope only by shooting an infrared panorama and a side slope visible light panorama which are perpendicular to all levels of platform drainage ditches of the side slope and an infrared panorama and a side slope visible light panorama which are perpendicular to the side slope. The method analyzes the blocking conditions of the side slope drain hole and the intercepting and draining ditch through infrared thermal imaging; compared with the prior art, the analysis result of the invention is more accurate, and can analyze the drainage blockage problem with larger concealment. Meanwhile, the invention does not need to detect each drain hole and the intercepting and draining ditch one by one, so compared with the prior art, the invention also greatly improves the efficiency of detecting the drainage performance of the side slope.

摘要：【中文】本发明公开了一种环保的自消光的水性聚氨酯及其制备方法与应用，所述制备方法包括以下步骤：首先制备聚氨酯预聚体：将均已除水的低聚物聚合二元醇、小分子三元醇化合物以及末端羟基封端的有机硅油分别加入到反应容器中，再加入脂肪族二异氰酸酯以及催化剂，反应得到预聚物；加入羧酸型亲水扩链剂，再加入中和剂进行中和反应；将胺类磺酸盐亲水扩链剂和去离子水一起进行第一次乳化扩链，然后加入含活泼氢的小分子扩链剂进行第二次后扩链。该环保自消光型水性聚氨酯树脂粒径较大，且分布较宽，自身具有微纳米级粗糙度，不需要添加任何消光剂，在涂膜干燥失水后收缩，皮革表面光泽度降低，手感很好，表面自然，制备的工艺流程简单，使用方便。 【EN】The invention discloses environment-friendly self-extinction waterborne polyurethane and a preparation method and application thereof, wherein the preparation method comprises the following steps: firstly, preparing a polyurethane prepolymer: respectively adding the oligomer polymeric dihydric alcohol, the small molecular trihydric alcohol compound and the terminal hydroxyl-terminated organic silicone oil which are all dehydrated into a reaction vessel, and then adding aliphatic diisocyanate and a catalyst to react to obtain a prepolymer; adding a carboxylic acid type hydrophilic chain extender, and then adding a neutralizer to perform a neutralization reaction; and carrying out first emulsification chain extension on the amine sulfonate hydrophilic chain extender and deionized water, and then adding the active hydrogen-containing micromolecule chain extender to carry out second post-chain extension. The environment-friendly self-extinction waterborne polyurethane resin has the advantages of large particle size, wide distribution, micro-nano roughness, no need of adding any flatting agent, shrinkage after drying and water loss of a coated film, reduction in the surface gloss of leather, good hand feeling, natural surface, simple preparation process flow and convenience in use.

摘要：【中文】本发明公开了药品管理技术领域的一种短缺药品多维监测预警平台，包括系统功能框架、多维监测主体、监测指标表、预警分析和平台管理与数据运用，其特征在于：所述系统功能框架包括相互信号连接的短缺药品信息采集系统、预警指标分析系统、统计查询及应对系统和短缺药品综合服务系统四个部分，通过完善的短缺药品信息采集渠道，设计了由医疗机构、流通企业、生产企业以及其他监测人员组成的多维信息采集平台，充分发挥生产端、配送端、使用端的多维监测预警作用，具有丰富的短缺药品上报内容，短缺药品监测的指标分为三级，每级下设多个子指标，同时具有多个预警级别。 【EN】The invention discloses a multidimensional monitoring and early warning platform for shortage medicines in the technical field of medicine management, which comprises a system function framework, a multidimensional monitoring main body, a monitoring index table, early warning analysis, platform management and data application, and is characterized in that: the system functional framework comprises a shortage drug information acquisition system, an early warning index analysis system, a statistical query and response system and a shortage drug comprehensive service system which are in signal connection with one another, a multidimensional information acquisition platform consisting of medical institutions, circulation enterprises, production enterprises and other monitoring personnel is designed through a perfect shortage drug information acquisition channel, the multidimensional monitoring and early warning functions of a production end, a distribution end and a use end are fully exerted, the system has rich short drug reporting contents, the indexes of the monitoring of the shortage drugs are divided into three levels, a plurality of sub-indexes are arranged at each level, and a plurality of early warning levels are arranged at the same time.