摘要：【中文】本发明公开一种融合激光雷达和IMU的定位方法、介质、终端和装置，基于激光雷达传感器和惯性测量单元IMU的互补性，首先对获得的激光数据进行坐标变换处理，然后在已知激光传感器和IMU传感器安装关系的前提下，利用激光传感器对IMU进行必要的校正，然后利用两种传感器的测量值构建以定位变量为未知量的损失函数，最后通过最小二乘法对损失函数求解获得优化求解后的定位变量，即机器人的位姿数据，从而在不失高效性的前提下提高定位的稳定性、准确性，减少定位失败的可能。 【EN】The invention discloses a positioning method, a medium, a terminal and a device fusing a laser radar and an Inertial Measurement Unit (IMU), based on the complementarity of a laser radar sensor and the IMU, firstly, coordinate transformation processing is carried out on obtained laser data, then, on the premise that the installation relation of the laser sensor and the IMU sensor is known, the laser sensor is used for carrying out necessary correction on the IMU, then, a loss function with a positioning variable as an unknown quantity is constructed by using the measured values of the two sensors, and finally, the loss function is solved by a least square method to obtain a positioning variable after optimized solution, namely pose data of a robot, so that the positioning stability and accuracy are improved on the premise of not losing the efficiency, and the possibility of positioning failure is reduced.

摘要：【中文】本发明实施例公开了一种低压智能备自投系统，包括用于连接配电房A和配电房的母线的低压智能备自投装置，所述低压智能备自投装置用于采集配电房A和配电房B内的母线线路数据，并通过无线通讯控制连接各线路上的开关实现备自投自动投切功能。本发明实施例通过低压智能备自投装置采集两个配电房母线电压、开关位置、实时电流等电气数据，实现自动分断进线开关、分断开关等备自投自动投切功能，本发明能够尽量减小切除负荷及尽快恢复供电可靠性，要根据系统负荷的大小把要切除的负荷分为若干轮，在超负荷过程中顺次切除，防止电力系统出现过负荷损坏变压器现象。 【EN】The embodiment of the invention discloses a low-voltage intelligent spare power automatic switching system which comprises a low-voltage intelligent spare power automatic switching device used for connecting a power distribution room A and a bus of the power distribution room, wherein the low-voltage intelligent spare power automatic switching device is used for acquiring bus line data in the power distribution room A and the bus line data in the power distribution room B and realizing the automatic switching function of the spare power automatic switching by controlling and connecting switches on all lines through wireless communication. The invention can reduce the load cutting and restore the power supply reliability as soon as possible, divide the load to be cut into a plurality of wheels according to the size of the system load, and cut off in sequence in the overload process to prevent the phenomenon that the transformer is damaged due to overload of the power system.

摘要：【中文】本发明公开了一种化学钝化塑封系统，包括在传送方向上顺序设置的传送定位机构、输送机构和塑封机构，其中，所述传送定位机构，用于对塑封袋中的样品进行定位并将所述塑封袋中的样品传送至所述输送机构上；所述输送机构，用于去除装载有所述样品的塑封袋中的气泡，并将所述塑封袋中的样品传送至所述塑封机构上；所述塑封机构，用于对所述塑封袋中的样品进行塑封。本发明所提供的化学钝化塑封系统的整个过程不仅不需要人为去除塑封袋中的气泡，还可以精准地对塑封袋按照样品大小进行塑封，且一次性即可完成样品的塑封，提高了化学钝化的效率，减少了因为操作人员水平问题造成的钝化效果之间的差异。 【EN】The invention discloses a chemical passivation plastic package system, which comprises a conveying positioning mechanism, a conveying mechanism and a plastic package mechanism which are sequentially arranged in the conveying direction, wherein the conveying positioning mechanism is used for positioning a sample in a plastic package bag and conveying the sample in the plastic package bag to the conveying mechanism; the conveying mechanism is used for removing bubbles in the plastic packaging bag loaded with the sample and conveying the sample in the plastic packaging bag to the plastic packaging mechanism; and the plastic packaging mechanism is used for carrying out plastic packaging on the sample in the plastic packaging bag. The chemical passivation plastic package system provided by the invention has the advantages that the whole process does not need to manually remove bubbles in the plastic package bag, the plastic package bag can be precisely subjected to plastic package according to the size of a sample, the plastic package of the sample can be completed at one time, the chemical passivation efficiency is improved, and the difference between passivation effects caused by the level problem of operators is reduced.

摘要：【中文】本发明公开了一种具有散热除尘功能的新能源路灯，包括外壳，所述外壳内壁固定连接有罩壳，所述外壳侧壁转动连接有丝杠螺母，所述丝杠螺母侧壁均布固定连接有叶轮，所述外壳相对内壁转动连接有金属弧形板，所述金属弧形板侧壁固定连接有与罩壳表面贴合的刷毛。本发明当外壳内部温度达到记忆弹簧的变态温度时，记忆弹簧收缩使得丝杠向外壳外部移动，使得丝杠螺母带动叶轮转动，进而带动金属弧形板侧壁的刷毛对罩壳上的灰尘进行清除，避免罩壳上的灰尘积聚过多影响路灯的照明效果，在叶轮转动的过程中，磁性滑塞在弹簧的作用下会在弧形腔内来回滑动，使得空腔内的冷却液可以循环流动，加快对外壳内部热量的散发，提高路灯的使用寿命。 【EN】The invention discloses a new energy street lamp with a heat dissipation and dust removal function, which comprises a shell, wherein the inner wall of the shell is fixedly connected with a housing, the side wall of the shell is rotatably connected with a screw nut, the side wall of the screw nut is uniformly and fixedly connected with impellers, the shell is rotatably connected with a metal arc-shaped plate relative to the inner wall, and the side wall of the metal arc-shaped plate is fixedly connected with bristles attached to the surface of the housing. When the temperature in the shell reaches the metamorphosis temperature of the memory spring, the memory spring contracts to enable the screw rod to move towards the outside of the shell, so that the screw rod nut drives the impeller to rotate, and further the bristles on the side wall of the metal arc plate are driven to remove dust on the housing, the phenomenon that the dust on the housing is accumulated too much to influence the lighting effect of the street lamp is avoided, and in the rotating process of the impeller, the magnetic sliding plug can slide back and forth in the arc-shaped cavity under the action of the spring, so that cooling liquid in the cavity can flow circularly, the heat dissipation in the shell is accelerated, and the service life of the street lamp is prolonged.

摘要：【中文】本发明公开一种机器人图像仿真数据的构建方法、介质、终端和装置。首先给定了一条在平面上运动的轨迹，然后利用IMU的运动学模型，生成了需要的加速度计值和陀螺仪值，然后给定从摄像头到IMU的变换矩阵，利用IMU的姿态和变换矩阵得到相机的姿态，从而获得投影后的图像，最终得到了在此条运动轨迹下IMU以及对应的图像数据，所生成的这些数据可以作为VIO系统的输入，从而达到测试的目的，提高VIO系统的测试效率和实际运行效果。 【EN】The invention discloses a method, a medium, a terminal and a device for constructing robot image simulation data. Firstly, a motion track on a plane is given, then a required accelerometer value and a required gyroscope value are generated by utilizing a kinematic model of the IMU, then a transformation matrix from a camera to the IMU is given, the attitude of the camera is obtained by utilizing the attitude of the IMU and the transformation matrix, so that a projected image is obtained, finally the IMU and corresponding image data under the motion track are obtained, and the generated data can be used as the input of the VIO system, so that the test purpose is achieved, and the test efficiency and the actual operation effect of the VIO system are improved.

摘要：【中文】本发明提供一种陀螺仪偏差矫正方法，所述陀螺仪偏差校正方法包括，获取图像采集‑惯性测量固连系统的图像帧数据和惯性测量数据，根据所述图像帧数据获取第一位姿变换数据，根据所述惯性测量数据获取与所述第一位姿变换数据相对应的第二位姿变换数据，根据所述第一位姿变换数据和所述第二位姿变换数据获取陀螺仪偏差。利用本发明，可以结合摄像头和惯性测量单元两者进行位资估算时的优点，使两种传感器在进行位姿估算时形成互补，提高位姿估计的稳定性和准确性。 【EN】The invention provides a gyroscope deviation correction method which comprises the steps of obtaining image frame data and inertial measurement data of an image acquisition-inertial measurement fixed connection system, obtaining first position posture transformation data according to the image frame data, obtaining second position posture transformation data corresponding to the first position posture transformation data according to the inertial measurement data, and obtaining gyroscope deviation according to the first position posture transformation data and the second position posture transformation data. The invention can combine the advantages of the camera and the inertia measurement unit when estimating the position resources, so that the two sensors form complementation when estimating the position and orientation, and the stability and the accuracy of the position and orientation estimation are improved.

摘要：【中文】本发明公开了微信小程序消息推送方法、存储介质、电子设备及系统，涉及电子通信技术领域，该方法包括用户终端获取微信小程序直播活动预告信息；所述用户终端在所述微信小程序直播活动预告信息的预设位置获取用户的操作信息，根据所述操作信息发送所述微信小程序直播活动注册信息至服务器；当用户注册的所述微信小程序直播活动的推送时间到达时，所述服务器判断是否有所述用户提交的form_id；若有，则所述服务器根据所述form_id向所述用户终端推送所述微信小程序直播活动消息。 【EN】The invention discloses a method, a storage medium, electronic equipment and a system for pushing a WeChat applet message, and relates to the technical field of electronic communication, wherein the method comprises the steps that a user terminal acquires live broadcast activity preview information of a WeChat applet; the user terminal acquires operation information of a user at a preset position of the live activity preview information of the wechat applet, and sends live activity registration information of the wechat applet to a server according to the operation information; when the pushing time of the live activity of the WeChat applet registered by the user reaches, the server judges whether form _ id submitted by the user exists or not; and if so, the server pushes the live activity message of the WeChat applet to the user terminal according to the form _ id.

摘要：【中文】本发明涉及一种耐溶剂、耐刮擦PVC膜，所述PVC膜的制备原料包含如下重量份的组分：PVC树脂100份、ABS树脂5～15份、相容剂5～10份、主增塑剂6～20份、辅助增塑剂0～5份、稳定剂2～5份、加工助剂0～3份、润滑剂0.5～2份。本发明的PVC膜通过加入相容剂氯化聚乙烯、低分子量苯乙烯类功能聚合物(EMI)、马来酸酐接技ABS，提高材料的相容性，具备良好的加工和表面性能；同时，引入ABS树脂，使材料具有较好的耐溶剂/耐刮擦性能，并提升PVC膜的机械性，从而提升PVC膜的综合性能；本发明的PVC膜更耐食用油、醋酸、润滑油等污染的侵蚀，耐刮擦性较一般PVC膜有较大的提升。 【EN】The invention relates to a solvent-resistant and scratch-resistant PVC film, which is prepared from the following raw materials in parts by weight: 100 parts of PVC resin, 5-15 parts of ABS resin, 5-10 parts of compatilizer, 6-20 parts of primary plasticizer, 0-5 parts of auxiliary plasticizer, 2-5 parts of stabilizer, 0-3 parts of processing aid and 0.5-2 parts of lubricant. The PVC film of the invention improves the compatibility of the material by adding the compatilizer chlorinated polyethylene, low molecular weight styrene functional polymer (EMI) and maleic anhydride grafted ABS, and has good processing and surface properties; meanwhile, the ABS resin is introduced, so that the material has better solvent resistance/scratch resistance, and the mechanical property of the PVC film is improved, thereby improving the comprehensive performance of the PVC film; the PVC film disclosed by the invention is more resistant to corrosion caused by pollution of edible oil, acetic acid, lubricating oil and the like, and the scratch resistance is greatly improved compared with that of a common PVC film.

摘要：【中文】本发明实施例提供了一种直播间搜索引擎自适应调整方法、装置及可读存储介质，通过实时对直播应用程序中的目标直播间进行监测，在监测获得针对目标直播间的标识信息进行修改的修改事件情况下，确定与修改事件对应的修改后的标识信息，然后基于修改后的标识信息，对与目标直播间的搜索引擎优化信息进行更新。这样，能够基于主播对直播间的标识信息的修改行为，及时更新与之对应的搜索引擎优化信息，使得用户在通过搜索引擎搜索修改后的标识信息时，能够搜索到与目标直播间对应的搜索结果，确保了针对目标直播间搜索的有效性，避免了因信息更新问题造成搜索失败的问题。 【EN】The embodiment of the invention provides a live broadcast room search engine self-adaptive adjustment method, a device and a readable storage medium, which are used for monitoring a target live broadcast room in a live broadcast application program in real time, determining modified identification information corresponding to a modification event under the condition of monitoring to obtain the modification event for modifying identification information of the target live broadcast room, and then updating search engine optimization information of the target live broadcast room based on the modified identification information. Therefore, the search engine optimization information corresponding to the anchor broadcast can be updated in time based on the modification behavior of the anchor broadcast on the identification information of the live broadcast room, so that a user can search a search result corresponding to a target live broadcast room when searching the modified identification information through the search engine, the effectiveness of searching for the target live broadcast room is ensured, and the problem of search failure caused by the information update problem is avoided.

摘要：【中文】一种虚实结合的大型水上光影秀系统，包括升降水帘设备及水面展台设备，所述升降水帘设备包括设置于水面展台设备竖直上方的水帘主架体、设置于水帘主架体上的喷水装置及对称设置于水帘主架体两侧的两组升降装置，通过升降装置对称移动，相互靠近时推动水帘主架体上升，相互远离时，驱使水帘主架体下降，通过设置的升降水帘设备，实现水帘主架体可以相对水面张贴设备进行抬升运动，在需要更换基础舞台上的道具时，通过缓缓抬升水帘主架体，使得水幕投影的画面可以随之移动，将观众的暂时焦点转移，这就给更换道具、准备舞台提供操作空间及时间。 【EN】The utility model provides a beautiful system of large-scale light shadow on water that virtuality and reality combines, including lift cascade equipment and surface of water stand equipment, lift cascade equipment sets up in two sets of elevating gear of cascade body both sides including the cascade body frame body that sets up in the vertical top of surface of water stand equipment, set up water jet equipment and symmetry on the cascade body frame body, through elevating gear symmetric movement, promote the cascade body frame body to rise when being close to each other, when keeping away from each other, order about the decline of the cascade body frame body, through the lift cascade equipment that sets up, realize that the equipment is puted up to the surface of water relatively to the cascade body frame body and carry out the lifting motion, when the stage property on the basic stage needs to be changed, through slowly lifting cascade body frame, make the projected picture of water curtain remove thereupon, with spectator's temporary focus shifts, this is just for changing the stage property, prepare the stage and provide operating space.