摘要：【中文】本发明公开了一种应用于扫地机器人的两轮轮速不齐优化算法，其特征在于，包括控制层和算法层，包括以下步骤：(1)开启并初始化扫地机器人，并将最慢码盘数返回至控制层，控制层通过返回值控制左、右轮的轮速；(2)控制层调用算法层的PIDCtrlTick模块，PIDCtrlTick模块实时接收的左、右轮的码盘数且每隔设定时间更新最慢码盘数并返回至控制层，控制层根据返回值控制左、右轮的轮速；(3)控制层调用算法层的WheelSpdSet模块，WheelSpdSet模块根据预设的左、右轮目标轮速计算出目标码盘数，并将其返回至控制层。(4)控制层调用算法层的SpeedPIDCal模块，SpeedPIDCal模块根据目标码盘数控制左、右轮的轮速；(5)控制层判断扫地机器人是否停止运动，若否则返回至步骤2，否则停止运动。 【EN】The invention discloses a two-wheel speed irregularity optimization algorithm applied to a sweeping robot, which is characterized by comprising a control layer and an algorithm layer, and the algorithm comprises the following steps: (1) starting and initializing the sweeping robot, returning the slowest code disc number to the control layer, and controlling the wheel speeds of the left wheel and the right wheel by the control layer through the return value; (2) the control layer calls a PIDCtrlTick module of the algorithm layer, the PIDCtrlTick module receives the number of the code discs of the left wheel and the right wheel in real time, updates the number of the slowest code discs at set time intervals and returns the updated number to the control layer, and the control layer controls the wheel speeds of the left wheel and the right wheel according to the returned value; (3) and the WheelSpdSet module of the algorithm layer is called by the control layer, and the WheelSpdSet module calculates the number of target code discs according to preset target wheel speeds of the left wheel and the right wheel and returns the target code discs to the control layer. (4) The control layer calls a SpeedPIDCal module of the algorithm layer, and the SpeedPIDCal module controls the wheel speeds of the left wheel and the right wheel according to the target dial number; (5) and the control layer judges whether the sweeping robot stops moving, if not, the step 2 is returned, and if not, the robot stops moving.

摘要：【中文】一种Ag/BiPO₄纳米复合光催化剂的制备方法，包括以下步骤：(1)将五水硝酸铋溶于稀硝酸中得A液，将磷酸铵溶于去离子水中得B液；(2)将步骤(1)所得B液逐滴加入A液中得白色悬浊液；(3)将步骤(2)所得白色悬浊液移至反应釜中进行水热反应，自然冷却后将所得固体离心洗涤数次得BiPO₄先驱体；(4)将步骤(3)所得的BiPO₄先驱体置于石英试管中，加入去离子水并连续搅拌使之分散均匀；(5)将步骤(4)所得的悬浊液置于紫外灯下，并向其滴加乙酸银的稀硝酸溶液，在光照条件下连续搅拌后离心，洗涤干燥得到Ag/BiPO₄纳米复合光催化剂。该光催化剂性能优异、稳定性好，在水处理制氢领域具有广阔的应用前景。 【EN】Ag/BiPO₄The preparation method of the nano composite photocatalyst comprises the following steps: (1) dissolving bismuth nitrate pentahydrate in dilute nitric acid to obtain solution A, and dissolving ammonium phosphate in deionized water to obtain solution B; (2) dropwise adding the solution B obtained in the step (1) into the solution A to obtain a white suspension; (3) transferring the white suspension obtained in the step (2) to a reaction kettle for hydrothermal reaction, naturally cooling, and centrifugally washing the obtained solid for several times to obtain BiPO₄A precursor; (4) BiPO obtained in the step (3)₄Placing the precursor in a quartz test tube, adding deionized water and continuously stirring to uniformly disperse the precursor; (5) will step withPlacing the suspension obtained in the step (4) under an ultraviolet lamp, dropwise adding a dilute nitric acid solution of silver acetate, continuously stirring under illumination, centrifuging, washing and drying to obtain Ag/BiPO₄A nano composite photocatalyst. The photocatalyst has excellent performance and good stability, and has wide application prospect in the field of hydrogen production by water treatment.

摘要：本发明涉及养殖技术领域，特别涉及一种巴马香猪的饲养方法，通过包括猪栏的设计、猪饲料的制备和猪的饲喂等步骤对巴马香猪进行养殖，本发明利用巴马香猪的优良品种结合巴马地区的良好环境，再通过设置适用于巴马香猪的饲养方式，改善了巴马香猪食用肉质香味逐渐弱化等问题，为原生态巴马香猪稳固有特性和产业发展奠定基础。