摘要：【中文】本发明涉及一种装载单目鱼眼镜头的无人机覆盖控制系统及控制方法，属于无人机飞行控制处理技术领域。本发明提供了一种依靠单目鱼眼镜头进行信息交互的无人机覆盖控制方法。无人机配有单目鱼眼镜头，自动驾驶仪，飞行控制系统，可进行图像处理的硬件处理器。通过鱼眼镜头进行图像采集，获取有效信息，对所获取的畸变图像进行矫正，并用目标识别、跟踪算法，由每一个无人机获得其邻居无人机的深度信息和横向距离，通过这些信息得到自己与邻居的坐标位置的后，考虑其最佳覆盖范围和连接保留之间的权衡关系。无人机被引导远离其通信邻居，同时其后续位置被限制在其可行运动区域的内部，保证所有连接边缘保持通信的同时，达到了覆盖面积最大。 【EN】The invention relates to an unmanned aerial vehicle coverage control system and a control method for loading a monocular fisheye lens, and belongs to the technical field of unmanned aerial vehicle flight control processing. The invention provides an unmanned aerial vehicle coverage control method for information interaction by means of a monocular fisheye lens. The unmanned aerial vehicle is provided with a monocular fisheye lens, an automatic pilot, a flight control system and a hardware processor capable of carrying out image processing. The method comprises the steps of carrying out image acquisition through a fisheye lens, acquiring effective information, correcting an acquired distorted image, obtaining depth information and transverse distance of a neighbor unmanned aerial vehicle by each unmanned aerial vehicle through a target recognition and tracking algorithm, obtaining coordinate positions of the unmanned aerial vehicle and the neighbor unmanned aerial vehicle through the information, and considering the balance relation between the optimal coverage range and connection reservation. The unmanned aerial vehicle is guided to be away from the communication neighbor, and meanwhile, the follow-up position of the unmanned aerial vehicle is limited in the feasible movement area of the unmanned aerial vehicle, so that the maximum coverage area is achieved while all the connection edges are kept in communication.

摘要：【中文】本发明公开了一种基于视觉定位的双臂协同智能装配系统，包括两台机械臂和两台相机，其中，第一相机固定在第一机械臂的末端执行器上，用来拍摄模组底座；第二相机固定在第一机械臂外部；第二机械臂的末端执行器为自动打螺丝机，在系统正式开始工作之前，进行前期标定，进行第一相机和第一机械臂基坐标系的标定，第二相机和第一机械臂基坐标系的标定，以及第一机械臂和第二机械臂之间位置转换的标定工作，获得对应的转换矩阵，以便将相机拍摄的图片中点的位置转换到机械臂的基坐标系下，引导机械臂到达指定位置；系统装配。 【EN】The invention discloses a double-arm cooperative intelligent assembly system based on visual positioning, which comprises two mechanical arms and two cameras, wherein the first camera is fixed on an end effector of the first mechanical arm and is used for shooting a module base; the second camera is fixed outside the first mechanical arm; the end effector of the second mechanical arm is an automatic screw driving machine, and is calibrated in an early stage before the system formally starts to work, the calibration of the base coordinate system of the first camera and the first mechanical arm, the calibration of the base coordinate system of the second camera and the first mechanical arm and the calibration work of position conversion between the first mechanical arm and the second mechanical arm are carried out, and a corresponding conversion matrix is obtained, so that the position of the midpoint of a picture shot by the camera is converted into the base coordinate system of the mechanical arm, and the mechanical arm is guided to reach an appointed position; and (5) assembling the system.

摘要：【中文】本发明公开一种卡扣结构和壳体，其中，卡扣结构包括：定位件，所述定位件设有第一限位板和第二限位板，所述第一限位板和所述第二限位板间隔设置以配合形成限位间隙，所述第一限位板开设有限位孔；和紧固件，所述紧固件包括主体板和设于所述主体板一表面的卡勾；所述主体板和所述卡勾插入所述限位间隙，以使所述主体板相对的两表面分别抵接于所述第一限位板和第二限位板相对的表面，且所述卡勾周向侧壁与所述第一限位板于所述限位孔的内壁抵接，以使所述卡勾限位固定于所述限位孔内。本发明技术方案旨在提高卡扣结构的安装精度，以及提高卡扣结构装配安装的效率。 【EN】The invention discloses a buckle structure and a shell, wherein the buckle structure comprises: the positioning piece is provided with a first limiting plate and a second limiting plate, the first limiting plate and the second limiting plate are arranged at intervals to be matched to form a limiting gap, and the first limiting plate is provided with a limiting hole; the fastener comprises a main body plate and a clamping hook arranged on one surface of the main body plate; the main body plate and the clamping hook are inserted into the limiting gap, so that two opposite surfaces of the main body plate are respectively abutted to the opposite surfaces of the first limiting plate and the second limiting plate, the circumferential side wall of the clamping hook is abutted to the inner wall of the limiting hole of the first limiting plate, and the clamping hook is limited and fixed in the limiting hole. The technical scheme of the invention aims to improve the mounting precision of the buckle structure and improve the assembly and mounting efficiency of the buckle structure.

摘要：【中文】本发明提供了一种驮背运输车。驮背运输车包括：端部底架和移动滑台，移动滑台与端部底架可枢转地连接；沿其转动方向，移动滑台具有展开位置和收回位置，当移动滑台位于展开位置时，移动滑台与端部底架拼接形成支撑导向结构；支撑导向结构具有支撑面和导向槽；凹底架，凹底架包括凹底架本体、支撑装置和导向装置，支撑装置设置在凹底架本体上，支撑装置包括支撑轮，支撑轮的外周面的至少部分与支撑面抵接；导向装置设置在凹底架本体上并位于支撑装置的下方，导向装置包括导向件，导向件的至少部分伸入导向槽。本发明的技术方案解决了现有技术中的驮背运输车的凹底架如何可靠平稳地沿着端部底架和移动滑台移出的问题。 【EN】The invention provides a piggyback transport vehicle. The piggyback transport vehicle comprises: the movable sliding table is pivotally connected with the end underframe; the movable sliding table is provided with an unfolding position and a retracting position along the rotation direction of the movable sliding table, and when the movable sliding table is positioned at the unfolding position, the movable sliding table is spliced with the end part chassis to form a supporting and guiding structure; the supporting guide structure is provided with a supporting surface and a guide groove; the supporting device is arranged on the concave underframe body and comprises a supporting wheel, and at least part of the peripheral surface of the supporting wheel is abutted against the supporting surface; the guide device is arranged on the concave underframe body and is positioned below the supporting device, the guide device comprises a guide piece, and at least part of the guide piece extends into the guide groove. The technical scheme of the invention solves the problem that how to reliably and stably move out the concave underframe of the piggyback transport vehicle along the end underframe and the movable sliding table in the prior art.

摘要：【中文】本发明提供了一种集装箱锁定装置和驮背运输车。其中，集装箱锁定装置包括：支架，支架具有容纳空间；锁定结构，锁定结构的第一端与支架铰接，锁定结构具有由容纳空间伸出的锁定位置和收回至容纳空间内的避让位置；支撑结构，支撑结构的第一端与锁定结构的第二端铰接；沿远离锁定结构的方向，支撑结构具有收回位置和与支架配合的支撑位置；当锁定结构位于锁定位置时，支撑结构位于支撑位置并使锁定结构停留在锁定位置；当锁定结构位于避让位置时，支撑结构位于收回位置并收回至容纳空间内。本发明的技术方案解决了现有技术中的集装箱锁定装置为外翻转式的悬臂结构，从而影响集装箱锁定装置的性能的问题。 【EN】The invention provides a container locking device and a piggyback transport vehicle. Wherein, container locking device includes: the bracket is provided with an accommodating space; the first end of the locking structure is hinged with the bracket, and the locking structure is provided with a locking position extending out of the accommodating space and an avoiding position retracting into the accommodating space; a support structure, a first end of the support structure being hinged to a second end of the locking structure; the support structure has a retracted position and a support position cooperating with the bracket in a direction away from the locking structure; when the locking structure is in the locked position, the support structure is in the support position and the locking structure is caused to stay in the locked position; when the locking structure is in the retracted position, the support structure is in the retracted position and is retracted into the receiving space. The technical scheme of the invention solves the problem that the performance of the container locking device is influenced because the container locking device in the prior art is of an outward turnover cantilever structure.

摘要：【中文】本发明涉及一种可拆卸式外墙保温板安装框，属于建筑技术领域。结构组成包括T形框、十字形框、L形框、连接片和螺栓。所述的三种框的材料是铝合金，安装框的伸臂与伸臂之间用连接片和螺栓连接，安装框与墙体用螺栓连接。所述的三种形状的安装框可以拼装成矩形以满足一般矩形墙面的保温板施工。保温板可用粘结剂粘结在由伸臂围成的小正方形框内。本发明主要用于解决外墙保温板安装的问题，主要可用于需要新加外挂式外墙保温板的既有建筑，本发明可拆卸可重复利用、安装简单、安装速度快、运输方便。 【EN】The invention relates to a detachable external wall insulation board mounting frame, and belongs to the technical field of buildings. The structure comprises a T-shaped frame, a cross-shaped frame, an L-shaped frame, a connecting piece and a bolt. The three frames are made of aluminum alloy, the extending arms of the mounting frame are connected with each other through connecting pieces and bolts, and the mounting frame is connected with the wall body through bolts. The mounting frames in the three shapes can be assembled into a rectangle to meet the requirement of construction of the heat insulation plate of a common rectangular wall surface. The heat-insulating board can be adhered in a small square frame formed by the extending arms by using an adhesive. The invention is mainly used for solving the problem of the installation of the external wall insulation board, mainly can be used for the existing building needing to add an external hanging type external wall insulation board, and has the advantages of detachability, reutilization, simple installation, high installation speed and convenient transportation.

摘要：【中文】本发明公开了一种框架剪力墙填充墙墙体抗震加固结构，包括钢丝网、填充墙，填充墙由加气混凝土砌块砌筑而成，并在与构造柱相连接的部位留有马牙槎和拉筋。构造柱由拉结筋，箍筋，通常筋组成，拉结筋一端与构造柱连接，另一端与楼板连接，通常筋与拉结筋搭接。填充墙共有两处布置钢丝网，第一处钢丝网沿含有拉筋的水平灰缝铺设，第二处在主体结构和砌体墙相交界的部位布置钢丝网，填充墙水平拉筋从墙底开始每隔500mm布置，并伸入构造柱内弯锚90°，后续给构造柱支模并浇筑细石混凝土，验收后对墙面进行砂浆抹灰。本发明施工简单，取材方便，并使填充墙与主体结构连接更牢固，提高结构整体刚度。 【EN】The invention discloses a frame shear wall filler wall anti-seismic reinforcing structure, which comprises a steel wire mesh and a filler wall, wherein the filler wall is built by aerated concrete blocks, and a serrated raft and a lacing wire are reserved at the position connected with a constructional column. The constructional column consists of a tie bar, a stirrup and a common bar, one end of the tie bar is connected with the constructional column, the other end of the tie bar is connected with the floor slab, and the common bar is in lap joint with the tie bar. The filler wall has two places to arrange the wire net, and first place wire net is laid along the horizontal mortar joint that contains the lacing wire, and the wire net is arranged at the position that the second is in major structure and brickwork wall and borders mutually, and filler wall horizontal lacing wire is arranged at every 500mm from the wall bottom to stretch into constructional column inflexion anchor 90, follow-up give the constructional column formwork and pour the pea gravel concrete, carry out the mortar to the wall and plaster after the acceptance inspection. The invention has simple construction and convenient material taking, ensures that the connection between the infilled wall and the main structure is firmer, and improves the integral rigidity of the structure.

摘要：【中文】一种富水区TBM工法隧道防水结构，属于隧道防水结构技术领域，包括初期支护、二次衬砌、第一防水层、第二防水层，所述初期支护为混凝土管片，所述第一防水层设置在所述初期支护与基岩之间，所述第二防水层设置在所述初期支护与二次衬砌之间；所述第一防水层由初期支护向基岩依次为聚氨酯防水涂料、防水卷材、无纺布，基岩上喷涂混凝土；所述第二防水层由二次衬砌向初期支护之间依次为无纺布、防水板加无纺布。通过多个防水层构造形成统一的防水系统，可进行全面的大范围的防水，节省隧道运营及维护成本。 【EN】A tunnel waterproof structure of a water-rich area TBM construction method belongs to the technical field of tunnel waterproof structures and comprises a primary support, a secondary lining, a first waterproof layer and a second waterproof layer, wherein the primary support is a concrete segment, the first waterproof layer is arranged between the primary support and a bedrock, and the second waterproof layer is arranged between the primary support and the secondary lining; the first waterproof layer is sequentially made of polyurethane waterproof paint, waterproof coiled materials and non-woven fabrics from a primary support to the bedrock, and concrete is sprayed on the bedrock; and the second waterproof layer is sequentially provided with non-woven fabrics, a waterproof board and non-woven fabrics from the secondary lining to the primary support. A uniform waterproof system is formed by a plurality of waterproof layer structures, so that comprehensive large-scale waterproofing can be performed, and the tunnel operation and maintenance cost is saved.

摘要：【中文】本发明公开了综合管廊用装配式矩形混凝土板，属于管廊用混凝土板领域。包括水平外壳板（1）、竖直外壳板（2）、角点外壳板（3），其特征在于：顶部和底部为水平外壳板（1），侧面为竖直外壳板（2），所述角点外壳板（3）为L形，水平外壳板（1）与竖直外壳板（2）通过角点外壳板（3）连接形成矩形。装配式外壳板的预制，使各部件的连接更加简单、安全、效率、耐久，可替换的竖直外壳板使得该发明适用范围广，预制外壳板使得工程施工速度快、经济效果好，避免了施工过程中的复杂操作，能大幅降低成本，可拆分的预制构件易于运输和组装。 【EN】The invention discloses an assembled rectangular concrete slab for a comprehensive pipe rack, and belongs to the field of concrete slabs for pipe racks. Including horizontal housing plate (1), vertical housing plate (2), angle point housing plate (3), its characterized in that: the top and the bottom are horizontal shell plates (1), the side surfaces are vertical shell plates (2), the angular point shell plates (3) are L-shaped, and the horizontal shell plates (1) are connected with the vertical shell plates (2) through the angular point shell plates (3) to form a rectangle. The prefabricated shell plate has the advantages that the connection of all parts is simpler, safer, more efficient and more durable, the application range of the prefabricated shell plate is wide due to the replaceable vertical shell plate, the construction speed of engineering is high due to the prefabricated shell plate, the economic effect is good, the complex operation in the construction process is avoided, the cost can be greatly reduced, and the detachable prefabricated part is easy to transport and assemble.

摘要：【中文】一种高空模板支架与外脚手架共用悬挑结构，属于建筑技术领域，包括悬挑钢梁、水平矩形钢板、U形拉环等，所述悬挑钢梁包括第一悬挑钢梁、第二悬挑钢梁，所述第一悬挑钢梁搭接于楼板上，其与楼板搭接端经U形拉环相连，所述第一悬挑钢梁、第二悬挑钢梁底部设有水平矩形钢板，所述第二悬挑钢梁与楼板侧边相连，其底部水平矩形钢板下方与楼板侧壁之间设有矩形空心斜撑、三角形钢板。该结构体系通过布置水平矩形钢板，使第一悬挑钢梁和第二悬挑钢梁更好受力，并可保证模板支架与外脚手架同时搭设，承载能力高，且所有悬挑钢梁均采用斜撑式，没有采用传统的单一钢丝绳斜拉，故加强了悬挑钢梁稳定性，进而提高悬挑脚手架的稳定性和安全性。 【EN】The utility model provides a high altitude formwork support and external scaffolding structure of encorbelmenting jointly, belongs to the building technology field, including girder steel, horizontal rectangle steel sheet, the U-shaped pull ring etc. of encorbelmenting, the girder steel of encorbelmenting includes first girder steel, the second girder steel of encorbelmenting, first girder steel overlap joint of encorbelmenting on the floor, and it links to each other through the U-shaped pull ring with floor overlap joint end, first girder steel, the second girder steel bottom of encorbelmenting is equipped with horizontal rectangle steel sheet, the second girder steel of encorbelmenting links to each other with the floor side, is equipped with hollow bracing of rectangle, triangle-shaped steel sheet between its bottom horizontal rectangle steel. This structural system makes first girder steel and the second girder steel better atress of encorbelmenting through arranging horizontal rectangle steel sheet to can guarantee that formwork support and scaffold frame set up simultaneously, bearing capacity is high, and all girder steels of encorbelmenting all adopt the bracing formula, do not adopt traditional single wire rope to draw to one side, so strengthened the girder steel stability of encorbelmenting, and then improve the stability and the security of the scaffold frame of encorbelmenting.