摘要：【中文】本发明涉及一种基于曲柄滑块机构的微型声呐两自由度伺服机构，属于微型声呐伺服技术领域，解决了现有伺服机构不适用于微型声呐安装的问题。两自由度伺服机构包括：结构相同的横传动部和纵传动部；横传动部包括依次铰接的曲柄、摇杆、滑块，横传动部的曲柄、纵传动部的曲柄和微型声呐一同固定连接，且连接处与微型声呐的安装载体通过固定球铰连接；横传动部的滑块和纵传动部的滑块能够相互独立地沿平行的方向远离或靠近微型声呐；横传动部和纵传动部正交设置。本发明结构布局合理、高度集成化，充分利用了微型声呐的后端安装空间，能够同时实现微型声呐俯仰和偏航两个方向的运动，可靠性高。 【EN】The invention relates to a miniature sonar two-degree-of-freedom servo mechanism based on a crank-slider mechanism, belongs to the technical field of miniature sonar servo, and solves the problem that the existing servo mechanism is not suitable for miniature sonar installation. The two-degree-of-freedom servo mechanism comprises: the horizontal transmission part and the vertical transmission part have the same structure; the transverse transmission part comprises a crank, a rocker and a sliding block which are sequentially hinged, the crank of the transverse transmission part, the crank of the longitudinal transmission part and the miniature sonar are fixedly connected together, and the connection part is connected with the mounting carrier of the miniature sonar through a fixed spherical hinge; the slide block of the transverse transmission part and the slide block of the longitudinal transmission part can independently move away from or close to the miniature sonar in the parallel direction; the transverse transmission part and the longitudinal transmission part are orthogonally arranged. The miniature sonar equipment has reasonable structural layout and high integration, fully utilizes the rear end installation space of the miniature sonar, can simultaneously realize the motions of the miniature sonar in the pitching and yawing directions, and has high reliability.

摘要：【中文】本发明涉及一种适用于微型声呐的两自由度伺服机构，属于微型声呐伺服技术领域，解决了现有伺服机构不适用于微型声呐安装的问题。两自由度伺服机构包括：固定球铰及结构相同的横传动部和纵传动部；微型声呐的底部中心通过固定球铰与微型声呐的安装载体连接，微型声呐的底部其他位置通过横传动部和纵传动部与微型声呐的安装载体连接，且横传动部和纵传动部正交设置；横传动部包括依次铰接的伺服球铰、连杆、直线执行机构，伺服球铰与微型声呐的底部连接，直线执行机构与微型声呐的安装载体连接。本发明结构布局合理、高度集成化，充分利用了微型声呐的后端安装空间，能够同时实现微型声呐俯仰和偏航两个方向的运动，可靠性高。 【EN】The invention relates to a two-degree-of-freedom servo mechanism suitable for a miniature sonar, belongs to the technical field of miniature sonar servo, and solves the problem that the existing servo mechanism is not suitable for miniature sonar installation. The two-degree-of-freedom servo mechanism comprises: the fixed spherical hinge and a transverse transmission part and a longitudinal transmission part which have the same structure; the center of the bottom of the miniature sonar is connected with the mounting carrier of the miniature sonar through a fixed spherical hinge, other positions of the bottom of the miniature sonar are connected with the mounting carrier of the miniature sonar through a transverse transmission part and a longitudinal transmission part, and the transverse transmission part and the longitudinal transmission part are orthogonally arranged; horizontal transmission portion is connected with the installation carrier of miniature sonar including articulated servo spherical hinge, connecting rod, the sharp actuating mechanism in proper order, servo spherical hinge and miniature sonar. The miniature sonar equipment has reasonable structural layout and high integration, fully utilizes the rear end installation space of the miniature sonar, can simultaneously realize the motions of the miniature sonar in the pitching and yawing directions, and has high reliability.

摘要：【中文】本公开涉及一种集群资源的控制方法、装置和云计算系统，涉及计算机技术领域。该方法包括：在待控制资源为待扩容资源的情况下，确定待扩容资源与相应的应用之间的绑定关系；根据绑定关系，将初始化后的待扩容资源添加到相应的应用的资源池中；根据待处理应用的部署类型，生成待处理应用的待执行数据包；将待执行数据包部署在待处理应用的资源池中相应的待扩容资源上执行。 【EN】The disclosure relates to a cluster resource control method and device and a cloud computing system, and relates to the technical field of computers. The method comprises the following steps: determining the binding relationship between the resource to be expanded and the corresponding application under the condition that the resource to be controlled is the resource to be expanded; adding the initialized resource to be expanded into a corresponding resource pool of the application according to the binding relationship; generating a to-be-executed data packet of the to-be-processed application according to the deployment type of the to-be-processed application; and deploying the data packet to be executed on the corresponding resource to be expanded in the resource pool of the application to be processed for execution.