摘要：【中文】本发明公开了一种物料的码放方法及装置、存储介质与处理器。该发明包括：在检测到流水线上的来料位置存在物料时，控制机器人抓取物料；确定物料在托盘上的码放位置；依据码放位置，确定夹具在物料上的夹取位置；根据夹取位置，确定码放物料的路径以完成对物料的码放。通过本发明，解决了相关技术中通过机器人对物料进行码垛操作，不能对物料的方向进行调节而保证码好的物料的条形码露在外边的问题。 【EN】The invention discloses a material stacking method and device, a storage medium and a processor. The invention comprises the following steps: when the materials are detected to exist at the incoming material position on the production line, controlling the robot to grab the materials; determining the stacking position of the materials on the tray; determining the clamping position of the clamp on the material according to the stacking position; and determining a path for stacking the materials according to the clamping position to finish stacking the materials. According to the invention, the problem that in the related art, the robot is used for stacking the materials, the direction of the materials cannot be adjusted, and the bar codes of the stacked materials are exposed outside is solved.

摘要：【中文】本发明公开了一种码垛机器人的控制方法及装置、码垛机器人。其中，该方法包括：确定预定托盘到达目标区域，其中，预定托盘中盛放有多个物料，目标区域为码垛机器人从抓取物料的区域；确定多个物料中当前待抓取的目标物料的序列号；根据目标物料的序列号确定抓取方向；控制码垛机器人沿抓取方向所在轨迹抓取目标物料，并将目标物料放置到目标垛堆。本发明解决了相关技术中码垛机的功能比较单一无法满足不同的码垛要求的技术问题。 【EN】The invention discloses a palletizing robot and a control method and device thereof. Wherein, the method comprises the following steps: determining that a preset tray reaches a target area, wherein the preset tray contains a plurality of materials, and the target area is an area where a palletizing robot grabs the materials; determining a serial number of a target material to be grabbed currently in the plurality of materials; determining a grabbing direction according to the serial number of the target material; and controlling the palletizing robot to grab the target material along the track of the grabbing direction and placing the target material to the target stack. The stacking machine solves the technical problem that the function of the stacking machine in the related technology is single and cannot meet different stacking requirements.

摘要：【中文】本发明公开了一种用于水泥搅拌桩试验检测的取芯装置及方法，取芯装置包括上拔部件、贯入部件、移动部件；其中，上拔部件由液压电机、卷轮、固定钢架、支撑架、钢丝绳、锁扣组成；贯入部件由液压装置、岩心管、取芯钻筒、合金钢钻头组成；移动部件由履带、底架体、手扶柄组成；采用液压装置引导岩心管下部的带合金钢钻头的取芯钻筒进行水泥搅拌桩取芯作业，可保证取芯过程的稳定性并有效钻取地下桩基进行取芯操作，利用液压电机带动卷轮并通过钢丝绳及锁扣上拔取芯钻筒，能够大幅度提高取芯速率，利用履带式装置带动机体移动进行钻取作业，具有操作方便、现场移动快捷、作业效率高等优势，是现场水泥搅拌桩取芯的理想装置。 【EN】The invention discloses a coring device and a method for testing and detecting a cement mixing pile, wherein the coring device comprises an upper pulling part, a penetration part and a moving part; wherein, the upward pulling part consists of a hydraulic motor, a rolling wheel, a fixed steel frame, a supporting frame, a steel wire rope and a lock catch; the injection part consists of a hydraulic device, a core barrel and an alloy steel drill bit; the moving part consists of a crawler belt, a chassis body and a hand-held handle; adopt the coring of the area alloy steel drill bit of hydraulic means guide core barrel lower part to bore a section of thick bamboo and carry out cement mixing pile coring operation, can guarantee to get the stability of core process and effectively bore and get the underground pile foundation and get core operation, utilize hydraulic motor to drive the reel and pull out the coring drill section of thick bamboo through wire rope and hasp, can increase substantially and get core speed, utilize crawler-type device to drive the organism and remove and bore and get the operation, and has convenient operation, the on-the-spot removal is swift, advantages such as operating efficiency height, be the ideal device that the core was got to on-the-spot cement mixing pile.

摘要：【中文】本发明公开了一种钇改性Mo₂NiB₂基金属陶瓷及其制备方法，将钼粉、镍粉、硼粉以及稀土钇粉按照一定比例进行配料，然后进行球磨，球磨后的混合浆料经干燥后过筛造粒；将过筛后的混合物料装入模具压制成型，经真空烧结后炉冷，得到一种钇改性Mo₂NiB₂基金属陶瓷。本发明原料资源丰富，制备工艺简单，生产成本较低，所获得的钇改性Mo₂NiB₂基金属陶瓷具有较高的硬度、强度，同时具有优良的耐磨性。 【EN】The invention discloses yttrium modified Mo₂NiB₂The preparation method of the base metal ceramic comprises the steps of proportioning molybdenum powder, nickel powder, boron powder and rare earth yttrium powder according to a certain proportion, then carrying out ball milling, drying mixed slurry after ball milling, sieving and granulating; loading the sieved mixed material into a mold for compression molding, sintering in vacuum and cooling in a furnace to obtain the yttrium modified Mo₂NiB₂A base cermet. The invention has the advantages of rich raw material resources, simple preparation process and lower production cost, and the obtained yttrium modified Mo₂NiB₂The base cermet has high hardness and strength and excellent wear resistance.

摘要：【中文】本发明公开了一种铬掺杂改性Mo₂NiB₂基金属陶瓷及其制备方法，将钼粉、镍粉、硼粉以及铬粉按照一定比例进行配料，然后进行球磨，球磨后的混合浆料经干燥后过筛造粒；将过筛后的混合物料装入模具压制成型，经真空烧结后炉冷，得到一种Cr掺杂改性Mo₂NiB₂基金属陶瓷。本发明原料资源丰富，制备工艺简单，生产成本较低，所获得的Cr掺杂改性Mo₂NiB₂基金属陶瓷具有较高的硬度、强度，同时具有优良的耐磨、耐腐蚀性。 【EN】The invention discloses chromium-doped modified Mo₂NiB₂The preparation method of the base metal ceramic comprises the steps of proportioning molybdenum powder, nickel powder, boron powder and chromium powder according to a certain proportion, then carrying out ball milling, drying mixed slurry after ball milling, sieving and granulating; loading the sieved mixed material into a mold for compression molding, sintering in vacuum and cooling in a furnace to obtain the Cr-doped modified Mo₂NiB₂A base cermet. The invention has the advantages of rich raw material resources, simple preparation process and lower production cost, and the obtained Cr-doped modified Mo₂NiB₂The base cermet has high hardness and strength, and excellent wear resistance and corrosion resistance.

摘要：【中文】本发明涉及水上交通技术领域，具体地说，涉及一种基于三维视景的港水域航标助航系统及方法。其方法包括如下步骤：采用视频图像以增强场景模型的深度感和真实感；对三维视景进行增强处理；基于计算机视觉技术获得航标最优视景。该基于三维视景的港水域航标助航系统及方法中，在提供电子海图的基础上提供水上航标环境实景模型，改善视觉体验，使用户更直观地认识理解航标配布意图，减轻视频监控的网络流量压力，使得能够通过读取实时遥测经纬度数据，采用基于时空正则相关滤波器在线学习跟踪航标来处理海浪中的灯质闪烁。 【EN】The invention relates to the technical field of water traffic, in particular to a harbor water area navigation aid system and method based on three-dimensional visual scenes. The method comprises the following steps: the video image is adopted to enhance the depth sense and the sense of reality of the scene model; performing enhancement processing on the three-dimensional visual scene; and obtaining the optimal visual scene of the navigation mark based on the computer vision technology. In the harbor water area navigation mark navigation assisting system and the method based on the three-dimensional visual scene, an overwater navigation mark environment real scene model is provided on the basis of providing an electronic chart, the visual experience is improved, a user can know and understand the arrangement intention of the navigation mark more intuitively, the network flow pressure of video monitoring is reduced, and the light flicker in sea waves can be processed by reading real-time telemetering latitude and longitude data and adopting a space-time regular correlation filter-based online learning tracking navigation mark.

摘要：【中文】本发明公开了一种针对淤泥质土的水力冲挖制浆配比方法，该方法使用高压水枪对该种淤泥质土进行水力冲挖，快速增加其含水量，使得在该含水量情况下的泥浆在输送时达到临界流速状态，实现水力冲挖工作效率最优化。本发明充分利用了淤泥质土自身初始状态对临界流速的最优化控制，达到大幅度减少运输机器的损耗和泥浆输送时间的效果。工艺简单，成本低廉，适用于工程实际。 【EN】The invention discloses a hydraulic flushing pulping proportioning method for mucky soil, which uses a high-pressure water gun to carry out hydraulic flushing on the mucky soil, quickly increases the water content of the mucky soil, ensures that slurry under the condition of the water content reaches a critical flow speed state during conveying, and realizes the optimization of the hydraulic flushing working efficiency. The invention fully utilizes the initial state of the mucky soil to optimally control the critical flow rate, and achieves the effects of greatly reducing the loss of a transport machine and the slurry conveying time. Simple process, low cost and suitability for practical engineering.