摘要：【中文】本发明涉及图像角度矫正方法、装置、计算机设备及存储介质，该方法包括获取待检测图像；对待检测图像进行旋转角度检测，以得到检测结果；根据检测结果对待检测图像进行旋转，以得到旋转结果；输出旋转结果至终端。本发明通过对待检测图像进行高斯滤波、灰度化处理、边缘检测、膨胀处理、轮廓检测，结合OpenCV最小外接矩形计算每个膨胀区域的最小外接矩形，并由最小外接矩形计算旋转角度，并利用该旋转角度对图像的角度进行矫正，能有效处理现有技术复杂背景下旋转角度检测失败的情况，提高矫正图像的准确率。 【EN】The invention relates to an image angle correction method, an image angle correction device, computer equipment and a storage medium, wherein the method comprises the steps of obtaining an image to be detected; detecting the rotation angle of the image to be detected to obtain a detection result; rotating the image to be detected according to the detection result to obtain a rotation result; and outputting the rotation result to the terminal. According to the method, Gaussian filtering, graying processing, edge detection, expansion processing and contour detection are carried out on the image to be detected, the minimum external rectangle of each expansion area is calculated by combining the minimum external rectangle of OpenCV, the rotation angle is calculated by the minimum external rectangle, the angle of the image is corrected by the rotation angle, the condition that the detection of the rotation angle fails under the complex background in the prior art can be effectively processed, and the accuracy of the corrected image is improved.

摘要：【中文】本发明涉及一种四通换向阀活塞部件的铆接设备及自动铆接方法，其中，四通换向阀活塞部件的铆接设备包括：转盘以及用于驱动所述转盘转动的驱动装置，所述转盘的上表面周向分布有多套工装组件，还包括依次围绕转盘设置的：将活塞部件送入对应的工装组件内的送料机构；对工装组件内的活塞部件进行铆接的铆接机构；检测铆接完成后的活塞部件的所述检测机构；将检测完成后的活塞部件移出工装组件的卸料机构。本发明能提高活塞部件铆接的加工效率。 【EN】The invention relates to riveting equipment and an automatic riveting method for a four-way reversing valve piston component, wherein the riveting equipment for the four-way reversing valve piston component comprises the following steps: carousel and being used for the drive carousel pivoted drive arrangement, the upper surface circumference of carousel distributes and has many sets of frock subassemblies, still includes in proper order around the carousel setting: the piston components are sent to the feeding mechanisms in the corresponding tool assemblies; the riveting mechanism is used for riveting the piston component in the tool assembly; the detection mechanism is used for detecting the piston component after riveting is completed; and the piston component after detection is moved out of the unloading mechanism of the tool assembly. The invention can improve the processing efficiency of piston part riveting.

摘要：【中文】本发明公开了一种水稻及杂草稻OsICE1基因启动子甲基化测定的特异性分子标记引物及其应用。通过对水稻及杂草稻种群的耐冷性比较及OsICE1基因启动子区域的甲基化比较，根据启动子区域特异甲基化位点，设计了基于DNA甲基化的比较水稻和杂草稻耐冷性差异的分子标记引物，分别为pOsICE1‑CT、pOsICE1‑ICTI、pOsICE1‑ICTII和pOsICE1‑CS，分别用于耐冷、中度耐冷及冷敏感水稻和杂草稻种群筛选。利用该引物对水稻和杂草稻OsICE1基因启动子甲基化测定，可实现水稻及杂草稻活体植株快速的耐冷性筛选与比较。方法简便快速、成本低廉，可广泛应用于水稻耐冷品种选育及杂草稻耐冷性比较。 【EN】The invention discloses a specific molecular marker primer for methylation determination of OsICE1 gene promoters of rice and weedy rice and application thereof. Through cold tolerance comparison of rice and weedy rice populations and methylation comparison of the promoter region of the OsICE1 gene, molecular marker primers for comparing the cold tolerance difference of rice and weedy rice based on DNA methylation are designed according to specific methylation sites of the promoter region, and are respectively pOsICE1-CT, pOsICE1-ICTII, pOsICE1-ICTII and pOsICE1-CS, and are respectively used for screening cold-tolerant, moderate cold-tolerant and cold-sensitive rice and weedy rice populations. The primer is used for methylation determination of OsICE1 gene promoters of rice and weedy rice, and rapid cold resistance screening and comparison of living plants of rice and weedy rice can be realized. The method is simple, convenient and quick, has low cost, and can be widely applied to breeding of cold-resistant varieties of rice and comparison of the cold resistance of weed rice.

摘要：【中文】本发明涉及一种多工位遮阳伞伞骨端部堵头自动装配机，包括主体，主体包括支撑台和台板，其特征在于：台板上设置有堵头上料装置、堵头输送装置、伞骨下料装置以及堵头装配装置，支撑台上设置有伞骨上料装置；堵头上料装置包括堵头上料轨道，堵头上料装置通过堵头上料轨道与堵头输送装置连接，堵头输送装置设置在所述伞骨下料装置的两侧，堵头装配装置设置在所述堵头输送装置与伞骨下料装置之间，伞骨上料装置与伞骨下料装置连接，主体前方还设置有收集装置。通过本发明的多工位遮阳伞伞骨端部堵头自动装配机，解决了传统堵头安装中需要人工操作，效率低且次品率高的问题，提升了产品的产率以及产品的质量，具有很高的经济效益。 【EN】The invention relates to an automatic assembling machine for end plugs of ribs of a multi-station sunshade, which comprises a main body, wherein the main body comprises a supporting table and a bedplate, and is characterized in that: the bedplate is provided with a plug feeding device, a plug conveying device, an umbrella rib blanking device and a plug assembling device, and the support table is provided with an umbrella rib feeding device; the plug feeding device comprises a plug feeding track, the plug feeding device is connected with a plug conveying device through the plug feeding track, the plug conveying device is arranged on two sides of the umbrella rib blanking device, the plug assembling device is arranged between the plug conveying device and the umbrella rib blanking device, the umbrella rib feeding device is connected with the umbrella rib blanking device, and a collecting device is further arranged in front of the main body. The automatic assembling machine for the end plugs of the ribs of the multi-station sunshade solves the problems of low efficiency and high defective rate due to manual operation in the traditional plug installation, improves the yield and the quality of products, and has high economic benefit.

摘要：【中文】本发明涉及一种立体停车库充电连接装置，所述立体停车库包括停车塔架、传动装置、驱动装置、供电装置以及用于停放车辆的多个托盘平台，传动装置、驱动装置和供电装置均安装在停车塔架上。该发明克服现有立体停车库充电桩的导电连接采用滑动结构或采用加长充电桩枪头线缆的方法存在的接触点易磨损、导电性不佳、易发火灾、移动距离非常有限等缺点，通过沿托盘平台移动轨迹布设的静导电排，以及一端固定在托盘平台上、另一端活动卡设在静导电排上且能沿静导电排轨迹移动并与静导电排滚动导电接触的充电连接器单元的配合，使得立体停车库中停放车辆在移动过程中能够有效、可靠地充电。 【EN】The invention relates to a charging connecting device of a three-dimensional parking garage, which comprises a parking tower frame, a transmission device, a driving device, a power supply device and a plurality of tray platforms for parking vehicles, wherein the transmission device, the driving device and the power supply device are all arranged on the parking tower frame. The charging connector unit comprises a static conductive bar, a charging connector unit and a charging connector unit, wherein the static conductive bar is arranged along the moving track of a tray platform, one end of the charging connector unit is fixed on the tray platform, the other end of the charging connector unit is movably clamped on the static conductive bar, can move along the track of the static conductive bar and is in rolling conductive contact with the static conductive bar, and the charging connector unit is connected with the charging connector unit.

摘要：【中文】本发明实施例涉及机器人控制技术领域，公开了一种六轴机器人末端负载辨识方法及模块。本发明中六轴机器人末端负载辨识方法包括:建立关节轴的动力学模型；获取六轴机器人的初始位姿，根据初始位姿生成辨识轨迹；根据辨识轨迹，控制关节轴沿辨识轨迹运动，采集关节轴的参数运行值；根据动力学模型和参数运行值，计算关节轴的重力矩、转动惯量以及耦合转动惯量；根据重力矩、转动惯量以及耦合转动惯量，计算末端负载动力学参数。本发明实施例还提供了一种六轴机器人末端负载辨识模块，相对于现有技术可以使得六轴机器人末端负载辨识的过程中所需空间小、对六轴机器人本体动力学参数需求极少、且末端负载动力学参数辨识精度较高。 【EN】The embodiment of the invention relates to the technical field of robot control, and discloses a six-axis robot tail end load identification method and module. The six-axis robot tail end load identification method comprises the steps of establishing a dynamic model of a joint axis; acquiring initial poses of the six-axis robot, and generating an identification track according to the initial poses; controlling the joint shaft to move along the identification track according to the identification track, and collecting a parameter operation value of the joint shaft; calculating the gravity moment, the rotational inertia and the coupling rotational inertia of the joint shaft according to the dynamic model and the parameter operation value; and calculating the dynamic parameters of the terminal load according to the gravity moment, the rotational inertia and the coupling rotational inertia. Compared with the prior art, the six-axis robot tail end load identification module has the advantages that the required space in the six-axis robot tail end load identification process is small, the six-axis robot body dynamic parameter requirements are few, and the tail end load dynamic parameter identification precision is high.

摘要：【中文】本发明公开了一种碳化硅@金属氧化物吸波泡沫及其制备方法，属于吸波材料的制备领域。以碳化硅纳米线气凝胶作为基体，在其纳米线上负载金属氧化物纳米颗粒，得到了具有超高比表面积的三维网络结构的碳化硅@金属氧化物吸波泡沫。制备方法是将碳化硅纳米线气凝胶浸入金属氧化物的前驱体溶液后进行水热/溶剂热反应，然后将水热/溶剂热后的产品洗涤后干燥即可获得碳化硅@金属氧化物吸波泡沫。本材料的最大反射损耗可达到‑16dB，有效吸波频带可达5.76GHz，具有优良的吸波性能，可以应用于吸波材料领域。 【EN】The invention discloses silicon carbide @ metal oxide wave-absorbing foam and a preparation method thereof, and belongs to the field of preparation of wave-absorbing materials. The silicon carbide nano-wire aerogel is used as a matrix, and metal oxide nano-particles are loaded on nano-wires of the silicon carbide nano-wire aerogel, so that the silicon carbide @ metal oxide wave-absorbing foam with the ultrahigh specific surface area and the three-dimensional network structure is obtained. The preparation method comprises the steps of immersing the silicon carbide nanowire aerogel into a precursor solution of the metal oxide, carrying out hydrothermal/solvothermal reaction, washing a product after hydrothermal/solvothermal reaction, and drying to obtain the silicon carbide @ metal oxide wave-absorbing foam. The maximum reflection loss of the material can reach-16 dB, the effective wave-absorbing frequency band can reach 5.76GHz, and the material has excellent wave-absorbing performance and can be applied to the field of wave-absorbing materials.

摘要：【中文】本发明适用于化学分析技术领域，公开了用于磷酸盐钼锑抗法测定的检测试剂组合及制备方法，检测试剂组合包括用于与磷酸盐反应生成磷钼杂多酸的显色试剂和用于还原磷钼杂多酸的还原试剂，显色试剂包括质量分数为8g/L‑22g/L的钼酸钠、质量分数为72mL/L‑93mL/L的浓硫酸和质量分数为80mL/L‑150mL/L 0.3％的酒石酸锑钾，还原试剂包括质量分数为18g/L‑32g/L的抗坏血酸、质量分数为34mL/L‑55mL/L的弱酸溶液和质量分数为0.5g/L‑1.6g/L的抑分解剂。本发明所提供的用于磷酸盐钼锑抗法测定的检测试剂组合及制备方法，其可提高对磷酸盐含量检测的准确性，同时还可以提高试剂组合的保质期。 【EN】The invention is applicable to the technical field of chemical analysis and discloses a detection reagent combination for phosphate molybdenum antimony antibody determination and a preparation method thereof, wherein the detection reagent combination comprises a color reagent for reacting with phosphate to generate phosphomolybdic heteropoly acid and a reduction reagent for reducing phosphomolybdic heteropoly acid, the color reagent comprises sodium molybdate with the mass fraction of 8-22 g/L, concentrated sulfuric acid with the mass fraction of 72-93 mL/L and 0.3% antimony potassium tartrate with the mass fraction of 80-150 mL/L, the reducing agent comprises ascorbic acid with the mass fraction of 18g/L-32g/L, weak acid solution with the mass fraction of 34mL/L-55mL/L and decomposition inhibitor with the mass fraction of 0.5g/L-1.6 g/L. The detection reagent combination for phosphate molybdenum antimony antibody determination and the preparation method thereof provided by the invention can improve the accuracy of phosphate content detection and can also improve the quality guarantee period of the reagent combination.

摘要：【中文】本发明公开了一种门式结构上吊篮悬挂结构安装体系及其施工方法，安装体系包含一组门式结构、连接于相邻门式结构间的连梁、间隔连接于两外侧连梁上的边柱、连接于连梁和边柱上的主悬挂机构、连接于门式结构和连梁上的侧悬挂机构、以及分别连接于主悬挂机构和侧悬挂机构上的钢丝绳。施工时，本发明通过在门式结构上设置主悬挂机构和侧悬挂机构，可满足在门式结构上安装吊篮的需求且不占用施工场地；通过将主悬挂机构与边柱可拆卸连接、保障了整体承力且便于安装、调节和后期的移动；通过在主立架体间设置斜撑和拉杆，保证主悬挂机构的整体一致性和稳定性，且通过将钢丝绳临时固定在竖柱或边柱底部，起到双重保护和固定的作用。 【EN】The invention discloses a hanging basket suspension structure installation system on a door type structure and a construction method thereof. During construction, the main suspension mechanism and the side suspension mechanism are arranged on the door type structure, so that the requirement of mounting a hanging basket on the door type structure can be met, and a construction site is not occupied; the main suspension mechanism is detachably connected with the side column, so that the overall bearing force is guaranteed, and the installation, the adjustment and the later-stage movement are convenient; through set up bracing and pull rod between main stand body, guarantee main suspension mechanism's whole uniformity and stability, and through fixing wire rope temporarily in upstand or side column bottom, play duplicate protection and fixed effect.

摘要：【中文】本发明公开了一种市政盾构隧道的支撑横梁安装结构，包括顶圈、多个支撑杆和多个抵顶螺栓，所述顶圈的外周上设有多个均匀分布的缺口，所述缺口的两侧设有限位槽，其底部设有贯穿所述顶圈的抵顶螺孔，所述支撑杆的两侧设有限位块，多个所述缺口中每一所述缺口被一个所述支撑杆穿过，多个所述缺口位于同一平面内且该平面与所述支撑杆垂直，所述限位块限位于所述限位槽中，所述抵顶螺孔中配合设有一个所述抵顶螺栓，所述抵顶螺栓抵顶于所述支撑杆上，多个支撑杆相互平行。与现有技术相比，本发明在拆装时，只需要拧动所述抵顶螺栓，拆装过程简单快捷，能够极为有效地缩短施工时间；所述第一承托杆和第二承托杆能够显著增强对预制混凝土管的支撑效果。 【EN】The invention discloses a support beam mounting structure of a municipal shield tunnel, which comprises a top ring, a plurality of support rods and a plurality of supporting bolts, wherein a plurality of uniformly distributed gaps are arranged on the periphery of the top ring, limiting grooves are formed in two sides of each gap, a supporting screw hole penetrating through the top ring is formed in the bottom of each gap, limiting blocks are arranged on two sides of each support rod, each gap in the plurality of gaps is penetrated through by one support rod, the plurality of gaps are positioned in the same plane and are vertical to the support rods, the limiting blocks are limited in the limiting grooves, one supporting bolt is matched in each supporting screw hole, the supporting bolts abut against the support rods, and the plurality of support rods are parallel to each other. Compared with the prior art, the invention only needs to screw the abutting bolt when dismounting, the dismounting process is simple and quick, and the construction time can be effectively shortened; first bearing pole and second bearing pole can show the reinforcing and to the support effect of precast concrete pipe.