摘要：【中文】本申请提供一种船舶附着生物清理机器人，包括连接架、以及分别连接在连接架两侧的行走装置；每个行走装置包括支撑架以及连接在支撑架靠近连接架一侧的连架杆；连接架与连架杆之间连接有多组连接组件，连架杆与支撑架之间连接有旋转副；支撑架上设有一对同步移动的履带；连接架上设有清洗盘，支撑架端部设有第一电机，第一电机设有输出轴，输出轴上连接有清洗枪。本申请的有益效果是：行走装置行走中带动连接架移动，实现用清洗盘清理不同部位的船舶；同时行走装置中设有清洗枪，可以在移动过程中实现清洗枪对船舶不同部位进行清洗，而且第一电机同时驱动清洗枪以旋转角度的方式进行多角度的清洗。 【EN】The application provides a ship attached organism cleaning robot, which comprises a connecting frame and walking devices respectively connected to two sides of the connecting frame; each walking device comprises a support frame and a side link connected to one side of the support frame close to the connecting frame; a plurality of groups of connecting assemblies are connected between the connecting frame and the side link rod, and a rotating pair is connected between the side link rod and the supporting frame; a pair of synchronously moving tracks is arranged on the support frame; be equipped with the washing dish on the link, the support frame tip is equipped with first motor, and first motor is equipped with the output shaft, is connected with the washing rifle on the output shaft. The beneficial effect of this application is: the traveling device drives the connecting frame to move during traveling, so that ships at different parts can be cleaned by the cleaning disc; be equipped with the washing rifle in the running gear simultaneously, can realize washing the rifle and wash different positions of boats and ships at the removal in-process, first motor drives simultaneously moreover and washs the rifle and carry out the washing of multi-angle with rotation angle's mode.

摘要：【中文】本发明公开了一种百香果软糖及其制备方法，涉及食品加工领域，该百香果软糖以百香果果汁为原料，以罗汉果浸提液为甜味剂，以明胶‑琼脂粉为复合胶凝剂，在配方中未添加任何食用香精、色素、乳化剂等食品添加剂，解决了现有技术中果蔬类软糖中食品添加剂较多、含糖量过高，易致龋齿、血糖升高等问题；在制备时首先制得复合胶凝剂，冷却后与百香果果汁、罗汉果浸提液混合，浇注成型后经切块、干燥、包装即得，在生产过程中避免了高温熬煮，极大地保留了百香果特有的营养成分及风味。 【EN】The invention discloses passion fruit soft sweets and a preparation method thereof, and relates to the field of food processing, wherein the passion fruit soft sweets take passion fruit juice as a raw material, take momordica grosvenori leaching liquor as a sweetening agent, take gelatin-agar powder as a composite gelling agent, and do not add any food additives such as edible essence, pigment, emulsifying agent and the like in a formula, so that the problems of more food additives, overhigh sugar content, easy generation of decayed teeth, increase of blood sugar and the like in fruit and vegetable soft sweets in the prior art are solved; the preparation method comprises the steps of firstly preparing the composite gelling agent, cooling, mixing with passion fruit juice and the siraitia grosvenorii leaching liquor, carrying out casting molding, cutting into blocks, drying and packaging, avoiding high-temperature boiling in the production process, and greatly keeping the specific nutrient components and flavor of the passion fruit.

摘要：【中文】本发明公开了一种罗汉果复合饮料泡腾片及其制备方法，涉及食品饮料技术领域，该罗汉果复合饮料泡腾片包括罗汉果复合饮料、助干剂、酸源、碱源和填充剂，经原料挑选、预处理、浸提、过滤、喷雾干燥、混合、粉末直接压片而得；制备条件温和，保留了罗汉果、柠檬和金桔的营养成分及风味，不添加甜味剂，解决了现有技术中饮料泡腾片中甜味剂易导致肥胖、高血压、糖尿病、龋齿的问题以及多数甜味剂所存在的安全隐患问题；制备得到的罗汉果复合饮料泡腾片崩解迅速、风味独特、口感甜酸、绵和，具有原液体饮料的风味，且携带方便，符合消费者对清新、自然、健康、低糖饮料泡腾片的需求，而且也适合于肥胖、糖尿病患者食用，具有很好的市场前景。 【EN】The invention discloses a fructus momordicae composite beverage effervescent tablet and a preparation method thereof, relating to the technical field of food and beverage, wherein the fructus momordicae composite beverage effervescent tablet comprises fructus momordicae composite beverage, a drying aid, an acid source, an alkali source and a filling agent, and is obtained by selecting raw materials, pretreating, leaching, filtering, spray drying, mixing and directly tabletting powder; the preparation conditions are mild, the nutritional ingredients and the flavors of the momordica grosvenori, the lemon and the kumquat are reserved, the sweetening agent is not added, and the problems that the sweetening agent in the beverage effervescent tablet in the prior art is easy to cause obesity, hypertension, diabetes and decayed teeth and the potential safety hazard of most sweetening agents are solved; the prepared fructus momordicae compound beverage effervescent tablet is quick to disintegrate, unique in flavor, sweet and sour in taste and mild, has the flavor of the original liquid beverage, is convenient to carry, meets the requirements of consumers on fresh, natural, healthy and low-sugar beverage effervescent tablets, is suitable for being eaten by obese and diabetic patients, and has good market prospect.

摘要：【中文】本发明公开一种基于膜计算实现井下移动机器人位姿优化方法及装置，所述位姿优化方法包括如下步骤：S1，构建机器人运动模型；S2，所述机器人组织型膜系统构建包括：S2‑1,所述机器人概率膜计算模型框架建立；S2‑2，针对于所述机器人概率膜计算模型框架下，机器人位姿动态性优化；本发明把膜计算引入到煤矿井下机器人的优化之中，提高机器人在井下巡检工作效率和精度。 【EN】The invention discloses a method and a device for realizing the optimization of the pose of an underground mobile robot based on membrane calculation, wherein the pose optimization method comprises the following steps: s1, constructing a robot motion model; s2, the robotic tissue-type membrane system constructing includes: s2-1, establishing a robot probabilistic membrane calculation model framework; s2-2, aiming at the robot probability membrane calculation model framework, optimizing the robot pose dynamics; the invention introduces the membrane calculation into the optimization of the underground robot of the coal mine, and improves the working efficiency and the precision of the underground inspection of the robot.

摘要：【中文】本发明公开一种基于膜计算实现井下机器人路径优化方法,路径优化方法包括如下步骤：煤矿井下机器人细胞型膜系统构建、构建膜控制器结构、膜算法设计、移动机器人仿真及实验结果分析。本发明机器人路径优化方法通过改变进化代数，机器人移动的速度误差相对较小，具备很好的收敛性，与传统的算法相比较，速度误差较小，膜算法在井下移动机器人速度解算上准确度更高；通过仿真及实验表明，所提膜算法具有快速收敛性和有效性，所设计的装置能够有效解决煤矿井下复杂环境下的巡检问题，以其高效的计算性能和快速的优化性能为煤矿未来精准开采提供了理论支撑和现实应用价值。 【EN】The invention discloses a method for realizing path optimization of an underground robot based on membrane calculation, which comprises the following steps: the method comprises the steps of constructing a cell type membrane system of the underground coal mine robot, constructing a membrane controller structure, designing a membrane algorithm, simulating a mobile robot and analyzing an experimental result. According to the robot path optimization method, through changing evolution algebra, the moving speed error of the robot is relatively small, the convergence is good, compared with the traditional algorithm, the speed error is small, and the accuracy of the membrane algorithm in the speed calculation of the underground moving robot is higher; simulation and experiments show that the provided membrane algorithm has quick convergence and effectiveness, the designed device can effectively solve the problem of routing inspection under the complex environment of the underground coal mine, and theoretical support and practical application value are provided for future accurate mining of the coal mine by virtue of efficient calculation performance and quick optimization performance of the device.

摘要：【中文】本发明提供了一种多风电场出力场景的生成方法及系统，包括：基于多个风电场的出力预测误差数据和预先构建的高斯隐马尔科夫模型得到多维高斯分布和累积状态转移概率矩阵；基于所述多维高斯分布和累积状态转移概率矩阵确定预设周期内每一时刻每个风电场的预测误差；基于各风电场的点预测出力值和所述风电场的预测误差，获得所有风电场的预测出力场景。本发明能够计及不同风电场预测误差之间的相关性，基于高斯隐马尔可夫模型的多个风电场预测出力场景生成方法，对不同风电场之间进行建模，所生成的风电场预测出力场景能够计及不同风电场之间的相关性，所得到的预测出力场景更加科学、合理，准确度高。 【EN】The invention provides a method and a system for generating a multi-wind-farm output scene, which comprise the following steps: obtaining a multi-dimensional Gaussian distribution and accumulated state transition probability matrix based on output prediction error data of a plurality of wind power plants and a pre-constructed Gaussian hidden Markov model; determining a prediction error of each wind power plant at each moment in a preset period based on the multi-dimensional Gaussian distribution and the cumulative state transition probability matrix; and obtaining the predicted output scene of all the wind power plants based on the point predicted output value of each wind power plant and the prediction error of the wind power plant. The method can calculate the correlation among the prediction errors of different wind power plants, the multiple wind power plant predicted output scenes based on the Gaussian hidden Markov model are generated to model different wind power plants, the generated wind power plant predicted output scenes can calculate the correlation among different wind power plants, and the obtained predicted output scenes are more scientific and reasonable and have high accuracy.

摘要：【中文】本发明涉及一种光伏出力数据修复方法及系统，获取待修复光伏出力序列所在的目标光伏电站及与其相邻光伏电站的历史出力数据；基于所述历史出力数据计算目标光伏电站及与其相邻光伏电站的相关性系数；基于所述相关性系数，对待修复光伏出力序列在设定时段的光伏出力数据进行修复；所述待修复光伏出力序列为带有异常数据的光伏出力序列。本发明提供的技术方案修复后的光伏出力考虑了各光伏电站出力在空间上的相关性，提高了光伏出力修复的精确度。 【EN】The invention relates to a photovoltaic output data restoration method and a photovoltaic output data restoration system, which are used for acquiring historical output data of a target photovoltaic power station where a photovoltaic output sequence to be restored is located and photovoltaic power stations adjacent to the target photovoltaic power station; calculating correlation coefficients of the target photovoltaic power station and the adjacent photovoltaic power stations thereof based on the historical output data; based on the correlation coefficient, repairing the photovoltaic output data of the photovoltaic output sequence to be repaired in a set time period; the photovoltaic output sequence to be repaired is a photovoltaic output sequence with abnormal data. According to the technical scheme provided by the invention, the photovoltaic output repaired by the method takes the spatial correlation of the output of each photovoltaic power station into consideration, and the photovoltaic output repairing accuracy is improved.

摘要：【中文】本发明涉及一种光伏出力预测方法及系统，获取目标光伏电站及与其相邻的光伏电站的历史出力数据；基于所述历史出力数据，分别计算目标光伏电站及与其相邻光伏电站的相关性系数；基于所述相关性系数获取光伏电站样本的拟合概率集合；根据所述光伏电站样本的拟合概率集合，预测目标光伏电站的出力数据。预测出的光伏出力既考虑了光伏出力的时序性、波动性等指标，也体现了各光伏电站出力在空间上的相关性，提高了光伏出力预测精度。 【EN】The invention relates to a photovoltaic output prediction method and a photovoltaic output prediction system, which are used for acquiring historical output data of a target photovoltaic power station and photovoltaic power stations adjacent to the target photovoltaic power station; based on the historical output data, respectively calculating correlation coefficients of the target photovoltaic power station and the adjacent photovoltaic power stations; acquiring a fitting probability set of a photovoltaic power station sample based on the correlation coefficient; and predicting the output data of the target photovoltaic power station according to the fitting probability set of the photovoltaic power station sample. The predicted photovoltaic output takes the indexes of the photovoltaic output such as time sequence, volatility and the like into consideration, the spatial correlation of the output of each photovoltaic power station is reflected, and the photovoltaic output prediction precision is improved.

摘要：【中文】本发明涉及一种新能源场站发电计划制定方法及装置，所述方法包括：根据输电断面的电压等级将输电断面划分为多层嵌套断面；根据各层嵌套断面中各断面受限后的发电能力和各层嵌套断面中各断面的预测出力确定各层嵌套断面中各断面的调峰限电功率值；利用所述各层嵌套断面中各断面的调峰限电功率值确定各层嵌套断面中各断面的发电计划。本发明提供的技术方案，能够使电网各区域的新能源限电率保持一致，实现了限电电力的公平分配原则。 【EN】The invention relates to a method and a device for making a power generation plan of a new energy station, wherein the method comprises the following steps: dividing the power transmission section into a plurality of layers of nested sections according to the voltage grade of the power transmission section; determining the peak-regulating and limiting electric power value of each section in each layer of nested sections according to the limited power generation capacity of each section in each layer of nested sections and the predicted output of each section in each layer of nested sections; and determining the power generation plan of each section in each layer of nested sections by using the peak-regulating and current-limiting power value of each section in each layer of nested sections. The technical scheme provided by the invention can keep the power limit rate of the new energy in each area of the power grid consistent, and realizes the fair distribution principle of the power limit power.

摘要：【中文】本发明公开了一种考虑新能源不确定性的日内计划安全稳定校核方法及系统，基于新能源场站有功出力概率分布得到与各预想故障的系统安全裕度最小值对应的新能源场站有功出力调整方案，在此基础上根据新能源场站有功出力调整方案和待校核计划数据生成待校核计划方式，基于待校核计划方式对所有预想故障进行安全稳定量化评估，得到考虑新能源不确定性的安全稳定校核结果，计及了新能源发电不确定性对日内计划校核的影响，使安全稳定校核结果与电网实际更接近。 【EN】The invention discloses a method and a system for checking safety and stability of a daily plan by considering new energy uncertainty.