摘要：【中文】本发明公开了榴莲保鲜膜及其制备方法。所述方法包括：将纳米二氧化钛与水混合，从而得到第一溶液；将第一混合物加热至约80至160℃；在约80至160℃下，所述第一混合物选自含防雾表面活性剂的母粒、壳聚糖、热塑性弹性体(POE)、低密度聚乙烯(LDPE)、低熔指线型低密度聚乙烯(LLPPE)、乙烯‑醋酸乙烯共聚物(EVA)、助剂或其混合物；将所述第一溶液添加至所述加热的第一混合物中，得到第二混合物；以及将第二混合物进行单层或三层共挤，吹膜，从而得到所述膜。本发明制备出的榴莲保鲜膜集防雾、抗菌、耐穿刺功能于一体，用于带壳榴莲包装，很好地解决了榴莲保鲜包装问题。 【EN】The invention discloses a durian preservative film and a preparation method thereof. The method comprises the following steps: mixing nano titanium dioxide with water to obtain a first solution; heating the first mixture to about 80 to 160 ℃; at about 80 to 160 ℃, the first mixture is selected from the group consisting of an anti-fog surfactant-containing masterbatch, chitosan, a thermoplastic elastomer (POE), a Low Density Polyethylene (LDPE), a low melt index linear low density polyethylene (ppe), an ethylene vinyl acetate copolymer (EVA), an adjuvant, or mixtures thereof; adding the first solution to the heated first mixture to obtain a second mixture; and carrying out single-layer or three-layer co-extrusion on the second mixture, and blowing the film to obtain the film. The durian preservative film prepared by the invention integrates antifogging, antibacterial and puncture-resistant functions, is used for packaging durian with shells, and well solves the problem of durian preservative packaging.

摘要：【中文】本发明公开了一种弧形电机直驱的摆头结构，采用A摆结构和B摆结构；采用弧形电机直驱的方式进行驱动，同时主轴采用电主轴，使得整个主轴系统得到简化，减少了摆头的转动惯量，在相同的驱动力矩作用下，摆头的加速度可以大幅提高，结构上消除了联轴器等柔性环节，使转轴的惯量由负载惯量转变成了电机的转子惯量，大幅减少了A摆的转动惯量，在相同的驱动力矩作用下，其动力学性能得到大幅提升。本装置结构设计紧凑，B摆单侧驱动单侧支撑，A摆双侧驱动双侧支撑，整个AB摆头除了弧形电机、圆弧导轨及编码器等，其他结构均是壳体，采用铸造即可加工成形，并且主轴外壳也是主轴电机外壳，减少了整体结构的零件数，减少了各零部件进行装配的工作量。 【EN】The invention discloses a swing head structure directly driven by an arc-shaped motor, which adopts a swing structure A and a swing structure B; the arc-shaped motor is adopted for driving in a direct driving mode, and meanwhile, the main shaft adopts the electric main shaft, so that the whole main shaft system is simplified, the rotational inertia of the swing head is reduced, the acceleration of the swing head can be greatly improved under the action of the same driving moment, flexible links such as a coupler are structurally eliminated, the inertia of the rotating shaft is converted from load inertia into rotor inertia of the motor, the rotational inertia of the A swing is greatly reduced, and the dynamic performance of the A swing is greatly improved under the action of the same driving moment. This device structural design is compact, and B pendulum unilateral drive unilateral supports, and the bilateral drive of A pendulum bilateral support, and whole AB pendulum head is except that arc motor, circular arc guide rail and encoder etc. and other structures all are the casing, adopt the casting to machine into shape to main shaft shell also is main shaft motor shell, has reduced overall structure's part number, has reduced the work load that each spare part carries out the assembly.

摘要：【中文】本发明公开了一种摆头结构，采用B摆基座并在B摆基座上开设有B摆弧形轨迹槽，B摆基座一侧设有能够相对B摆基座转动的B摆伺服电机，B摆伺服电机的输出轴连接有B摆滚珠丝杠；A摆基座可转动设置于B摆基座另一侧，A摆基座的转动圆弧半径与B摆弧形轨迹槽圆弧半径相同且同心，A摆基座与B摆丝杠螺母转动连接；通过伺服电机带动丝杠螺母副螺母实现直线运动，以丝杠的直线运动在轨迹约束的条件下使螺母走出圆弧运动，从而带动B摆实现B摆方向上的摆动，结构中取消了很多传动环节，采用直线运动结合转动从而走出圆弧轨迹，可以使得整体的AB摆满足切削难加工材料时需要大扭矩并且转速不能太低的要求，本装置结构设计紧凑，结构简单，传动稳定。 【EN】The invention discloses a swing head structure, which adopts a B swing base, wherein the B swing base is provided with a B swing arc track groove, one side of the B swing base is provided with a B swing servo motor which can rotate relative to the B swing base, and an output shaft of the B swing servo motor is connected with a B swing ball screw rod; the swing base A is rotatably arranged on the other side of the swing base B, the rotating arc radius of the swing base A is the same as and concentric with the arc radius of the swing arc track groove B, and the swing base A is rotatably connected with the swing lead screw nut B; the nut of the screw-nut pair is driven by the servo motor to realize linear motion, the nut moves out of an arc motion under the condition of track constraint by the linear motion of the screw, so that the swing in the B swing direction is realized by driving the B swing, a plurality of transmission links are cancelled in the structure, the arc track is moved out by combining the linear motion and the rotation, the integral AB swing can meet the requirements that the large torque is needed when the difficult-to-machine materials are cut, and the rotating speed cannot be too low, the device is compact in structural design, simple in structure and stable in transmission.

摘要：【中文】本发明公开了一种复方右旋糖酐70滴眼液无菌生产设备，包括安装架，所述安装架的顶部通过螺栓固定安装有气缸一，所述气缸一的输出杆固定连接有滑动座，所述滑动座水平设置，滑动座内滑动连接有水平滑板，滑动座的两侧内壁之间转动连接有往复丝杠，滑动座的一侧通过螺栓固定安装有电机，电机的输出轴与往复丝杠的一端传动连接，所述丝杠螺母的底端与水平滑板的顶侧固定连接，所述水平滑板的底部两侧均固定连接有若干个等距设置的吊架。本发明通过各个部件之间的相互协作，使得瓶体传送带的两侧的均设置有取料机构，并在取料机构水平移动的过程中，交叉送料，提高了生产效率，满足了人们在生产生活中的使用需求。 【EN】The invention discloses sterile production equipment for compound dextran 70 eye drops, which comprises a mounting frame, wherein a first air cylinder is fixedly mounted at the top of the mounting frame through a bolt, an output rod of the first air cylinder is fixedly connected with a sliding seat, the sliding seat is horizontally arranged, a horizontal sliding plate is slidably connected in the sliding seat, a reciprocating lead screw is rotatably connected between the inner walls of two sides of the sliding seat, a motor is fixedly mounted at one side of the sliding seat through the bolt, an output shaft of the motor is in transmission connection with one end of the reciprocating lead screw, the bottom end of a lead screw nut is fixedly connected with the top side of the horizontal sliding plate, and a plurality of hanging frames which are arranged at equal intervals are fixedly connected with two. According to the bottle conveying belt, the material taking mechanisms are arranged on the two sides of the bottle conveying belt through mutual cooperation of all the parts, and the material taking mechanisms are used for feeding materials in a crossed mode in the horizontal moving process, so that the production efficiency is improved, and the use requirements of people in production and life are met.

摘要：【中文】本发明公开了一种飞机修理复合材料柔性自动打磨装置及打磨方法，涉及复合材料打磨技术领域。本发明包括移动平台、协作机器人、浮动力敏打磨头机构、吸尘装置以及控制组件，协作机器人包括六轴轻型机械臂、六维力传感器、机器人控制器和示教器；浮动力敏打磨头机构包括浮动恒力装置、气控主轴、自动换刀刀具安装接口、带有砂轮砂纸的刀柄；吸尘装置包括吸尘主机以及安装于六轴轻型机械臂的末端的吸尘罩，吸尘罩采用伞状的透明塑料薄膜弹性结构，外表面均布开设有从外向内的单向导气孔，罩口边缘带有橡胶吸条。本发明实现了复合材料修复涉及的打磨、挖除、抛光等操作过程半自动或自动化，降低人工操作强度，减轻职业健康危害，提升修复品质。 【EN】The invention discloses a flexible automatic polishing device and a flexible automatic polishing method for an airplane repair composite material, and relates to the technical field of composite material polishing. The floating force-sensitive grinding head device comprises a mobile platform, a cooperative robot, a floating force-sensitive grinding head mechanism, a dust suction device and a control assembly, wherein the cooperative robot comprises a six-axis light mechanical arm, a six-dimensional force sensor, a robot controller and a demonstrator; the floating force-sensitive grinding head mechanism comprises a floating constant force device, a pneumatic control main shaft, an automatic tool changing tool mounting interface and a tool handle with grinding wheel abrasive paper; the dust collection device comprises a dust collection host and a dust collection cover arranged at the tail end of the six-axis light mechanical arm, the dust collection cover is of an umbrella-shaped transparent plastic film elastic structure, unidirectional air guide holes from outside to inside are uniformly distributed in the outer surface of the dust collection cover, and rubber suction strips are arranged at the edge of a cover opening. The invention realizes semi-automatic or automatic grinding, digging, polishing and other operation processes related to composite material repair, reduces manual operation intensity, lightens occupational health hazards, and improves repair quality.

摘要：【中文】本发明公开了一种激光湿清洗方法及装置，用激光对待清洗对象进行辐射时，待清洗对象放置在盛有冷却散热液体的容器中和/或采用喷淋系统对待清洗对象喷淋冷却散热液体。本发明采用激光对待清洗对象进行辐射时，利用冷却散热液体的气化对激光辐射表面进行吸热、散热；避免了采用原有清洗技术对污染层比较厚或难以清除的清洗对象实施多个脉冲进行循环清洗时的热影响，消除了对材料表面产生近表层硬化等相变热影响的不良效应，特别对于小型或材料性能要求高的清洗对象，更具有重要意义。 【EN】The invention discloses a laser wet cleaning method and a device, when a to-be-cleaned object is radiated by laser, the to-be-cleaned object is placed in a container containing cooling heat dissipation liquid and/or the to-be-cleaned object is sprayed with the cooling heat dissipation liquid by adopting a spraying system. When the laser is adopted to radiate an object to be cleaned, the gasification of the cooling heat dissipation liquid is utilized to absorb and dissipate heat of the laser radiation surface; the cleaning device has the advantages that the thermal influence caused by the adoption of the original cleaning technology when a cleaning object with a thicker pollution layer or difficult to clean is subjected to multiple pulses for cyclic cleaning is avoided, the adverse effect of heating influence such as near-surface hardening and the like on the surface of a material is eliminated, and the cleaning device is of great significance for small-sized or high-performance cleaning objects.

摘要：【中文】本发明涉及一种基于多元信息融合的地铁列车自主定位装置、系统及方法，属于铁路技术领域，解决现有列车定位系统依赖轨旁设备的问题；装置包括惯导设备，用于对地铁列车进行自主导航定位，计算惯导定位信息；视觉设备，用于监测设置在地铁线路轨旁固定位置的图像信标，计算视觉定位信息；数据处理设备，用于接收惯导设备和视觉设备的上报信息，进行信息融合，得到融合定位信息，发送到地铁列车的ATP系统，对包括列车出库、站间运行、列车进站/库和列车停站/库在内的各阶段进行辅助控制。本发明避免相同原理和特性的定位设备造成的共因失效，防止定位精度传递过程中的放大问题以及下级设备失效对上级设备定位精度的影响。 【EN】The invention relates to a subway train autonomous positioning device, system and method based on multivariate information fusion, which belongs to the technical field of railways and solves the problem that the conventional train positioning system depends on trackside equipment; the device comprises inertial navigation equipment, a positioning module and a control module, wherein the inertial navigation equipment is used for carrying out autonomous navigation positioning on the subway train and calculating inertial navigation positioning information; the visual equipment is used for monitoring the image beacon arranged at a fixed position beside the subway line rail and calculating visual positioning information; and the data processing equipment is used for receiving the reported information of the inertial navigation equipment and the visual equipment, carrying out information fusion to obtain fusion positioning information, sending the fusion positioning information to an ATP system of the subway train, and carrying out auxiliary control on each stage including train delivery, inter-station operation, train entry/base and train stop/base. The invention avoids common cause failure caused by positioning equipment with the same principle and characteristics, and prevents the amplification problem in the positioning precision transmission process and the influence of the failure of lower-level equipment on the positioning precision of the upper-level equipment.

摘要：【中文】本发明针对跨媒体检索问题，提出了一种基于跨媒体统一表征模型的跨媒体检索方法，包括以下步骤：(1)跨媒体数据库构建，建立面向政务新闻领域大跨媒体数据库；(2)跨媒体数据预处理，文本、图像、视频和音频等数据的输入预处理；(3)跨媒体数据原域特征提取，跨媒体数据的原域特征向量提取；(4)跨媒体数据统一表征，跨媒体数据在共同表示空间的特征向量提取；(5)数据检索语义相似度计算与排序，检索目标数据与跨媒体数据库中数据语义相似度计算，并排序输出结果。本发明不仅提出了一种支持四种媒体数据的相互检索方法，同时提出多种媒体数据的统一表征模型，提高了跨媒体语义检索精度，具有关阔的应用前景。 【EN】The invention provides a cross-media retrieval method based on a cross-media uniform representation model aiming at the problem of cross-media retrieval, which comprises the following steps: (1) constructing a cross-media database, and establishing a large-cross-media database facing the government affair news field; (2) cross-media data preprocessing, input preprocessing of data such as texts, images, videos and audios; (3) extracting original domain features of cross-media data, and extracting original domain feature vectors of the cross-media data; (4) uniformly representing the cross-media data, and extracting feature vectors of the cross-media data in a common representation space; (5) and calculating and sequencing the semantic similarity of the data, calculating the semantic similarity of the data of the retrieval target and the data in the cross-media database, and sequencing to output results. The invention not only provides a mutual retrieval method supporting four media data, but also provides a unified representation model of multiple media data, improves the cross-media semantic retrieval precision, and has a broad application prospect.

摘要：【中文】本发明公开一种人机协同自然语言空间导航方法及系统，机器人接收用户发送的空间导航语音指令，并根据预设的语法规则，将空间导航语音指令转化成相应的导航指令数组；空间导航语音指令属于自然语言；机器人采集机器人所在环境中界标物的位置和属性；并根据界标物的属性确定机器人的空间认知地图；机器人基于空间认知地图对导航指令数组进行认知推理，在空间认知地图中确定导航指令数组要求机器人所要到达的目的地的空间三维坐标，以及确定机器人到达目的地所要执行的动作；机器人根据目的地的空间三维坐标和所要执行的动作执行相关导航动作以到达目的地。本发明增强机器人对人类自然语言空间导航指令意图的理解。 【EN】The invention discloses a man-machine cooperative natural language space navigation method and a system, wherein a robot receives a space navigation voice command sent by a user and converts the space navigation voice command into a corresponding navigation command array according to a preset grammar rule; the space navigation voice instruction belongs to natural language; the robot collects the position and the attribute of a landmark object in the environment where the robot is located; determining a space cognitive map of the robot according to the attributes of the landmark objects; the robot performs cognitive inference on the navigation instruction array based on the spatial cognitive map, determines spatial three-dimensional coordinates of a destination to which the navigation instruction array requires the robot to arrive in the spatial cognitive map, and determines actions to be executed when the robot arrives at the destination; the robot performs the relevant navigation actions to reach the destination according to the spatial three-dimensional coordinates of the destination and the action to be performed. The invention enhances the understanding of the robot to the human natural language space navigation instruction intention.

摘要：【中文】本发明公开一种基于自然语言交互的机器人空间认知方法及系统，包括：建立基于自然语言表达的空间信息语料库，包括：目标属性特征描述语料和目标位置特征描述语料；根据预设的语法规则将目标属性特征描述语料和目标位置特征描述语料转化成关键词数组；根据关键词数组中包含的物体相关特征，判断目标物、参照物所属类别和空间位置计算关系，空间位置计算关系包括如下关系中的至少一种：目标物相对参照物的方向关系、目标物相对参照物的距离关系以及目标物相对至少两个参照物的拓扑关系；根据目标物、参照物所属类别和空间位置计算关系，确定目标物的坐标范围，以便后续进行目标物搜索。本发明能够降低人和机器人之间的交互频次，提升人机交互效率。 【EN】The invention discloses a robot space cognition method and system based on natural language interaction, which comprises the following steps: establishing a spatial information corpus based on natural language expression, comprising: a target attribute feature description corpus and a target location feature description corpus; converting the target attribute feature description corpus and the target position feature description corpus into a keyword array according to a preset grammar rule; judging the calculation relationship between the object type and the spatial position of the target object and the reference object according to the related characteristics of the object contained in the keyword array, wherein the calculation relationship of the spatial position comprises at least one of the following relationships: the direction relation of the target object relative to the reference object, the distance relation of the target object relative to the reference object and the topological relation of the target object relative to at least two reference objects; and determining the coordinate range of the target object according to the calculation relationship between the categories and the spatial positions of the target object and the reference object so as to search for the target object in the following process. The invention can reduce the interaction frequency between the human and the robot and improve the human-computer interaction efficiency.