Abstract: A method for creating kinematic pair objects. Kinematic pairs are included in a first facility. The first facility is equipped with control software. The method includes obtaining a first file that includes names of N kinematic pairs, calling the control software to read the names of the N kinematic pairs in the first file, and calling the control software to create N kinematic pair objects. N is an integer greater than or equal to 1. The N kinematic pair objects are determined based on the names of the N kinematic pairs read by the control software. The names of the N kinematic pairs are in one-to-one correspondence to the N kinematic pair objects.

Abstract: An embodiment of this application provides a method and apparatus for testing control software, and a computer-readable storage medium to reduce the time consumed in the simulation-based debugging and enhance efficiency. The method may include obtaining test information of a plurality of fault signals; and injecting, based on the test information of the plurality of fault signals, the plurality of fault signals into a simulation environment in sequence to obtain test results of the plurality of fault signals handled by the control software, where the simulation environment may be a simulation environment of a control object of the control software.

Abstract: Provided are a method for modifying parameters of kinematic pairs. The method includes: acquiring a first parameter modification command used for performing instruction to modify a value of a first pose of first kinematic pairs; determining a plurality of first devices in a plurality of devices according to the first parameter modification command, where, the plurality of devices are configured to have kinematic pair driver software, and the plurality of first devices are a plurality of devices including the first kinematic pairs; acquiring a second parameter modification command including a target value of the first pose of the first kinematic pairs; and invoking the kinematic pair driver software of the plurality of first devices according to the second parameter modification command so as to update the value of the first pose of the plurality of first kinematic pairs into the target value of the first pose.

Abstract: A method for creating kinematic pair objects. Kinematic pairs are included in a first facility. The first facility is equipped with control software. The method includes obtaining a first file that includes names of N kinematic pairs, calling the control software to read the names of the N kinematic pairs in the first file, and calling the control software to create N kinematic pair objects. N is an integer greater than or equal to 1. The N kinematic pair objects are determined based on the names of the N kinematic pairs read by the control software. The names of the N kinematic pairs are in one-to-one correspondence to the N kinematic pair objects.

Abstract: Embodiments of the present application provide a method and an apparatus for modifying a parameter of a kinematic pair, and a storage medium. The kinematic pair may be included in a first device, and the first device may be configured with control software. The method may include: obtaining a target value of a first parameter, where the first parameter is a motion state parameter of a kinematic pair; obtaining N first kinematic pairs, where the N first kinematic pairs have same values of the first parameter, and N is an integer greater than or equal to 1; setting modeling states of the N first kinematic pairs in the control software to an editable state; and calling the control software to modify the values of the first parameter of the N first kinematic pairs to the target value.

Abstract: The present invention relates to a preparation and purification method for cationic quaternary ammonium salt of sodium hyaluronate in homogeneous medium. By adding a homogeneous solvent and a sodium hyaluronate solid to a vessel, heating the vessel until the contents are dissolved to form a homogeneous system, adding an aqueous solution of 2,3-epoxypropyltrimethylammonium chloride (GTA) to the homogeneous system, then adding a base catalyst, and stirring at a preset temperature to carry out a graft reaction, a graft product is obtained wherein 2,3-epoxypropyltrimethylammonium chloride is grafted to the oxygen atom of the hydroxymethyl group of sodium hyaluronate. By using the method, a graft product wherein 2,3-epoxypropyltrimethylammonium chloride is grafted to the oxygen atom of the hydroxymethyl group of sodium hyaluronate is obtained. Addition of salts is avoided during the reaction, a grafting yield up to 0.69 is obtained, and coagulation occurred to the product is effectively solved.

Abstract: A battery transmission system may comprise: a material incoming structure to receive batteries; a first transfer structure to transfer the batteries to a first pallet so as to convey the batteries on a first transmission line, wherein the first transmission line has an unloading position for which at least one second transmission line is provided correspondingly; and a second transfer structure to transfer batteries at the unloading position to a first starting position of the second transmission line so as to transmits, when the number of batteries at the first starting position reaches N, the N batteries to a first termination position of the second transmission line, wherein N?1.

Abstract: The present application discloses a scheduling method, apparatus, and system, an electronic device, and a storage medium. The method applies to a warehouse management server, and comprises: sending a scheduling instruction to an actual stereoscopic warehouse management server and a stereoscopic warehouse simulation model management server, wherein the scheduling instruction corresponds to a target scheduling policy; and responding to first optimization information and determining a first scheduling update instruction, wherein the first optimization information comprises a scheduling optimization operation for the case of a target scheduling policy scheduling fault, which enables the scheduling update of an actual scheduling task in the case of faults, thereby solving the problem that the existing scheduling simulation method cannot handle and alleviate the fault problem in the logistics task, and improving the work efficiency, work quality and reliability of the actual stereoscopic warehouse scheduling.

Abstract: A battery transmission system may comprise: a material incoming structure to receive batteries; a first transfer structure to transfer the batteries to a first pallet so as to convey the batteries on a first transmission line, wherein the first transmission line has an unloading position for which at least one second transmission line is provided correspondingly; and a second transfer structure to transfer batteries at the unloading position to a first starting position of the second transmission line so as to transmits, when the number of batteries at the first starting position reaches N, the N batteries to a first termination position of the second transmission line, wherein N?1.

Abstract: The present application provides an AGV scheduling control system and method. The AGV scheduling control system includes: an AGV scheduling controller configured to generate an AGV scheduling instruction; an AGV configured to execute a task according to the AGV scheduling instruction; and a server that is communicatively coupled with the AGV scheduling controller and the AGV respectively, the server being configured to transfer messages between the AGV scheduling controller and the AGV, and provide adaptation to AGVs from different manufacturers. The AGV scheduling control system in the present application further includes a virtual AGV scheduling controller and a virtual AGV that serve as digital twins of the AGV scheduling controller and the AGV, and the programs used to control the virtual entity and the real entity are equivalently exchangeable.