Abstract: A method of controlling a cleaning robot includes: acquiring a marked position of a charging station in a map; controlling the cleaning robot to travel to a front position of the marked position and identifying the charging station; when the charging station is not identified, generating a finding path based on the marked position; and controlling the cleaning robot to travel in accordance with the finding path and identifying the charging station in a traveling process.

Abstract: A method of controlling a cleaning robot includes: acquiring a marked position of a charging station in a map; controlling the cleaning robot to travel to a front position of the marked position and identifying the charging station; when the charging station is not identified, generating a finding path based on the marked position; and controlling the cleaning robot to travel in accordance with the finding path and identifying the charging station in a traveling process.

Abstract: Trenchless methods for forming a curved hole channel with a steel sleeve and pipeline lifting are provided, including steps of: (T1) drilling a straight hole channel, and inserting the steel sleeve into the straight hole channel; (T2) inserting a guiding pipe into the steel sleeve, and determining a bending direction of a hole channel to be formed; and (T3) inserting a flexible steel-wire pipe into the guiding pipe, and punching to form the curved hole channel. With applying the creative trenchless method for forming the curved hole channel, a specially-made grouting pipe is accurately inserted to a bottom of a subsiding pipeline section, so that a polymer material is conveniently injected to a bottom of a disease position. Though utilizing an expansion force generated by the polymer material, the subsiding pipeline section is uplifted, so as to realize trenchless repairing.

Abstract: A trenchless integrative repair method includes steps of: S1, pre-casting steel rings according to an internal diameter of a defect pipeline, and forming grouting holes in the steel rings; S2, loading the steel rings to a defect position inside the pipeline, and fitting the steel rings to an internal wall of the pipeline to form reinforcing rings; S3, selecting a number of the grouting holes according to subsidence distribution; drilling a hole in the pipeline to reach a subsidence position and inserting a grouting pipe; steadily grouting the subsidence position with a polymer grouting system, and observing a lift condition of the pipeline; removing the grouting pipe after the pipeline is lifted to a predetermined level; and S4, pulling a lining pipe into the pipeline, and fitting the lining pipe to the steel rings and pipeline walls adjacent to the steel rings; curing the lining pipe.

Abstract: A method of controlling a cleaning robot includes: acquiring a marked position of a charging station in a map; controlling the cleaning robot to travel to a front position of the marked position and identifying the charging station; when the charging station is not identified, generating a finding path based on the marked position; and controlling the cleaning robot to travel in accordance with the finding path and identifying the charging station in a traveling process.

Abstract: A support tool for leakage repair of an inspection well includes: a curved loading plate having multiple grouting holes thereon, a telescopic adjustment device, and a base; wherein: one end of the telescopic adjustment device is connected to an inner side face of the curved loading plate, and the other end of the telescopic adjustment device is connected to the base; the telescopic adjustment device adjusts a distance between the curved loading plate and the base. The support tool is firstly hoisted at a leakage position of the inspection well; then a telescopic length of the telescopic adjustment device is adjusted, so that the curved loading plate and the base are in a close contact with opposite sides of the inspection well wall; and a grouting system is used to inject a double-slurry quick-setting repair material into a grouting pipe on the curved loading plate for plugging leakage.

Abstract: A method of controlling a cleaning robot includes: acquiring a marked position of a charging station in a map; controlling the cleaning robot to travel to a front position of the marked position and identifying the charging station; when the charging station is not identified, generating a finding path based on the marked position; and controlling the cleaning robot to travel in accordance with the finding path and identifying the charging station in a traveling process.

Abstract: A method for detecting and repairing external diseases of a buried drainage pipeline includes steps of: S1, controlling a robot to enter the pipeline to perform comprehensive detection of pipeline diseases; S2, analyzing detected pipeline diseases with a computer terminal based on detection results of the robot, and determining locations of external diseases of the pipeline; S3, controlling the robot to detect a depth of the external diseases of the pipeline relative to a ground surface; S4, determining a projection position of the external diseases of the pipeline on the ground surface according to detection results of the step S2, and drilling a hole from the ground surface; determining a drilling depth according to detection results of the step S3, and inserting a grouting pipe; and S5, grouting and repairing the external diseases of the pipeline through the grouting pipe.

Abstract: A fertility restoration gene in wheat and uses thereof, belonging to the field of plant biotechnology, specifically relating to the cloning of a recessive nuclear male sterility gene and a promoter thereof, and uses thereof in hybrid breeding. The fertility restoration gene FRG1 was successfully cloned by flow cytometry and high-throughput sequencing. The FRG1 gene can completely restore the male fertility of a Lanzhou genic male sterile mutant or allelic mutants thereof, which lays a foundation for the construction of a new wheat hybrid breeding technology system, meanwhile, which provides more possibilities to solve the technical bottlenecks of “three lines” and “two lines” hybridization technology of wheat, such as unstable fertility of sterile lines, limited resources for hybrid variety, the complexity of seed production technology and the high cost of seed production.

Abstract: An indwelling evacuator for feces, a stranding cage is disposed in a cylindrical main body, and a soft shaft is connected to the rear end of the stranding cage. Petaloid movable blades are hingedly connected to the front end of the cylindrical main body, and are in the shape of a bud when the petaloid movable blades are closed. A blocking ring is disposed on the outer wall of the cylindrical main body. A sliding ring member is disposed in the cylindrical main body to push the movable blades open to form an open space in the shape of a flower. The rear portion of the cylindrical main body is downward connected to a feces discharge hose. In use, the bud portion in the front end is inserted into the anus, and the blocking ring limits the insertion depth.

Abstract: A nursing bed, comprising: a back plate portion (1), a seat plate portion (2), a seat leg plate portion (3), a leg plate portion (4) and a foot plate portion (6), which are hinged in sequence, a bed body bracket (7), which configures the back plate portion (1), the seat plate portion (2) and the seat leg plate portion (3), the seat plate portion (2) being fixedly connected to the bed body bracket (7); a rotating shaft (10), which is arranged on the bed body bracket (7) and which is arranged at a lower side of the seat leg plate portion (3); a connecting rod (11) wherein an end is pivotably connected to the rotating shaft (10) while another end is movably connected to a lower surface of the foot plate portion (6).