53results about How to "High degree of systematization" patented technology

The invention discloses a mechanical arm real-time tracking method based on binocular vision guidance, belongs to the technical field of robot vision, and relates to the field of industrial robots. The method comprises the steps: carrying out binocular stereo vision calibration, correction and matching and mechanical arm forward and reverse kinematics modeling; secondly, establishing a coordinateconversion relationship between the binocular camera and the mechanical arm, and quickly acquiring an image sequence through the binocular camera; processing an image sequence acquired by the camera by utilizing linear kernel correlation filtering, converting the image sequence into a robot base coordinate system {B}, and obtaining mechanical arm motion control parameters through kinematics calculation; finally, enabling the mechanical arm controller, the mechanical arm body and the actuator to complete related operation tasks. The tracking method provided by the invention can adapt to the change of the workpiece scale, considers the instantaneity and robustness, greatly weakens the influence of uncertainty factors on the system, and has the characteristics of high intelligence and high systematization degree.

The invention relates to a large-scale waste gasification treatment and energy recycling system which comprises a water vapor low-temperature pyrolysis system, an entrained flow gasification system, a waste heat recovery system, a fuel gas purifying system and a fuel gas generating system. In the system disclosed by the invention, waste is transformed into an odorless and aseptic substance containing a small amount of inherent moisture by a low-temperature water vapor cracking reaction kettle; then the substance enters an entrained flow gasification furnace to be pyrolyzed and gasified into combustible gas; the combustible gas is purified by the fuel gas purifying system and is sent into a fuel gas generator to generate electricity; after gasification, slags and soil sediments separated from raw refuse are sent to brick making equipment to produce building materials; and wastewater generated in the process of purifying fuel gas enters a wastewater pond to be further treated. Due to the adoption of the system disclosed by the invention, the waste can be effectively treated, so that the waste treatment is developed towards the large-scale recycling and comprehensive utilization direction from the single treatment technology and the regeneration utilization of recyclable energy is furthest realized.

The invention proposes a vehicle semi-active suspension hybrid control method based on a damping multi-mode switching vibration damper, and the method comprises the steps: (1), building a damping nonlinear characteristic mathematical model of a vibration damper according to the structural principle of the damping multi-mode switching vibration damper; (2), carrying out the simulation analysis of the damping nonlinear characteristic mathematical model of the vibration damper, obtaining the speed characteristic curve of the vibration damper, and determining the restoration damping coefficient and compression damping coefficient of the vibration damper in each damping working mode; (3), building a vehicle semi-active suspension hybrid dynamic model comprising the damping multi-mode switching vibration damper based on a hybrid logic dynamic modeling method; (4), combing with the requirements of suspension system control, and completing the design of a vehicle semi-active suspension hybrid model prediction controller. Compared with the prior art, the method can achieve the effective control of a vehicle semi-active suspension comprising the damping multi-mode switching vibration damper, improves the actual control performance of a vehicle semi-active suspension system, is lower in implementation cost of a control strategy, is strong in actual application capability, and is remarkable in advantages.

The invention discloses a white chrysanthemum cultivating method in the technical field of cultivation of Chinese medicinal plants. The method comprises the following steps of weeding a seedling field; selecting chrysanthemum seedlings; breeding the seedlings to strengthen the seedlings, i.e., applying manure and plant ash into the seedling field according to the proportion that 100 to 300kg of the manure and 50 to 150 kg of the plant ash are applied to every mu of seedling field; trenching a planting field; digging holes, i.e., digging the holes on the middle line of a trench surface; transplanting, i.e., transplanting the chrysanthemum seedlings which are cultured through field planting into the holes, wherein two seedlings are planted in each hole; layering, i.e., layering for the first time: after the chrysanthemum seedlings grow to the height of 30 to 50cm, applying an organic fertilizer to the two sides of each row of chrysanthemum seedlings, wherein the dosage of the organic fertilizer is 1,000kg / mu, during layering, respectively separating branches to the two sides, enabling the branches to fall d to the ground, and putting soil onto the branches every 8 to 12cm; layering for the second time: when the length of the newly grown branches is 18 to 22cm, pushing down the branches in the direction where the branches are sparse, putting the soil onto the branches, and finishing layering for the second time before the end of July; pinching, and the like. The method is high in systematic degree, and fine in data and management program; the yield of the cultivated white chrysanthemum is high, so that the economic benefit is increased.

The invention discloses a golden Huangju cultivation method, and belongs to the field of planting. The cultivation method includes the processes of land selection, land preparation, reproduction, transplantation, field management, harvesting and enclosure planting. Sections of cutting woods are disinfected and sterilized by potassium permanganate solution in a cuttage method, infection of sections of cutting new shoots caused by harmful pathogenic bacteria can be effectively inhibited, the disease and insect resistance of the cutting woods is improved, the planted cutting woods are not easily damaged by the pathogenic bacteria and injurious insects, survival rate is greatly increased, pesticide usage requirements after stubbing are fewer, pesticide residues are fewer, and harm to environments and human bodies is decreased. Uniquely prepared biogenic pesticides have the advantages of good disease and insect killing effect, no residues and difficulty in generating resistance. The quality of golden Huangju is effectively ensured, soil permeability, water-retaining property and fertilizer maintenance capacity can be improved by the aid of organic fertilizers with a unique formula, diseases and insects in soil are prevented, the cost is low, residues and pollution are avoided, and the quality of golden Huangju is improved.

The invention relates to the technical fields of environmental protection and soil remediation, in particular to an in-situ remediation system for organic matter-contaminated soil. The system comprises a soil gas extraction part, an extraction well part, a chemical storage tank part and a chemical liquid pool part, wherein the soil gas extraction part is connected with the extraction well part by a first pipeline, the chemical storage tank part is connected with the chemical liquid pool part by a second pipeline, and the chemical liquid pool part is arranged above the extraction well part. The in-situ remediation system for the organic contaminated soil has the advantages of reasonable design, simple and convenient operation, good soil remediation effect, short treatment time, less work limitation and high applicability, and is especially suitable for the remediation of low permeability soil which is more difficult to treat; furthermore, the in-situ remediation system also has the advantages of being high in systematic degree, convenient to move, convenient for transferring operation and the like, thus being a comparatively ideal soil repair system at present.

The invention discloses a water repellent production system. The water repellent production system comprises a control device, a reactor, a paraffin reinforcer tank, a paraffin dissolving tank and a finished emulsion storage tank; the control device is connected with the reactor so as to control a preparation mode and a discharging mode of the reactor; the reactor communicates with a production water pipeline, the paraffin reinforcer tank, the paraffin dissolving tank and the finished emulsion storage tank; production water, a paraffin reinforcer and a paraffin solution are subjected to a reaction under set reaction conditions in the reactor so as to prepare a water repellent; and the prepared water repellent flows into the finished emulsion storage tank through the reactor. According to the water repellent production system disclosed by the invention, the control device is connected with the reactor so as to control the preparation mode and the discharging mode of the reactor, and thus, the degree of automation of production of the water repellent is increased; and the reactor communicates with the production water pipeline, the paraffin reinforcer tank, the paraffin dissolving tank and the finished emulsion storage tank separately, so that all the components for the water repellent are compact in structure, and the degree of systematization is increased.

The invention discloses a whole vehicle integrated thermal management system for a pure electric vehicle, and aims to solve the problems of low efficiency, high energy consumption, inharmonious thermal load of each system, high battery working load and low energy utilization rate during low-temperature heating of a traditional thermal management system of the pure electric vehicle. The vehicle integrated thermal management system integrates a passenger compartment thermal management system, a battery thermal management system and a motor / electric control thermal management system, performs working mode division and circulation loop planning on the premise of meeting system functions and passenger requirements, and integrates control information of the working modes and parts to determine a reasonable vehicle thermal management combination mode; therefore, the integrated comprehensive management of each subsystem is realized. Cooperative management between systems can be achieved, coordination of the thermal load relation of all parts of the vehicle is facilitated, battery energy is efficiently utilized, the integration and systematization degree of the vehicle can be improved, assembly of the whole vehicle is simpler and more convenient, light weight of the whole vehicle is facilitated, and the manufacturing cost of the whole vehicle is reduced.

The invention belongs to the technical field of agricultural production systems, and discloses a vegetable breeding isolating shed control system and method based on the internet of things. The systemcomprises a breeding culture pot, a soil humidity detector, a single-chip microcomputer, a wireless signal receiver, a wireless signal transmitter, an air conditioner, a fluorescent lamp, a sprayer and an isolating net. The breeding culture pot is placed in the isolating shed. The soil humidity detector is inserted in the breeding culture pot. The single-chip microcomputer is fixed to the inner wall of the isolating shed through screws. Based on the internet of things technology, by controlling switches of the air conditioner, the fluorescent lamp and the sprayer through the single-chip microcomputer, detecting the humidity in soil of a vegetable culture medium through the soil humidity detector, supplementing water for seedlings through the sprayer and arranging the wireless signal transmitter on the single-chip microcomputer, remote control can be conducted through a cell phone and other mobile devices, the systematic degree is high, operation is simple, the inconvenience of manualcontrol and the like is solved, and the system is quite worthy of use and popularization.

A software package process of a plate-shaped workpiece hemming system is as follows: 14 steps: 1: the process starts when the above material pick-up and release process ends; 2: if s BP rise to s BP =1; Otherwise, the elastic arm continues to control the left leaning; 3: The feeding air pipe is deflated and the pressure is lost; the unloading air pipe is deflated and the pressure is lost; 4: Manual confirmation, → 1) Main motor starts; 2) Cutter preheats; 6 : if n increases to n=n 1 , that is, the main motor turns to 1 position, go to step 7; otherwise, the main motor continues to run; 7: cutter heating; 8: if n increases to n=n 2 , that is, the main motor turns to the 2nd position, go to step 9; otherwise, the main motor continues to run; 9: The main motor crawls; 10: The cutting head is thrown inward; 11: If n increases to n=n 3 , that is, the main motor turns to the 3rd position, and then go to step 11; otherwise, the main motor continues to crawl; 12: the cutting head swings outward; 13: the elastic arm returns to the position → the elastic arm returns to the standby position; 14: the main motor stops; Finish.

A pick-and-place process of plate-shaped workpiece edge-wrapping system software, which is the following 11 steps: 1: The swing angle signal β is given to the material arm below the process R Assign as the swing angle of the lower material arm to get the material level signal β 1 value starts; the feeding rod extends; 2: if the feeding rod is extended in place, go to step 3; otherwise, go to step 1; 3: the feeding air pipe is pumped and pressurized; 4: the feeding rod shrinks → feeding The suction cup touches the low position; 5: the feeding rod shrinks; the feeding suction cup touches the low position; 6: if R MTB value reduced to R MTB =Minimum value of magnetoresistance R when the feeding rod is retracted in place MTB0 , that is, the feeding rod is retracted to the right position, go to step 7; otherwise, go to step 5; 7: the feeding arm swings outward; 8: if the value of β is reduced to β = β 0 , that is, the feeding arm is in place, go to step 9; otherwise, the feeding arm continues to swing out; 9: the feeding rod is extended; 10: if the feeding rod is extended, go to step 11; otherwise, the feeding The rod continues to extend down; 11: the feeding air pipe is ready to deflate; end.

The invention provides a remote online monitoring and control system for multi-connected electrical equipment. The system comprises a login module for a user to enter the system, an equipment connection module for establishing signal connection with an electric appliance, and a remote control module for realizing remote control of the electric appliance. According to the remote online monitoring and control system for the multi-connected electrical equipment, the equipment connection module is matched with the remote control module for use, so that the system has a function of remotely controlling a plurality of electrical equipment products at the same time, and can be compatible with a plurality of different types of electrical equipment products. Therefore, a plurality of electric appliances can be remotely controlled to use through one system, a traditional electric appliance equipment control system form is changed, people can use the system more conveniently without entering different software for multiple times to complete operation, and each kind of electric appliance equipment is classified independently, so that people can directly operate the system conveniently.

A swing arm motor for a plate-shaped workpiece hemming device, comprising a loading arm, a loading column, a loading arm pipeline cavity, an upper part of a loading arm bearing, a N pole piece of a loading swing arm motor rotor, and a loading swing arm motor rotor S pole piece, inner edge of rotor yoke, feeding bearing, moving part of feeding swing arm motor rotation angle sensor, feeding arm bearing outer seat, feeding column pipeline channel, feeding column bearing inner seat, feeding swing arm motor stator Pole shoe, stator winding of feeding swing arm motor, stator part of feeding swing arm motor, feeding bearing roller, static part of rotation angle sensor of feeding swing arm motor, bearing groove ring of feeding column, tube cavity of feeding column, stator It is composed of yoke disc ring and swing arm cable. The head end of the loading arm is equipped with a swing arm driving motor rotor; the outer ring of the upper end of the loading column is bored with a groove ring to form the stator part of the loading swing arm motor.

A feeding arm swing arm control system of a plate-shaped workpiece edge covering device is composed of a comparison link feeding arm operation control link C alpha, a feeding arm swing angle control drive link Dr alpha, a feeding arm inversion trigger module G alpha, a feeding arm inversion execution module A alpha, a feeding arm rotary swing motor M alpha and a feeding arm swing angle signal processing module DT alpha. The given swing angle signal alpha R of the feeding arm is compared with the swing angle feedback signal alpha of the feeding arm in the middle to generate a corner deviation signal delta alpha of the feeding arm; through C alpha calculation processing, the delta alpha is converted into a feeding arm swing angle control signal alpha C; Dr alpha amplification is carrie out,the alpha C becomes a feeding arm operation driving signal alpha Dr, a PWM three-phase inverter bridge is triggered by the alpha Dr in the cascading link G alpha-A alpha of G alpha and A alpha, three-phase driving currents-i alpha A, i alpha B and i alpha C are output to a feeding arm rotary swing motor, and the currents drive M alpha and are converted to generate a feeding arm swing angle outputsignal alpha out; DT alpha detection and feedback is carried out, alpha out is introduced with alpha.

A main rotating mechanism of a plate-shaped workpiece hemming device mainly includes a base, a feeding mechanism, a feeding mechanism, a rotating seat, a counting device, a main motor and an operation panel. The abutment is the main workbench, the chassis body and the working and bearing surface of the overall device of the system. As a part that carries and drives the packaged parts to rotate, the swivel seat is tightly matched with the main shaft, that is, the output shaft of the main motor, through its shaft distribution hole. As a device for sensing, detecting and transmitting the rotation angle of the rotary base, the counter is rooted on the right side of the main motor above the base, below the rotary base, with a distance of 3 mm between its upper end and the bottom of the rotary base. The main motor, as the main power of the system device and the system actuator, is embedded in the middle left of the abutment, and its output shaft is matched with the rotary seat. As the human-computer interaction keyboard operation surface for system work, the operation panel is embedded in the right groove room inside the abutment with a pull-out structure.

The utility model relates to a belt feeding mechanism of a plate-shaped workpiece hemming device. The belt feeding mechanism is assembled on the right side of the feeding mechanism above the abutment, and mainly includes a guide pulley, a support shaft, a tape roll, a support reel, an end seat plate, a rocker motor, a rocker arm, an elastic arm, a connecting arm, a cutting Head drive coil, connecting rod, heating cable, cutting head, cutter, pulley, adjustment handle and pinch pulley. The guide pulley is a wheel disc part with a wheel edge groove, which is assembled on the left inner end of the end seat disc. The matching hole of the supporting belt shaft and the tape roll forms a rotational fit. The support reel is a disc with a support shaft. The disc body and the central axis of the support shaft are sleeved with an impermeable shaft sleeve hole at the upper end. The elastic arm is extended outward from the center of the outer side of the end seat plate, the upper right inner corner is equipped with a belt tray, the upper left inner corner is equipped with a pulley, and the lower middle left outer part is installed with a cut-end driving coil. The rocker arm motor is installed on the right outer end of the abutment, that is, the right side of the loading column. The head end of the rocker arm is fastened to the output shaft end of the rocker arm motor, and the elastic arm and connecting arm are assembled at the tail end.

A blanking and returning process of a plate-shaped workpiece hemming system software is divided into two stages: the retracting process of the blanking rod and the internal swinging process of the blanking arm. The retraction process of the feeding rod is: 1: the feeding rod shrinks → the feeding suction cup touches the low position; 2: the feeding rod shrinks; the feeding suction cup touches the low position; 3: if R MTB value reduced to R MTB =Minimum value of magnetoresistance R when the feeding rod is retracted to the position MTB0 , that is, the feeding rod is retracted to a certain position, → end; otherwise, go to step 2. The internal swing process of the blanking arm is as follows: 1: The magnetoresistive resistance value of the blanking rod is reduced to R MTB =Minimum value of magnetoresistance R when the feeding rod is retracted to the position MTB0 , → the given arm swing angle signal β R Assign as the swing angle of the lower material arm to get the material level signal β 1 value; - inner swing of the lower arm; 2: If the value of β increases to β = β 1 , that is, the feeding arm swings inwards, → end; otherwise, the feeding arm continues to swing inwards, → the value of β increases.

A kind of software overall process of plate-shaped workpiece hemming system starts with manual inspection, confirmation of work preparation status (such as electricity, water, pressure fluid, workpiece, loading and unloading standby status, etc.) and machine self-inspection of the program. Start; 0: Variable initialization; 1: Run the process of loading and unloading; 2: Run the tape process; 3: Run the return process of loading; 4: Run the swing process of the unloading arm; 5: Count the number of cycles; 6: If the number of cycles does not reach the number of workpieces to be packaged, continue to cycle and go to step 6; otherwise, go to step 12; 7: run the process of loading and unloading and unloading at the same time; 8: run the process of wrapping; 9: Simultaneously run the retraction process of the unloading rod and the return process of loading; 10: Count the number of cycles; 11: If the number of cycles does not reach the number of workpieces to be packaged, continue the cycle and return to step 7; otherwise, end; 12: Run the next step Material pick-up and release process; 13: Run the retraction process of the unloading rod; end.

A hinge structure of a belt feeding mechanism of a plate-shaped workpiece hemming device is composed of a rocker arm, an elastic arm, a connecting arm, an adjusting handle, a movable hinge shaft, a connecting rod, a rocker shaft and a base hinge shaft. The tail end of the rocker arm is equipped with a spring arm and a connecting arm. The head end of the connecting arm is hingedly assembled on the tail end of the rocker arm through the adjusting handle and the rocker structure. The right end of the flexible arm extends from the connecting arm and is hinged with the tail end of the connecting rod through the movable hinge shaft. The lower end of the rocker shaft is provided with a supporting cap structure to support the connecting arm, the lower section is provided with a column to support and lock the rocker arm, and the upper end is sleeved with an external thread to cooperate with the internal thread of the adjusting handle; manually screw the adjusting handle The state of cooperation between the rocker arm hinged by the loosening or locking rocker shaft and the elastic arm can be adjusted, but the loose fit with the connecting arm is maintained. The first end of the connecting rod forms a rotational fit with the base hinge shaft with its bushing hole, and the tail end forms a rotational fit with its bushing hole and the movable hinge shaft. The base hinge shaft and the shaft sleeve hole at the head end of the connecting rod form a rotational fit. The upper end of the movable hinge shaft is provided with a clamping structure and the lower end is equipped with a clamping pin structure.

The utility model relates to a belt pressure sensor of a feeding belt mechanism of a plate-shaped workpiece hemming device, which is composed of an elastic arm, a left piezoelectric sheet, and a right piezoelectric sheet. The head end of the spring arm is assembled on the tail end of the rocker arm through the adjustable elastic shaft structure of the adjustment handle. The left piezoelectric sheet is used as the pressure-convex left convex deformation sensing device of the elastic arm, which is made of variable resistance strain gauge, and is tightly attached to the left side of the elastic arm with special glue for strain gauges. The right piezoelectric sheet is used as the right concave deformation sensing device of the elastic arm, which is made of variable resistance strain gauge, and is tightly attached to the right side of the elastic arm with special glue for the strain gauge. One of the two lead wires of the left piezoelectric sheet is connected to one of the two lead wires of the right piezoelectric sheet, and the other lead wires of the left piezoelectric sheet and the right piezoelectric sheet are respectively connected to two pressure signal lines.

A feeding belt mechanism control system of a plate-shaped workpiece edge-wrapping plate-shaped workpiece edge wrapping device, from the upper and lower comparison links, the main motor to the second normally open contact of the 3-position relay J n3 ‑2. The fourth normally open contact J of the standby position relay of the feeder mechanism W0 ‑4. Rocker arm motor M W , The feeder mechanism swings back to the position of the reed switch Drp W0 , Feed belt mechanism swing back in place relay freewheeling diode D W0 , The belt feed mechanism is left on the pressure control link C sBP , Feeding belt mechanism left by the pressure control system amplification link A W And belt pressure signal detection-amplification link DT BP constitute. Arm close pressure given signal s BPR Close to the elastic arm pressure feedback signal s BP Comparing in the next comparison link, the elastic arm is close to the pressure deviation signal △s; sBP computing processing, A W Zoom in, and finally produce e PW Drive M W , to generate the elastic arm close pressure output signal s PBP ; via DT BP then s BP Introduce the next comparison link.

A feeding rod contact pressure sensor of a plate-shaped workpiece edge wrapping device is composed of an inductance coil, an inner support, an internal contact pressure switch of the inner support, aninner vortex ring, an outer support, an internal touch switch of the outer support and an outer vortex ring. The inductance coil is integrally of a disc ring structure and is assembled to an inner ring of a bearing inner circle at the bottom end of a feeding telescopic rod in a sleeving winding and fastening manner. The upper end of the inner support penetrates through the top wall of a feeding suction cup, the upper top is in fastened bonding with the left part of the bottom edge of a lower port of a feeding connector, the bottom end face is in fastened bonding with an outer edge ring of theinner vortex ring and an inner edge ring of the outer vortex ring at the left side position, the internal contact pressure switch is internally arranged, and two wiring ends of a switch normally-opencontact are connected with two wiring ends of an inner vortex ring breaking joint opening correspondingly. The upper end of the outer support penetrates through the top wall of the feeding suction cup, the upper top is in fastened bonding with the right part of the bottom edge of the lower port of the feeding connector, and the bottom end face is in fastened bonding with the inner edge ring of the outer vortex ring and the outer edge ring of the inner vortex ring at the right side position. The internal touch switch is internally arranged, and two wiring ends of a switch normally-open contactare connected with two wiring ends of an outer vortex ring breaking joint opening correspondingly.

A blanking rod telescopic control system of a plate-shaped workpiece hemming device is composed of upper and lower comparison links and blanking rod operation control link C dB , The large scale link A on the operation control system of the blanking rod PTB , The lower extension link A of the blanking rod operation control system NTB , Stator winding L of blanking rod telescopic motor TB , The feeding rod is retracted to the magnetic resistance R MTB , The feeding rod is retracted to the position signal optocoupler LC TB And unloading rod touch pressure signal detection link DT SB constitute. The feeding rod is given a retracting displacement signal d BR Retract position signal s with blanking rod TB Compare, generate the deviation signal △d of the upper retraction displacement of the blanking rod TB ; via C dB , Δd TB It becomes the control signal d of the upper retraction displacement of the blanking rod PBC in A PTB middle control PB Drive the blanking rod telescopic motor stator winding L TB , the output signal d of the retraction displacement of the blanking rod is generated PB ; via R MTB detection and LC TB feedback, d PB with s TB Introduce the comparison section above.

The invention discloses a main motor control system of a plate-shaped workpiece edge covering device. The main motor control system is composed of a comparison link, a main motor operation control link Cn, a main motor control system amplification link AM, a main motor MM and a main motor corner detection-feedback link Sn. The main motor given rotation angle signal nR is compared with the main motor rotation angle feedback signal n in a comparison link to generate a main motor rotation angle deviation signal delta n; the main motor rotation angle deviation signal delta n is converted into a main motor rotation angle control signal nC through calculation processing of a main motor operation control link Cn; in an amplification link AM of a main motor control system, a main motor corner control signal nC controls PWM output voltage, that is, a main motor operation driving signal eM represents driving voltage; the driving voltage of the eM drives the main motor MM to generate a main motorcorner output signal nout; through Sn detection and feedback in a main motor rotation angle detection-feedback link, a main motor rotation angle output signal nout is introduced into a comparison link in a main motor rotation angle feedback signal n.

The invention discloses a tape packaging flow of software of a plate-shaped workpiece edge covering system. The flow comprises the 14 steps that firstly, a flow begins with loading taking and puttingflow running ending; secondly, if sBP rises to sBP=1, and otherwise, an elastic arm continues to control leftward leaning; thirdly, a loading air pipe is deflated for pressure losing, and a discharging air pipe is deflated for pressure losing; fourthly, manual confirmation is carried out, 1) main motor starting, and 2) cutter preheating; sixthly, if n is increased to n=n1, that is a main motor rotates to the first position, the seventh step is executed, and otherwise, the main motor continues to operate; seventhly, a cutter is preheated; eighthly, if n is increased to n=n2, that is, the main motor rotates to the second position, the ninth step is executed, and otherwise, the main motor continues to operate; ninthly, the main motor climbs to operate; ninthly, a cutting head is swung inwards; eleventhly, if n is increased to n to n3, that is the main motor rotates to the third position, the eleventh step is executed, and otherwise, the main motor continues to climb to operate; twelfthly,the cutting head swings outwards; thirteenthly, the elastic arm returns, and the elastic arm returns to the standby position; and fourteenthly, the main motor is stopped, and ending is achieved.

The invention relates to a device and method for inverting hydraulic parameters of unsaturated garbage soil, comprising: a reactor, a constant water head infiltration system, a gas pressure stabilization system, and a data acquisition system, and the reactor includes: a cover plate, several screws, and a perforated water-permeable plate , Cylinder body, clay plate, base, several tensiometers, several water content sensors, constant water head infiltration system includes: bucket support, fixed pulley, scale water bucket, infiltration collection cup, water storage tank, pump, gas pressure stabilization system includes : Air compressor and flow meter, data acquisition system includes: electronic balance, data acquisition instrument and data terminal. The device and method can obtain the unsaturated hydraulic characteristic parameters of the water infiltration process of garbage soil only through indoor experiments and numerical simulations, and the accuracy of the calculation results is small. The real flow state of water inside the landfill provides key technical parameters for the evaluation of the water migration state inside the landfill and the formulation of a control plan.