9results about How to "Improve job accuracy" patented technology

The invention discloses a pose estimation method and device and electronic equipment, which are applied to the technical field of pose estimation and are used for solving the problem of poor pose estimation accuracy of a symmetric plane object in the prior art, and the pose estimation method comprises the following steps: determining a mass center position and a rotation matrix of a minimum directed bounding box based on plane point cloud data of the symmetric plane object; determining a maximum fitting plane by taking the same direction of a plane normal vector and a vertical axis direction vector in the rotation matrix as a constraint condition; based on projection point cloud data of the plane point cloud data projected to the maximum fitting plane, determining a side length direction vector of the maximum fitting plane; correcting the rotation matrix based on the side length direction vector of the maximum fitting plane; and determining a target pose based on the centroid position and the corrected rotation matrix. The rotation matrix of the minimum directed bounding box is corrected through the side length direction vector of the maximum fitting plane, so that the main direction is always along the side length direction of the maximum fitting plane, and the pose estimation accuracy is improved.

This invention relates to the field of hydraulic mud gun technology, specifically to a novel hydraulic mud gun with visualized mud output and its working principle. It includes an adjustment structure, a mud gun structure, and a display structure positioned between the adjustment structure and the mud gun structure. The adjustment structure includes two sets of base frames, a fixed base and a deflection base mounted on the top base frame, a deflection arm mounted on the deflection base, and a support arm fixed to the end of the deflection arm. The top of the fixed base is fixedly connected to a mounting plate in the display structure. The mud gun structure includes a mud gun tube and a connecting arm fixed to the outer wall of the mud gun tube. An external power device is precisely matched with a drive rod via a single-sided trunnion to ensure stable power transmission. The outer thread of the drive rod engages with two sets of positioning block threads with opposite rotation directions, precisely converting the rotation of the drive rod into the axial relative movement of the positioning blocks, thereby driving the deflection arm, support arm, and connecting plate in linkage to achieve precise adjustment of the mud gun tube's posture.

The present invention belongs to the field of automated operation technology, and in particular to a mobile lifting mechanism, comprising a base plate, both ends of the top of the base plate are screwed with hanging plates, the outer side of one of the hanging plates is screwed with a servo motor, the output end of the servo motor is fixedly connected with a coupling, the output end of the coupling is transmission connected to a servo module, a slide is fixedly installed on the inner side of the base plate, and the servo module is slidably connected to the slide; a cylinder is used to drive the carrier to achieve precise translation on the assembly line, and the servo motor drives the servo module to achieve high-precision translation. The mechanism is simple and compact, avoiding the construction of a large module frame, and the structure is stable and easy to debug. The combination of the cylinder and the servo motor avoids the problem of laser laser being unable to move, and the mechanism has high movement reliability. At the same time, spring marbles are installed on the positioning plate, and the spring marbles are used to make up for the processing and assembly errors of Z-axis positioning, thereby improving the operation accuracy.

The utility model relates to a spiral chute capable of preventing wax hanging and blocking, which comprises a rack, a feeding mechanism, a central column and a spiral chute, the inner wall of the rack is fixedly connected with the outer wall of the spiral chute, and an ore discharge port is arranged at the tail end of the spiral chute. The device further comprises a hanging wax collecting tank, an anti-blocking mechanism and a flushing mechanism, the hanging wax collecting tank is a U-shaped tank and is arranged on the tank wall in the spiral chute, the anti-blocking mechanism comprises a motor and a stirring rod electrically connected with the motor, the motor is fixedly installed on the base, and the stirring rod is fixedly connected with the spiral chute. And the stirring rod is inserted into the wall of the spiral chute at the upper part of the ore discharge port at the tail end of the spiral chute. The device has the advantages that when the side surface of ore pulp flowing at a high speed in the spiral chute is coated with wax, the spray head flushes the side surface ore pulp, and the flushed ore pulp enters the U-shaped groove and flows into tailings, so that the wax coating phenomenon of the spiral chute is obviously relieved, and the conditions such as blockage are reduced.

The utility model discloses an automatic charging device of a torpedo ladle capping system, the automatic charging device comprises a charging mechanism, a power receiving mechanism and a driving mechanism, the charging mechanism is provided with a plurality of electrodes, the power receiving mechanism is provided with a power receiving plate, and the charging mechanism and the driving mechanism are respectively arranged on the capping system and synchronously move to work. When charging operation needs to be carried out, after the torpedo tank car stops at a target position, under the driving operation of the driving mechanism, the charging mechanism moves close to the power receiving mechanism until an electrode on the charging mechanism makes contact with a power receiving plate on the power receiving mechanism, at the moment, a charging circuit and a power supply circuit of the capping system form a charging loop, charging operation is started, and the charging operation is completed. And after the charging operation is completed, a special post does not need to be arranged for manual operation, so that the potential safety hazard of manual operation is reduced, the accuracy of charging and power-off operation is improved, and the operation efficiency is improved.

The present application discloses a posture estimation method, device and electronic device, which are applied to the posture estimation technology field to solve the problem of poor posture estimation accuracy of symmetrical plane objects in the prior art, including determining the centroid position and rotation matrix of the minimum directed bounding box based on the plane point cloud data of the symmetrical plane object; determining the maximum fitting plane with the plane normal vector and the direction of the vertical axis direction vector in the rotation matrix as the constraint condition; determining the side length direction vector of the maximum fitting plane based on the projected point cloud data of the plane point cloud data projected to the maximum fitting plane; correcting the rotation matrix based on the side length direction vector of the maximum fitting plane; and determining the target posture based on the centroid position and the corrected rotation matrix. Correcting the rotation matrix of the minimum directed bounding box by the side length direction vector of the maximum fitting plane can make the main direction always along the side length direction of the maximum fitting plane, thereby improving the posture estimation accuracy.

The application provides a paper deacidification equipment intelligent operation system and a deacidification method, and relates to the technical field of paper deacidification. The system comprises a paper preparation part, a deacidification part and a drying part. The paper preparation part comprises a paper holder, and a through hole is arranged at the bottom of the paper holder to support paper. The deacidification part is supplied with deacidification liquid by a deacidification liquid processing device, a constant-pressure quantitative module controls the amount and pressure of the deacidification liquid, a spray head is fixed on a plane motion module to spray the deacidification liquid on the paper, and a negative pressure base is used to adsorb the paper. The drying part comprises a heating device to accelerate the drying speed of the paper and improve the drying efficiency. The paper preparation part, the deacidification part and the drying part are arranged around a conveying part, and the working area is within the movement range of a mechanical arm to realize the reuse of the mechanical arm. The application can realize efficient and high-quality deacidification, and the same mechanical arm can realize the integrated operation of paper taking, deacidification and paper conveying, thereby improving the work efficiency and reducing the mechanical damage to the paper.

The utility model discloses a locomotive transformer oil pump control device, which comprises a programmable logic controller, a control switch, a phase converter and an acousto-optic indication unit, the control switch, the phase converter and the acousto-optic indication unit are electrically connected with the programmable logic controller, the programmable logic controller, the control switch and the phase converter are arranged in a control box, and the acousto-optic indication unit is arranged outside the control box; the programmable logic controller converts a single-group three-phase alternating-current power supply into two or more groups of three-phase alternating-current power supplies through the control switch and the phase converter and intermittently outputs the three-phase alternating-current power supplies to an oil-submerged pump motor of a locomotive transformer, and the acousto-optic indication unit is configured to give an indication in an acousto-optic mode when an oil-submerged pump of the locomotive transformer is in a shutdown stage. According to the utility model, the on-duty process of operators can be omitted, the labor intensity of operation is reduced, the operation efficiency is improved, the operation time of the oil-submerged pump is accurately controlled according to the process time, the operation accuracy and safety are improved, and the risk of burning loss of equipment caused by phase sequence errors of a power supply is avoided.