317results about How to "Improve operating precision" patented technology

The invention discloses a screening efficiency online monitoring method, device and system based on a vibrating screen, and relates to the technical field of vibrating screen efficiency monitoring, and the screening efficiency online monitoring method comprises the following steps: collecting working parameter data of the vibrating screen in real time through a sensor arranged on the vibrating screen; the accuracy and stability of screening efficiency are improved by monitoring key parameters such as humidity, particle size distribution and vibration frequency in real time and combining a screening effect model and a dynamic correction algorithm. The system automatically adjusts equipment parameters, equipment overload or screen damage is avoided, the material passing rate is optimized, and production losses are reduced. Meanwhile, manual intervention is reduced through an automatic control mechanism, the automation level of a production line is improved, human errors are reduced, the equipment fault and shutdown time is shortened, the production efficiency is improved, and the service life of the equipment is prolonged.

The invention relates to the technical field of mechanical arm control, in particular to a mechanical arm and a control method thereof. The method comprises the following steps that real-time load information of all joints of the mechanical arm in the operation process is obtained, the acceleration and rotational inertia of the mechanical arm are monitored in real time, and real-time inertia force data are generated; the torque compensation amount needed by the mechanical arm is calculated according to the real-time inertia force data, and torque compensation control data are generated; performing dynamic analysis on the torque compensation control data, and performing real-time adjustment on the output torque of the servo motor based on the current load and inertia change condition to generate inertia compensation data; and the motion path and the motion speed of the mechanical arm are dynamically optimized according to the inertia compensation data, and path optimization data are obtained. Through real-time monitoring, dynamic adjustment and intelligent optimization, the operation precision, the movement efficiency, the stability and the self-adaptive capacity of the mechanical arm in the complex working environment are remarkably improved.

The invention discloses an assembling device for an extracorporeal circulation blood path attached tube, which comprises a production line, and a conveying device for clamping a catheter and driving the catheter to move forwards is arranged on the production line. The assembling device further comprises an automatic catheter feeding and cutting device, an automatic flow stopping clamp feeding and assembling device, a flow stopping clamp detecting device, a catheter gluing device, an automatic female needle base feeding device, an automatic antibacterial cap feeding and assembling device, a visual detecting device and an automatic discharging device which are sequentially arranged in the moving direction of the production line. The device has the beneficial effects that cutting, feeding and automatic conveying of the guide pipe in the extracorporeal circulation blood path attached pipe are achieved, a flow stopping clamp, a mother needle base and an antibacterial cap are sequentially assembled at a corresponding assembling station, after part of stations are assembled, automatic detection can be carried out, inferior-quality products, waste products and the like are prevented from entering the next working procedure, and after assembling is completed, the production efficiency is greatly improved. And the extracorporeal circulation blood path attached pipes can be automatically discharged and conveyed, and automatic machining of the extracorporeal circulation blood path attached pipes is achieved.

The utility model discloses a flexible dexterous hand touch sensing electronic skin based on an FPC (Flexible Printed Circuit), which comprises a palm FPC carrier plate, and a palm longitudinal electrode and a palm transverse electrode which are arranged on the palm FPC carrier plate, and the staggered points of the palm longitudinal electrode and the palm transverse electrode form a palm touch sensing capacitor unit. The finger longitudinal electrodes and the finger transverse electrodes are arranged on the finger FPC carrier plate, staggered points of the finger longitudinal electrodes and the finger transverse electrodes form a finger touch sensing capacitor unit, the electronic skin has a touch sensing function and can simulate the touch of a human body, so that the mechanical arm has more intelligent and flexible operation capability, and the mechanical arm is more flexible to operate. The external environment and object characteristics can be sensed more accurately, the operation of the manipulator can be controlled more accurately, and the operation precision and safety are improved.

The invention discloses a visual tracking and real-time guiding robot and conveying belt following method, and belongs to the technical field of book packaging, the visual tracking and real-time guiding robot and conveying belt following method comprises a conveying belt device used for conveying articles and having adjustable running speed and direction control functions; the robot main body is arranged on one side of the conveying belt device; the fixed vision device is connected with the robot main body; through cooperative work of the robot vision module and the independent fixed vision device on the robot body, all-directional vision coverage of the conveying belt and the surrounding environment is achieved, and the robot vision module focuses on local detail information of the robot and objects on the conveying belt; the relative position and posture change of the robot and an object can be captured in a close-range and high-precision mode in the operation process of the robot, and the fixed vision device continuously monitors the overall condition of the conveying belt from the overall perspective.

The invention provides an endoscope motion control method and a surgical robot. The method is applied to an endoscopic surgery control system, and when a starting signal which is input by a doctor and used for indicating to enter an endoscope control state is received, a first motion constraint model can be determined according to a first tail end point of a first control arm and a second tail end point of a second control arm. When a doctor controls the endoscope to move through the first control arm and the second control arm, the second motion constraint model can be determined based on the model parameters of the first motion constraint model, the first motion position and the second motion position. And when the first motion position and the second motion position exceed the motion range represented by the second motion constraint model, generating prompt information to prompt a user to adjust the relative position of the first control arm and the second control arm. The relative positions of the first control arm and the second control arm are limited through the motion constraint model, the prompt information is generated, and the endoscope adjusting operation precision and intuition of a doctor can be improved.

The invention discloses a power transmission line foreign matter recognition method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining a to-be-recognized first power transmission line picture and a first cue word used for representing information content needing to be recognized from the first power transmission line picture; wherein the information content comprises the type and position information of the foreign matter; inputting the first power transmission line picture and the corresponding first cue word into a multi-modal model, so that the multi-modal model generates the type and position information of the foreign matter in the first power transmission line picture; the accuracy of foreign matter identification of the power transmission line can be improved.

The invention belongs to the field of automobile seat tools, and particularly relates to an automatic motor plate assembling and nailing tool for an automobile seat and a machining method thereof.The tool comprises a robot and a seat positioning tool, a motor plate electric clamping jaw and a torque gun tool are arranged below the top end of the robot, and a camera is arranged on the side edge of the top end of the robot; a first mounting plate is connected to the lower portion of the top end of the robot and driven by the robot to rotate, a mounting plate is fixedly connected to the lower portion of the first mounting plate and fixedly connected to the upper portion of the motor plate electric clamping jaw and the upper portion of the torque gun tool, and a clamping jaw is arranged on the lower portion of the motor plate electric clamping jaw and controlled by the robot to be opened and closed. According to the tool, a robot is adopted for automatic assembly, operators are reduced, the labor cost is saved, and the specific machining method comprises the steps that after a seat is transferred to a motor plate assembly station, the robot takes a picture of a motor plate, grabs the motor plate, takes a picture of a seat framework and then places the motor plate in place, and an electric torque gun fastens the motor plate.

According to the ship ballast water dynamic adjustment method, device and equipment and the storage medium, the water level data set, the attitude data set and the water pressure data set are obtained through the sensor, then whether the ship is in the balance state or not is determined according to the water level data set and the attitude data set, and when the ship is in the non-balance state, the ship ballast water dynamic adjustment is performed. If yes, determining a water volume adjustment scheme through a ballast water allocation optimization model; and then, according to the water volume adjustment scheme, a water pump operation instruction and a valve opening and closing instruction are generated, so that the ship recovers the balance state. According to the invention, the response time of ballast water regulation can be obviously shortened, and the flexibility and operation efficiency of the system are improved; the intelligent central control unit can be utilized to realize automatic operation, human intervention is reduced, and the operation precision is improved; and a ballast water allocation scheme can be flexibly adjusted to cope with the change of the ship state in real time.

The utility model relates to the technical field of tea garden trimmers, in particular to an electric bilateral trimmer for a tea garden. According to the technical scheme, a storage battery is installed on a rack, a steering shaft is rotatably installed on the rack, a handle is welded to the top end of the steering shaft, a front fork is inserted into the bottom end of the steering shaft, and a front wheel is rotatably installed on the steering shaft through the front fork; trimming blades are slidably installed on the two sides of the rack through a first connecting plate and a second connecting plate, sawteeth are arranged at the bottom ends of the trimming blades, a motor is fixed to the second connecting plate through a support, the support penetrates through the trimming blades and is fixedly connected with the motor, and an eccentric shaft is arranged at the output end of the motor; and the motor stirs the trimming blade through the eccentric shaft, so that the trimming blade performs lifting motion. The electric bilateral trimmer for the tea garden integrates the advantages of maneuverability, stability, flexibility, efficiency, humanization and the like, so that the electric bilateral trimmer for the tea garden is more suitable for complex trimming requirements in a tea garden environment.

The invention belongs to the technical field of mechanical arm assembly, and provides a mechanical arm screw locking method and system based on unstructured screw hole multistage positioning, and the method comprises the steps: obtaining a to-be-locked target image; performing multi-scale perception fusion on the target image based on different expansion rates, and extracting a screw hole edge form in the target image; obtaining a screw hole global edge prediction map according to the extracted screw hole edge form and a multi-layer supervision mechanism; positioning the center of the screw hole based on the obtained global edge prediction map of the screw hole to obtain a real posture of the screw hole; positioning the center of the screw hole based on the obtained global edge prediction map of the screw hole to obtain position information of the screw hole and coarse attitude information containing errors; and correcting coarse attitude information containing errors in the attitude alignment network to determine a screw hole attitude signal, and enabling the mechanical arm to move to a position right above the screw hole according to the position information and the attitude information of the screw hole for screw locking.

The invention discloses a constant-current reclaiming control method and system for a circular coal yard stacker-reclaimer in a coal yard partition, and relates to the technical field of constant-current reclaiming control. The constant-current reclaiming control method comprises the steps that data in a circular coal yard are collected, and data preprocessing is carried out; the method comprises the following steps: dividing a circular coal yard into three different stockpiling areas at intervals of 120 degrees by using an encoder and positioning equipment; each divided material stacking area is coded, and position calibration is conducted through an encoder installed on the material stacking and taking machine; according to the preprocessed data and the position calibration information, the operation parameters of the material taking machine are adjusted to adapt to the physical characteristics of the coal pile; and the current feedback data of the reclaimer is monitored and analyzed by using the information of the stacking area, the operation parameters are further adjusted in real time, and the flow is constant in the reclaiming process under the conditions of different areas and different coal types. The operation precision and efficiency of the circular coal yard stacker-reclaimer are improved, adaptive management of physical characteristics of coal piles is achieved, and flow constancy in the reclaiming process is ensured.

The invention discloses an active-disturbance-rejection control method for an air mutual-control system based on laser perception, and the method specifically comprises the steps: building a kinetic model and a kinematic model of a four-rotor unmanned plane, and taking a mechanical arm as the external disturbance of the unmanned plane; point cloud data around a flying mechanical arm are collected, through accurate segmentation and registration processing, graph optimization is conducted through the processed point cloud data, and therefore the position of the quadrotor unmanned aerial vehicle is accurately positioned; generating a torque instruction for controlling a motion axis of the quadrotor unmanned aerial vehicle according to the position of the quadrotor unmanned aerial vehicle through an integral type active disturbance rejection attitude control strategy improved by PID position control series connection; and according to the lift force and the torque instruction of the four-rotor unmanned aerial vehicle, calculating a throttle control signal corresponding to a propeller to complete control of the four-rotor unmanned aerial vehicle. Pose information is accurately transmitted through a graph optimization framework, the stability and operation precision of the system are remarkably improved in combination with an improved integral type active disturbance rejection control technology, and it is ensured that accurate control and stable maintenance of the unmanned aerial vehicle are achieved in a complex environment.

The invention discloses an intelligent mouse auxiliary control method and device, electronic equipment and a storage medium, and belongs to the technical field of man-machine interaction. According to the method, by means of the computer vision technology, the action of the face of a user is captured in real time, the position of a mouse pointer is accurately calculated, and the user can achieve efficient and visual mouse control through natural movement of the face; meanwhile, due to the introduction of the Bluetooth control ring, the user can send a control signal through simple touch operation, specific operations such as clicking and dragging of the mouse are realized, and the convenience and efficiency of the operation are remarkably improved. The method is equivalent to a traditional mouse in operation precision and intuition, and the learning cost of a user is remarkably reduced. In the aspect of privacy protection, the method only depends on face key points and Bluetooth to control signals of the ring, voice information of a user is not involved, and privacy leakage is effectively prevented. According to the invention, brand new interaction experience can be brought to the user, and a new thought is provided for the development of a future man-machine interaction technology.

The invention discloses a somatosensory control bionic mechanical arm device and a control method, and belongs to the technical field of industrial mechanical arms. The device comprises a base platform, a positioning mechanism, an execution mechanism, a steering engine power device, a tendon rope transmission device and an execution locking device, a steering engine is adopted to drive a protection execution terminal to move, tendon rope transmission realizes bending and swinging of the execution mechanism, and the execution locking device is integrated with an electromagnet to improve the load capacity and the execution stability. An elastic recovery rope and a guide technology guarantee self-adaptive extension of the actuating mechanism, a cross beam reinforces and improves the strength of a positioning mechanism, and a limiting chute guarantees reasonable angle of a rotating shaft. According to the control method, action information is collected through the bending sensor and the pose sensor, and precise control over the manipulator is achieved in combination with inverse kinematics analysis and closed-loop control. The mechanical arm solves the problems that a traditional mechanical arm is large in weight, high in inertia and insufficient in positioning precision, and is reasonable in layout, convenient to maintain and suitable for high-precision and high-flexibility operation scenes.

The utility model relates to bone hook coordinate mapping positioning equipment suitable for spinal surgery, which comprises a bearing rod, the bearing rod is connected with an adjusting rod through an adjusting shaft, a plurality of guide devices are arranged on the outer side of the bearing rod and the outer side of the adjusting rod, each guide device comprises a guide seat, and a bone power cutting groove is formed in the outer side of each guide seat. A bone hook groove is formed in the guide seat, and a plurality of bone hook assemblies are arranged in the bone hook groove through mapping assemblies. Therefore, the angles of the bearing rod and the adjusting rod can be properly adjusted, the physiological curve of the back of the human body can be fitted, and subsequent positioning errors are avoided. The angle of the guiding device can be adjusted, and a proper angle can be provided according to the mapping requirement. The guiding device can achieve stable positioning of the orthopedic power depth limiter installed subsequently, and sliding is avoided. The bone hook assembly can achieve accurate mapping of bone surface contact point coordinates, and the operation precision is improved.

The invention provides a novel under-driven synchronous linkage rope-driven robot finger and a robot arm, the robot finger comprises a base, a plurality of connecting rods and a steel wire rope, and by designing a synchronous transmission mechanism composed of a driving steel wire rope and a coupling steel wire rope, segmented synchronous linkage movement of all joints of the robot finger is achieved; the number of joints of the robot fingers can be adjusted according to requirements, and a multi-joint continuum mechanism is formed; the number of fingers of the manipulator can be configured to be two fingers, three fingers, four fingers, five fingers or multiple fingers according to requirements, the rigidity of the fingers is improved, certain flexibility is reserved, the manipulator can adapt to complex grabbing tasks, a control system is simplified, the operation precision and the grabbing capacity are improved, the manipulator has good load capacity and low deformation, and the manipulator is suitable for large-scale popularization and application. And the reliability and controllability in practical application are ensured.

The invention provides a dexterous manipulator fused with an ontology visual perception function, and belongs to the technical field of electromechanical control. The depth camera is arranged in the palm, the size of the device is remarkably reduced, the size of the device is closer to the size of a human hand, and therefore flexibility and naturalness are improved, the depth camera and a control system are highly integrated, the structure is simplified, synchronism of visual data and hand actions is improved, operation precision is improved, the dexterous manipulator has 16 degrees of freedom, and the flexibility and the reliability of the device are improved. The system is completely driven by a steering engine, the operation flexibility and the fine action execution capability are greatly improved, the requirements of complex tasks are met, the production and maintenance cost is effectively reduced through optimization design and reduction of external accessories, multiple objects are positioned at the same time through a developed instance-level multi-target positioning method and by using a neural network, pre-training is not needed, and the operation efficiency is improved. The space perception capability of the dexterous hand is further improved, and the autonomous operation capability of the dexterous hand in a complex environment is enhanced.

The invention belongs to the field of automobile seat tools, and particularly relates to a tool for automatically assembling a safety belt buckle and nailing an automobile seat and a machining method thereof.The tool comprises a robot A, a robot B and a seat positioning tool, the seat is installed on the seat positioning tool, the robot A comprises a first camera and a clamping jaw tool, the clamping jaw tool is provided with a clamping jaw, and the clamping jaw is provided with a second camera; the robot A controls the clamping jaw to be opened and closed, the robot B comprises a second camera and an electric torque gun tool, an electric torque gun is arranged on the electric torque gun tool, and the robot B controls the electric torque gun to rotate. According to the tool, a robot is adopted for automatic assembly, operators on a production line are reduced, the labor cost is saved, the clamping jaw tool can be provided with corresponding clamping jaws according to different products, different assembly technologies are completed, and the specific machining method comprises the steps that after a seat is transferred to a safety belt buckle assembly station, a robot A photographs a safety belt buckle positioning tool and then grabs a safety belt buckle, and the safety belt buckle is automatically assembled; and the safety belt buckle is placed, and the robot B performs nailing.

The embodiment of the invention provides a self-calibration method of a space manipulator. The self-calibration method comprises the following steps: establishing a kinematic model of the space manipulator based on an improved Denison-Hartberg method (MDH); a tail end pose error model of the space manipulator is obtained through the kinematic model; obtaining the motion range of the hand-eye camera according to the measurement precision, the field of view of the hand-eye camera and the visual target parameters; according to the motion range of the hand-eye camera, distribution information of all measurement sub-areas in the working space of the space manipulator is obtained; and kinematics parameter calibration values of the space manipulator are obtained according to the tail end pose error model and the distribution information of the measurement sub-areas. According to the self-calibration method provided by the embodiment of the invention, error data in a larger measurement range can be obtained, and the calibration precision of kinematics parameters and the globality of a calibration result are improved.

The utility model discloses an edge grinding device for a concrete plate with ultrahigh bonding strength, which relates to the field of concrete processing equipment and comprises an operation box, a processing platform is mounted in the operation box, two sides of the processing platform are connected with first sliding blocks, and a first sliding groove is arranged on the surface of the inner side of the operation box. A filter plate is connected to the surface of the machining platform, the filter plate is located on the inner side of the enclosure plate, a rotary table is connected to the upper end of the machining platform, a placing plate is connected to the top end of the rotary table, and a connecting plate, a first transverse push rod and a clamping plate are installed at the upper end of the placing plate; the connecting plate is connected to the side position of the placing plate; according to the edge grinding device for the concrete plate with the ultrahigh bonding strength, the machining platform can be matched with the first sliding mechanism to conduct longitudinal height adjustment, longitudinal push-pull is conducted through the longitudinal push rod, the concrete plate is actively matched with the edge grinding mechanism, and operation is convenient and fast.

The invention discloses an intelligent monitoring and management system for a dust removal air duct unblocking robot, and relates to the technical field of intelligent control. According to the technical scheme, through analog-to-digital conversion and multiple signal filtering technologies of a signal processing module, data transmission delay in a high-temperature or strong electromagnetic interference environment is effectively reduced; the real-time performance and precision of operation feedback of the unblocking robot are improved; the data monitoring module utilizes a plurality of sensors to combine with a filtering algorithm, so that the monitoring precision in a complex electric power environment is improved, and the accuracy and reliability of the unblocking effect are ensured; the fault prediction analysis module calculates a fault prediction value Fyz in real time and evaluates the fault prediction value Fyz, and if the fault prediction value Fyz exceeds a fault tolerance threshold value C, an early warning instruction is sent out immediately to guarantee the continuity of a key task; the intelligent management module sets a management threshold value Qj, dynamically evaluates a blockage clearing effectiveness index Cjxzb, and if the management threshold value Qj is lower than the threshold value, intervention means such as monitoring precision improvement, blockage clearing strategy adjustment and an intermittent blockage clearing mode are started, so that the efficient and stable blockage clearing process is ensured.

The invention relates to the technical field of steering wheel control, and provides an adaptive real-time optimized vector steering wheel cooperative control method and system. The method comprises the following steps: acquiring initial state information of a steering wheel; analyzing the initial state information to obtain an initial state; reading the state factor set, and activating the observer to perform dynamic monitoring to obtain a real-time factor set; inputting the real-time factor set and the initial state into a model to obtain a prediction state; a cooperative control strategy of the multiple steering wheel modules is generated, simulation control is conducted on the steering wheels in the prediction state based on the strategy, and a simulation record is obtained; when the simulation record meets the constraint, determining an optimal strategy; and controlling the steering wheel according to the optimal strategy. The technical problems that existing steering wheel control is delayed in response, low in control precision and poor in adaptability under the high-dynamic load and complex environment are solved, and the technical effects that the steering wheel control strategy is rapidly adjusted under variable operation conditions and load changes, and the response speed, stability and precision of steering wheel control are improved are achieved.

The invention discloses a visual intelligent adjustment method and system of a full-automatic die bonder, and relates to the field of semiconductor back-end packaging manufacturing, and the method comprises the steps: collecting an image of a to-be-recognized feature in real time based on a camera in the full-automatic die bonder, and obtaining a real-time image; determining the optimal light source and the optimal brightness of the to-be-recognized features based on various light sources and real-time images in the full-automatic chip loader; obtaining a to-be-recognized feature image under the optimal light source and the optimal brightness to obtain an optimal image, and determining a template area of the optimal image; determining a region of interest of the optimal image based on the template region of the optimal image; based on the region of interest of the optimal image, cutting the optimal image to obtain the image of interest of the to-be-identified features; and the camera is adjusted based on the interested image of the to-be-identified features. Through the interested image, the position and angle of the to-be-identified feature are accurately obtained, the operation precision of the to-be-identified feature is improved, and the loading quality is improved.

The present invention belongs to the technical field of underwater environmental monitoring, and specifically relates to an underwater robot for pollution tracing, comprising a body located underwater and a hull floating on the water, a winding mechanism being provided on the hull for automatically retracting and releasing cables connected to the body, the body controlling the depth and movement direction in the water respectively through longitudinal propellers and transverse propellers, a protective mesh cover and a transverse protective member being provided on the body to prevent debris in the water from entangled in the propellers, and in addition, a direction-changing limit ring, a direction-changing head and a baffle are designed at the connection between the body and the cable to relieve stress and prevent damage to the cable. The present invention has a reasonable structure and can operate stably and efficiently in a complex underwater environment, effectively solving the problems of inaccurate positioning, limited movement, easy entanglement of propellers with debris and easy damage of cables in the prior art.

The invention relates to the technical field of program control robots, in particular to an automobile windshield transferring robot and method based on artificial intelligence, and a system comprises a surface characteristic analysis module, a dynamic environment sensing module, a grabbing area screening module, a path and action generation module and an action execution and correction module. According to the method, the boundary coordinates, the curvature distribution value and the light intensity deviation value of the glass surface are accurately extracted, so that the characteristic identification problem of a transparent object under complex optical interference is solved, the accuracy of surface data extraction is improved, obstacle motion data are collected in real time in a dynamic environment, the interference area and intensity are rapidly identified, and the accuracy of surface data extraction is improved. Grabbing points select comprehensive contact angles and stress uniformity parameters, stability and reliability of grabbing actions are enhanced, path planning improves task execution efficiency and motion coordination in a dynamic environment through low-interference path optimization and time adjustment, action execution is based on pose correction and force feedback adjustment, and the stability and reliability of the grabbing actions are improved. And the operation precision and the adaptive capacity are obviously improved.

The invention belongs to the technical field of robots, and discloses a decoupling control method and system for a two-degree-of-freedom vibration suppressor of a robot, and the method comprises the steps: analyzing the structural characteristics of a robot system, and designing a decoupling control strategy through a structural invariance principle; coupled vibration of force applied in the X direction in the Y direction and coupled vibration of force applied in the Y direction in the X direction are effectively eliminated. Compared with a traditional vibration control method, the multi-degree-of-freedom vibration suppression method has the advantages that the influence of a pose related mode and a coupling mode of the robot is fully considered, multi-degree-of-freedom vibration suppression can be efficiently realized in real time in a complex load and dynamic environment, and the adaptability and the control precision are relatively high. The technology has wide application prospects in the fields of robot precision machining, assembling, carrying and the like, and the stability, precision and working efficiency of a robot system can be remarkably improved.

The invention provides a robot operation method, a robot, a storage medium, equipment and a program product, and the method comprises the steps: generating operation planning information used for achieving a target task according to text information and / or visual information in an equipment specification of a document format corresponding to target equipment; after an observation image containing the target equipment is received, an operable component in the target equipment is aligned with an operable component in the equipment specification, so that a first corresponding relation between a component identifier of the operable component in the target equipment and a component name of the operable component in the equipment specification is obtained; and based on the operation planning information and the first corresponding relationship, controlling the robot to execute a corresponding operation state for an operable part corresponding to the operation step so as to realize the operation step. The adaptability and universality of the robot operation equipment can be improved.

A mechanical arm trajectory planning method based on a structure-oriented motion profile belongs to the related technical field of robot control, and comprises the following steps: S1, inputting an expected position point matrix P of a joint space and physical constraints of a mechanical arm; s2, initializing parameters, wherein the parameters comprise a slope coefficient and a local asymmetric coefficient of the point-to-point trajectory model, a variable boundary, a population size, an external memory size and a maximum number of iterations; s3, generating an initial track Omega based on the structure-oriented motion profile; s4, optimizing an initial track omega according to an analytical method priority strategy; and S5, outputting an optimal solution or a Pareto optimal solution set. Efficient and high-precision operation of the mechanical arm is achieved, and the production efficiency and the operation precision are improved.

The invention discloses an intelligent robot identification and positioning system applied to metal forging and pressing equipment, which is characterized by comprising an image identification module based on deep learning and used for acquiring image data of a working area of the metal forging and pressing equipment in real time and identifying a metal workpiece; the three-dimensional positioning module based on laser scanning is used for carrying out three-dimensional space positioning on the identified metal workpiece; the data processing unit is used for processing data of the image recognition module and the three-dimensional positioning module and generating accurate position information of the workpiece; the control unit is used for controlling the movement of the robot according to the position information so as to accurately grab and place the metal workpiece; the feedback system is used for monitoring and adjusting actions of the robot in real time so as to ensure the accuracy of operation; and the user interface is used for displaying system states and operation instructions and allowing an operator to carry out intervention and adjustment.