335results about How to "Improve positioning efficiency" patented technology

The invention provides a power grid fault detection and positioning method and system for an intelligent power grid system. The method comprises the following steps: collecting a fault traveling wave signal when a power distribution line has a fault; preprocessing the fault traveling wave signal to obtain a preprocessed target fault traveling wave signal; carrying out traveling wave front edge detection on the target fault traveling wave signal, and determining the signal arrival time of the fault traveling wave signal; fault signal features are extracted from the target fault traveling wave signals through a frequency domain analysis method and a time domain analysis method; estimating the fault line characteristics of the fault line with the fault in combination with the fault signal characteristics and the signal arrival time; outputting the line type and the fault type of the fault line through a feature recognition model; selecting an optimal fault positioning algorithm by using a decision tree algorithm based on the line type and the fault type; and determining the line position of the fault line according to the target fault traveling wave signal by adopting an optimal fault positioning algorithm. The method has the effect of intelligently selecting the optimal positioning algorithm according to the line type.

The invention relates to the technical field of data processing, and discloses a double-end fault positioning method based on signal enhancement, which is used for improving the efficiency of double-end fault positioning based on signal enhancement. The method comprises the following steps: acquiring and preprocessing electrical signals at two ends of a power transmission line to obtain preprocessed synchronous electrical signals; performing adaptive enhancement processing on the preprocessed synchronous electrical signal to obtain an enhanced fault feature signal; performing time-frequency analysis and feature extraction on the enhanced fault feature signal to obtain a fault feature vector and a key parameter; performing machine learning analysis on the fault feature vectors and the key parameters to obtain a fault type identification result and initial fault position estimation; performing multi-algorithm fusion analysis on the preliminary fault position estimation to obtain an accurate fault position coordinate; and performing geographic information mapping and field verification on the accurate fault position coordinates to obtain a fault positioning result and system optimization data.

The invention relates to the technical field of pipe network monitoring, in particular to a water supply pipe network pipe burst alarm positioning system based on real-time pressure monitoring data, and the system comprises a pressure data collection module which collects pressure data from a plurality of pressure monitoring points of a water supply pipe network; the pressure drop threshold calculation module is used for determining an alarm pressure drop threshold of each pressure monitoring point based on historical pressure data; the voltage drop alarm module is used for calculating a current time window voltage drop value and comparing the current time window voltage drop value with a voltage drop threshold value; the association alarm module is used for clustering alarm information of adjacent pressure monitoring points and combining a plurality of alarm points which are close in space into a single alarm event; the alarm positioning module is used for matching a pipe explosion node corresponding to the current alarm information by utilizing a mode recognition algorithm and quickly positioning the pipe explosion node; according to the method, the system calculates the aggregation characteristics, the description capability and the credibility of the alarm event are enhanced, and the identification and positioning efficiency of the system on the pipe explosion event in the complex pipe network environment is improved.

The invention relates to the technical field of image processing, in particular to a vacuum printed PCB precise feeding method and system guided by machine vision, and the method comprises the steps: obtaining the feature points of a to-be-positioned PCB image and the feature points of a real PCB image; calculating the credibility of each feature point of the real PCB image, screening out a target feature point according to the credibility, and matching the target feature point with the feature points of the to-be-positioned PCB image to complete positioning and feeding of the real PCB image; wherein the calculation of the credibility of the feature points comprises the step of clustering the feature points of the real PCB image to obtain a plurality of clusters. According to the invention, by screening the feature points of the real PCB image, it is ensured that the feature points are more accurate and stable, mismatching is reduced, and the accuracy of image matching is improved; and some redundant or unimportant feature points can be removed, so that the workload of subsequent matching and calculation is reduced.

The invention relates to the technical field of cables, in particular to a power cable capable of positioning a damage position, which comprises a cable main body, a plurality of fixed bases which are distributed in a straight line and are of a circular ring structure are fixedly mounted on the outer wall of the cable main body, and a protective layer of a circular tube structure is arranged between two adjacent fixed bases on the same cable main body. The two ends of the protection layer are fixedly installed on the corresponding side walls of the fixed base respectively, and the protection layer is made of rubber flexible materials. The protection layer is designed, the protection layer can protect the cable body, inert gas is matched to enable the protection layer to rapidly gush out of the colored ribbons after the protection layer is damaged, rapid positioning of maintainers is facilitated, and when the protection layer is damaged, the air pressure in the inflation bin is reduced, so that the maintenance efficiency is improved. Through cooperation of the spring rods and the spring blocks, the corresponding indicator lamps can be turned on, and maintenance personnel can quickly position a damaged area by turning on the indicator lamps on the two adjacent fixed bases.

The invention discloses a fan rotating part anomaly detection method based on artificial intelligence. The fan rotating part anomaly detection method comprises the steps that S1, a fan rotating part sound signal set is constructed; s2, generating a fan rotating part sound signal feature vector set; s3, training to obtain a deep neural network model for detecting the abnormal state of the fan rotating part; s4, a hierarchical reinforcement learning algorithm is utilized to analyze and classify the feature vector set of the fan rotating part, and a high-level strategy judges whether to activate a low-level strategy according to the operating environment and the load condition of the fan and the overall change trend of the sound signal set; according to the low-layer strategy, whether an abnormal state exists or not is further judged according to the fan rotating component feature vector set; s5, denoising and filtering parameters of the sound signal set are adjusted in real time; and S6, when the low-level strategy identifies an abnormal state through analysis of the feature vector set, the system automatically triggers an alarm mechanism. According to the method, the fan anomaly detection cost is reduced, and the detection precision and the intelligent level are improved.

The invention relates to the technical field of valve production positioning, in particular to a positioning mechanism for valve production. The technical problems that when a valve body is machined, the valve body is prone to shaking slightly, when an existing positioning mechanism positions the valve body, the valve body is inconvenient to support from multiple directions, the valve body is not stable enough in the machining process, the pulling force of tool retracting of a drill bit can generate large acting force on the valve body, and the machining precision is poor are solved. However, an existing positioning mechanism is difficult to fix the bottom of the valve body, so that the valve body is easy to deviate during machining, and the positioning effect on the valve body is poor. A positioning mechanism for valve production comprises a supporting seat; and the two guide columns are fixedly connected to the supporting seat. And when the second rotating seat clamps the valve body, four groups of second piston rods abut against included angles among four channels of the valve body, so that the valve body is supported from multiple directions, the valve body is more stable in the machining process, and the positioning effect is further enhanced.

The invention discloses a vehicle positioning method and device and a vehicle navigation method and device, and the vehicle positioning method comprises the steps: obtaining a to-be-recognized region image which comprises a target vehicle; determining an absolute coordinate of a target vehicle in a world coordinate system based on a mapping relation between a pixel coordinate system and the world coordinate system and the to-be-recognized area image; based on the relative coordinates of the target image acquisition device in the target parking lot map and the absolute coordinates of the target vehicle, determining the relative coordinates of the target vehicle in the target parking lot map; and sending the relative coordinates of the target vehicle to a map navigation system to update the position of the target vehicle in the target parking lot map. Through the above mode, the target vehicle of the to-be-identified area image acquired by the image acquisition device is positioned through the visual positioning technology, the high real-time performance and accuracy of vehicle positioning are improved, the effect of "what you see is what you get" is realized, and the position of the target vehicle in the target parking lot map can be updated in real time.

The invention relates to the technical field of beacon positioning, and discloses a Bluetooth AOA and UWB-based fusion positioning method and device, and the method is applied to a target door. The target door is provided with a Bluetooth AOA unit and a UWB positioning unit. The method comprises the following steps: obtaining a Bluetooth AOA positioning result and a UWB positioning result corresponding to a target beacon; performing position prediction based on the Bluetooth AOA positioning result and the UWB positioning result to obtain a first prediction positioning result and a second prediction positioning result; and obtaining a fusion positioning result according to the first prediction positioning result and the second prediction positioning result. According to the invention, the positioning efficiency and the positioning precision in an intelligent door scene can be improved.

The invention belongs to the technical field of electric appliances, and particularly relates to a fault diagnosis method, device and equipment based on multi-model decision making and a storage medium, and the fault diagnosis method based on multi-model decision making provided by the invention comprises the following steps: obtaining fault report information, sent by a user terminal, of electric appliance equipment; performing structured processing on the fault report information to obtain fault description information; according to the fault description information, fault data of different diagnosis types are obtained, the fault data are input into respective corresponding fault diagnosis units, and each fault diagnosis unit corresponds to one diagnosis type; the initial fault diagnosis results output by the different fault diagnosis units are obtained, the initial fault diagnosis results output by the different fault diagnosis units are input into the decision-making model, and the final fault diagnosis result output by the decision-making model is obtained, so that the accuracy of fault diagnosis is effectively improved, and the efficiency and effect of fault positioning and maintenance are improved; and the satisfaction degree of the user to the electrical product and the maintenance service is improved.

The invention relates to the technical field of welding, in particular to a reinforcement cage seam welder which comprises a main reinforcement guide plate and a welding head which are assembled on a seam welder body, a rotating ring is mounted on the front side of the main reinforcement guide plate, and a guide rod is mounted on the front side of the rotating ring; the front side of the rotating ring is connected with a mounting seat, the front side of the mounting seat is slidably connected with a moving rod, a first tension spring is arranged between the mounting seat and the moving rod, the front end of the moving rod is connected with a sliding rod, the sliding rod is provided with a sliding groove, the sliding groove is composed of a first groove body and a second groove body, the first groove body extends in the circumferential direction of the reinforcement cage, and the top end of the second groove body communicates with the bottom end of the first groove body; and one end of the welding head is inserted into the sliding groove in a sliding mode. The welding head can be quickly positioned to the joint, the positioning efficiency is improved, the contact time of the welding head and the joint is prolonged, welding is firmer, the device operates continuously, and the situation that the device is seriously abraded due to frequent shutdown and starting is reduced.

The invention discloses a pipeline leakage point positioning method considering gas-liquid two-phase flow, and belongs to the technical field of pipeline leakage point positioning. In order to solve the problem that an existing pipeline system leakage detection method is single in monitoring form and inaccurate, the method comprises the steps that a horizontal pipeline gas-liquid two-phase stratified flow motion model is established; judging the relation between the gas phase and the liquid phase in the pipeline and the pressure of the gas phase and the liquid phase relative to the pipeline; expressing and calculating the leakage rate of the pipeline system; establishing a two-phase flow model for leakage point positioning; and finally positioning a leakage point. The method is suitable for leakage point positioning of a single-phase flow pipeline system and is also suitable for leakage point positioning of a gas-liquid two-phase flow pipeline system. Necessary data are provided for leakage point positioning through a model simulation method, excessive dependence on pipeline system data monitoring is reduced, the leakage point positioning efficiency is greatly improved, and the leakage point positioning cost is reduced.

The invention discloses a fault positioning method of a nuclear power instrument control system, a related device and a storage medium, and the method comprises the steps: constructing a correlation matrix model of the nuclear power instrument control system, and constructing an application correlation matrix based on the correlation matrix model and the configuration information of a target control station; obtaining the current operation state information of the nuclear power instrument control system, and constructing a current health state matrix by using the current state of each test point in the current operation state information; matching the current health state matrix with an application correlation matrix; if the current health state matrix is only matched with one row vector, taking the equipment corresponding to the row vector and the information of the fault mode of the equipment as a current fault positioning result; if the current health state matrix is matched with the plurality of row vectors, calculating a priority index corresponding to the equipment based on the failure probability and maintenance difficulty of the equipment corresponding to each row vector; and according to the priority indexes corresponding to the equipment, outputting the equipment corresponding to each row vector, the information of the fault mode of the equipment and the corresponding priority indexes.

The invention relates to the technical field of semiconductors, in particular to a SiC epitaxial splitting detection method and system.According to the SiC epitaxial splitting detection method and system, a wafer, a graphite ring and a graphite disc which are combined are smoothly taken out from an epitaxial growth environment, and edge searching and deviation rectifying of the graphite disc and the graphite ring are independently completed through a deviation rectifying platform and a combining and splitting module; a large amount of reference calibration time among a manipulator, an edge finder, a deviation rectifying platform and a merging and splitting module is saved, the calculation complexity of equipment is reduced, and the wafer positioning efficiency is effectively improved; then, the graphite disc and the graphite ring are combined, cleaned and stored, so that normal use in subsequent processing is facilitated; by arranging the laser sensor, whether the wafer is smoothly separated from the graphite ring or not is automatically detected, and wafer positioning errors caused by manual work are reduced, so that the accuracy and efficiency of wafer processing are ensured, and the automation level and the product quality of wafer processing are improved.

The utility model discloses a hydraulic butterfly valve testing device, which relates to the technical field of butterfly valve testing, solves the problems of low positioning efficiency and poor testing effect of the existing device, and adopts the following scheme that four groups of supporting legs are fixedly mounted on the top surface of a base, and a detection box is fixedly mounted on the top surfaces of the supporting legs; according to the hydraulic butterfly valve testing device, the sliding block, the moving block, the air cylinder and the infrared sensor are arranged, the infrared sensor senses the center position of the butterfly valve, then the sliding block and the moving block move to drive the sealing cover to move to a proper position, the air cylinder drives the sealing cover to move downwards, and therefore the top end of the butterfly valve is sealed; meanwhile, through the arrangement of a pressurizer, a water tank, a pressurizing pipe and a water pipe, water is injected into the butterfly valve through the water pipe, pressure is applied to the interior of the butterfly valve through the pressurizing pipe, then whether water exists in a collecting hole or not is sensed through a water sensor, the test is simple and convenient, the precision is high, and the effect is good.

The utility model relates to the technical field of hollow glass production, and discloses a hollow glass production positioning device which comprises a positioning device body, a positioning mechanism is arranged at the top of the positioning device body, a jacking mechanism is arranged at the bottom of the positioning device body, and the positioning mechanism comprises a positioning assembly and a moving assembly. The positioning assembly is arranged on the inner side of the moving assembly, the moving assembly is arranged at the top of the positioning device body, when the positioning device is used, through the arranged positioning mechanism, in the glass production process, glass of different sizes can be positioned under the action of a positioning block, the stability of the glass is guaranteed, and the production efficiency is improved. And meanwhile, under the action of a worm gear and a worm, the positioned glass can be driven to turn over, and when the other side of the glass needs to be processed, the glass can be automatically driven to rotate, so that the tedious process that the glass is manually turned over and then fixed by a worker is avoided, and the glass processing efficiency is improved.

The application relates to a battery assembling terminal mounting device and method; the battery assembling terminal mounting device comprises an arrangement mechanism and a mounting mechanism movably arranged above the arrangement mechanism, the mounting mechanism comprises a telescopic frame movably and rotatably arranged above the arrangement mechanism, clamping arms openably and closably arranged on the telescopic frame, a material distribution assembly and a welding assembly; the arrangement mechanism positions a plurality of batteries after combination covers; after the clamping arms move to the material distribution assembly with the telescopic frame and position and clamp terminals, the clamping arms move with the telescopic frame to connect connecting holes of the terminals to pole columns of the batteries, and welding is performed through the welding assembly; the battery assembling terminal mounting method based on the above battery assembling terminal mounting device comprises the following steps: an arrangement process, a detection process, a removal process and a mounting process; the application solves the problems of low production efficiency, low product consistency, heavy burden on operators and hidden safety hazards during terminal mounting.

The conveying and positioning device for visual inspection comprises a bottom plate, supporting rods are fixedly connected to the periphery of the top of the bottom plate, a top plate is fixedly connected to the tops of the supporting rods, a mounting plate is fixedly connected to the outer sides of the supporting rods, a second motor is fixedly mounted on the outer side of the mounting plate through bolts, and a first motor is fixedly mounted on the outer side of the mounting plate through bolts. The output end of the second motor is fixedly connected with a threaded rod, the surface of the threaded rod is in threaded connection with a moving plate, and the bottom of the moving plate is fixedly connected with a clamping plate. Through the arrangement of the infrared distance sensor and the detection probe, an object to be detected can be detected, when the object to be detected is close to the detection probe, the detection probe detects the object to be detected, a second motor drives a threaded rod to rotate, the threaded rod drives a moving plate to rotate, and the moving plate drives a clamping plate to move towards the inner side; and the detected objects are clamped and positioned through the clamping plate, so that excessive conveying of the detected objects can be avoided, and the positioning efficiency is improved.

The invention discloses a multi-page image comparison intelligent segmentation and positioning method and device, equipment and a medium, and relates to the technical field of electric digital data processing. The method comprises the following steps: after a one-to-one correspondence relationship between multiple pages of first images to be subjected to image comparison and multiple pages of second images is determined, determining a first comparison area positioning frame of each page of first image and used for positioning a corresponding image comparison target area based on PDF file information; then, intercepting by using the frame to obtain a first contrast area image, determining a first minimum rectangular frame surrounding characters in the image, and determining a second minimum rectangular frame of each page of second image and surrounding the characters in the image at the same time; determining a second comparison area positioning frame and a second comparison area image, which are used for positioning the image comparison target area, of the second image of each page based on the three frames, and finally performing zooming to obtain two area images suitable for image comparison, so that the comparison area positioning efficiency can be improved; and the correctness of a subsequent image comparison result is ensured.

The invention relates to the technical field of straightening equipment, and discloses an automatic matching straightening machine for shaft workpieces, which comprises a machine body, a plurality of linear sliding rails for a plurality of mechanisms to linearly move are arranged on the machine body, and strip-shaped tooth grooves matched with moving gears are formed in the two sides of the interior of the machine body; one side of the machine body is provided with a PLC (Programmable Logic Controller) control cabinet for calculating input shaft workpiece data information and generating a control signal, and the PLC control cabinet is used for controlling each mechanism on the machine body in an operation process. By adding and arranging the movable detection mechanism, when the shaft workpiece is straightened, the movable detection mechanism adopts a lever type detection structure, can be tightly attached to the surface of the shaft workpiece, sensitively captures bending deformation information of the workpiece, realizes accurate acquisition of deformation, avoids subjectivity and errors of manual detection, and improves the straightening accuracy of the shaft workpiece. And full-length movement detection can be realized along a linear sliding rail, all parts of the shaft workpiece are covered, and the condition of missing detection of a deformation position is avoided.

The application provides an underwater positioning system for an underwater robot based on human-computer interaction. The method comprises the following steps: in response to a positioning request of a user, a multi-dimensional sensor network of the underwater robot is constructed; multi-dimensional monitoring data of a target space is dynamically collected along a moving track of the underwater robot by using the multi-dimensional sensor network; a multi-branch strategy network is used to pre-process the multi-dimensional monitoring data to obtain multi-dimensional data to be processed; a sparse feature map is generated by using ORB-SLAM3, and a local dense map is generated by using a point cloud registration ICP algorithm; a sparse feature map, a local dense map and a pose feature in the third data to be processed are fused by using EKF to obtain a local scene map; a segmented bundle adjustment algorithm is used to segmentally optimize the local scene map according to a motion mode, and positioning information of the underwater robot is output to the user in real time based on the local scene map. The positioning accuracy of the underwater robot can be improved, and the positioning efficiency of the underwater robot can be improved.

The invention provides a multifunctional roundness measuring instrument for a mute ball bearing, which relates to the field of measuring instruments, and comprises a workbench, and a rotating support is rotatably connected to the left side of the top end face of the workbench; the transmission chuck is rotationally connected to the upper side of the inner end of the rotary support. The two driving auxiliary frames are arranged on the outer side of the rotating support in a left-right alignment and sliding mode. The positioning auxiliary mechanism is arranged between the driving auxiliary frame and the transmission chuck; the movable optical shaft is slidably connected to the right side of the top end face of the workbench. The movable bracket is arranged outside the movable optical axis in a vertical sliding manner; the fine adjustment bracket is hinged to the outer side of the lower end of the movable bracket; the protection auxiliary mechanism is arranged between the fine adjustment support and the sliding support, automatic clamping and positioning of the bearing are achieved, the frequency and workload of repeated labor of operators are relieved, and the positioning efficiency and the measuring efficiency of the bearing are improved; the problems that the repeated labor frequency and workload of operators are increased, and the positioning efficiency and the measuring efficiency of the bearing are affected are solved.

A kind of department operational performance data real-time display and target dynamic benchmarking method and device belong to hospital management information technology field, to solve department operational performance data display lag, target adjustment after benchmarking state update not timely and early warning index detailed positioning efficiency low problem, the present application is by periodically obtaining department operational raw data, generates department operational index data, multi-benchmarking result, dashboard display data and early warning judgment result, and after receiving adjusted target value, corresponding benchmarking, early warning and display data are regenerated, can improve the continuity of department operational index display, target dynamic benchmarking and detailed data query, it is suitable for hospital department operational performance data display, target benchmarking, index early warning and detailed query etc. field.

The application belongs to the technical field of positioning and measurement, and particularly relates to a target positioning method and device combining CSI coarse positioning and Y-type CCD fine correction, which comprises the following steps: S1, CSI acquisition equipment is arranged in a target area, and CSI data between a sending end and a receiving end is acquired; S2, a Y-type CCD sensor is geometrically calibrated and a coordinate system is corrected, and coordinate reconstruction is completed; S3, the CSI data is preprocessed, noise is removed, and input is normalized; S4, time domain features of the CSI are extracted by using a time domain branch; S5, frequency domain features of the CSI are extracted by using a frequency domain branch; S6, a gating fusion module is used to fuse the time domain and frequency domain features, and the approximate position coordinates of a target are output; S7, the Y-type CCD sensor is controlled to optically acquire a target area, and point light source coordinate information is acquired; and S8, error correction is performed on the data acquired by the Y-type CCD, and the accurate position coordinates of the target are output.

The invention provides an interference source, an interference detection and notification method, system and device, and a readable medium, and belongs to the technical field of communication. The interference source detection method comprises the following steps: acquiring an atmospheric waveguide reference signal monitored by a target station and an identifier of the target station; and judging whether the target station is an interference source or not according to the atmospheric waveguide reference signal and the identifier of the target station. The method is used for improving the accuracy and efficiency of atmospheric waveguide interference positioning.

This application provides a method and apparatus for testing the inference consistency rate of a large language model, relating to the field of artificial intelligence technology. The method includes: sending preset test cases to an inference server, causing the inference server to execute baseline inference and comparison inference respectively, obtaining baseline inference results and comparison inference results; standardizing the baseline inference results and comparison inference results; generating inference precision and inference hit rate based on the standardized comparison inference results and standardized baseline inference results; and calculating the inference consistency rate of the large language model based on the inference precision and inference hit rate. The method and apparatus for testing the inference consistency rate of a large language model provided in this application achieve quantifiable, tolerant, and comparable evaluation of inference consistency, significantly improving the accuracy, interpretability, and adaptability of inference consistency verification.

The invention discloses a middle trough welding production line which comprises an internal drawing-out welding module used for conducting welding operation on the hollow cavity wall of a middle trough; the external welding module is used for welding the outer surface of the middle trough; the logistics module comprises a feeding table, a discharging table, a rail and a carrying robot, the feeding table is arranged at the head end of the rail and used for supporting and placing the middle groove, the discharging table is arranged at the tail end of the rail and also used for supporting and placing the middle groove, and the rail is arranged on one side of the internal welding module and one side of the external welding module; and the internal pulling-out welding module and the welding module are sequentially arranged in the extending direction of the track, the carrying robot is used for carrying the middle trough from the feeding table to move to the internal pulling-out welding module and the external welding module along the track for welding operation, and after welding operation is completed, the carrying robot carries the middle trough to the discharging table. The turnover efficiency of the middle trough is improved, and the mechanization and automation degree in the middle trough transportation process is improved.

The invention provides a work order processing method and system, electronic equipment and a computer program product, belongs to the technical field of data processing, and aims to solve the problems of an existing work order processing method in the aspects of joint detection, precise positioning, quick response and the like. The method comprises the following steps: generating a corresponding work order task in response to a work order request; based on a predefined fault type troubleshooting sequence, determining a fault type which needs to be troubleshot currently for the work order task, and according to the fault type which needs to be troubleshot currently, allocating the work order task to a target processing node, the target processing node being associated with a resource entity with a corresponding fault type processing capability in an operation and maintenance resource pool; processing the work order task through the target processing node; and monitoring the processing state of the work order task, and executing a supervision operation instruction when the processing state meets a preset abnormal condition.

The invention relates to the technical field of industrial automation, in particular to an industrial mechanical arm automatic calibration method and system based on a depth camera, and the system comprises a mechanical arm, the depth camera, a recognition patch and a controller. The method comprises installing a depth camera at the tail end of the mechanical arm; pasting an identification patch on the standard position of the target object; the depth camera collects RGB images and depth information; the data processing module extracts linear features through Hough transformation; calculating a spatial analytic expression of the straight line by utilizing the spatial geometrical relationship and the depth information; reversely solving the spatial position and attitude of the tail end of the mechanical arm by using the solved linear spatial analytic expression, and estimating errors in all directions; according to errors in all directions, the position of the next step of the mechanical arm is adjusted through a path planner on the controller; and the DH coordinate system of the mechanical arm is used for calculating the overall accurate position and posture of the mechanical arm. Compared with the prior art, the positioning precision is improved, the automation degree is improved, and the time consumption of positioning is reduced.

The utility model belongs to glass manufacturing technical field discloses an in -out piece positioning mechanism, this in -out piece positioning mechanism includes fixed bolster, two positioning units and drive assembly, two positioning units are along first direction interval setting on fixed bolster, each positioning unit is slidably installed in fixed bolster along first direction, so that the glass is clamped by the blocking wheel on the positioning unit, drive assembly includes drive source and conveyer belt assembly, conveyer belt assembly includes driving wheel, driven wheel and conveyer belt, driving wheel and driven wheel rotatably install in fixed bolster, and interval setting along first direction, driving wheel is connected with the output shaft of drive source, and the both ends of conveyer belt are respectively matched with driving wheel and driven wheel, two positioning units are connected on the two parallel setting parts of conveyer belt respectively. This in -out piece positioning mechanism can be compatible with multiple sizes glass, does not need manual adjustment when switching the product of different specifications of the size difference is bigger, is favorable for promoting positioning efficiency.