65results about How to "Improve terrain adaptability" patented technology

The invention discloses a method for automatically keeping a chassis of mobile intelligent equipment horizontal on a slope, and relates to the technical field of mobile intelligent equipment.The method comprises the following specific steps that terrain detection is conducted, specifically, the current terrain condition is detected in real time through a sensor system installed on the mobile intelligent equipment, and the terrain condition is determined; comprising slope angles, soil types and rock distribution information; by integrating the sensor system and the central processing unit, real-time monitoring and intelligent analysis of slope topography and road surface conditions are achieved, mobile intelligent equipment can rapidly sense and adapt to various complex topographies including soft soil slopes, rugged rock slopes and the like, and by automatically adjusting the level of the chassis, the slope topography and the road surface conditions can be monitored and analyzed in real time. And the stability and the operation performance of the equipment on different terrains are ensured, so that the terrain adaptability of the equipment is remarkably improved, the mobile intelligent equipment can play a role in a wider environment, and the application range and the practicability of the equipment are improved.

The invention provides a slope cropland fertilizing device and method, belongs to the technical field of fertilizing, and aims to solve the problem that a fertilizing device special for slope cropland is lacked in the prior art. Comprising a vehicle body, a chemical fertilizer box, a fertilizer distributor, a mixer, a fertilization angle adjusting assembly and a fertilization gun, a power device is arranged on the vehicle body, the vehicle body is driven by the power device to advance, and a handrail is fixedly arranged on the back of the vehicle body; the chemical fertilizer boxes are symmetrically and fixedly arranged on the two sides of the vehicle body, through holes are formed in the bottoms of the chemical fertilizer boxes, the through holes in the bottoms of the chemical fertilizer boxes are communicated with the fertilizer distributors, and the fertilizer distributors are used for quantitatively measuring chemical fertilizers; the bottom of the fertilizer distributor is communicated with the mixer; the fertilization angle adjusting assembly is arranged at the bottom of the vehicle body; the fertilization angle adjusting assembly is used for adjusting the fertilization angle; the fertilizing gun is mounted on the fertilizing angle adjusting assembly.

The invention discloses a novel flexible ecological drainage ditch structure and a construction method thereof, belongs to the technical field of drainage ditch construction, and solves the problems of serious deformation and cracking of a traditional concrete drainage ditch. The structure specifically comprises an anti-corrosion layer, a drainage layer and an anti-seepage layer. The seepage prevention layer is arranged at the bottom of the drainage ditch, the drainage layer is laid on the seepage prevention layer, and the anti-corrosion layer is laid on the drainage layer. According to the drainage ditch, the innovative design of combining the anti-corrosion layer, the drainage layer and the anti-seepage layer is adopted, so that a lower seepage body is effectively drained, the ditch body strength is improved, the basic requirements of confluence, quick drainage and seepage prevention of the drainage ditch are met, and the overall shear resistance and erosion resistance of the drainage ditch are improved; the construction method is suitable for construction of loose accumulation body slopes such as slide slag accumulation body slopes, waste slag accumulation bodies and mine dumping sites; the method has the advantages of being high in plasticity, high in terrain adaptability, high in environment flexibility, good in structure flexibility and the like.

The utility model discloses a flexible driving photovoltaic tracking system, which relates to the field of photovoltaic technology, and comprises a plurality of support assemblies, each support assembly comprises a support column and a main shaft unit, one end of the support column is used for being connected with the ground, and the other end of the support column is rotatably connected with the main shaft unit; the driving unit is fixedly connected to the supporting column of the middle support assembly, and the output end of the driving unit is fixedly connected with the middle of the main shaft unit of the middle support assembly; and the transmission rope is connected in an end-to-end closed manner, is movably connected with the supporting column of the bracket assembly, and is connected with the main shaft unit of the bracket assembly. The utility model has the technical effects of good terrain adaptability and small driving torque.

The invention discloses a reconfigurable automatic robot for picking eggplants and a robot operation method.The automatic robot comprises a mechanical arm, a vision module, an end effector and a vehicle body frame, and a wheel leg frame assembly is further arranged at the bottom of the vehicle body frame; the wheel leg frame assembly comprises a two-way rail, an upper connecting plate, a supporting electric cylinder, a steering motor, a lower connecting plate and a walking wheel component, the two-way rail is transversely arranged at the bottom of the trolley body frame, the upper connecting plate is installed on a sliding block of the two-way rail in the longitudinal direction, and the supporting electric cylinder is installed perpendicular to the upper connecting plate; the upper end of the steering motor is fixed to the upper connecting plate through an angle connecting block, the lower end of the steering motor is connected with the lower connecting plate, the lower connecting plate is horizontally installed, the steering motor is fixedly installed on the lower connecting plate, and an output shaft of the steering motor penetrates through the lower connecting plate to be connected with a component of the walking wheel below. The technical problem that in the prior art, a robot cannot complete wheel track and eggplant tree crossing height changes in an eggplant field is solved.

The invention discloses a wheel-leg-arm combined type mobile operation robot and relates to the technical field of robots. The problem that an existing foot type robot is uneven in mass distribution, and the stability of the robot in the movement process is affected is solved. The robot comprises a robot body and six mechanical legs installed on the periphery of the robot body, the two mechanical legs located in front of the robot body are of leg-arm structures, and the other four mechanical legs are of wheel-leg structures; when the operation robot moves, the operation robot can be switched between a six-foot moving mode and a wheel type moving mode so as to cope with different terrains; when the operation robot operates, the operation robot can be switched from the six-foot moving mode or the wheel type moving mode to the double-arm operation mode so as to achieve operation tasks.

The invention discloses a full-hydraulic crawler-type orchard plant protection robot and a control method thereof. The robot comprises a crawler chassis system, a plant protection device, a power system, a hydraulic transmission system and a control system, and the crawler chassis system is used for walking; the plant protection device is used for protecting plants; the power system is used for providing power for the crawler chassis system and the plant protection device; the hydraulic transmission system is used for transmitting power of the power system to the crawler chassis system and the plant protection device; and the control system is used for monitoring the environment, controlling the hydraulic transmission system, driving the crawler chassis system to walk according to a planned path and driving the plant protection device to perform plant protection according to a preset target. By using the robot for operation, the labor intensity of agricultural operation personnel is greatly reduced, effective separation of people and pesticide is realized, and the body health of the operation personnel is guaranteed.

The invention relates to an unmanned aerial vehicle path planning method and device, electronic equipment and a readable storage medium. The method comprises the steps that environment information of a task area and constraint parameters of an unmanned aerial vehicle are acquired; initializing a population of the improved beaver optimization algorithm; determining a fitness value for each individual in the population based on a preset cost function; based on the fitness value, dynamically allocating a role to each individual in the population, updating the position of the individual by adopting a corresponding updating strategy according to the allocated role, and executing information exchange between roles in the updating process; and based on a preset termination condition, determining an individual with the lowest fitness value from the population after iteration updating, and outputting a path point sequence represented by the individual as a planned unmanned aerial vehicle flight path. Through the method provided by the invention, the local optimal escape ability and the quality of the solution are enhanced, the flight safety and the terrain adaptability are improved, and the overall performance and the reliability of unmanned aerial vehicle path planning are improved.

The utility model relates to a kind of overhauling frame, especially a kind of electric power maintenance insulation overhauling frame, comprising: fixedly connected in hydraulic system on mounting seat;Fixedly connected in controller on mounting seat;Two-way hydraulic rod is set on mobile base;Two installation plates are fixedly connected respectively on the two control ends of two-way hydraulic rod;Guide rod is set between installation plate and two-way hydraulic rod;Hydraulic column is fixedly connected below installation plate;Base is set in the control end bottom of hydraulic column.The utility model increases support point and expands the floor area of the utility model, realizes the reduction of the gravity height of the utility model, improves the use stability of the utility model;The utility model can keep original transportation flexibility, and can realize the improvement of support safety stability.

The utility model relates to the technical field of sampling robots, in particular to an intelligent sampling robot for a wetland ecosystem, which comprises a moving carrier, and a sampling mechanism is arranged on the moving carrier. The sampling mechanism comprises a multifunctional mechanical arm, a magnetic attraction device is arranged at the tail end of the multifunctional mechanical arm, and an iron circular ring matched with the sampling pipe is arranged on the sampling pipe; the mobile carrier comprises a base, and a crawler walking mechanism and a buoyancy mechanism are arranged on the base; a storage box is arranged on the base, and a rubber plug is arranged at the bottom of a partition bin in the storage box and can seal the sampling pipe; according to the utility model, the work of sampling and pipe sealing and replacing can be automatically completed, and the sealing arrangement of the sampling pipe completing sampling avoids sample leakage or mutual pollution in the action process; and the floating box and the expandable floating plate are arranged to meet the wading requirement when the device is used in the wetland environment.

The utility model discloses an assembled scaffold base belongs to scaffold technical field, this assembled scaffold base includes scaffold main part and installs the support seat below scaffold main part, the top of support seat is fixed with the support screw rod of inserting in scaffold main part, the support screw rod is screw threadedly sleeved with the bearing seat, both ends of bearing seat all are fixed with the mounting panel, and bearing seat with the quick detachable installation of axial positioning mechanism between scaffold main part, this assembled scaffold base, and the quick detachable installation is realized to the support seat and scaffold main part through the plug -in type connection, and separates into independent parts when transporting. Bearing seat is along the screw thread rotation of support screw rod and lifts, and the overall height of adjusting support seat is adapted to ground fall, and the mounting panel provides the lateral support area, and the scaffold load is dispersed.

This invention discloses a dynamic adaptive ecological slope protection system and method suitable for reservoir bank drawdown zone slopes, belonging to the field of water conservancy engineering and ecological restoration. The system includes an anchoring system, a lifting vegetation trough, an integrated water collection system, and a linked water supply device. The anchoring system uses self-weight triggered self-locking anchors to achieve locking upon installation. The vegetation trough can freely rise and fall along the anchors with the water level, and contains a soil layer and a water-storing sponge layer. The water collection system automatically controls water flow through a float valve, and the linked water supply device relies on elastic expansion and capillary action to achieve water storage during submersion and automatic water supply during emergence. Construction adopts a bottom-up modular installation, using the floating plate of the vegetation trough as a working platform, eliminating the need for high-altitude facilities. This invention can adapt to the off-season hydrological rhythm of the drawdown zone, improving slope stability and vegetation survival rate. It requires no external energy or human intervention and has advantages such as convenient construction, low operation and maintenance costs, and eco-friendliness, making it suitable for ecological protection of reservoir and lake drawdown zone slopes.

The invention belongs to the field of robots, and particularly relates to a household multifunctional cleaning robot. The invention aims to provide the household multifunctional cleaning robot which can effectively enter and clean narrow or special-shaped areas in a family so as to realize the functions of cleaning, obstacle crossing, sterilization and insect killing. According to the technical scheme, the household multifunctional cleaning robot is characterized by comprising a bionic skeleton, and a visual device, two soft tentacles, a plurality of bionic feet, a plurality of omnidirectional wheels and a medicine storage and delivery device which are mounted on the bionic skeleton.

The utility model discloses sand barrier inserting equipment, and belongs to the technical field of desertification prevention and control engineering. The sand barrier insertion equipment comprises a fixed frame and a movable frame, a moving mechanism; a material roll supporting assembly; the lifting assembly comprises a lifting driving device longitudinally arranged between the fixed frame and the movable frame, a fixed part of the lifting driving device is fixedly connected with the fixed frame, and an output end of the lifting driving device is movably connected with the movable frame; the three sand inserting assemblies are arranged in the circumferential direction of the bottom end of the movable frame and connected end to end to form a U-shaped structure; a conveying assembly; and a cutting assembly. According to the sand barrier inserting equipment, a dynamic clamping-forming-inserting planting continuous operation system is formed, mechanical operation of the whole process from material conveying, forming machining to precise inserting planting is achieved, the production efficiency is improved, and labor force is saved.

The utility model belongs to the technical field of plant slope protection, and relates to a plant slope protection water and soil conservation device which comprises a slope protection plate, water supply main pipes are connected to the outer sides of the two ends of the slope protection plate, water outlets are formed in one ends of the water supply main pipes, water distribution pipes are arranged at the tail ends of the water supply main pipes, main insertion columns are arranged at the bottoms of the water distribution pipes, and water injection openings are formed in the water distribution pipes. The bottom of the water supply main pipe is provided with a ground-inserted water outlet, the top of the water supply main pipe is provided with a connecting seat, the connecting seat is provided with a connecting chain, and the bottom of the connecting chain is provided with an inserting column. The main inserting columns and the sub-inserting columns are matched to form a three-dimensional anchoring grid, three-dimensional stability and layered irrigation of plants are achieved in combination with a slope protection plate splicing structure, the stability of the slope protection structure is improved, and meanwhile the modular assembly type water-saving and environment-friendly slope protection structure has the advantages of being assembled in a modular mode, high in terrain adaptability and the like.

This utility model belongs to the field of scaffolding technology, specifically relating to a foldable construction scaffold. It includes casters, retractable uprights, a lifting device, a ladder, and footboards. The lifting device is mounted on the retractable uprights, and includes a folding bracket, a drive cylinder, and a mounting plate. The mounting plate is fixed to the retractable uprights, and the folding bracket is mounted on the mounting plate. A drive cylinder and a limit rod are mounted at the bottom of the folding bracket. The telescopic end of the drive cylinder is connected to the limit rod, which is slidably mounted in a limit frame on the mounting plate. A footboard is connected to the top of the folding bracket, and a ladder is mounted on one side of the footboard. This utility model uses the drive cylinder to move the limit rod along the limit frame, causing the folding bracket to unfold or fold, thereby moving the retractable uprights and footboards along the direction of the retractable uprights, changing the height of the scaffold, and facilitating adjustment of the construction height as needed.

The application provides a multi-stage caterpillar swing arm type unmanned obstacle-crossing robot and an obstacle-crossing method, and relates to the technical field of robots.The multi-stage caterpillar swing arm type unmanned obstacle-crossing robot comprises a caterpillar chassis, a first swing arm, a second swing arm, a first driving mechanism and a second driving mechanism, the four corners of the caterpillar chassis are respectively provided with the first swing arm, each first swing arm is respectively connected with the second swing arm, the first driving mechanism is drivingly connected with the first swing arm, and the second driving mechanism is drivingly connected with the second swing arm; the caterpillar chassis comprises a third driving mechanism, a chassis structure and a first caterpillar arranged on both sides of the chassis structure, the two ends of the first caterpillar are respectively provided with a first driving wheel and a first driven wheel which are in meshing transmission with the first caterpillar, and the third driving mechanism is drivingly connected with the first driving wheel. Compared with the prior art, the multi-stage caterpillar swing arm type unmanned obstacle-crossing robot has better terrain adaptability and can meet different requirements of different working conditions.

The application discloses a control method, device and computer program product of an intelligent mobile terminal, wherein the method comprises: driving a first servo motor through a PID controller of the first servo motor to control the rotating speed and direction of a wheel; driving a second servo motor through a PID controller of the second servo motor to adjust the position of a carrying platform in a horizontal direction; and driving a third servo motor through a PID controller of the third servo motor to adjust the horizontal balance of the carrying platform; wherein the PID controllers of a plurality of first servo motors are connected in series to form a series PID control structure; the PID controller of the second servo motor is connected in parallel, and is connected in parallel with the PID controller of the third servo motor to form a parallel PID control structure. The application significantly improves the accurate controllability of a plurality of servo systems of the intelligent mobile terminal by innovatively applying a series-parallel PID control mode, and ensures the stable performance, maneuverability, flexibility and environmental adaptability of the intelligent mobile terminal under various motion modes.

This disclosure relates to the field of robotics, and more particularly to a method, apparatus, device, and storage medium for robot gait control based on monocular video, used to learn and deploy physically feasible, terrain-adaptive robot gait control strategies from monocular video. The robot gait control method includes: acquiring monocular video data and preprocessing it to obtain video segments in units of gait cycles; aligning and decomposing the segments into motion primitives to extract gait primitives; labeling each gait primitive with a corresponding terrain type; storing the labeled gait primitives in a gait library; reconstructing a three-dimensional posture sequence from the video segments; generating dynamic data including joint torques and foot forces through joint kinematic and dynamic optimization; mapping the dynamic data to an executable redirection trajectory for the robot using kinematic and dynamic feasibility as a hard constraint; matching gait primitives with corresponding terrain labels from the gait library based on terrain features extracted from the video segments; splicing the gait primitives according to the temporal requirements of the redirection trajectory to generate a gait reference sequence; validating the gait reference sequence in a digital twin simulation environment; and deploying the gait control strategy corresponding to the valid gait reference sequence to the robot.

The application discloses a spatial perception and multi-intensity gating residual precipitation forecast correction method and system based on deep learning, comprising: uniformly preprocessing grid precipitation forecast data, reanalysis precipitation true value data and original terrain data; performing targeted conversion, adaptive coding and fusion on multi-modal features affecting precipitation to construct a multi-modal prediction factor library; constructing a spatial perception and multi-intensity gating residual precipitation forecast correction model, training and verifying the model through multi-loss function collaborative optimization, and obtaining a trained model; optimizing model parameters, and performing inverse transformation and physical constraint on model output to obtain a precipitation forecast correction result; and based on the precipitation forecast correction result, taking global reanalysis precipitation true value data as a reference, evaluating the correction effect and verifying the effectiveness of the model. The application significantly improves the accuracy, spatiotemporal consistency and business applicability of precipitation forecast, and has important value for fine precipitation forecast.

The invention discloses a data acquisition device for mining area surface deformation monitoring and a working method thereof, and relates to the technical field of monitoring, the data acquisition device comprises an acquisition device main body, an acquisition frame is connected with a moving carriage through a lifting scheduling mechanism, the upper end of the moving carriage is provided with a tooth groove, and the front end of a moving frame is provided with a moving through hole; and the side wall of the moving through hole is connected with a jacking mechanism, the top end of the collector is fixedly connected with the lower end of the moving frame, and the two wind breaking frames are connected with the front end and the rear end of the moving frame through position adjusting mechanisms. The detection accuracy of the mining area earth surface is improved, meanwhile, whether the mining area earth surface deforms or not can be accurately monitored through the processing unit, wind breaking can be conducted through the wind breaking frame when the collector moves, wind resistance borne by the collector during moving is reduced, and the stability of the collector during moving is improved.

The invention discloses a multifunctional electric hoisting transfer trolley and an application method. The multifunctional electric hoisting transfer trolley comprises a transport trolley body, a cantilever crane and a clamping device. The transportation vehicle body comprises a vehicle frame, a driving walking structure and a shell, the driving walking structure is installed on the vehicle frame and drives the transportation vehicle body to walk, and the shell is fixedly installed on the vehicle frame and provides a supporting platform for the cantilever crane and the clamping device; the cantilever crane comprises a suspension arm assembly, a driving rotation structure and a suspension assembly, the driving rotation structure is fixedly installed on the shell and used for driving the suspension arm assembly to achieve bidirectional rotation, and the suspension assembly is installed on the suspension arm; the clamping device comprises a clamping base and a plurality of telescopic clamping arms installed on the clamping base, and the clamping device is installed on the shell. The device has the advantages that the production efficiency of ship corollary equipment can be improved, the device can be suitable for loading and transferring of various complex curved surface parts, and meanwhile the device has the hoisting and remote control functions.

The application discloses a cleaning robot control method, a cleaning robot, an apparatus, an equipment and a medium. The method comprises the following steps: acquiring target angle information, generating a first control command based on the target angle information, acquiring current angle information in a moving process, generating an error signal according to the current angle information and the target angle information, and generating a target speed adjustment instruction according to the error signal. The target speed adjustment instruction is used to adjust the relative speed of the first walking mechanism and the second walking mechanism to make the current angle tend to the target angle. The terrain adaptability of the cleaning robot can be improved, and the probability of being stuck when crossing the photovoltaic panel can be reduced.

The application relates to the technical field of agricultural irrigation vehicles, and provides a multifunctional agricultural irrigation vehicle convenient to adjust, which comprises an irrigation vehicle, an installation plate is fixedly installed on the upper end surface of the irrigation vehicle, a driver seat is arranged at the upper end of the installation plate, irrigation wing arms are installed on the installation plate and located at the two sides of the driver seat, and the two irrigation wing arms are movably installed on the installation plate through synchronous belt sliding rail assemblies. The utility model has the advantages that the terrain adaptability is obviously improved through the telescopic frame design, the wheel track adjusting function can match different crop planting modes with different ridge distances, the installation plate height is adjusted through the sliding cooperation of the telescopic vertical pipes and telescopic vertical rods, the irrigation vehicle is suitable for irrigation operation on crops with different heights, the irrigation width can be adjusted, the operation time is reduced, the efficiency is improved, the operator can complete the comprehensive regulation and control of walking, turning and coverage range in the driver seat, and the multifunctional farmland precision irrigation operation is realized.

The invention belongs to the technical field of bridge construction equipment, and particularly relates to a shoal steel trestle steel pipe pile foundation guide hole operation platform and a construction method.The shoal steel trestle steel pipe pile foundation guide hole operation platform comprises a platform body, four supporting legs and an automatic leveling system, the four supporting legs are located at the four corners of the bottom face of the platform body respectively and connected with the platform body, and the automatic leveling system is in linkage fit with the platform body and the supporting legs; the automatic leveling system can cope with platform inclination caused by natural factors such as tidal water scouring and stormy waves in real time, and can resist the influence of three-level stormy waves; meanwhile, due to the design of an anti-skid cover plate, a cable storage groove and the like of the platform, potential safety hazards in the construction process are further eliminated, and the safety of constructors and equipment is comprehensively guaranteed; the platform main body is designed by adopting high-strength steel, so that the bearing capacity is high, and various drilling machines can be adapted; a reserved hoisting interface and a reserved cable storage groove facilitate installation and arrangement of equipment, and construction convenience is improved; the whole platform is simple in structure, convenient to operate and easy to maintain, and has good application and popularization value.

The utility model relates to noise protection equipment technical field, specifically disclose a kind of spliced anti-falling sound barrier, including support rod, rolling ball, limit block and height adjusting part, the double limit of rolling ball is realized by trapezoidal block and rolling groove in limit block and utilizes the rolling effect of rolling ball to buffer, prevent sound barrier from falling;Adjacent limit block is fixed using screw rod, and quick splicing is realized;Scissor type telescopic stand is adjusted height in cooperation with guide slide, the design has the advantages of convenient installation, high stability, strong adaptability etc., is applicable to the place, such as road, bridge, and needs the place of noise reduction.

The application discloses a movable pry-mounted non-powered mine tunnel antimony-containing water gushing treatment system and method, the system comprises a plurality of warehouse bodies arranged side by side, and the warehouse bodies are sequentially a buffer homogenizing warehouse, a sedimentation warehouse, an adsorption treatment warehouse and a clean water buffer warehouse; the warehouse bodies are relatively arranged in an up-down sliding mode and are fixedly connected through a connecting rod located at the top; the method comprises the following steps: S1, preparation work; S2, hoisting and positioning; and S3, continuous water treatment; the system is integrally arranged in a standard container pry-mounted module, can be quickly deployed to any water gushing point accessible by road through road transportation, is driven by gravity generated by natural terrain difference throughout the journey, does not need external power supply and is perfectly suitable for mine areas without power supply.

The invention relates to a method for adjusting variable length and wheel track of a tractor, belongs to the field of individual load transportation, and solves the problem of poor overall stability of an existing tractor. The method comprises the following steps that S1, the wheel track of the tractor is adjusted; s2, the folding angle of the folding bearing unit is adjusted; and S3, the overall length of the tractor is adjusted. The tractor is suitable for different terrains and different heights of operators, the whole vehicle stability and the man-machine comfort level of the tractor are improved, meanwhile, the universality of the tractor is improved, and the application range and scene of the tractor are widened.

The utility model discloses an MPPT charging and discharging controller with low voltage input. The MPPT charging and discharging controller comprises a central controller, a charging module, a power supply module, a Bluetooth module, a power management module and a boost constant current module, different input terminals of the central controller are respectively connected to the charging module, the power supply module, the Bluetooth module, the power management module and the boost constant current module for data acquisition, and different output terminals of the central controller are respectively connected with control terminals of the charging module, the power supply module, the Bluetooth module, the power management module and the boost constant current module for data acquisition. And controlling the working mode of the module. A plurality of multi-bit analog-digital conversion channels are arranged in the central controller and used for executing analog-digital conversion on input signals detected by different input terminals of the central controller.

The utility model belongs to disc harrow piece field, concretely is a kind of combined adjustable disc harrow piece, including fixed ring, the outer wall of fixed ring is connected with first link block, the inside of first link block is equipped with fixed hole, the inner wall of fixed hole is provided with first nut, the outer wall of first nut is connected with first nut by thread;The utility model is by utilizing the characteristic of separation assembly, so that the device can be quickly disassembled and adjusted to the appropriate position according to circumstances, compared with the traditional fixed mode has higher flexibility, improves the topographic adaptability when working, improves the flexibility and operability of the device.