60results about How to "Improve working accuracy" patented technology

The invention belongs to the technical field of robot teleoperation and haptic interaction, and provides a multi-mode force feedback control method and system for nuclear facility robot operation, and the method comprises the steps: collecting the state information of a master arm and a slave arm in real time, and dynamically scheduling a haptic calculation strategy according to a task state; a fast estimation strategy is enabled in the fast transit mode. Further, real environment interaction force is obtained based on dynamic model compensation and net interaction force extraction; combining the dynamically selected multi-mode force feedback parameters, and synthesizing and outputting a touch instruction to the main arm. Meanwhile, admittance correction and feed-forward compensation are carried out on a slave arm motion instruction through net interaction force and dynamic internal force, synchronous output is carried out after safety optimization, and the slave arm is controlled to move. The problems of poor task adaptability, force sense distortion and insufficient safety in nuclear facility teleoperation are solved, and intelligent, high-fidelity and safe robot teleoperation is achieved.

The invention discloses a heavy object replacement positioning method based on machine vision and PLC control, and belongs to the technical field of heavy object replacement in high-altitude narrow space. According to the method, firstly, a calibrated 3D camera is used for collecting three-dimensional point clouds of stone pier bolt holes and weight hole positions, pose data are extracted through preprocessing and feature matching, and coordinate conversion is achieved through hand-eye calibration and transmitted to a PLC. And then the PLC analyzes rotation and translation parameters required by the weight according to a preset algorithm, controls the hydraulic cylinder and the linear module to adjust the pose of the weight, gradually completes rotation and X-axis and Y-axis movement, and achieves alignment of each hole site of the weight and a corresponding stone pier bolt hole. The device can realize automatic precision positioning of heavy object replacement in a high-altitude narrow environment, has the advantages of high precision, strong adaptability, safe and reliable operation and the like, and can effectively solve the problem of difficulty in manual alignment.

The invention provides a multi-physical field information enhanced perception method and system for an underwater robot. The method comprises the following steps: inputting perception data of the underwater robot into a multi-physical field information perception model comprising a feature extractor, an attention enhancement decoder and a multi-task prediction head; the feature extractor extracts real domain invariant features of the perceptual data, the attention enhancement decoder is used for performing attention enhancement on the real domain invariant features to obtain attention features, and the multitask prediction head determines a perceptual result based on the attention features. According to the method, a contact segmentation result, a force field reconstruction result and a three-dimensional shape sensing result can be synchronously output only based on sensing data of a single source through a unified multi-task sensing model architecture, so that the problems of single sensing dimension and multi-physical field information splitting of a sensor in the prior art are solved; by extracting real domain invariant features and performing attention enhancement, the environment perception ability and the operation precision in a complex underwater environment are significantly enhanced.

The invention discloses a variable-force pressing method and device of a seeder based on vision and sensor fusion. The method comprises the following steps: acquiring an earth surface soil image through an industrial camera, extracting soil structure characteristics, and constructing a multi-source information fusion model to calculate a target ballast force in combination with ballast force and soil water content information acquired by a pressure sensor and a humidity sensor; and through feedforward calculation of the electric push rod and PID closed-loop control, self-adaptive adjustment of the ballast force is realized. And meanwhile, a model optimization and self-learning mechanism is introduced, so that the accuracy and adaptability of ballast force adjustment are improved. The matched device comprises a rack, a press wheel, an electric push rod, a camera, a pressure sensor, a humidity sensor and other structures, and the problems that an existing seeder press device is insufficient in press force adjusting precision and low in intelligent level are solved. The pressing force can be adjusted in a self-adaptive mode according to different soil conditions, the soil pressing uniformity and the sowing quality are improved, and the device is suitable for intelligent pressing operation of agricultural machines such as a sowing machine.

This invention provides an active, compliant end-effector and its control method for laying insulating boards. The end-effector includes a robotic arm connection base, a six-dimensional force sensor, a two-dimensional orthogonal movement platform, and a vacuum sponge suction cup adsorption mechanism. The six-dimensional force sensor is installed below the end flange of the robotic arm and is used to measure the force and torque of the gripper end in three-dimensional space in real time and with precision. The two-dimensional orthogonal movement platform includes X-axis and Y-axis movement units. This end-effector, through mechanical decoupling design and force sensing information fusion control, endows the robotic arm with a high degree of environmental adaptability. By automatically compensating for assembly path errors and adapting to changes in the shape and position of the workpiece and surface in real time, it completes the laying operation with compliant and controllable force. This fundamentally solves the problems of inaccurate alignment, uneven pressing, and damage caused by excessive local stress in traditional laying methods, significantly improving the automation level of insulating board laying and possessing good engineering application value.

The invention relates to an orchard intelligent control power platform multi-power output cooperative control system and method, and the system comprises a power chassis, a vehicle speed sensor, a vehicle control unit, a navigation system, a mechanical output system, a hydraulic output system, an electric power output system, and a machine tool sensor communication port. A communication port of a machine tool is in butt joint with a communication port of a machine tool sensor, and a vehicle control unit automatically recognizes the type of the machine tool according to the communication port of the machine tool sensor, calls a corresponding operation parameter control program in the machine tool and controls the machine tool. The operation parameter control program comprises a mechanical rotating speed program, a hydraulic oil flow size program, a power supply electric quantity size program, a running speed program, a running path program and a machine tool hanging lifting device height program. The whole vehicle controller automatically matches and adopts different operation parameter control programs according to different hung machines and tools, and the orchard intelligent control power platform drives the hung machines and tools to efficiently and accurately operate.

The utility model provides a portable ground detecting instrument, which belongs to the technical field of meteorological equipment, and comprises a base, a fixed ground anchor, a ground sensor, a wireless communication module and a power supply module, the structural frame is fixedly arranged on the base, the structural frame comprises beam rods which are annularly distributed, and threads are arranged on the beam rods; the lifting platform is arranged on the structural frame in a sleeving manner; the driving motor is installed on the lifting platform, the outer side of the driving end of the driving motor is sleeved with a threaded ring, and the threaded ring is connected with the beam rod in a threaded fit mode; the clamping ring comprises a butt joint piece connected with the driving motor and a first butt joint port connected with the butt joint piece; the sampling pipe comprises a first pipe body, a drill bit arranged at the lower end of the first pipe body and a second butt joint port arranged at the upper end of the first pipe body. The requirement for water content detection during surface soil layer sampling can be met.

This application discloses a method and system for planning the hoisting trajectory of a UAV based on industrial vision, relating to the field of UAV technology. The planning method includes the following steps: S1: Real-time acquisition of image data of the hoisting scene using industrial vision equipment; S2: Identification of obstacles, target placement area, and the position and shape information of the hoisted object from the preprocessed image; S3: Establishment of a dynamic model of the UAV-hoisted object system based on the information acquired by industrial vision; S4: Construction of a multi-constraint trajectory optimization objective function based on the dynamic model of the UAV-hoisted object system; S5: Generation of an initial hoisting trajectory; S6: Output of the final UAV hoisting trajectory. This method and system for planning the hoisting trajectory of a UAV based on industrial vision uses industrial vision equipment to acquire environmental information in real time, enabling timely perception of changes in the position of obstacles and targets in the dynamic environment, thus improving the adaptability of trajectory planning to the dynamic environment.

The utility model discloses a slide rail type adjustable forklift seat in the technical field of forklifts, which comprises a hood and an assembly part arranged above the hood, a seat cushion is arranged on the assembly part, a sliding part is arranged at the bottom of the assembly part along the transverse direction, a sliding matching part corresponding to the sliding part is arranged on the hood, a locking part is arranged on one side of the assembly part, and the locking part is arranged on the other side of the assembly part. And when the locking piece is embedded into the hood, the sliding component and the sliding matching piece are relatively fixed. The forklift seat is a transverse sliding rail type seat, after the sliding part below the assembly part is transversely moved in place along the sliding matching part, the locking part is embedded into the machine cover, positioning installation of the cushion on the assembly part can be completed, the assembly part and the cushion can be moved or detached by pulling the locking part out of the machine cover, and the forklift seat is convenient to use. The convenience of mounting and maintaining the forklift seat is improved, and after the cushion is transversely adjusted, the view can be prevented from being shielded by a steering wheel and a portal.

The utility model discloses a full intelligent unloading machine belongs to transfer equipment technical field, a full intelligent unloading machine, including the chassis, the both ends of chassis are fixedly installed with front mounting seat and rear mounting seat, the both ends position of front mounting seat bottom are fixedly installed with universal wheel, the bottom rotatory mounting of rear mounting seat has the rotating shaft, the both ends of rotating shaft are fixedly connected with drive wheel, the top of rear mounting seat is installed with servo motor, it can effectively solve the existing workpiece transfer process over-reliance on manual operation leads to the problem, such as high labor cost, low efficiency, great labor intensity and existence security risk, through integrated automation drive, lifting, grabbing, rotating and leveling function, realize workpiece from the storage location to the target position full process intelligent transfer, reduce manual intervention, promote the transfer efficiency and safety, satisfy modernization production to efficient, accurate operation demand.

This application relates to the field of lawnmower robot technology, and provides a lawnmower robot control system, control method, and lawnmower robot. The system includes: a bidirectional drive component, a bidirectional sensing component, and a controller; wherein the controller is connected to both the bidirectional drive component and the bidirectional sensing component for monitoring real-time positioning and environmental data, and determines whether to switch to reverse driving based on the real-time positioning or the environmental data; if reverse driving is determined, a first control command and a second control command are sent to the bidirectional drive component and the bidirectional sensing component respectively to switch to reverse driving, thus avoiding frequent U-turns and autonomous exiting narrow passages during lawnmower operations.

The utility model relates to robot arm technical field, and disclose an intelligent robot arm of extension, include: work support platform, steering support platform, support mechanical arm no.

The invention discloses a distribution network uninterruptible operation robot, and relates to the field of distribution network robots, the distribution network uninterruptible operation robot comprises a hydraulic lifting frame and an electrical cabinet fixedly connected with the top end of the hydraulic lifting frame, the top of a supporting block is fixedly connected with a supporting block, the side wall of the supporting block is fixedly connected with a first mounting block, and the inner side of the first mounting block is provided with a rotating mechanism. The driving motor drives the first rotating rod to rotate so as to drive the first rotating plate to rotate, the first rotating plate slides in the stress groove through the second driving rod, acts on the second rotating plate and enables the second rotating plate to rotate, and the design of the stress groove determines the sliding angle and the rotating amplitude, so that the rotating angle of the second rotating rod is accurately controlled; the direction and posture of the operation mechanical arm are affected, accurate operation adjustment is achieved, the hydraulic lifting frame controls the electrical box to ascend and descend through hydraulic drive, a high-altitude power grid is conveniently overhauled, the operation efficiency and flexibility are improved through precise power transmission and a linkage mechanism, and the safety and reliability of high-altitude operation are guaranteed.

The invention belongs to the technical field of transfer, and particularly discloses a multi-layer goods automatic transfer mechanical device for a goods shelf, which comprises the goods shelf and two groups of suspension brackets symmetrically and fixedly mounted in the goods shelf, a guide rail bracket is fixedly arranged outside one side of the goods shelf, and the guide rail bracket is connected with a sliding frame through a transverse driving mechanism arranged at the upper part in the guide rail bracket; the sliding frame is connected with a supporting table through a lifting mechanism arranged on the upper portion of the interior of the sliding frame, the supporting table is connected with a loading and transporting table through a telescopic mechanism arranged on the upper surface of the supporting table, and the two sides of one end of the loading and transporting table extend downwards to form extending blocks. A self-adaptive protective barrier is formed through the blocking and protecting mechanism, accurate position correction is conducted through the correction plate, the problems that existing equipment is low in operation efficiency, poor in stability and prone to falling in the narrow goods shelf environment are effectively solved, and the device has the advantages of being compact in structure, stable in operation and high in safety.

The invention provides a movable cotton spinning manipulator for the intelligent manufacturing equipment industry, which relates to the technical field of manipulators and comprises a connecting seat, a driving mechanism, a guide groove, a movable seat, a grabbing mechanism and a side grabbing mechanism. The device has the advantages of being reasonable and simple in structure, low in production cost, convenient to install and complete in function, the distance between the two grabbing mechanisms can be adjusted through a specific driving structure, the device can meet the requirement for grabbing cotton textile materials with different widths, grabbing assemblies do not need to be frequently replaced or parameters do not need to be manually adjusted, and the continuous operation efficiency of a production line is effectively improved; according to the side grabbing mechanism, a double grabbing mode combining main grabbing and side grabbing is adopted, after main grabbing of the two sides of a material is completed, auxiliary reinforcing can be conducted on the front side and the rear side of the material through the side grabbing mechanism, and the grabbing stability of light, thin, soft and other cotton textile materials prone to sliding off is remarkably improved; and loss and equipment jamming faults caused by material deviation and falling in the transfer process are reduced.

The application discloses a fine metal mask TPCD detection equipment, including base, discharge platform, truss, discharge mechanism, parallel robot, detection platform, Y direction air float module and detection mechanism. The base is provided with X direction material conveying module on the left and right sides, X direction air float module is arranged on the left and right ends of the top of the base, and X direction detection module is arranged at the middle position of the top of the base; the discharge platform is arranged on the front side of the base, Z direction discharge module is arranged on the left and right ends of the top of the discharge platform; the truss is slidably connected with the X direction material conveying module; the discharge mechanism is slidably connected with the Z direction discharge module and comprises a plurality of drawer type upper and lower stacked and arranged material trays; the parallel robot is installed on the truss in parallel on the left and right sides; the detection platform is slidably connected with the X direction detection module; the Y direction air float module is slidably connected with the X direction air float module; and the detection mechanism is slidably connected with the Y direction air float module. The application provides a TPCD detection equipment with flexible material management, high-speed and high-precision conveying and multi-size FMM product compatibility.

The utility model relates to the technical field of agricultural machinery, and discloses a multi-station lifting bar type hayrake which comprises a traction rotation support and a traction beam connected to the traction rotation support, a connecting support is arranged at the other end of the traction beam, telescopic frames are arranged at the two ends of the connecting support respectively, and positioning supports are arranged on the telescopic frames. A swing support is hinged to the positioning supports, a hay raking device is arranged on the swing support, a swing driving mechanism capable of driving the swing support to swing at the angle larger than or equal to 90 degrees is installed on the positioning support on at least one side, and the swing support can swing at the angle larger than or equal to 90 degrees by arranging the swing driving mechanism. The hay raking devices are controlled to break through the angle limitation (generally smaller than 90 degrees) of a traditional hay raking machine, the hay raking devices on the two sides can conduct tedding operation at the same time, the requirement for synchronous treatment of multi-ridge pasture is met, the operation efficiency is remarkably improved, meanwhile, the multi-station switching function adapts to different terrains and operation modes, and the equipment application range is further expanded.

This application relates to the field of agricultural mechanization and intelligent control technology, and discloses a method for collaborative operation of multiple agricultural machines based on a vertical domain large model. The method includes: a central controller receiving multi-source sensing data uploaded by onboard controllers, fusing and constructing a vertical domain knowledge graph and generating a load distribution prediction model, and issuing an initial collaborative path accordingly; each onboard controller collecting attitude data to calculate deviations, correcting parameters and uploading them if they exceed a threshold, and generating an optimized collaborative path; the central controller receiving torque values ​​to calculate the resultant torque distribution, determining the lever arm length distribution, analyzing the center of gravity offset in conjunction with the weight of the agricultural machinery, and issuing commands to adjust the relative posture of the agricultural machinery under high loads; each onboard controller monitoring hydraulic pressure, fine-tuning actuator resistance and uploading stability parameters if it exceeds the range; the central controller evaluating durability indicators based on historical data, and updating the collaborative path by fusing real-time data when the indicators are too low, obtaining the final solution. This application improves the accuracy of collaborative operation of multiple agricultural machines in complex terrain.

This invention discloses a real-time control method and system for a forklift mobile robot based on hierarchical collaboration, belonging to the field of robot real-time control technology. By constructing a hierarchical architecture of an execution layer vehicle control unit and a perception layer perception computing unit, it acquires data such as driving speed, steering angle, lifting displacement, environmental friction coefficient, pallet boundary, and the opening width of the pallet for fork insertion, forming a data alignment set. Based on this, a control-perception coupling mapping relationship is established, generating a state constraint domain and a real-time amplification factor matrix. A unified prediction model is constructed for trajectory prediction to obtain an initial control sequence. Further, a closed-loop control sequence is formed through rolling correction, and parameters are dynamically updated based on execution errors to form an adaptive correction amount and feedback iteration until the error meets the threshold, outputting a stable control result. This invention can improve the control accuracy and stability of forklift mobile robots under complex working conditions.

The application is suitable for the field of automation equipment, and provides a pressure self-adaptive flexible gripping mechanical arm for desert tree planting, which is a three-section column modular structure, is composed of a light-weight protective guide rail, a multi-degree-of-freedom modular mechanical arm and a pressure self-adaptive flexible mechanical claw connected coaxially in sequence, and each unit is detachably connected through quick-change pin shafts.The light-weight protective guide rail realizes dust prevention by using built-in slide rails and upper cleaning micro-holes; the multi-degree-of-freedom modular mechanical arm realizes light weight and high rigidity by using hollow transmission rods and triangular reinforcing rib supports; the pressure self-adaptive flexible mechanical claw realizes lossless and stable gripping of irregular sand willow seedlings by using an asymmetric arc envelope structure matched with a thin film type force sensor closed loop control; and a posture compensation mechanism is further arranged to ensure that the seedlings are vertically planted into the soil.The application solves the problems of easy jamming of the kinematic pair in the desert windy and sandy environment, difficulty in field maintenance, damage and tilting planting of the seedlings, and improves the operation reliability and the survival rate of the seedlings.

The application discloses a wind turbine nacelle mechanical arm high-precision adaptive control method, device, equipment, medium and product suitable for a rocking base, relates to the offshore wind power technical field, and the method comprises the following steps: obtaining acceleration data, temperature data and current data; the acceleration data is subjected to frequency domain analysis and filter separation treatment, and disturbance acceleration is obtained; inertia disturbance torque corresponding to each joint is determined based on the disturbance acceleration; the inertia disturbance torque is converted into corresponding compensation current values, and the compensation current values are superimposed into the driving current of the corresponding joint to obtain the driving instruction after compensation; the actual length of the connecting rod is obtained by operating based on the temperature data, the current data, the connecting rod material parameters and the reference temperature, and the kinematics parameters of the mechanical arm are updated based on the actual length of the connecting rod to obtain the corrected kinematics model; the driving instruction of each joint is generated based on the driving instruction after compensation and the corrected kinematics model. The method can effectively improve the operation precision of the mechanical arm under the rocking working condition.

The application discloses a kind of intelligent agricultural spraying irrigation device and irrigation method, belong to intelligent agricultural technical field.The device includes mobile bearing platform, multi-modal perception system, intelligent decision control unit and variable spraying execution system, the multi-modal perception system includes crown layer imaging unit, root zone sensing unit and micro weather station, respectively for gathering crop crown layer spectrum and temperature information, root zone soil moisture and nutrient information and microclimate information;Intelligent decision control unit is configured edge computing host, and multi-modal information is fused to generate dynamic variable operation prescription chart including water requirement, fertilizer requirement and drug requirement;Variable spraying execution system includes spray bar, array arrangement intelligent nozzle unit and independent multi-channel liquid supply system.The application realizes the accurate variable application of water, fertilizer and pesticide and closed-loop feedback control, improves the intelligent level and resource utilization efficiency of agricultural spraying irrigation.

The present application relates to a multifunctional multi-suspension-point gantry crane, through the design of four winch mechanisms symmetrically arranged on the left and right sides and a movable trolley, flexible configuration and dynamic adjustment of the suspension points are realized, the needs of complex hoisting tasks are adapted, and the operation efficiency and precision are significantly improved; the second guide pulley is detachably connected with the rectangular frame through the first locking device, and cooperates with the second locking device of the movable trolley, so that the second guide pulley can be quickly locked on the movable trolley after being unlocked, seamless switching of the position of the second guide pulley is realized, the equipment function is expanded, and manual intervention is reduced; the second locking device completes the fixing of the second guide pulley at the same time when the first locking device is unlocked, the operation process is simplified, the risk of misoperation is reduced, and the safety and stability of the hoisting process are ensured; the linkage design of the movable trolley and the second guide pulley avoids the redundant space occupation caused by the fixed structure of the traditional gantry crane, and is especially suitable for hoisting operations in narrow or complex sites.

The application provides an automatic telescopic dynamic self-balancing intelligent control system and method, and belongs to the technical field of intelligent control. In view of the problems of poor coordination, response lag and weak working condition adaptation ability of the existing automatic telescopic operation equipment, the system comprises a sensing module, a control module, an execution module, a communication module and an alarm module. The control module adopts a multi-loop program controller, constructs a multivariable collaborative control loop and is internally provided with an adaptive adjustment algorithm. The corresponding method realizes the synchronous control of equipment telescoping and balancing through parameter initialization, real-time parameter acquisition, collaborative instruction generation, dynamic adaptive adjustment, abnormal monitoring and reset process. The application improves the equipment control precision, response speed and running stability, and adapts to the application requirements of various telescopic operation equipment.

This invention discloses an outdoor environmental monitoring device and its monitoring method, relating to the field of outdoor environmental monitoring and processing technology. It includes a directional atomizing device G, comprising a housing with a fan fixed to its outer wall. The housing contains an atomizing nozzle, a corona needle, and a magnetic pole at opposite ends. The housing, the converging and expanding flow channels constrain the droplet movement flow field, preventing non-target drift, and simultaneously providing a closed environment for the formation of electric and magnetic fields, ensuring effective charging and directional transport. Employing atomizing components, a discharge component, and a magnetic pole component, based on the synergistic effect of "electric force + magnetic force + airflow thrust," it achieves uniform charging and stable directional transport of droplets, overcoming the shortcomings of uneven charging and poor target targeting in existing technologies, and improving droplet utilization and operational accuracy.

This utility model discloses a hook-unhooking robot vehicle and its layout structure, including a driving platform, a hook-unhooking device, a speed-coordination device, and a status data generation, acquisition, processing, and transmission device. The driving platform includes a wheel assembly and a platform main frame connected above the wheel assembly. The hook-unhooking device, speed-coordination device, and status data generation, acquisition, processing, and transmission device are all mounted on the platform main frame. The hook-unhooking device is used to grip the hooking rod and perform the hook-unhooking operation. The speed-coordination device is used to enable the hook-unhooking robot vehicle to travel at the same speed as the truck. The status data generation, acquisition, processing, and transmission device is used to acquire, process, and transmit the status data generated by the hook-unhooking robot vehicle and receive control commands to realize the autonomous driving and operation control of the hook-unhooking robot vehicle. The wheel assembly includes a vehicle track, track wheels set on the vehicle track and connected to the lower part of the platform main frame, and a drive transmission device.

The present application relates to production equipment, and provides a production system, which comprises an industrial robot, an AGV body loaded with a workpiece, an AGV scheduling module and a control module, the AGV scheduling module is configured to obtain a deviation signal of the AGV body relative to a work station, so as to control the AGV body to perform pose transformation relative to the work station; the control module is in communication connection with the industrial robot, the AGV body and the AGV scheduling module, and the control module is configured to control the AGV body to perform pose transformation relative to the work station according to the distribution of work points on the workpiece in the work area of the industrial robot, so as to transform the work points in the non-workable domain of the industrial robot to the workable domain of the industrial robot. The present application further provides an AGV pose transformation method and an automated production line. The AGV pose transformation station of the present application ensures the work accessibility of the industrial robot and improves the work precision.

The utility model discloses a feeding mechanism for manufacturing an enamel two-dimensional code cover piece of liquefied petroleum gas, and aims to provide the feeding mechanism for manufacturing the enamel two-dimensional code cover piece of the liquefied petroleum gas, which can improve the feeding efficiency. The device comprises a material storage bin assembly, the material storage bin assembly is connected with a vibration disc, and the vibration disc is connected with a material turning rail; the material receiving support is arranged on the side edge of the vibration disc, the material receiving support is movably connected with a material discharging plate, and the material discharging plate is provided with a plurality of feeding holes; the discharging plate is detachably connected with one end of the moving plate, the receiving support is connected with a driving mechanism, and the driving mechanism is connected with the moving plate; the limiting baffle is connected with the material receiving support, and the limiting baffle and the material overturning track are oppositely arranged; and the limiting seat is detachably connected with the material receiving support, the other end of the movable plate is detachably connected with a guide strip, and the guide strip is slidably connected with the limiting seat. The feeding device has the beneficial effects that the feeding conveying efficiency and the feeding precision are improved; high-strength batch feeding is achieved, and the production efficiency is improved.

This application relates to the field of underwater robot control technology, and in particular to a remote control method and system for an underwater rust removal robot. The method includes: the underwater rust removal robot receiving high-level task commands; the underwater rust removal robot collecting water environment parameters in real time and inputting them into a preset reinforcement learning decision model while moving towards the target work area, matching the optimal communication mode; the underwater rust removal robot dynamically correcting the confidence weights of each sensor in the extended Kalman filter using an evolutionary optimization algorithm, and outputting real-time global perception fusion data; the underwater rust removal robot generating a rust removal trajectory through a hybrid path algorithm combining global planning and local dynamic obstacle avoidance; and when the underwater rust removal robot identifies uncertain and complex working conditions, it sends an intervention request through the matched optimal communication mode, replans the work path, and continues to execute the rust removal operation. This application helps improve the safety and accuracy of remote operation of underwater rust removal robots.

The utility model discloses a compound seeding machine relates to seeding machine technical field, including base, power, power installation is used for providing electric power on base, the top one side of base is equipped with first sliding slot, second sliding slot, the same sliding frame is equipped in the sliding of first sliding slot and second sliding slot, be equipped with the drive mechanism of drive sliding frame movement between first sliding slot and second sliding slot on base, the lower end of first sliding slot is connected with punching mechanism to sliding frame, the lower end of second sliding slot is connected with seeding mechanism to sliding frame, the both sides of base are all pivotally connected with the wheel. The utility model discloses through the lateral movement accurate coordination of sliding frame punch and sowing position, combines automatic punching, ration seeding and the continuous operation of soil leveling, effectively solved the traditional seeding machine alignment error problem, significantly improved the operation accuracy, cooperativity and efficiency.