169results about How to "Improve working accuracy" patented technology

The invention provides an excavator control method and system oriented to non-structural working conditions. According to the excavator control method and system oriented to the non-structural working condition, on one hand, according to the dynamic remodeling characteristic of earthwork in the excavation process, the excavation action track is planned through the earthwork state obtaining model and the excavation action planning model, the excavator control method and system can adapt to the non-structural working condition, and it is ensured that the operation effect is stable; on the second aspect, through real-time sensing and data feedback, the excavation action track can be adjusted in real time in the operation process, optimization is conducted according to the earthwork state, and the operation flexibility and effect can be improved; thirdly, by autonomously planning an excavation action track, the dependence on a manual operator can be reduced, the requirement of manual intervention is reduced, and the autonomous operation capability is improved; and fourthly, the mining action track is optimized through the mining action planning model, so that the energy consumption in the mining process can be reduced, the operation efficiency can be improved, and the operation cost can be reduced.

The invention discloses a bolt fastening device and positioning method for a wind power tower. The device comprises a rack, a power unit, a positioning unit and a fastening unit, wherein the power unit, the positioning unit and the fastening unit are arranged on the rack; the power unit comprises a magnetic wheel and a driver, and the driver can drive the magnetic wheel to rotate; the positioning unit comprises a laser sensor, and the laser sensor can position the bolt position and the nut angle; the fastening unit comprises a lifting assembly and a rotating assembly, the lifting assembly comprises a sliding block and a second driver, and the second driver can drive the sliding block to ascend or descend; the rotating assembly comprises a base, a sleeve, a hydraulic wrench and a third driver, the base is fixedly connected with the sliding block, the sleeve is rotatably arranged on the base, and the third driver can drive the sleeve to rotate. According to the wind power tower drum, after the position of the bolt and the angle of the nut are recognized through the sensor, the actions such as automatic alignment and screwing of the sleeve can be achieved, the action precision is high, the labor cost is greatly reduced, and the working efficiency is improved.

The invention provides an industrial-grade heavy-load humanoid robot arm, a double-arm system and a humanoid robot, and belongs to the technical field of robots. The industrial-grade heavy-load humanoid robot arm comprises a first driving joint, a second driving joint, a third driving joint, a fourth driving joint, a fifth driving joint, a sixth driving joint and a seventh driving joint; the mounting parts comprise a first mounting part, a second mounting part, a third mounting part, a fourth mounting part, a fifth mounting part, a sixth mounting part, a six-dimensional force sensor and an end effector; according to the double-arm system and the humanoid robot composed of the double-arm system, the joints and the installation parts are separated and connected in sequence, modular design can be achieved, and maintenance and upgrading are convenient, a single arm has seven degrees of freedom, complex motion trail and posture adjustment can be achieved in a three-dimensional space, and meanwhile, the robot is convenient to use. The loading and working capacity of the arm is greatly improved, the space of a driving mechanism is reduced, and the running speed during action execution is increased.

The utility model discloses a cathode roller on-line copper ring turning tool device which comprises a supporting frame, a positioning block and a positioning frame are arranged above the supporting frame, a connecting frame is arranged on the positioning frame, a lead screw mechanism module is fixed on an installation plane of the connecting frame, and the lead screw mechanism module comprises a module base, a lead screw, a sliding block and a handle. A turning tool rest mechanism is fixedly arranged on the lead screw mechanism module and comprises a dovetail guide rail, a double-lug handle with a lead screw and a turning tool clamp. According to the utility model, the bearing seat of the roller grinding machine is used for fixing and positioning, the positioning mechanism, the screw rod mechanism, the turning tool rest mechanism, the bearing mechanism and the like are integrated, and the characteristic that the cathode roller can rotate at a constant speed and a constant speed is utilized, so that manual grinding of copper rings is upgraded to turning tool turning operation, the labor intensity is greatly reduced, and the production efficiency is improved. And the surface roundness, straightness and roughness of the coped copper ring are guaranteed, and then the technical effects of reducing safety risks, reducing labor cost and improving working efficiency and operation precision are achieved.

The invention discloses a self-adaptive positioning method and device, equipment and a storage medium, and relates to the technical field of unmanned equipment. According to the technical scheme provided by the invention, the method comprises the steps: determining the convergence condition of a precise point positioning mode according to the task precision of mobile equipment and / or the convergence speed of the precise point positioning mode; after a positioning system of the mobile equipment is powered on, first position information of the mobile equipment is solved in a self-differential positioning mode, and second position information of the mobile equipment is solved in a precise single-point positioning mode; under the condition that the second position information does not meet the convergence condition, determining that the first position information is target position information of the mobile equipment; and under the condition that the second position information meets the convergence condition, determining target position information of the mobile equipment based on the second position information. Through the technical means, the convergence efficiency and the convergence precision of the positioning system can be balanced by adjusting the convergence condition, so that the operation precision of the mobile equipment is improved.

The invention relates to the field of live-line maintenance equipment, and discloses a self-walking insulating lifting platform capable of adapting to various road sections, comprising mounting adaptation mechanisms which are positioned at four side ends of a fixed frame and are used for adapting to the mounting of a lifting structure; the buffering and damping mechanism is located on the installation adaptation mechanism and matched with the chaining base and the fixing plate to be used for relieving vibration of the lifting platform structure. The concentrated heat absorption mechanism is located on the fixing frame and used for absorbing and relieving heat of the lifting platform driving element. The hydraulic system, the linkage frame, the clamp spring and other structures are reasonably designed, and stable operation of equipment in the operation process is ensured. The technology greatly improves the reliability and durability of the equipment in long-time and high-frequency operation, and the design of the equipment fully considers the safety of emergency power maintenance personnel. Meanwhile, a plurality of independent control systems and buffering and damping mechanisms ensure that potential risks to operators and equipment can be reduced to the maximum extent in the moving and operating process of the equipment.

The invention discloses a method and a device for positioning in-canopy visual touch fusion safe movement of a rigid-flexible hybrid mechanical arm. The method comprises the following steps of: dividing various heterogeneous objects in a fruit tree canopy into avoidance targets and compliance targets; for an avoidance target, the dynamic characteristics of the avoidance target are used as obstacles, and a dynamic path is planned, so that the rigid-flexible hybrid mechanical arm strictly avoids the target; for a compliance target, the rigid-flexible hybrid mechanical arm goes deep into a fruit tree canopy and makes contact with the compliance target, integrated joint tension / tension obtained by tension / tension sensors on the flexible arm and corresponding integrated joint theoretical tension / tension are used for making difference, error signals are generated, feedback adjustment is conducted on the error signals of the driving rope, and then the compliance target is obtained by controlling a tension / tension disc type motor. And the rope length of the driving rope is dynamically adjusted, the flexible arm is driven to generate a dynamic bending deformation angle, and the flexible and smooth movement of the rigid-flexible hybrid mechanical arm when the rigid-flexible hybrid mechanical arm makes contact with a compliant target is achieved. The method is widely suitable for autonomous continuous planning of the rigid-flexible hybrid mechanical arm in various fruit tree complex canopy scenes.

The invention discloses an automatic rolling forming counting device, and aims to provide an automatic rolling forming counting device capable of improving the processing efficiency and realizing workpiece management. The automatic rounding machine comprises an operation table, the operation table is provided with a discharging groove, the discharging groove is connected with a counting and collecting assembly, the operation table is sequentially connected with a rounding assembly, a feeding assembly and a limiting assembly around the discharging groove, a discharging plate is arranged below the rounding assembly, the feeding assembly comprises an automatic feeding plate and an arrangement push table, and the automatic feeding plate is connected with the operation table in a lifting mode. The sorting push table is movably connected with the operation table, the sorting push table is movably connected with the automatic feeding plate, the rounding assembly comprises a supporting roller and a rounding disc, the counting and collecting assembly comprises a sensor, a collecting guide plate and a collecting frame, and the operation table is provided with a discharging channel and a collecting groove. The device has the beneficial effects that the workpiece machining efficiency is improved; automatic counting management of workpieces is realized; the functionality of the device is enhanced; the device has high automation degree; operation is smooth and efficient, and continuous machining and production of batch workpieces are facilitated.

The present invention discloses an integrated automatic film peeling device, comprising a frame and an annular conveying track arranged on the frame, wherein a plurality of jigs for placing workpieces are arranged on the annular conveying track; a workpiece loading station, a workpiece protective film angle starting station, a workpiece protective film stripping station, a workpiece cleaning station, a workpiece double-sided adhesive sticking station, a double-sided adhesive protective film angle starting station, a double-sided adhesive protective film stripping station and a material unloading station are arranged in sequence along the annular conveying track; and a workpiece loading device, a workpiece protective film angle starting device, a workpiece protective film stripping device, a workpiece cleaning device, a workpiece double-sided adhesive sticking device, a double-sided adhesive protective film angle starting device, a double-sided adhesive protective film stripping device and a material unloading device are arranged in sequence corresponding to each station on the frame. The device realizes integrated fully automatic operation, eliminates repeated loading and unloading and material turnover in traditional technology, has a high degree of automation, can better meet the requirements of accurate workpiece delivery, and is conducive to improving operation accuracy and quality.

The invention relates to the technical field of casting, in particular to a casting device for forging a lining plate, which comprises a lower mold box, an upper mold box and a limiting rod, the lower mold box and the upper mold box are filled with molding sand, a plurality of mold cavities are linearly arrayed in the molding sand, a material box is arranged above the upper mold box, the material box is fixed on a supporting plate in a suspended manner, and the limiting rod is arranged on the upper mold box. An electric sliding rail is laid on the supporting plate, the lower mold box is slidably installed on the electric sliding rail, the electric sliding rail is electrically connected with a control system, a threaded rod is rotated, the side face of an arc-shaped sliding block can drive an abutting flow control push plate to slide and adjust the length of the portion, extending out of the side face of a material guide rod, of the flow control push plate, and an electric telescopic rod shrinks. The flow control baffles and the discharging sliding plate fixedly connected with the flow control baffles are pushed to slide, the movement distance of the flow control baffles controls the area of gaps among the four flow control baffles to achieve flow control, and finally it is guaranteed that the pouring speed is stable.

The invention provides a high-altitude vertical face operation mechanism. The high-altitude vertical face operation mechanism comprises a long rod, an execution piece arranged at one end of the long rod, an adjusting assembly arranged in the middle of the long rod, an electric control box arranged at the other end of the long rod and a self-adaptive section connected between the long rod and the execution piece. The execution part is used for performing contact operation on a high-altitude vertical face; the self-adaptive section can be passively deformed so as to buffer the stress at the moment when the execution piece is in contact with the high-altitude vertical face, and the pose of the execution piece relative to the long rod can be changed, so that the execution piece is at an angle adaptive to the high-altitude vertical face; the self-adaptive section is arranged between the long rod and the execution piece, so that the high-altitude vertical face operation mechanism is in flexible contact with the high-altitude vertical face, violent collision between the high-altitude operation device and the high-altitude vertical face is effectively avoided, the high-altitude operation device can operate stably, and the flexible deformation of the flexible side wall is achieved. And the execution piece can adaptively change the pose relative to the long rod.

The invention relates to a method for repairing hidden dangers of a power transmission line, and the method achieves the precise repair of the hidden dangers of the power transmission line through constructing a basic generalization robot motion model based on deep learning, and combining the three-dimensional point cloud data of the power transmission line collected by an unmanned plane and the fine-grained operation data of remote teaching. The model outputs an angle attitude matrix of an operation robotic arm by inputting hidden danger point cloud data, and predicts the angle attitude matrix according to the hidden danger point cloud data at the current moment when wind exists. The motion decision at the last moment is obtained, self-adaptive compensation is carried out in combination with the pose offset, the motion track of the robotic arm is optimized, and high-precision execution of the robot in the complex dynamic environment is ensured. Through the unstructured dynamic scene transfer learning and self-adaptive motion compensation technology, full-autonomous and high-precision hidden danger repairing operation of the robot under the wind disaster condition is achieved, and the autonomy and execution efficiency of the robot in the complex environment are remarkably improved.

The down-the-hole drill comprises an execution end, a controller, a cab operating system and a remote controller, the execution end comprises a crawler-type walking vehicle, the crawler-type walking vehicle is connected with a propelling beam mechanism through a mechanical arm, the controller is installed on the crawler-type walking vehicle, and the cab operating system is connected with the remote controller. The crawler-type walking vehicle, the mechanical arm and the propelling beam mechanism are all controlled by the controller, the cab operating system is integrated in a cab of the crawler-type walking vehicle, operation of the execution end can be manually controlled near the ground by operating the cab operating system, and remote control over the execution end can be achieved by operating the remote controller. According to the invention, near-ground manual control and remote control functions are supported, the dual control mode enables an operator to flexibly select a control mode according to actual working conditions, the convenience and flexibility of operation are improved, and meanwhile, the remote control function reduces the risk that the operator is directly exposed in a severe working environment, and the safety of operation is enhanced.

The invention relates to the technical field of intelligent manufacturing in the building industry, and provides a full-automatic batch grabbing and binding system which comprises a portal frame, a grabbing device and a binding device. At least two sets of grabbing and binding assemblies drive grabbing mechanical arms to move downwards to grab steel bars and place the steel bars at designated positions by controlling a first lifting device, and longitudinal steel bars and transverse steel bars grabbed by the grabbing and binding assemblies are stacked into a latticed framework. And the second lifting device is controlled to drive the binding mechanical arm to move downwards to the cross position of the latticed framework, and the binding mechanical arm conducts spinning binding on the cross position through the spinning device. According to the full-automatic batch grabbing and binding system, by introducing a parallel working mode of multiple groups of portal frames, the overall operation time of steel bar binding is greatly shortened, the construction efficiency is improved, and the full-automatic batch grabbing and binding system is particularly suitable for meeting the high-strength requirement for steel bar binding in a large building project.

The invention belongs to the technical field of engineering machinery, and particularly relates to a full-automatic photovoltaic piling method which comprises the following steps: S1, creating a three-dimensional terrain model of a construction site; s2, simulating a piling action and a photovoltaic module mounting action in the three-dimensional terrain model; s3, a high-precision map of the working environment of the pile driver is constructed, and the pile driver generates a moving path according to task requirements and current map information; s4, the pile driver recognizes the spatial position and posture of the pipe pile; s5, the pile driver performs automatic pile driving action; and S6, the insertion depth of the pipe pile is detected, the perpendicularity of the pipe pile is detected and recorded in real time, and the piling action of the hydraulic arm is driven and corrected according to the perpendicularity data change. By integrating multiple advanced technologies, high automation and intelligence of photovoltaic piling operation are achieved, a large amount of labor cost can be saved for a photovoltaic installation project, and the construction efficiency is improved. The one-time pile forming qualified rate is increased, the working efficiency and precision are improved, and meanwhile the labor cost and the safety risk are reduced.

The invention relates to the technical field of steering control, in particular to an electromechanical steering control system and method.The system comprises a steering handle, a controller, an electromechanical control unit and a display interaction screen; the steering handle is provided with a micro-motion device used for controlling fine-tuning steering and an angle sensor used for detecting the swing angle of the steering handle. The output end of the micro-motion device and the output end of the angle sensor are connected to the input end of the controller, and the signal line ends of the controller, the display interaction screen and the electromechanical control unit are connected with one another through a CAN bus. And the controller determines a control strategy based on an output signal of the micro-motion device, an output signal of the angle sensor and / or system parameters displayed in the display interaction screen, and controls the electromechanical control unit to drive the steering oil cylinder based on the control strategy so as to execute the steering action of the target harvesting machine. According to the invention, the softness and the sensitivity of the steering operation are ensured, and the individual requirements of operators on the steering control experience are met.

The utility model belongs to the technical field of drilling equipment, in particular to a drilling device for geological exploration, which comprises a lifting component and a mounting seat, the lifting component comprises a bottom plate, a top plate and a guide rod fixedly connected between the bottom plate and the top plate, and a threaded rod is rotatably connected between the bottom plate and the top plate through a bearing. A first servo motor is fixedly installed at the upper end of the top plate, and the output end of the first servo motor is fixedly connected with the upper end of the threaded rod. By arranging the rapid dismounting and mounting mechanism, replacement and maintenance of the drilling rod become rapid and convenient, complex dismounting steps are not needed, time is greatly saved, and working efficiency is improved; meanwhile, the flexibility of the equipment is improved through the design, and the requirements of different geological exploration tasks can be rapidly met; and automatic angle adjustment of the rotating arm is achieved through a third servo motor and a transmission device, manual adjustment is not needed, the operation precision and efficiency are improved, and control over the drilling direction is more flexible and accurate.

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 tool for measuring the dislocation amount of a square tube of a binding bridge, and belongs to the technical field of square tube lateral displacement measurement. The tool comprises a first straight edge section, a second straight edge section and a bevel edge section, wherein the first straight edge section is perpendicular to the second straight edge section; an inner concave arc is arranged at the intersection of the first straight edge section and the second straight edge section, and the radius of the inner concave arc is larger than the diameter of a welding bead. The tool is suitable for measuring alignment deviation data of any container lashing bridge square tube, and compared with the prior art, the tool has the advantages that the operation difficulty is reduced, the operation efficiency and the operation precision are improved, the operation convenience of personnel is improved, and the situation that the welding and plate pasting rate is increased due to inaccurate data and large errors caused by measurement accumulative errors and the like is prevented. And unnecessary waste is generated.

The invention discloses a coal mine tunnel full-section automatic anchoring and protecting integrated robot which comprises a walking module, a power source and control module, a laser radar positioning module, a net storage module, a net taking module, a net conveying module, a net laying module and an anchoring module, all the modules cooperate with one another, and automatic anchoring and protecting operation is achieved. The robot is started through remote control and enters a roadway, and the laser radar positioning module conducts three-dimensional scanning on the roadway so as to achieve accurate positioning and navigation. In the anchor protection area, a net conveying module conveys the anchor net to a net laying module, and a net laying manipulator lays the anchor net on a top plate and a side wall area; meanwhile, the anchoring module reinforces the roadway and the anchor net through an anchor rod drilling machine; when the anchor net is used up, the net storage module, the net taking module and the net conveying module automatically supplement a new anchor net, and continuous anchor protection operation is guaranteed; according to the invention, the automation degree of roadway anchor protection operation is improved, the labor intensity of workers is reduced, and the safety and the supporting stability are improved.

The invention relates to an industrial robot control method. The industrial robot control method comprises the following steps: S1, initializing a system: setting an initial position coordinate, an attitude angle and a speed of a robot; s2, state acquisition: high-precision position sensors and speed sensors are mounted on a base, arm joints and an end effector of the robot to cover all degrees of freedom of the robot, sensor data including a position Pt and a speed Vt are recorded regularly, and position coordinates and speed of each joint are recorded; and S3, deviation calculation: calculating the ideal position of the robot according to the theoretical model, and extracting the actual position of the robot from the position sensor data. According to the overall system provided by the embodiment of the invention, the improved particle swarm optimization algorithm is introduced, real-time online correction of the positioning deviation of the robot is realized, manual intervention is not needed in the process, the system automatically responds, and it is ensured that the robot can keep high-precision operation performance in various complex environments.

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 the technical field of goods sorting and labeling, and discloses a sorting system and workstations, the sorting system comprises a first moving trolley, a grabbing device, a labeling device, a second moving trolley, a visual identification system and a control center, the first moving trolley is used for transporting goods, the grabbing device is used for grabbing the goods, and the labeling device is used for labeling the goods. The labeling device is used for labeling goods, the second moving trolley is used for transporting the goods with the labels, the visual identification system can obtain feature information of the goods, and the control center is in communication connection with the first moving trolley, the grabbing device, the labeling device, the second moving trolley and the visual identification system. Through cooperation of the first moving trolley, the grabbing device, the labeling device, the second moving trolley, the visual identification system and the control center, sorting and labeling operation of goods are achieved, whole-process automatic control operation is achieved, manual participation is reduced, the labor cost is reduced, it is ensured that the operation precision is consistent, the visual identification system is combined for auxiliary operation, and the working efficiency is improved. And the operation precision and efficiency can be improved.

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.

The invention discloses an intelligent mechanical arm suitable for a narrow tunnel space, and relates to the technical field of mechanical arms. Comprising a moving frame, a mechanical arm device is installed on the moving frame, a moving assembly is installed on the mechanical arm device, and a supporting assembly is installed on the mechanical arm device. Through the layer-by-layer nesting design of the moving part, the mechanical arm device, the moving assembly and the moving device, the mechanical arm can achieve multi-dimensional flexible movement in the narrow tunnel space, and especially through the combination of the moving frame and the rotating cylinder and the sliding design of the second moving frame on the rotating cylinder, the mechanical arm can achieve multi-dimensional flexible movement in the narrow tunnel space. According to the mechanical arm assembly, the executing unit can move on the position of the mechanical arm assembly, the mechanical arm can easily deal with the complex and limited working environment, the executing unit can be moved to the target position under the condition that the mechanical arm assembly is inconvenient to stretch, the situation that the stretching and operation process of the mechanical arm consumes too much time is avoided, and the working efficiency is improved. And the working efficiency of the mechanical arm can be ensured.

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.