36results about How to "Real-time correction" patented technology

The invention discloses a light-weight wind measurement laser radar system based on an unmanned aerial vehicle platform. The light-weight wind measurement laser radar system comprises a servo scanning unit, a radar measurement unit and a system hanging frame, the radar measurement unit adopts a lightweight main body frame, and adopts various lightweight materials in structural design; the internal space of the radar measurement unit is divided into a plurality of different subareas, the plurality of different subareas are arranged in a stacked mode, and the aspects of hardware scheme, composition, stacking mode and the like are redesigned. Hardware and a structure are deeply fused, so that the system has obvious advantages in size and weight, miniaturization and light weight are realized, and the weight index of the radar system reaches a 5-7kg level. Wherein the servo scanning unit further comprises a two-degree-of-freedom scanning servo device which enables the system to realize three-dimensional scanning in a large range, various scanning modes such as PPI, VAD and RHI are realized, and the tail end direction of the servo scanning unit is adjusted according to the current attitude information of the unmanned aerial vehicle platform while scanning is performed; and the influence caused by the attitude change of the unmanned aerial vehicle platform is compensated.

The invention discloses an automatic verification device and method for a weighing coal feeder device. The automatic verification device comprises a weight calibration system, a weight verification control system, a sensor calibration system and a weighing coal feeder. According to the invention, the weight of the standard weight most suitable for the current calibration requirement is dynamically calculated and selected through the weight calibration system based on historical data, environmental parameters and the like of the weighing sensor, so that the calibration precision and flexibility are greatly improved, and variable working condition requirements can be met; according to the invention, an automatic weight verification control system is designed, horizontal displacement, lifting adjustment and state switching of the weight are realized, and the calibration process is fully automatic; the output data of the sensor are collected in real time through the sensor calibration system, dynamic correction is carried out in combination with multiple times of weighing error calculation and historical data, drift and error trends of the weighing sensor are analyzed in real time in combination with parameters such as temperature, humidity and vibration, and error correction values are generated, so that the accuracy of weighing data is ensured.

The invention provides a motor rotor position harmonic compensation method and system and electronic equipment, and the method comprises the steps: obtaining a first sinusoidal signal and a first cosine signal of at least two continuous periods through a magnetic encoder, and carrying out the offset correction and amplitude correction of the first sinusoidal signal and the first cosine signal, obtaining a second sinusoidal signal and a second cosine signal; according to the second sinusoidal signal and the second cosine signal of the previous period, calculating a motor position theta by using an arc tangent algorithm; and according to the motor position theta, calculating a phase deviation # imgabs0 # by using a trigonometric function, and performing phase compensation on the second sinusoidal signal and the second cosine signal of the current period by using the phase deviation # imgabs1 # to obtain a compensated third sinusoidal signal and a compensated third cosine signal. Through the method, the phase deviation can be calculated based on the simple trigonometric function, phase compensation is achieved, the calculation amount is small, cost is low, the method is more suitable for an embedded system, and due to the small calculation amount, real-time correction can be achieved, and reliability is high.

The invention discloses a cutting machine cutting screen automatic positioning method and system based on visual analysis, and relates to the technical field of visual image processing, and the method comprises the steps: monitoring the cutter position and angle of a cutting machine in real time, and generating cutter state data; the surface texture, the edge shape and existing flaws of the cut screen are analyzed, and corresponding surface feature data are generated; data fusion is carried out, dynamic correction is carried out on visual analysis, a path correction instruction of the cutter is generated, and real-time feedback is carried out on the obtained path correction instruction; and the contact state of the cutter and the screen is continuously monitored, if it is monitored that the cutter deviates from the preset path or abnormal conditions exist, the working state of the cutting machine is adjusted in time, and fault-tolerant processing is executed. According to the method, the recognition capability of the cutting machine on the surface flaws, textures and edges of the screen is improved, the cutter deviation can be corrected in real time in the cutting process, and the cutting precision and quality are ensured.

The invention relates to the technical field of remote sensing monitoring and climate analysis, in particular to a high-altitude area surface albedo remote sensing monitoring method and device, and the method comprises the steps: firstly obtaining the spectrum, infrared and topographic data of the surface, carrying out the radiation correction and topographic feature extraction, and generating preprocessing data; thirdly, generating multi-dimensional albedo data by using a multi-level fusion technology and an albedo calculation model, and obtaining joint albedo data through frequency domain and time domain analysis; and finally, generating a high-precision albedo product through a self-adaptive deep learning model and a residual error correction mechanism, and applying the high-precision albedo product to climate monitoring, ecological assessment and disaster early warning of a high-altitude area. According to the method, the accuracy and temporal-spatial resolution of albedo data are effectively improved, and reliable data support is provided for environmental research of high-altitude regions.

The invention relates to the field of steel rolling, and provides a method, a system, equipment and a medium for adjusting the tip thickness of a lower leg of a steel rail, and the method comprises the following steps: obtaining historical data of steel rail production, carrying out multi-modal data fusion, and constructing an expert empirical model based on the fused data; detecting the tip thickness of the lower leg in real time; when the deviation of the specification size of the tip thickness of the lower leg exceeds a first preset value, a lower horizontal roller of the semi-universal rolling mill is adjusted; when the deviation of the specification size of the tip thickness of the lower leg exceeds a second preset value, lower horizontal rollers of a second universal rolling mill and a semi-universal rolling mill are adjusted; and adjusting lower horizontal rollers of the first universal rolling mill, the second universal rolling mill and the semi-universal rolling mill in response to the situation that the deviation of the specification size of the lower leg tip thickness exceeds a third preset value. According to the method, through multi-modal data fusion, actual operation experience is adjusted in combination with the steel rail lower leg tip thickness, and the online steel rail lower leg tip thickness specification abnormal state is adjusted and rectified in real time in an expert experience extraction mode.

The invention relates to a service abnormal state alarm method and device, equipment, a storage medium and a program product, and relates to the technical field of big data. By adopting the method, the self-adaptive alarm adjustment of the micro-service system can be realized, and the accuracy of state detection can be improved. The method comprises the following steps: recording high-frequency log data into each time node of call chain data to obtain a graph structure; combining the user response information with the graph structure according to a time sequence to obtain initial graph structure data; performing combined calculation on the initial graph structure data by adopting a correlation calculation method to obtain target graph structure data with internal and external correlation indexes; acquiring an attention vector, and performing residual correction on the predicted value by using a rolling residual factor in the long-short-term memory model to obtain a state predicted value at the current moment; and performing same-cycle-ratio data fluctuation calculation on the current state prediction value and the historical state prediction value, and generating alarm information under the condition that a calculation result is recognized to meet an alarm threshold condition.

The invention relates to the technical field of electrode foil processing, in particular to a foil connecting device and method based on high-specific-volume electrode foil processing.The foil connecting device comprises a support, an electrode foil and a polypropylene film, the top of the support is fixedly connected with a top frame, and the two ends of the top frame are rotationally connected with conveying rollers used for guiding the electrode foil correspondingly; one side of the support is rotationally connected with a winding handle used for winding an electrode foil and a polypropylene film, the winding handle is oval, the top of the top frame is fixedly connected with a mounting frame, a fastening roller used for supporting the electrode foil is arranged at the top of the mounting frame, and movable rods are arranged at the two ends of the mounting frame correspondingly; and the outer surface of the movable rod is provided with a deviation rectifying ring for rectifying the electrode foil, and the two ends of the mounting frame are provided with deviation rectifying assemblies for driving the movable rod to swing correspondingly. And due to the design of the deviation rectifying assembly, the position of the electrode foil can be rectified in real time, the movable rod pushes the electrode foil back to the correct position in a dynamic abutting mode under the guide of the deviation rectifying ring, and it is ensured that the electrode foil is always kept at the correct position in the machining process.

The present invention discloses a unit control system and method based on real-time online analysis of coal quality, the system includes a raw coal hopper, a raw coal hopper outlet pipeline, a coal feeder belt, a weighing instrument, a coal feeder variable speed motor, a coal feeder outlet pipeline, a coal mill, a coal mill inlet primary air pipeline, a primary air volume measuring element, a boiler furnace, a coal quality online monitoring module, a coal feeder controller, a blower, a blower variable output element, an air supply pipeline, a secondary air volume measuring element and a secondary air controller. The method uses the available online data of incoming coal that meets the needs of real-time operation control to achieve accurate fuel and air distribution of thermal power units, and has significant practical value.

The invention discloses a rocket engine thrust control method and system, and relates to the technical field of rocket engine control, and the method comprises the steps: obtaining a combustion chamber pressure fluctuation signal, a propellant supply state parameter and a target thrust demand, carrying out the time-frequency domain decomposition of the pressure fluctuation signal, and obtaining a dominant frequency and amplitude envelope; and calculating a combustion stability boundary value. The thrust demand change gradient is restrained based on the boundary value, a thrust adjusting track is generated, and the flow adjusting amount and the pressure difference adjusting amount are calculated. And establishing a time sequence cooperative relationship between flow regulation and pressure difference regulation, and analyzing the pressure distribution characteristics of the supply pipeline. And flow adjusting quantity correction is conducted through frequency difference value calculation, and finally the supply mechanism and the injection mechanism are driven to achieve thrust adjustment. According to the invention, the thrust adjusting precision and the system stability can be effectively improved.

The invention relates to the technical field of battery capacity estimation, in particular to a battery system rapid capacity estimation method based on Kalman filtering. Comprising the following steps: collecting battery charging and discharging experiment data, obtaining a relation curve and identification parameters of battery residual capacity and open-circuit voltage at different environment temperatures, and establishing an equivalent circuit model of a battery; calculating the residual capacity of the battery at the discharge tail end by adopting a mode of weighting a self-adaptive extended Kalman filtering method of an equivalent circuit model and an ampere-hour integral method; according to the method, the SOC-OCV curve at multiple temperatures and the parameter curve of the battery model are obtained, so that the applicability of the second-order RC Thevenin equivalent circuit model at different temperatures is enhanced; the SOC is calculated by using the self-adaptive extended Kalman filtering method and the ampere-hour integral method for weighting at the discharge tail end of the battery, so that the SOC of the battery is corrected in real time, and the accuracy of predicting the SOC of the battery pack is improved.

The present invention provides an onboard flood data processing method, device and system based on the aviation emergency mode, the method comprising: based on the ground observation image, performing image mosaicking to obtain the target image; inputting the target image into the water body recognition model to obtain the water body recognition result; based on the water body recognition result and the geographic information data, performing spatial analysis to obtain the comprehensive flood analysis information; when the aircraft lands, the comprehensive flood analysis information is sent to the remote terminal, so that the remote terminal receives the comprehensive flood analysis information, makes a preliminary judgment on the disaster situation, and guides the generation of rescue command decisions. The onboard flood data processing method, device and system based on the aviation emergency mode provided by the present invention can realize the splicing, correction, information extraction and the like of flood data in real time and quasi-real time on board during the flight, and transmit the information to the ground command system after the aircraft lands, so as to improve the efficiency and timeliness of information processing, which is of obvious significance to emergency rescue.

The invention relates to the field of asphalt pavement construction, and discloses a surface layer asphalt concrete construction quality management method and a quality monitoring system, and the method comprises the following steps: S1, dividing a road surface layer to be constructed into a plurality of road section units; s2, acquiring the data as a first process parameter in real time through a mixing station data acquisition terminal; s3, acquiring a second process parameter through the transport vehicle data acquisition terminal; s4, continuously acquiring the parameters as third process parameters through the paver data acquisition terminal; s5, continuously acquiring the parameters as fourth process parameters through the road roller data acquisition terminal; and S6, the data processing server constructs a corresponding road section unit data set according to each parameter, generates early warning information including an abnormal type and suggested adjustment measures, and feeds back the early warning information to an equipment terminal of a corresponding construction process. According to the invention, discrete sampling inspection type quality management after traditional construction is completed can be converted into visual, controllable and traceable management in the construction process.

The invention relates to a wavefront correction system, in particular to a data processing system for wavefront correction of a space-based telescope and a wavefront correction method, and solves the technical problems that an existing wavefront correction data processing system is relatively low in control bandwidth, and dynamic and high-frequency correction of wave aberration of the space-based telescope is difficult to realize. According to the method, the Shack-Hartmann principle is utilized, a wavefront correction algorithm is embedded into a heterogeneous model of the combination processing FPGA + the data processing FPGA + the CPU, a parallel processing structure of the combination processing FPGA, the data processing FPGA and the CPU is adopted, the bandwidth and the speed are improved, optimal hardware resources are matched according to different processing tasks, the wavefront correction process achieves the optimal design, and the method has the advantages of being simple in structure, convenient to operate and high in practicability. The method can be used for processing complex optical data, the control unit reaches the thousand-unit level, the data bandwidth reaches 100 M, the operation speed is high, and dynamic and high-frequency correction of the wave aberration of the space-based telescope can be achieved.

The application relates to the technical field of steel rolling, and particularly discloses a production method of high-strength automobile beam steel 800L-AC steel, which reconfigures alloy element components; the billet is heated; the heating temperature of a heating furnace, total furnace time and soaking section residence time are controlled; rolling parameters are set, including the finish rolling inlet temperature, the final rolling temperature, the coiling temperature and the cooling strategy of the billet, the rough rolling scale removal pass and the load distribution of the finish rolling mill are controlled; the work roll bending force and the roll shifting amount are automatically adjusted according to the plate shape defect type, and the plate shape defect is corrected in real time; the load distribution technology is adopted to control the rolling force deviation of each rack within + / -8%, so that the excessive bending of the roll system caused by local overload is avoided, and the plate shape defect is reduced from the source; the work roll bending force and the roll shifting amount are automatically adjusted according to the plate shape defect type (edge wave and middle wave), the real-time correction of the plate shape defect is realized, the plate shape qualified rate is improved, and the strength and toughness of the steel are significantly improved.

This invention discloses a collaborative control method and system for human-robot collaborative assembly robots based on digital twins. The method first constructs a digital twin simulation environment in the Unity engine to map the physical collaborative assembly scene to the virtual scene. Multimodal sensing technology is used to collect real-time data on human actions and the state of the assembled workpiece, introducing virtual-real mapping to achieve intent recognition. Then, based on reinforcement learning algorithms, path planning is performed on the collaborative robot in the digital twin environment to generate an optimal collaborative path sequence. Finally, the planned path is mapped to the real robot control commands through coordinate transformation and inverse kinematics algorithms, and an online adaptive strategy is used to dynamically optimize the motion trajectory. By combining digital twins and reinforcement learning, this invention improves the intelligence and flexible scheduling capabilities of the human-robot collaborative assembly system, enhances the system's rapid adaptability to unstructured changes and assembly accuracy, and overcomes the problems of cumbersome task programming and poor adaptability in traditional methods.

The invention discloses a reinforced concrete synchronous 3D printing lining device and method for a TBM, and belongs to the field of additive manufacturing. Comprising a construction rail car, a laser radar, a concrete 3D printing module, a steel bar laser printing module and a control module. The control module constructs a lining three-dimensional model according to tunnel morphology data scanned by the laser radar, extracts a main stress trace through finite element analysis, and generates a steel bar arrangement path and a concrete printing track with stress steering as a principle; the steel bar laser printing module and the concrete 3D printing module synchronously print along the path and the track respectively, and the steel bar layer is controlled to be higher than the concrete layer; and the laser power and the wire feeding speed of the steel bar laser printing module are dynamically adjusted based on monitoring information obtained by the thermodynamic camera, and the temperature fluctuation is controlled within the preset deviation. The system can realize synchronous additive forming of reinforced concrete in a TBM construction environment, and has the characteristics of high automation, high construction flexibility and capability of monitoring the whole process.

The invention discloses an excavator overwater operation visual guidance system and a control method, and belongs to the technical field of engineering machinery intelligent control, the system comprises an overwater environment perception fusion module, a bucket underwater pose resolving module, a dynamic operation plane generation module and a visual guidance control module, the overwater environment perception fusion module dynamically calculates self-adaptive confidence weights of the GNSS, the inertial measurement and the water pressure sensor according to the overwater environment characteristics to perform weighted fusion; the bucket underwater pose resolving module adopts an extended Kalman filter to carry out pressure-depth combined state estimation; the dynamic working plane generation module adopts a moving least square method to fit a working target plane in real time; the visual guidance control module calculates deviation and generates a three-dimensional visual interface, and meanwhile deviation feedback is used for closed-loop correction, the technical problems that in the water operation environment, the positioning precision is unstable, and the underwater depth measurement precision is insufficient are solved, and high-precision visual guidance of the water excavator is achieved.

The invention discloses a three-dimensional motion trail analysis method for high-energy electrons in a tight focusing circular polarization laser field, and the method comprises the following steps: S1, determining a vector potential model: according to an amplitude parameter, a phase parameter, a focus diameter, a pulse width and a laser pulse width of a relativistic electron, determining a vector potential model; constructing a vector potential model of femtosecond tight focusing Gaussian laser pulses describing electric field and magnetic field distribution of the laser pulses; s2, determining a motion equation: deducing a Lorentz equation describing the motion of charged particles in an electromagnetic field according to a vector potential model, and describing the energy change of electrons in a laser field; s3, velocity components of the electrons in the electromagnetic field are determined, and the motion trail of the electrons is further analyzed based on the velocity components; and S4, track simulation: substituting the velocity component into the rectangular coordinate system, simulating the three-dimensional motion track of the electron, and obtaining the motion path of the electron in the laser field through numerical calculation.

The application provides a deviation rectifying device of a sewing machine and the sewing machine, and belongs to the technical field of sewing equipment. The deviation rectifying device comprises a controller and a rack. The rack is provided with a connecting rod mechanism and a sensor for detecting whether the fabric edge deviates. The connecting rod mechanism is provided with a roller. The rack is further provided with a driving mechanism one for driving the connecting rod mechanism to swing and a driving mechanism two for driving the roller to rotate. The driving mechanism one and the sensor are electrically connected with the controller respectively. The deviation rectifying device can automatically detect whether the fabric deviates and rectify the deviation in real time. The deviation rectifying device has high automation degree, is convenient to operate and has high deviation rectifying speed.

The utility model relates to a liquid injection amount adjusting device and a battery liquid injection amount correcting device. The injection amount adjustment device (100) includes: a servo adjustment mechanism (25); the liquid injection pump (30) is electrically connected with the servo adjusting mechanism (25); a weighing meter (50); an analog input / output module (70); the analog quantity input and output module (70) is used for receiving a liquid injection quantity measurement value from the metering and weighing instrument (50) and converting the measurement value into electric signal information; the PLC control module (80) is configured to receive the electric signal information from the analog input / output module (70) and compare the electric signal information with a set target value to generate a control instruction, and the servo adjustment mechanism (25) is configured to receive the control instruction from the PLC control module (80) and adjust the liquid injection amount of the liquid injection pump (30).

The invention relates to a gas concentration measuring device and method. The gas concentration measuring device comprises a gas detection cavity, a temperature sensing assembly, a pressure sensing assembly, a light source supply device and a light sensing device, and is used for measuring the gas concentration of gas (such as ozone) to be measured. The temperature sensing assembly and the pressure sensing assembly respectively measure the temperature and the pressure of the gas to be measured. The light source supply device adopts a UV-LED as an ultraviolet light source and provides a first detection light beam and a correction light beam which have different ozone absorption brightness, and then the first detection light beam and the correction light beam are respectively divided into split light passing through gas to be detected and split light not passing through the gas to be detected by a light splitting assembly. The light sensing device can respectively measure the light intensity containing ozone and the light intensity not containing ozone of the first detection light beam and the correction light beam. By comparing the light intensity, the concentration of the ozone gas can be calculated according to the Beer-Lambert Law (Beer-Lambert Law).

The present invention relates to a process parameter correction method based on die wear, an electronic device and a medium. The method comprises: providing a set of dies and corresponding blanks, using a designated device to set preliminary test parameters; performing a test according to the test parameters, and recording the test wear depth obtained; using finite element analysis software to create a forging model including the die and the blank; setting the analysis step, contact parameters and mesh division in the forging model; in the finite element analysis software, programming the wear depth calculation formula into a subroutine, performing a preliminary setting of the wear constant and performing a simulation; comparing the wear depth of the simulation result with the test wear depth, repeatedly adjusting the wear constant until the simulation result matches the test result, and determining the final correction wear constant. The present invention determines the correction wear parameters by combining finite element analysis software and test data, and the die wear condition can be well predicted by the correct wear parameters.

The utility model provides an edge photoresist removing device, which comprises an acquisition unit for acquiring the actual position of a wafer on a bearing table and obtaining the offset between the actual position of the wafer and the standard position of the wafer on the bearing table; the wafer transmission manipulator is used for correcting the position of the next wafer on the bearing table according to the offset; the detection unit is arranged on the EBR manipulator and is used for detecting the edge position of the wafer on the bearing table; and the EBR spraying unit is arranged on the EBR mechanical arm, and the EBR mechanical arm drives the EBR spraying unit to move by a set distance in the radial direction of the wafer so as to carry out EBR starting from the edge position of the wafer detected by the detection unit. According to the utility model, the deviation of the wafer transmission manipulator and the EBR manipulator can be corrected in real time, so that the EBR trimming width of each wafer can be accurately adjusted in real time, the EBR precision is improved, the manpower is saved, and the production efficiency of a machine is improved.

According to the self-adaptive edge detection and automatic trimming system for hardware die casting trimming, precise detection and visual positioning of cracks of hardware die castings are achieved through combination of a crack detection module and a temperature imaging technology, constant-temperature heating liquid and heat absorption particles are injected in a high-pressure environment, and the hardware die castings are subjected to edge trimming through the self-adaptive edge detection and automatic trimming system. The heat-absorbing particles infiltrated into the cracks are represented as high-temperature signals in a temperature imager due to the remarkable temperature difference characteristic, so that an accurate position map of crack distribution is generated, the problem of poor adaptability to complex geometrical shapes in a traditional detection method is effectively solved, meanwhile, subsequent trimming damage caused by crack missing detection is avoided, and in addition, the detection accuracy is improved. The surface cleaning device ensures cleaning treatment of liquid and particles in the detection process, through linkage of the crack detection module and the self-adaptive edge detection module, the system can correct and avoid a crack area in real time, and finally efficient, safe and accurate trimming machining is achieved.

This invention discloses a water level error correction system and method for steam generators, belonging to the field of industrial measurement and control. The system includes a differential pressure sensor with a Wheatstone bridge as its core, a precision resistor connected in series in its power supply circuit, and a multi-channel signal acquisition and processing unit. The method simultaneously acquires the output voltages of the two channels of the bridge and the voltage of the precision resistor, first calculating the sensor chip temperature; then constructing two characteristic quantities—voltage and voltage difference—and intelligently judging the system operating condition based on their changes; finally, adaptively calling a pre-stored compensation model according to the operating condition, calculating the system static pressure, and performing comprehensive dynamic correction of the original differential pressure for static pressure error and temperature drift, thereby calculating the accurate water level. This invention eliminates the need for additional sensors, achieving real-time compensation for the inherent error of the differential pressure sensor under all operating conditions solely through innovative signal fusion and adaptive algorithms, significantly improving the accuracy and stability of water level measurement, while also being low in cost and simple in structure.

This invention relates to a dynamic digital zoom and X-ray beam center positioning method in an X-ray device. The X-ray device includes a vision acquisition module, a depth sensing module, an X-ray emission module, an image receiving module, and a control module. First, a mapping relationship between the X-ray beam propagation path and the visual coordinate system is established through geometric calibration. Then, RGB color video streams and three-dimensional depth data of the area to be photographed are simultaneously acquired. An artificial intelligence model, combined with domain-specific rules, is used to identify the exposure area and determine the theoretical center of the X-ray beam. Based on the mapping relationship and the three-dimensional depth data, the SID value is calculated to estimate the actual center of the X-ray beam and obtain the offset. According to the offset, digital zoom processing or an automatic collimation mechanism is used to align the center of the RGB color video stream with the center of the X-ray beam. The correction result is output in real time, dynamically responding to changes in the shooting state. This invention solves the problem of X-ray beam offset under different shooting conditions through multi-source data fusion and dynamic correction, improving the positioning accuracy of the exposure area.

The invention relates to the technical field of automatic laminating equipment, and discloses a hydrogen energy automatic laminating machine which comprises a rack, and a plurality of stock bin units are integrally arranged on the rack; the stock bin unit comprises a protective film stock bin, a partition plate stock bin, a catalyst layer stock bin, a laminating bin, a finished product stock bin and a concentric-square-shaped frame stock bin; a first linear motor module is arranged on the upper surface of the top end of the rack, a catalyst layer adsorption manipulator is arranged on the first linear motor module, a second linear motor module is arranged on the lower surface of the top end of the rack, and a concentric-square-shaped frame adsorption manipulator is arranged on the second linear motor module. A third linear motor module is arranged on the lower surface of the opposite top end of the rack; through cooperation of all the units, high-precision and high-efficiency automatic attachment of all assemblies of the hydrogen energy membrane electrode is achieved, and the automatic attachment device is suitable for a large-scale membrane electrode production scene.

This invention discloses a thermal insulation and corrosion-resistant insulated pipe bypass device and method, belonging to the technical field of adhesion control and bypass path planning for pipeline traveling devices. It includes: S1, a ring-shaped frame, a sensing arm, a first drive wheel system, a first clamping mechanism, a three-dimensional sensor, an inertial measurement unit, a sensing wheel, a high-resolution encoder, a first torque meter, a second torque meter, and a controller. The sensing arm is connected to the front end of the ring-shaped frame in the traveling direction via a flexible hinge. The first drive wheel system, the first clamping mechanism, the three-dimensional sensor, and the inertial measurement unit are mounted on the ring-shaped frame. The first torque meter is integrated into the output shaft of the first drive wheel system. This invention's forward-looking adhesion feedforward control allows the device to anticipate sudden changes in friction on the pipe surface, overcoming the slippage problem that is difficult to avoid with traditional methods relying on hysteresis slip rate feedback, and improving the device's stable adhesion capability on sudden low-friction pipe surfaces.

This utility model discloses a rear-mounted, retractable slurry pipe jacking machine, comprising a cutterhead, a shield, a slurry balancing mechanism, and a power unit. The cutterhead is located at the front end of the shield. The power unit includes a power shaft and a drive mechanism. The drive mechanism is located at the rear of the shield. The power shaft is located within the shield, with its front end connected to the cutterhead and its rear end connected to the drive mechanism. The slurry balancing mechanism is mounted on the power shaft and located within the shield. This utility model externalizes the power unit by placing it at the rear of the device and transmitting power through the power shaft. Because external power is not limited by space, and the transmission path of the power shaft can bear greater power and torque, the overall operating power of the cutterhead is increased by more than two times, making the cutterhead suitable for various complex geological formations.