66results about How to "Realize automatic tracking" patented technology

The method sets a plurality of key monitoring positions in place to be monitored, when no abnormal target occurs in the key monitoring monitor positions, the monitoring system controls the rotation of a horizontal stage to make the cam scanning in turn each position in the place to be monitored; when a testing apparatus in the monitoring system detects an abnormity occurs in one position of the plurality of key monitoring positions, the monitoring system controls the horizontal stage to make the cam performing camera shooting scanning to the key position where abnormity occurs. The monitoring system includes a horizontal stage, a video camera, a testing apparatus and a main control circuit, wherein the main control circuit includes a horizontal stage control circuit a camera control circuit and a single chip; the testing apparatus transmits the testing result to the single-chip in the main control circuit, and then the single-chip controls the horizontal stage and the video camera. The invention has advantages of simple structure, high degree of automation, strong practicability and high efficiency.

The invention relates to a transformer substation intelligent patrol robot with mechanical arms and a patrol method thereof. The patrol robot comprises a walking chassis, patrol equipment and a control module (14). The patrol equipment is installed on the walking chassis. The control module (14) is connected with the walking chassis and the patrol equipment. The patrol robot further comprises the two mechanical arms which are symmetrically installed on the two sides of the walking chassis. The mechanical arms are both connected with the control module (14). Compared with the prior art, the intelligent patrol robot is capable of achieving patrol and meanwhile capable of removing foreign matter and controlling on and off of mechanical switches through the mechanical arms, thereby having a high intelligent level.

The invention provides an image tracking device which comprises an image capture device, a rotating device and a chassis. The image capture device is arranged on the rotating device, and the rotating device is arranged on the chassis. The image capture device is internally equipped with a display unit, an input unit, a drive unit and a tracking control unit. The tracking control unit comprises an image profile capture module, a memory module, a search module and a displacement computation module. The imaging device controls the drive unit to drive the rotating device to rotate by the mutual coordinated operations of various functional modules in the tracking control unit thereof so as to regulate an image capture angle of the image capture device, therefore, target images are positioned at the center of the current image menu which is displayed by the display unit of the image capture device.

The invention discloses a monitoring and locating system and method for early leakage of artificial olfactory gas in air flight. An artificial olfactory system is constructed by using a high-precision gas sensor array and a pattern recognition algorithm; trace components of trace gases at the early stage of leakage are monitored and recognized in the flying process; meanwhile, parameters such as wind direction and wind speed within a target space range are monitored; and a leakage source inversion traceability locating method designed according to a leakage gas space transporting and diffusing rule is based and is combined with an unmanned flight control method, thereby realizing monitoring recognition and locating of early leakage gas. The system mainly comprises an unmanned flight control center, an attitude control and GPS locating module, an artificial olfactory system module, an atmospheric environment monitoring module, a leakage source locating module and an automatic obstacle avoidance module. The artificial olfactory system and a leakage source locating algorithm are designed. The monitoring and locating system and method disclosed by the invention have the characteristics of wide monitoring space, high monitoring precision, accurate and timely leakage early warning and locating, and the like.

The invention discloses an aircraft control method and device, and the method and device are used to track a target object under the condition that a user needs not to control an aircraft. In the aircraft control method, face detection is carried out on images, collected by an aircraft camera in real time, of the target object to obtain a first face position and a second face position, and the second face position is obtained by carrying out face detection on the images before that the first face position is obtained; whether the target object moves is determined according to the first face position and the second face position; when it is determined that the target object moves, the moving direction of the target object is obtained according to the first face position and the second face position, and the moving distance of the target object is obtained according to the first face position and relative position information of the aircraft and the target object; and according to the moving direction and moving distance, a flight control command is sent to the aircraft, so that the aircraft adjusts the flight attitude according to the flight control command.

The invention discloses an Epilepsy detection device comprising a wristband; a three-axis wireless acceleration sensor is arranged in the wristband; the detection device also comprises a processor; the processor comprises a microprocessing chip, a memory, and a wireless communication module; the microprocessor is in wireless connection with the three-axis wireless acceleration sensor through the wireless communication module; epilepsy analysis software is fixed in the memory; the invention also discloses an Epilepsy detection method; the device and method can timely spot Epileptic seizure and recognize Epileptic seizure types, thus providing helps for timely treatment.

The invention relates to a WIFI MESH network positioning system, which comprises Beacon equipment and a router, wherein the router is connected to a cloud server after connected to the Internet through a MESH network, and the cloud server is connected to a user terminal; the router extracts a label RSSI value of the corresponding Beacon equipment, the router transmits the extracted label RSSI value of the beacon equipment to the cloud server, the cloud server receives and stores the label RSSI value of the Beacon equipment, which is transmitted by the router, and the cloud server can determine current location information of the Beacon equipment according to the tag RSSI value; the user terminal transmits needed location query information to the cloud server, and a motion server pushes the current location information of the Beacon equipment, which is matched with the location query information, to the user terminal according to the location query information. According to the WIFI MESH network positioning system, the needed real-time positioning and location tracking can be realized through full-automatic scanning of an embedded router on Bluetooth, so that the real-time positional accuracy is improved and the cost and the time for network cabling are saved.

The invention relates to the technical field of charging piles, in particular to a charging pile with a dust fall function. The charging pile comprises a base, a shell, a substrate, a water tank I, awater pump I, a water filling nozzle, an infrared detector, a door plate, a charging pile body, a hanger, a charging gun, a condensing pipe, a condenser, a central controller, a rain blocking plate, atriangular ceiling, a dust sensor, an electric telescopic rod, a fixing rod, a solar panel, a water inlet channel, a water tank II, a liquid level sensor, a water pump II, a water pump III, a fixingcolumn, an atomizing spray head, a photosensitive sensor and an electromagnetic valve, wherein the shell is arranged at the top end of the base; the substrate is arranged at the bottom end inside theshell. The charging pile is novel in structure, has diverse functions, is environmentally friendly and has very high practicability. By adopting the charging pile, rain water collection and light energy collection and conversion functions can be realized, and the collected rain water is condensed and cooled; meanwhile, smart dust fall and water source supplement can be performed, normal running ofa device is ensured, and the power energy is saved greatly.

An automatic tracking transport vehicle, belonging to the field of transport machinery automation, is composed of a vehicle body, a drive system and a control system, wherein the drive system comprises a drive device and a crawler belt; the control system includes a steering controller, a control device and a Bluetooth signal receiver; the drive device provides driving power for the crawler belt; the steering controller is located on the drive device; and the Bluetooth signal receiver is used for receiving a signal transmitted by a mobile phone equipped with a Bluetooth adapter, and transmitting a command to the steering controller and the drive device through the control device, so as to drive the vehicle body to move close to the mobile phone and keep a constant distance with the vehicle body. Based on cooperation of the mobile phone Bluetooth and the transport vehicle, the transport vehicle can automatically track the user position, and can calculate and determine the distance between the transport vehicle and the owner through the control device.

The present invention is one kind of computer executable method of tracking project progress automatically. One concept weight (W) of each task and its rate (R) are introduced for the project management, and the expression W*R expresses the ratio of the completed part to the total progress rate. The rates of all the items are summed to obtain the total project completing state. The present invention makes it possible to grasp the overall progress of project timely.

A table tennis ball picking robot comprises a cart storing table tennis balls, a walking mechanism, a ball picking mechanism and a power supply system. The walking mechanism is supported by three wheels, namely two identical driving wheels are symmetrically distributed on the two sides of the cart and a driven wheel is located on the rear side of the cart. The ball picking mechanism comprises a ball picking claw, a cam pushing rod mechanism, a rocker sliding block mechanism and a spring. A motor drives a cam to rotate, so that a pushing rod moves in a linear reciprocating mode, and finally a sliding block is used for driving a rocker to enable the ball picking claw to be opened and closed. The cam pushing rod mechanism and the rocker sliding block mechanism are matched to achieve the ball picking function, the overall structure is simple, and cost is low.

The invention discloses an unmanned aerial vehicle assisted intelligent vehicle driving system based on indoor positioning. The system comprises an intelligent vehicle unit, an unmanned aerial vehicle unit, a PC terminal, a UWB base station and a UWB positioning label. The intelligent vehicle unit has electric drive and direction control functions, is provided with a signal receiving device, and completes a specified tracking route by receiving an instruction sent by the PC terminal; the unmanned aerial vehicle unit carries out image acquisition on the surrounding environment of the intelligent vehicle through a carried camera module, acquired images are preprocessed and then sent to the PC terminal, and the acquired images all carry artificial marks preset in a site. Meanwhile, the unmanned aerial vehicle unit adjusts the flight attitude according to a control instruction issued by the PC terminal; the UWB positioning tags are arranged on the intelligent vehicle unit and the unmanned aerial vehicle unit and continuously send UWB positioning pulses; the UWB base stations respectively measure UWB positioning pulses and feed back measurement results to the PC terminal. According to the invention, the positioning precision is effectively improved, and a cooperative driving system without manual control between the unmanned aerial vehicle and the intelligent vehicle is realized.

The invention relates to a solar device. The solar device comprises a rotary upright column positioned below and a solar panel mounting module connected to the rotary upright column; the solar panel mounting module comprises a mounting frame and at least one solar panel fixed on the mounting frame. The solar device is characterized in that a connecting column which is vertical to a plane where the mounting frame is located is fixed in the center of the mounting frame; the connecting column is hinged to the top of the rotary upright column and is capable of rotating up and down around a hinged shaft transversely arranged on the connecting column; the rotary upright column is capable of driving the solar panel mounting module connected to the rotary upright column to rotate around shafts arranged on the rotary upright column up and down. The solar device can realize the function that the solar panels automatically track the sunlight through the rotation of the rotary right column and driving of up-down rotation of the solar panel mounting module, and is relatively wide in rotation angle range, and the conversion efficiency and the utilization efficiency of solar energy can be effectively improved.

The invention belongs to the field of the seismic data interpretation, and specifically relates to a method for directly performing automatic crack detection on prestack depth migration seismic data.For the own limitation of the traditional time domain fracture automatic tracking technology due to the prestack time migration algorithm, a result is server hundred meters deviated from the actual drilling since the fracture of a complex construction region cannot correctly return to home, and the huge economic loss is caused. The technical scheme disclosed by the invention is as follows: [1] depth domain seismic attribute optimization and extraction: sorting crack sensitive attributes uninvolved with time-varying parameters in the prestack depth migration seismic attribute as one class so asto be served as transverse fracture attribute, selecting the specific optimal attribute from the transverse fracture attribute through the test; [2] depth domain seismic attribute boundary enhancement: performing boundary enhancement on the optimal attribute; and [3] depth domain crack automatic identification: performing automatic crack tracking identification on the boundary-enhanced optimal attribute. The automatic tracking algorithm generally selects ant tracking, and the main parameters are positive or passive tracking mode and a facture dip angle selected on a rose diaphragm.

The invention relates to a degraded vehicle operation management method and device for a TACS system. The method comprises the steps: S1, a TMC automatically recognizes that the degraded vehicle is a degraded vehicle, and informs a resource controller SC, so that the SC is a resource allocated before the degraded vehicle maintains a fault; s2, the TMC sends the degraded vehicle information to the ATS; s3, the ATS automatically plans a next running path request according to the destination and the state of a secondary detection device (SDD) where the train position is located; s4, the TMC negotiates resources on the operation path with other trains through the SC in the operation authorization region of the degraded train according to the operation path request, the position of the degraded train and the line operation direction received from the ATS; s5, after the SC allocates resources to the degraded vehicle operation authorization region, an entrance protection signal machine is opened, and the degraded vehicle is authorized to pass through the signal machine; and S6, after the degraded vehicle completely enters the degraded vehicle operation authorization region, the SC releases resources associated with the previous degraded vehicle operation authorization region. Compared with the prior art, the method has the advantages that the mixed running safety of the degraded train and the normal train in the TACS system can be guaranteed, the running efficiency of the whole line is improved, and the like.

The invention discloses a method and a device for realizing automatic tracking of a ship. The method comprises the following steps: S1, selecting track points in a ship route planning route and sequentially forming track sections; S2, determining a track section to which the current position of the ship belongs and an adjacent next track section; S3, obtaining the steering speed of the ship running to the next track section and the steering starting distance of the ship for steering the next track section; S4, judging whether the distance from the current position of the ship to the terminal point of the current track section is smaller than the steering starting distance or not; S5, if YES, obtaining the expected course of the ship at the current position; and S6, judging whether the difference value between the current course and the expected course is smaller than the allowable course variation or not, and if YES, determining that the corrected expected course is the expected courseobtained in the step S5, and repeating the step S4 to the step S6 until the terminal point is reached. According to the method, the problems of poor tracking effect and complex algorithm during yawing in the steering process in the prior art are solved.

The invention discloses a mooring power supply dry powder firefighting unmanned aerial vehicle and relates to the technical field of firefighting equipment. The unmanned aerial vehicle comprises a drypowder tank, a fixed upper plate, a fixed lower plate, a dry powder tank fixing member, a connection column, an infrared thermal imaging device, a spraying rod, a flying power device and a power supply device, the connection column is fixedly mounted between the fixed upper plate and the fixed lower plate, the fixed lower plate is provided with a through hole for allowing the top of the dry powder tank to be inserted, one end of the spraying rod is fixed to the fixed upper plate detachably while the other end of the same extends outwards, and the infrared thermal imaging device is fixedly mounted at the front end of the spraying rod; the power supply device comprises a mooring cable and a mooring power source onboard end, and the flying power device is arranged above the fixed upper plate. The unmanned aerial vehicle has the advantages that quick start is realized, and the unmanned aerial vehicle is not subject to limitation of flying time; automatic tracking of a fire source can be realized through the infrared thermal imaging device, and the spraying rod is enabled to be aligned at the fire source for spraying, so that fire extinguishing efficiency is improved.

A black-and-white camera-based intelligent dolly path identification system disclosed by the present invention is characterized by executing according to the following steps of using a processor to send a control bus signal to an imaging module, at the same time, reading an image in an interruption manner, obtaining the track image information via a high resolution imaging module, acquiring the change of the external environment, returning a frame of complete image, enabling the system to obtain the current state, at the same time, controlling the operation of a device by adopting the hardware binarization and by an SCCB, and using a high-speed DMA channel to read the data of the image directly; carrying out the image pre-processing in the processor, and controlling the steering of a steering engine and the advancing of a driving motor via a PWM signal; using a speed measurement device to read a square wave signal having a certain frequency and formed by the photoelectric signal conversion, at the same time, determining two types of PWM signals needing to be given to the outside world at present according to the corresponding feature values, and repeating the steps. The beneficial effect of the present invention is that the black-and-white camera-based intelligent dolly path identification system can realize the two functions of tracking automatically and avoiding obstacles.

The invention discloses an unmanned aerial vehicle-mounted power inspection method and system based on embedded and dual-spectrum imaging. The system comprises a dual-spectrum video acquisition module, an image processing module, a dual-mode video output module and a communication module; visible light images and ultraviolet light images generated by corona discharge are collected into the system by a visible light CCD and an ultraviolet light ICCD through the double-spectrum video acquisition module, processed video images are obtained through the image processing module, finally, the processed video images are divided into two paths through the double-mode video output module, one path is transmitted to a liquid crystal screen to be visually output, and the other path is coded by the communication module and then is pushed in a code stream form. According to the invention, abnormal corona discharge position detection of an insulator and target identification of the insulator and a power transmission tower are realized, pose information can be transmitted, sensor information can be received, video files can be stored, and the problems of low inspection efficiency and high risk in a traditional electric power inspection method are solved.

A table tennis ball picking robot comprises a cart storing table tennis balls, a walking mechanism, a ball picking mechanism and a power supply system. The walking mechanism is supported by three wheels, namely two identical driving wheels are symmetrically distributed on the two sides of the cart and a driven wheel is located on the rear side of the cart. The ball picking mechanism comprises a ball picking claw, a cam pushing rod mechanism, a rocker sliding block mechanism and a spring. A motor drives a cam to rotate, so that a pushing rod moves in a linear reciprocating mode, and finally a sliding block is used for driving a rocker to enable the ball picking claw to be opened and closed. The cam pushing rod mechanism and the rocker sliding block mechanism are matched to achieve the ball picking function, the overall structure is simple, and cost is low.

The invention discloses an automatic tracing and positioning system for falling-behind spindles corresponding to spun yarn and bobbin linkage defected yarn tubes. An engraving device for conducting encoding and marking on spun yarn tubes, a first information collecting device used for collecting the encoding information on the spun yarn tubes and the spindle position information corresponding to the spun yarn tubes, and a second information collecting device used for collecting encoding information of yarn tubes in an automatic winder yarn warehouse are included. According to the automatic tracing and positioning system, on the basis of the principle of scanning recognition, codes are marked on the tops of various yarn tubes, and a scanner sequentially scans the codes of various yarn tubeson a spinning machine and meanwhile scans the position information of spindles corresponding to all the yarn tubes; the means that a code scanner is arranged at the last preparing station before winding in the automatic winder yarn warehouse and scans the code of the yarn tube at the last preparing station before winding in the yarn warehouse, and meanwhile the work time information of the yarn tube is recorded are adopted, so that falling-behind spindle automatic tracing is achieved, and compared with a spindle-by-spindle searching manner, efficiency is obviously improved, and tracing reliability is high.

A self-driven sun tracking system disclosed by the invention comprises a base. A stand column is fixedly connected to the base, a tray is fixedly connected to the stand column, a plurality of telescoping mechanisms are arranged at the top of the tray, each telescoping mechanism comprises a telescoping rod, a first spring is arranged in the telescoping rod, the bottom of the first spring is fixedly connected to the top of the tray, and the top of the first spring is fixedly connected to the top of the telescoping rod. The first spring can be compressed and stretched along with the intensity of illumination and drive the telescopic rod to move, a movable mechanism is further hinged to the top end of the telescopic rod, the angle of the solar panel can be changed along with movement of the sun, the solar panel faces the sun all the time, and therefore automatic sun tracking is achieved.The top of the movable mechanism is fixedly connected with a clamping mechanism; and the clamping mechanism is detachably connected with a solar panel, the tray is provided with a storage battery and a controller, the storage battery is electrically connected with the controller, and the self-driven sun tracking system solves the problems that an existing mechanical sun tracker is complex in structure and consumes extra power.

The invention provides a solar tracking system, which is characterized in that it includes a base (1), a solar component support / drive device (2), a solar component (3), a solar photosensitive tracking device (4), a timing controller and a controller , the controller is respectively connected with the solar module (3), the solar photosensitive tracking device (4), the solar module supporting / driving device (2), and the timing controller, and the solar module supporting / driving device (2) is equipped with a windproof Self-locking device, the solar photosensitive tracking device (4) includes a circular photoresistor box, inside the circular photoresistor box, there is a photosensitive element (4.1) at the center of the circle, and several photosensitive elements are evenly distributed on the circumference (4.1), in the center of the top of the circular photoresistor box, there is a small light-transmitting hole (4.2). The invention has wide applicability, precise control, high intelligence and strong practicability.

The invention provides a lamplight tracking system and an excavator. The system comprises a controller, an ultrasonic transmitting device, an ultrasonic receiving device and a drive device, wherein the ultrasonic transmitting device, the ultrasonic receiving device and the drive device are connected with the controller. The drive device is connected with a searchlight of the excavator. The ultrasonic transmitting device is arranged on a bucket of the excavator. The controller is used for sending a startup signal to the ultrasonic transmitting device. The ultrasonic transmitting device is usedfor transmitting an ultrasonic signal after receiving the startup signal. The controller is further used for calculating the location information of the bucket according to the ultrasonic signal received by the ultrasonic receiving device, confirming the rotating angle according to the location information and the current angle of the searchlight and driving the drive device according to the rotating angle so as to turn the searchlight to the bucket. According to the technical scheme, automatic tracking of the searchlight to the bucket of the excavator can be achieved, the view of a driver isimproved to a great degree, and excavation efficiency, construction safety and the like can be improved.

The invention relates to the field of information security, and provides an online behavior monitoring method and device, computer equipment and a storage medium. On one hand, the method comprises thesteps: after a target behavior is triggered, collecting behavior data generated by behavior nodes of the target behavior, wherein the target behavior comprises operation behaviors of a plurality of behavior entities on the corresponding behavior nodes; calculating a matching rate of the behavior data and an information circulation path; and if the matching rate is lower than a preset threshold, determining that the target behavior is a risk behavior. Through the method and the device, the technical problem that online behaviors including multi-behavior subjects cannot be monitored online in related technologies is solved, automatic tracking of the online behaviors is achieved, and online illegal operation and risk behaviors can be discovered and intercepted in real time. In addition, theinvention also relates to a blockchain technology, and the behavior data generated by the behavior node of the target behavior is stored in the blockchain.

The invention relates to an intelligent trolley and a control system thereof. The intelligent trolley comprises an intelligent trolley body; the intelligent trolley body comprises a chassis, crawler assemblies arranged on two sides of the chassis, and two motors for driving the crawler assemblies to move respectively; the intelligent trolley further comprises an Arduino controller located on the chassis, and a tracking module, a camera module, an environment parameter acquisition module, a Bluetooth module and a fire extinguishing module connected with the Arduino controller; and the Arduino controller controls each module to work. According to the intelligent trolley and the control system thereof, paths in the surrounding environment are identified through a gray sensor to achieve automatic tracking; and meanwhile, a fire area is preliminarily locked through image processing of the Arduino controller through the camera module, flame information and smoke information in the surrounding environment are collected by a flame detection unit and a smoke detection unit after the intelligent trolley moves to the vicinity of the preliminarily locked fire area so that whether a fire indeedoccurs can be further determined, and the Arduino controller instructs the fire extinguishing unit to extinguish the fire after the secondary determination so as to assist firefighters in rescuing.

The invention discloses a method and device for determining geologic horizons. The method provides electrical resistivity inversion section data of a target interval, wherein the target interval includes at least two geologic horizons. The method includes acquiring an electrical resistivity range corresponding to the geologic horizons in the target interval; based on the electrical resistivity range corresponding to the geologic horizons, performing color mapping treatment on the electrical resistivity inversion section data and obtaining the electrical resistivity inversion section data subjected to color mapping treatment; determining the positions of the geologic horizons according to the electrical resistivity inversion section data subjected to color mapping treatment. By adopting thetechnical scheme provided by the invention, accuracy of determining the geologic horizons on an electrical method inversion section can be improved.

The invention discloses a movement management method combining ultrasonic wave with an abdominal pressure plate. Amovement management device based on combination of ultrasonic wave and an abdominal pressure plate comprises the implementation steps that S1, an ultrasonic probe and an abdominal pressure plate are connected to a bed plate, and it is guaranteed that the ultrasonic probe and the abdominal pressure plate are fixed relative to the position of the bed plate when ultrasonic data are collected, namely, the ultrasonic probe and the abdominal pressure plate are fixed in a laboratory or treatment room coordinate system; S2, the compression position and the height of the abdominal pressure plate are adjusted, the patient is forced to enter a shallow breathing state, and the position of the abdominal pressure plate is recorded; S3, the scanning position and the height of the ultrasonic probe are adjusted, and the positions of the ultrasonic probe in the horizontal direction and the vertical direction are recorded; and S4, the ultrasonic probe collects an abdominal ultrasonic image of the patient at the adjusted position, the tracking algorithm tracks the movement of the organ or tumor of interest in the ultrasonic image, and the position, the movement amplitude and the deformation degree of the organ or tumor of interest are obtained. According to the invention, the motion amplitude and deformation degree of the abdominal organ or the tumor are reduced, and the traceability and tracking reliability of the abdominal organ in the ultrasonic image are improved.

The invention discloses a single-face concave mirror tracking condensation system. The single-face concave mirror tracking condensation system comprises a base. The base is provided with a longitudinal driving box. An arc-shaped gear is installed above the base through a bearing. A positioning frame is installed above the arc-shaped gear. A reflective disk is installed above the positioning frame. A rotary table is installed above the base. An elevation adjusting bracket is installed above the rotary table. A rotating shaft is installed at the combination position of the rotary table and the elevation adjusting bracket. The top of the elevation adjusting bracket is provided with a radial motor. A screw rod is arranged below the radial motor. A pin shaft is installed at one side of the base, and an adjusting nut capable of being matched with the screw rod for connection is fixed to one side of the pin shaft. The single-face concave mirror tracking condensation system has the beneficial effects that sunlight can be automatically tracked, the sunlight can be gathered into high-power near parallel light, and the energy density of reflected light is increased.

The invention relates to the field of robots, and particularly relates to a household robot. The household robot comprises a main body function module and a base, wherein the main body function moduleis used for storing and taking articles. The household robot further comprises a lifting module, a motion module and a control module, wherein the lifting module is installed between the base and themain body function module and used for driving the main body function module to ascend and descend; the motion module is installed at the bottom of the base and used for planning a route and drivingthe base to move; and the control module is used for controlling the lifting module, the main body function module and the motion module to work. The household robot has the beneficial effects that the modular structure is relatively simple, different requirements can be flexibly met through the lifting module, and the arranged motion module can achieve automatic tracking and prevent mistaken collision through SLAM technology mapping.