69results about How to "Realize spatial positioning" patented technology

The invention discloses a VHF (very high frequency) frequency-range intracloud lightning detecting and positioning system, which comprises a central treatment station and a plurality of detection and treatment sub-stations arranged in different positions, wherein the detection and treatment sub-stations and the central treatment station are accessed into a public wide area network in a wired or wireless mode; and through the wide area network, on one hand, obtained intracloud lightning detection data is uploaded to the central treatment station by the detection and treatment sub-stations, andon the other hand, the working state of each detection and treatment sub-station is remotely monitored by the central treatment station. The system can be used for precisely estimating the incidence directions of lightning radiation signals of a plurality of simultaneously occurring lightning radiation sources or the same lightning radiation source arriving at the detection sub-stations through different propagation paths, the arriving time difference of the lightning signals between any two detection and treatment sub-stations is calculated at the central treatment station (TDOA estimation),and the spatial position of an intracloud lightning radiation source is determined by DOA and TDOA information.

The invention automatic fire artillery and its control method, is composed by the artillery body and the control system, its characteristic is the system is composed by the water supply installment, the flame picture locator, the decoding as well as the computer; The computer control artillery body movement, accepts the fire alarm through the hypothesis procedure, gains the artillery body position and the flame picture information through the angle potentiometer and the flame picture locator, promptly adjusts the artillery body position and the nozzle angle, after aims the artillery body nozzle at the flame surface vanguard, automatically turns on the water pump and the motorized valve,sprays water to the fire point,fights the fire, until the flame extinguishes, this road alarm has already eliminated.The invention automatic fire artillery can linkage with the fire prevention alarm system,the computer automatic control fire prevention artillery to carry on the flame recognition in spatial scope of the hypothesis monitoring, the flame space localization and automatically open the valve spraying of water, suppresses the flame, specially suits to the big space and nobody value defends the situation the fire safe monitoring and save goal, may raise the automated level of the early fire saves goal.

The invention discloses a spatial orientation method and device based on a binocular camera. The method includes the steps of acquiring a first frame image collected by a binocular camera at a first moment; performing three-dimensional space point reconstruction on a first feature point extracted from the first frame image to obtain first three-dimensional coordinates of the first feature point ina reference coordinate system; acquiring a second frame image collected by the binocular camera at a second moment, the first moment being earlier than the second moment; extracting a second featurepoint that matches the first feature point in the second frame image and acquiring first two-dimensional coordinates of the second feature point in an image plane coordinate system; and calculating, according to the first three-dimensional coordinates of the first feature point and the first two-dimensional coordinates of the second feature point, a posture change of the binocular camera from thefirst moment to the second moment. The embodiments of the invention can reduce the manufacturing cost and increase the supportable moving range.

The invention provides an Internet autonomous advertising method based on an augmented reality IP map. By establishing a network advertisement autonomous publishing system based on member authentication, spatial orientation of enterprises and individuals based on network elements is realized through the city IP map; the augmented reality technology is adopted to project a commercial label to real space in a multimedia mode and add the commercial label to a building entity to produce WYSIWYG true commercial experience, so immersive consumption guide is realized, and merchants can solicit business beneficially.

The invention discloses a system for GPS mobile law enforcement monitoring of land resources, which includes a GPS handheld integrated machine and a background computer. The GPS handheld integrated machine is connected to the background computer through a USB interface, and a mobile law enforcement monitoring data processing module is stored in the background computer; the handheld The all-in-one machine includes an operating system platform, a camera and a GPS receiver. The operating system platform is provided with a memory, which stores a mobile law enforcement monitoring module. The method of land resources using GPS mobile law enforcement monitoring includes satellite law enforcement and dynamic inspection. The present invention adopts the 3S cutting-edge technology combined with GIS, GPS and RS to optimize the mobile law enforcement and supervision process, improve the efficiency and quality of law enforcement, combine the latest cutting-edge technology, make the law enforcement process scientific and intuitive, and realize the paperless and electronic process of land and resources law enforcement and supervision. Simplified and intelligent, greatly improving the work efficiency of field inspections, reducing labor intensity and professional level requirements for users.

The invention discloses a comprehensive prospecting method for multi-metal minerals, and provides a prospecting method integrated with a mineralization system, water system sediment measurement, rockdebris measurement, large-scale geophysical and chemical prospecting profile / high-precision magnetic survey and engineering verification, and a huge prospecting breakthrough is obtained in the prospecting process. Through the implementation of the combination method, the limitation of shallow coverage conditions on conventional geological mapping can be effectively avoided, a prospecting target area can be rapidly shrunk in a quaternary coverage area, and spatial positioning of a mineralization alteration zone and an ore-bearing geologic body is achieved, so that the prospecting success rate is increased accordingly, and the method has the advantages of being short in prospecting period, high in efficiency and low in prospecting cost and is suitable for prospecting of shallow vein-shaped copper-lead-zinc-silver-gold ores and skarn-type iron-copper ores; and the wide-area electromagnetic method has the absolute advantage of large detection depth, and is suitable for exploration of deepconcealed porphyry type copper-molybdenum ores by combining an ore prospecting prediction geological model established according to geological characteristics and a speculated concealed ore-bearing porphyry body range.

The invention discloses a space control virtual reality method of three-dimensional scene, including the following steps of S1: making a to-be-identified image, and systematically recording feature point information of the to-be-identified image; S2: writing camera call instruction information; S3: setting a positioning rule; S4: capturing the to-be-identified image by a camera of a hardware platform; S5: establishing a 3D space coordinate system and locking the 3D coordinate system, wherein a 3D scene appears in the 3D space coordinate system after recognizing the image; S6: controlling the dynamic and special effects of the 3D scene through a control button of the hardware platform by a user; and S7: monitoring the displacement data of the 3D scene in a real environment by using a video capturing device and a gyroscope, displaying the displacement information on a screen by operation, and transmitting the real-time attitude information of the 3D scene to a terminal device by wireless communication to make corresponding dynamic effect.

The invention discloses a cervical vertebra motion degree and motion axial line position determining method, system and device. The method comprises the following steps of obtaining an image, of a detection mark worn on the head of a tested person in the head rotating process of the tested person, shot by binocular vision cameras, and obtaining a detection mark image group, wherein the binocular vision cameras are two cameras in parallel arrangement; determining the position of the detection mark corresponding to the detection mark image group in a three-dimensional space by a triangular measuring method to obtain a three-dimensional point; calculating a center position of the three-dimensional point corresponding to the detection mark image group to obtain a sampling point; projecting the sampling point into a projection plane to obtain a projection point; fitting the projection point by a least-square fitting method to obtain a cervical vertebra motion axial line position and a cervical vertebra motion degree. The method, the system and the device provided by the invention have the advantages that the determination of the cervical vertebra motion axial line position can be realized; the detection process is simplified; the cervical vertebra motion degree can be accurately determined.

The invention relates to a spatial information technology, in particular to a video positioning system and method. The method comprises the following steps: establishing a mapping relationship between target pixels and spatial coordinates of the target pixels through an interactive operation and data transmission between a mobile terminal and a monitoring camera; performing processing through spatial calibration software to automatically finish spatial coordinate calibration of a video monitoring range; and building a video map in order that target pixel points on a monitoring video matrix have corresponding spatial coordinate values, thereby realizing spatial positioning of any dynamic / static target pixel within the monitoring range. Meanwhile, space-time coordinate calibration is performed semi-automatically through WIFI (Wireless Fidelity) functions of a mobile terminal positioning device and a wireless router, so that conventional manual processing is replaced; the working efficiency is increased; and the cost is reduced.

The invention discloses positioning equipment, a positioning base station, and a space positioning system and method. The positioning equipment comprises a housing and a photosensitive sensor which is arranged on the housing. The technical scheme of the embodiments of the invention is featured in that the position of the positioning equipment relative to the positioning base station is determined according to three laser scanning signals; and as the precision of laser measurement is millimeter-scale and the positioning speed is millisecond-scale, the positioning precision and the positioning speed are greatly improved compared with the prior art, and the technical effect of precisely and rapidly achieving space positioning is realized.

The invention aims to disclose a sedimentary metamorphic iron-graphite ore exploration method. The sedimentary metamorphic iron-graphite ore exploration method includes the following steps: A, determining a metallogenic system; B, dividing a metallogenic prospect; C, delineating a metallogenic target; D, shrinking the target and delineating a metallogenic favorable section; E, positioning the spatial position of a magnetic body and a polarized body; and F, drilling to verify and determine an ore deposit and an ore body. Under guidance of the metallogenic theory and an ore-seeking model, the iron-graphite ore exploration technique combination method can effectively avoid the limitation that the iron-graphite ore cannot utilize the geochemical anomaly to select the target, can utilize geological and geophysical exploration data to divide the metallogenic prospect to quickly know about the properties of magnetic anomaly and reduce multiplicity of magnetic anomaly so as to achieve the aimof searching iron and graphite ores, can utilize the geophysical exploration method to realize spatial positioning of buried ores, thus reducing the prospecting period and improving the ore-seeking success rate, has the advantages of short prospecting period, high efficiency and low prospecting cost, and is suitable for seeking magnetic iron ores and graphite ores.

The invention relates to an interactive intelligent conference system based on pattern recognition and a using method thereof. The interactive intelligent conference system comprises five stepper motors, a camera, a projection screen, a meeting room and an electronic stylus; the control interface of each stepper motor is provided with a wireless fidelity controller; each wireless fidelity controller controls each stepper motor according to a control signal sent by a computer control terminal; the four stepper motors are arranged at four corners of the ceiling of the meeting room respectively;gears of revolving shafts of the stepper motors are connected with a chain made of a rope respectively; the fifth stepper motor is vertically hung and connected at an interaction point of the four chains made of the rope in a Z shaft direction by using another chain made of the rope; the camera is hung at the tail end of the chain made of the rope below the stepper motor in the Z shaft direction;and the camera acquires projection light spot signals of the electronic stylus on the projection screen and transmits the signals to the computer control terminal. The interactive intelligent conference system can meet the interactive intelligent requirement of the conference exhibition and can be widely applied to teaching or meeting.

The invention discloses an intelligent digital display torque wrench circuit control system and method. The system comprises a signal conditioning module, an angle detection module, a microcontrollermodule, a communication module, a man-machine interaction module and a control terminal. The signal conditioning module collects the value of torque exerted on a wrench in real time and converts the torque value into a digital signal, and the digital signal is transmitted to the microcontroller module. The angle detection module collects the course angle change value in the wrench screwing processand transmits the courses angle change value to the microcontroller module. The microcontroller module calculates the wrench screwing angle value according to the received course angle change value in the wrench screwing process, the wrench screwing angle value and the torque value are uploaded to the control terminal through the communication module, meanwhile the microcontroller module is usedfor comparing the wrench screwing angle value and the torque value with the set values, and the man-machine interaction module is used for conducting alarming prompting on whether wrench screwing is qualified or not.

The invention relates to the technical field of agricultural machinery, in particular to a corn-harvesting and stalk-chopping test bench, which comprises an ear picking device, a feeding device, a horizontal chopping blade device, a frame, a hydraulic pump, a first variable-frequency and variable-speed motor, a hydraulic oil tank, a torque sensor, a second variable-frequency and variable-speed motor, a testing operation monitor station, a universal joint and a transmission shaft. The ear picking device is hung to the frame through pins, the torque sensor is installed on an output shaft of the second variable-frequency and variable-speed motor which transmits power to the ear picking device through the universal joint and the transmission shaft, and the horizontal chopping blade device below the ear picking device is hung to the frame through U-shaped bolts. The testing operation monitor station is capable of displaying torque and rotation speed of the output shafts of the variable-frequency and variable-speed motors and adjusting the rotation speed, and is safe and convenient in operation and reliable in data. The horizontal chopping blade device is capable of moving in the direction of any coordinate axis in a rectangular coordinate system so as to spatially position moving blades and meet the impact need of the spatial position of the moving blades upon the effect of chopping corn plants.

The invention provides a tracking method of a target positioning and tracking system based on a CCTV sensor network. The CCTV sensor network-based target positioning and tracking system comprises an image acquisition terminal, an image preprocessing unit, a target detection unit, a working environment cognition unit, a CCTV sensor network node deployment unit, a digital holder control execution unit, a target space positioning unit, a target space self-adaptive tracking unit and an information output and display unit; according to the method, the target is detected through the video image processing technology, and the pixel coordinate position of the target in the image is obtained; information such as installation latitude and longitude of a camera node in a CCTV sensor network, a distance from the camera node to a horizontal plane, and a direction angle and a pitch angle of a camera provided by a digital holder control execution unit are combined; and according to the target detection unit and the CCTV sensor network node deployment unit, the optimal cooperative node pair isself-adaptively deployed to align with the target, so as to complete spatial position determination and continuous track tracking of the target.

The invention discloses information processing methods, systems and devices. A method applied to first electronic device comprises the steps of receiving and saving first images uploaded by second electronic device; establishing a three-dimensional coordinate map, conducting feature point extraction to the first images based on the established three-dimensional coordinate map, analyzing and saving feature point description information of corresponding feature points, and determining and saving the spatial position information of the extracted feature points in the three-dimensional coordinate map; establishing a feature point dataset based on analyzed and saved feature point description information of a first quantity of first images and the determined and saved spatial position information of the feature points. By using the information processing methods, the systems and the devices, the spatial positioning of electronic devices based on images is realized.

The invention provides a flexible adjusting and positioning device for an aviation high-temperature guide pipe and a new manufacturing process. According to the flexible adjusting and positioning device for the aviation high-temperature guide pipe and the new manufacturing process, a bottom plate is installed at the top of a mounting plate in a supported mode through a lifting adjusting mechanism, a transverse adjusting plate capable of transversely moving and adjusting is installed at the top of the bottom plate in a supported mode, and a longitudinal adjusting plate capable of longitudinally moving and adjusting is installed at the top of the transverse adjusting plate in a supported mode; a first arc-shaped seat is supported on the top of the longitudinal adjusting plate through a Z-axis rotating seat, an X-axis rotating seat is hinged to the first arc-shaped seat through a first rotating shaft, a second arc-shaped seat is fixed to the top of the X-axis rotating seat, a Y-axis rotating seat is hinged to the second arc-shaped seat through a second rotating shaft, and a positioning connecting assembly is installed on the Y-axis rotating seat. Through a pure mechanical manual adjusting mechanism, movement and rotation in all directions in a three-dimensional space are integrated on one adjusting device, adjusting positioning and locking of six degrees of freedom in the three-dimensional space can be quickly achieved, and the quick space positioning requirements of different mounting holes or mounting faces are met.

An assistant-type three-dimensional space positioning device based on multiple PSD sensors includes a signal receiving and processing terminal and a portable infrared ray emission terminal. The signal receiving and processing terminal employs two or more two-dimensional PSD sensors, which are arranged and fixed according to known distance relationship. A passive positioning method is employed to receive infrared light emitted by the portable infrared ray emission terminal. On the basis of positions of light spots formed by an infrared light emitter on the PSD sensors, spatial positions of the infrared light emitting points are calculated. A portable infrared ray emitter is installed on and fixed on an object requiring positioning, so that indirect three-dimensional space positioning to the object is achieved. In the assistant-type three-dimensional space positioning device, according to position signals, which are collected by the multiple PSD sensors, of the infrared ray emitter, the position of the emitter in a three-dimensional space can be calculated accurately. The device needs two or more two-dimensional PSD sensors.

The invention provides a stone wall blasthole detecting and positioning device based on binocular vision and a positioning method. The device comprises a main video camera and an auxiliary video camera. The main video camera and the auxiliary video camera are mounted on a multi-joint movable manipulator and connected with an image acquisition card through signal lines. The image acquisition card and the multi-joint movable manipulator are connected with a computer through signal lines. According to the device, the main video camera is used for searching for, partitioning and locking a hole, and meanwhile the auxiliary video camera is used for photographing images and storing the images for standby application; after the target hole is locked through the computer, the image corresponding to the target hole in the auxiliary video camera is called and is combined with a target hole image obtained by the main video camera for binocular calibration, and then the current space coordinate position of the target hole relative to the working manipulator can be positioned.

The invention provides a display device, a manufacturing method of such display device and a method for performing information acquisition through such display device, wherein the display device comprises a display panel and an information receiving device; the display panel comprises a plurality of subpixels, some of the subpixels are information acquisition subpixels provided with a light conversion material, the light conversion material can absorb light emitted by the information acquisition subpixel and emit infrared light to an outside object; the information receiving device is arrangedon at least one side of a display area of the display panel, the information receiving device is used for receiving an infrared light signal reflected by the outside object and acquiring depth information of the outside object according to the infrared light signal. An inventor discovers that the display device is simple in structure, easy to realize and low-cost, can simultaneously realize a display function and an information acquisition or pace orientation function, and obtains high-precision depth information of the outside object; and the display device has high yield and excellent product performance.

The invention discloses a stereoscopic vision servo-based operating method and mechanism for a pivoting mechanism, and belongs to the technical field of industrial control equipment. The operating mechanism comprises a deep information acquisition unit, an optical acquisition unit, a calibration module and a mechanical arm. The operating method comprises the following steps that the mapping relation is constructed, transformation parameters are obtained, coarse positioning is performed on a target, accurate positioning is performed on the target, three-dimensional coordinates of the rotation center are calculated, and the pivoting mechanism is operated. By the aid of the operating method and mechanism, spatial positioning of the pivoting mechanism is realized, the automation degree of a system is increased, the operation process is simplified, and operation can be completed accurately and efficiently.

The invention provides a three-dimensional human body posture estimation method for obtaining spatial positioning and a computer readable storage medium. The method comprises the following steps: acquiring a single-person image from an original image by adopting a human body detection network and performing standardization processing; predicting two-dimensional coordinates of key points from the single-person image by using a two-dimensional human body posture estimation method, predicting three-dimensional coordinates of the key points from the two-dimensional coordinates of the key points by using a three-dimensional posture generator, and obtaining a three-dimensional human body posture estimation result; meanwhile, obtaining human body parameters from the features of the two-dimensional human body posture estimation network; correcting the scale of the result of the three-dimensional human body posture estimation according to the human body parameters; calculating a visual angle deviation, and aligning a three-dimensional human body posture estimation result after rotation correction with a camera coordinate system; according to the perspective projection principle, absolute depth is fitted, obtaining space positioning, and finishing three-dimensional human body posture estimation. The result accuracy is improved and the system error is reduced.

The invention discloses a visible light positioning method and system with double-carrier chaos optimization, and relates to the field of visible light positioning. The method includes: determining the positions of LED lamps according to ID information received by a receiving end, of the LED lamps, obtaining the distance between the receiving end and each LED lamp according to an attenuation factor of the light intensity, and determining a three-dimensional coordinate of a positioning point by employing a chaos optimization algorithm; and introducing a dynamic adjusting factor in a secondary carrier process, generating random disturbance by employing a chaos variable, reducing the amplitude of random disturbance with search, and determining the accurate position of the positioning point. According to the method, the positioning process is simple, the calculation amount in the positioning process is reduced through the secondary carrier process, and the positioning accuracy is improved.

A feeding and discharging mechanical arm of a thermal forming press comprises cross beams, supporting plates, lifting arms, shuttling arms and end grippers. The cross beams are horizontally mounted on the feed side and the discharge side of the press correspondingly. The supporting plates are mounted on the cross beams in a horizontal sliding manner in the left-right direction through guide rails I fixed to the cross beams. The lifting arms are mounted on the supporting plates in a vertical sliding manner through guide rails II fixed to the lifting arms. The shuttling arms are mounted at the lower ends of the lifting arms in a horizontal sliding manner in the front-back direction through guide rails III fixed to the lower ends of the lifting arms. The end grippers are arranged at the lower ends of the shuttling arms and used for clamping a workpiece on a feeding workbench or a discharging workbench. Supporting plate drive devices drive the supporting plates to horizontally slide left and right, lifting arm drive devices drive the lifting arms to slide vertically, and therefore space locating of the end grippers is achieved. The feeding and discharging mechanical arm does not interfere with a module, efficiency is improved, and cost is reduced.

The invention provides an indoor space attitude identification method and system, a medium and a device, and the method comprises a first space positioning information obtaining step of obtaining a plurality of pieces of first space positioning information, the first space positioning information indicating the space position of a first sensor; and a first posture identification step of obtaining the first posture information according to the plurality of pieces of first spatial positioning information, the first posture information indicating the posture of the first target. According to the invention, the high-precision and intelligent real-time target space attitude identification and the real-time multi-target attitude interaction relationship identification can be realized; by combining the real-time physiological parameters of the target, the intelligent guidance and interaction of the people and the target are realized.

The invention discloses an indoor GPS (iGPS)-based single-station and multi-point time-sharing measurement method, which comprises the steps of setting up a single-station and multi-point time-sharing measurement platform, establishing a coordinate system OXYZ for an automatic rotation device, adopting the coordinate system OXYZ as a global coordinate system, defining a coordinate system O0X0Y0Z0 for the initial position of a launch station, calibrating the coordinate value (x0, y0, z0) of the initial position of the launch station in the global coordinate system, rotating the launch station around an O-axis under the effect of the automatic rotation device to move the launch station to different places, calculating a real-time position coordinate system (OiXiYiZi) of the launch station to figure out the real-time coordinate value thereof (xi, yi, zi), receiving optical signals sent by the launch station at different places by means of a receiver, establishing a position relationship equation between the receiver and the launch station in the global coordinate system according to a conversion equation between the real-time position coordinate system of the launch station and the global coordinate system, solving out the three-dimensional coordinate of the receiver in the global coordinate system based on the iterative algorithm, and realizing the spatial positioning effect. According to the technical scheme of the invention, the receiver can be positioned only by means of the single launch station. The method is high in efficiency and low in cost. Through the multi-point time-sharing measurement process, the positioning accuracy is effectively improved.

The invention relates to a method for cooperative reconnaissance and fire-fighting operation of an unmanned aerial vehicle and a fire-fighting robot. Robots, reconnaissance drones, robot consoles, drone consoles collaborative reconnaissance and firefighting steps. The spatial geometric positioning method is used to realize real-time three-dimensional spatial positioning of the fire-fighting reconnaissance robot, so as to quickly obtain the relative positions of the unmanned reconnaissance aircraft, the robot console, the drone console and the fire-fighting and reconnaissance robot in space, which improves the scope of application of the system. At the same time, the online compensation of the injection angle of the fire water cannon is realized, which greatly improves the accuracy of the injection at the target point, which can improve the efficiency of reconnaissance and fire extinguishing, save rescue time, improve the speed of on-site disaster disposal, and improve the efficiency and accuracy of classification and fixed-point processing of hazard sources. , reduce the loss of personnel and property.

The invention discloses a single channel dual base station ultra-short wave signal spatial positioning method and belongs to the technical field of ultra-short wave radio position finding. According to the method, a dual base station positioning system is constituted of a single channel Doppler antenna array and a reference antenna; phase positions are extracted directly from simulation signals to act as data base; two-dimensional information of azimuth angle and pitch angle is converted to one-dimensional information by use of space included angles, match searching is performed to data base and measured phase positions by use of a similarity measurement function to obtain azimuth angle of a target source. By use of the method, aerial ultra-short wave radio-frequency signals can be accurately positioned, the real-time performance of a direction-finding system is increased, system cost and complexity are reduced, and labor and economic investment are saved; the method is of great practical importance.

The invention discloses a GIS shell defect detection method based on magnetostriction torsional guided waves. The method comprises the steps: selecting a position of a GIS shell, and installing an excitation band at the position; fixing a detection type sensor to the excitation band, and carrying out defect overall screening on the GIS shell through the detection type sensor; and accurately positioning the defects of the GIS shell along the surface of the excitation band by using a scanning sensor. In the embodiment of the invention, the problems of complicated instrument operation steps, lowdetection sensitivity and difficulty in accurately positioning the defects are solved, and the electrified detection of the defects of the GIS shell is realized.

The invention relates to a water surface and underwater equipment laying and recycling device suitable for complex sea conditions. The water surface and underwater equipment laying and recycling device comprises a frame A and a swing stopping mechanism. The oscillation stopping mechanism comprises an oscillation stopping device and an anti-collision net mechanism; the oscillation stopping device comprises a swinging connecting rod, an oscillation stopping oil cylinder and a connecting circular ring; the upper end of the swinging connecting rod is hinged to the A frame body; the upper end of the anti-swing oil cylinder is connected with the swing connecting rod and the lower end is connected with the connecting ring; a group of steel cable launchers are arranged around the connecting ring, the steel cable launchers can release the steel cable through ejection, and the steel cable can be continuously released or recycled through a steel cable winch in the steel cable launchers; the lower end of a steel cable in the steel cable emitter is connected with a steel cable clamp, and the steel cable clamp is provided with an opening and closing mechanism and can grab and release a lifting lug on target equipment; the anti-collision net mechanism comprises two sets of supporting arms and an anti-collision net clamped by the far ends of the two sets of supporting arms, and the near ends of the two sets of supporting arms are hinged and fixed to the A frame base. The precision and success rate of equipment recovery can be improved.