33results about How to "Realize unmanned" patented technology

The invention discloses an H-shaped steel automatic welding roller way conveying system. Comprising a lower wing plate feeding line, a web feeding line, an upper wing plate feeding line, a lower wing plate and web assembly line, a T-shaped steel assembly welding straightening blanking transition line, a T-shaped steel assembly welding straightening blanking line, a web lifting turnover line, a T-shaped steel upper wing plate assembly line, an H-shaped steel assembly welding straightening blanking transition line and an H-shaped steel assembly welding straightening blanking line which are arranged in parallel in the same direction. The lower wing plate feeding line, the lower wing plate web assembling line, the T-shaped steel assembling, welding and correcting discharging line, the web feeding line, the upper wing plate feeding line, the T-shaped steel upper wing plate assembling line and the H-shaped steel assembling, welding and correcting discharging line are each composed of a plurality of roller bed units. The web lifting turnover line is composed of a plurality of lifting roller bed units; and the T-shaped steel assembling, welding and straightening blanking transition line and the H-shaped steel assembling, welding and straightening blanking transition line are respectively composed of a plurality of transition roller bed units. The problems that an existing H-shaped steel welding production line is high in labor intensity and low in efficiency, and safety factors exist in a working site can be solved.

The utility model discloses a conical self-locking type shield segment connecting mechanism, which comprises a pre-assembled segment and a post-assembled pipe, a taper pin sleeve for socket fixing is arranged in the pre-assembled segment, a threaded sleeve is arranged in the post-assembled pipe, a connecting pin rod is connected in the threaded sleeve, the connecting pin rod is aligned with the taper pin sleeve, and the pre-assembled segment is connected with the post-assembled pipe. And the connecting pin rod can be inserted and fixed in the taper pin sleeve. Adjacent pipes are automatically connected along with splicing installation of the pipe pieces, a reverse self-locking fastening effect is achieved, automation and unmanned shield pipe piece splicing operation can be achieved, the inner surface of a formed pipe piece lining ring is smooth and free of holes, water leakage channels of a pipe piece connector are reduced, and splicing precision of a pipe piece structure is improved.

This utility model discloses a sleeve-sealing machine, comprising: a frame, a feeding platform in the middle of the frame in the height direction, a lifting mechanism that can extend and retract vertically in the middle of the feeding platform, the lifting mechanism being installed at the bottom of the frame, a material-carrying mechanism on the feeding platform on both sides of the lifting mechanism, the material-carrying mechanism transferring the product to be sleeved from one end of the feeding platform to the other end, a side-mounted material-lifting mechanism in the middle of the frame on both sides of the material-carrying mechanism, the side-mounted material-lifting mechanism corresponding to the lifting mechanism, a lifting and sliding structure on both sides of the frame, a pull-sealing bag mechanism spanning the lifting and sliding structure, the pull-sealing bag mechanism being symmetrically arranged on both sides of the corresponding position of the lifting mechanism; a bag feeding mechanism on the top of the frame, a bag tube frame on one side of the frame, the bag feeding mechanism guiding the bag material on the bag tube frame to the top of the frame, and a top-sealing bag mechanism at the bottom of the outlet of the bag feeding mechanism, solving the technical problems of low sealing efficiency and difficulty in ensuring sterility requirements in the prior art.

The application discloses a quick deployment control method, system and equipment for a fabricated movable building cabin, and belongs to the field of mobile buildings. The method comprises the following steps: after the fabricated movable building cabin is moved to a deployment area, a topographic survey and target landing attitude solving are performed to determine first driving parameters; an electric mechanical adjusting mechanism reaches a preset profiling attitude and is synchronously lowered; a driving current signal is synchronously collected, a current loop inflection point is identified, cabin body inertia measurement and solving are triggered, after landing, idle stroke is stopped and a load establishment stage is entered, closed loop load establishment analysis is adopted to determine an initial load, and cabin body initial landing is completed; structure strain monitoring is performed on the cabin body main structure, equivalent interference torque is analyzed, and a driving disturbance adjuster performs directional triggering and flexible service deployment adjustment. The application solves the technical problems of the prior art, such as complicated deployment process, insufficient identification accuracy under complex working conditions, and insufficient deployment efficiency and safe and stable operation.

This invention provides a dual U-shaped coupling mechanism and an underwater constant-voltage wireless charging system and parameter design method. By optimizing the coil structure and parameter design method, it has strong applicability to underwater enclosed wireless charging, can significantly suppress mutual inductance drop, and maintain a high mutual inductance level to reduce seawater eddy current loss. It achieves constant voltage output for loads with different voltage requirements and power levels within a large angular offset range, improving the universality and adaptability of the underwater wireless charging system for underwater electromechanical equipment with different power requirements. At the same time, it takes into account the small size and weight of the system, which is more conducive to realizing the unmanned operation of the underwater wireless charging system.

The utility model provides a mobile intelligent concrete curing system which comprises a concrete test piece curing cabinet, a standard container, a mechanical arm, a ground rail and a test piece transfer trolley, the concrete test piece curing cabinet is arranged in the standard container, the ground rail is arranged in the standard container, and the mechanical arm is arranged on the ground rail in a sliding mode. According to the concrete curing device, high integration of the concrete curing device is achieved, the concrete curing device can be conveniently transported to various construction sites, the difficulty of concrete test piece curing operation is greatly lowered, the accuracy of concrete test piece testing on the operation sites is improved, and a user only needs to use the test piece transferring trolley to transfer concrete test pieces and position the concrete test pieces at standard working positions; therefore, the whole-process automatic maintenance operation can be realized, the operation safety of a user is greatly improved, and meanwhile, the working comfort of the user is improved.

The application relates to the technical field of interface measurement, and discloses an electrolytic aluminum electrolyte aluminum liquid interface measurement system based on conductive characteristics, which comprises a data acquisition module that obtains impedance distribution data at different depth positions by controlling a probe to move in a vertical direction and collecting impedance signals; the data acquisition module adopts a multi-frequency excitation mode to obtain impedance responses at different frequencies during the movement of the probe, and adaptively adjusts the movement speed of the sampling probe according to the stability of the collected signals; an impedance change rate is extracted according to the impedance distribution data, the interface is judged based on the impedance change rate, and a candidate interface of the electrolytic aluminum electrolyte aluminum liquid is determined; one candidate interface of the electrolytic aluminum electrolyte aluminum liquid is selected, random multi-point measurement is carried out in the horizontal direction of the candidate interface, measurement information in the horizontal direction of the candidate interface is collected, and an evaluation model is constructed; and the application helps to improve the recognition accuracy of the interface.

This utility model relates to the field of broad bean paste processing technology, and discloses an integrated processing device for broad bean paste gelatinization and frying. It includes a base, with a gelatinization machine body and a frying machine body mounted on the top of the base. The feeding end of the gelatinization machine body is provided with a feeding pipe and a fixed shell. An anti-clogging component is installed inside the fixed shell. The feeding pipe passes through the middle of the fixed shell. A bracket is fixedly connected to the top of the base, and a feeding track is provided on the top of the bracket. The fixed shell is located above the feeding track, and the lower part of the feeding track is located at the feed inlet of the frying machine body. A support frame is provided on the top of the base, and a periodic rotating component is installed on the top of the support frame. In this utility model, a motor drives a double cam to make the clamping plate reciprocate at the feeding inlet, actively breaking up material accumulation, effectively solving the problem of arching and clogging of sticky materials, and ensuring continuous and stable production.

The invention provides a split type construction device for a groove pipeline and a construction method of the split type construction device for the groove pipeline, a spreading equipment vehicle and a tamping vehicle are independently moving equipment, and spreading equipment on the spreading equipment vehicle is used for spreading materials for a groove; a tamping device on the tamping vehicle tamps the materials in the groove; a clamping pipe butt joint device is arranged between the spreading equipment vehicle and the tamping vehicle, hoisting equipment is arranged at the two ends of the clamping pipe butt joint device, and the two hoisting equipment are slidably connected with sliding rails on one sides of the tops of the spreading equipment vehicle and the tamping vehicle correspondingly. The two vehicles realize macro and micro precise collaborative alignment locking based on a GPS and an infrared device; in the pipeline grabbing and butt joint stage, the system fuses laser radar three-dimensional point cloud and camera two-dimensional visual features, constructs a high-frequency three-dimensional geometric topology model through a heterogeneous bimodal space-time registration algorithm, and controls a hydraulic telescopic cylinder to act in combination with a self-adaptive rigid servo feedback closed loop. And the butt joint claw is guided to accurately anchor the old pipeline and stably push the new pipeline.

The application discloses a novel energy storage adaptive off-grid power supply fast response control method and belongs to the technical field of energy storage control of distribution networks; circuit breaker two-side voltage, frequency, phase angle and switch action characteristic values are monitored in real time; based on voltage drop and frequency disappearance of the power grid side, combined with the difference in two-stage power grid operation states, the power-off cause is adaptively analyzed and judged; the power-off of the upper-stage power grid and the fault of the current stage are distinguished; only when the upper-stage power grid is powered off, the circuit breaker is controlled to be tripped and an off-grid signal is issued, so that the energy storage device is switched from a constant power source to a constant voltage source to establish a micro-grid independent voltage reference; during off-grid, the micro-grid voltage frequency is maintained to be stable; after the voltage of the power grid side is detected to be restored, the energy storage device is switched from the constant voltage source to the constant power source to restore the grid connection; the application realizes adaptive on-grid and off-grid switching, and improves the power supply continuity and reliability of distribution areas.

This invention discloses a dynamic scheduling system and method for unmanned mining trucks in open-pit mines based on reinforcement learning. The system uses onboard sensors and terminals to perform real-time status assessments of the unmanned mining trucks and feeds this status information back to the scheduling processing center. The center optimizes the scheduling of all trucks that meet the requirements. A scheduling model is constructed based on reinforcement learning, trained using historical data, employs a greedy algorithm to improve the quality of the solution, and utilizes an adaptive reward adjustment mechanism. The scheduling model is repeatedly trained to obtain a better solution. A fault warning module can provide early warnings of potential malfunctions in the unmanned mining trucks. The system uses 5G networks for data transmission and computer technology to achieve real-time optimized scheduling of the mining trucks. This invention enables unmanned dynamic scheduling of unmanned mining trucks in open-pit mines, accurately predicts vehicle malfunctions, reduces labor intensity, improves transportation efficiency, ensures production and transportation safety, and accelerates the intelligentization of mining operations.

The invention discloses an intelligent switching system for food packaging and printing. The intelligent switching system comprises a multi-mode sensing unit, a prediction and control core, a dynamic response type actuator interface, a non-mechanical actuator module and an intelligent cleaning and maintaining module, instantaneous full-automatic switching among different product specifications, colors and processes is realized by regulating and controlling physical and chemical parameters of printing ink, jet printing behaviors and base material states in milliseconds. By the adoption of the scheme, the switching time can be shortened to 200-500 milliseconds from 15-45 minutes, the rejection rate is reduced to 0.1% or below, and the equipment efficiency and compatibility are remarkably improved.

The invention discloses an intelligent three-dimensional production system and a breeding method for insect breeding, and relates to the technical fields of the Internet of Things and artificial intelligence. The intelligent three-dimensional production system comprises a management server, an automated production line system for breeding boxes, a plurality of three-dimensional placement racks arranged in a breeding area, an environmental control device and an environmental monitoring sensor system, and a plurality of breeding boxes placed in the three-dimensional placement racks; the automated production line system for the breeding boxes comprises an endless belt conveyor, a weighing device connected to the management server, a camera and an automatic feeder, the endless belt conveyor is connected to the three-dimensional placement rack through a docking module, and the management server is also connected to the docking module; the application utilizes the management server and the automated production line system for breeding boxes to transmit the breeding boxes at regular intervals for video detection, weighing and feeding, combines breeding expertise with scientific and technological means, and realizes standardization, specialization and unmanned operation of the insect breeding process.

The invention provides automatic plugging and docking equipment, and relates to the technical field of automation equipment. The device comprises a base, a horizontal moving module, a rotary driving module, a plane adjusting module, an angle adjusting module and a processing control system, the base is installed on a preset area, the horizontal moving module is connected to the base, and the length direction of the horizontal moving module is consistent with the length direction of the base; the lower end of the rotary driving module is connected with the horizontal moving module, the horizontal moving module can drive the rotary driving module to move back and forth in the length direction of the base, the plane adjusting module is connected with the rotary driving module, and the rotary driving module can drive the plane adjusting module to rotate. The plane adjusting module can drive the angle adjusting module to do lifting motion and telescopic motion, the angle adjusting module can adjust the angle of the charging gun head, and the horizontal moving module, the rotary driving module, the plane adjusting module and the angle adjusting module are all in communication connection with the processing control system.

The embodiment of the invention provides turnover equipment, and relates to the technical field of product assembling equipment. The clamping mechanisms located at the two opposite ends of the product in the third direction are arranged, the clamping mechanisms can move relative to the product in the third direction, and then the product is clamped; meanwhile, the clamping mechanism is provided with a first restraining surface and a second restraining surface, so that products with different heights can be stably clamped in the third direction, products with different diameters can be stably and reliably clamped in the first direction, and compatibility of the products with various sizes is achieved; and by arranging the turnover mechanism, the product can be driven to turn over at any angle, so that the turnover requirement in the product assembling process is met. Meanwhile, the turnover equipment can realize unmanned operation in the whole process, is high in automation degree and safety coefficient, easy to operate and wide in application, and can be used for assembling the same type of products in different fields.

The application provides an automatic optical characterization test system, method, medium and terminal, which comprises an operation module, an optical characterization test module for image acquisition and spectrum test on a detected sample, an analysis module comprising a control module, a data processing module and a display module, the control module controls the operation module, the image acquisition module and the spectrum test module, the data processing module is used for receiving and summarizing the test results of the optical characterization test module, and the test results are recorded in a database after data processing, and the display module is used for displaying the real-time process and test results of the optical characterization test. The application can realize the automation, high efficiency and unmanned of the whole process of the optical characterization test, greatly saves time, improves the test efficiency and the accuracy of the test data, and can automatically summarize and arrange the experimental data, construct a database and save the data analysis time.

The utility model discloses a flue gas self-heat-exchange sulfuric acid low-pressure steam production efficiency optimization system, which relates to the technical field of flue gas self-heat-exchange and steam production efficiency optimization, and comprises a first heat exchanger, a battery acid device, a second heat exchanger, a fuming sulfuric acid device and a converter, a gas return pipe of the battery acid device is connected into a gas inlet of the first heat exchanger, a converter is further connected into the gas inlet of the first heat exchanger, a gas return pipeline of the first heat exchanger is further connected with the second heat exchanger, and a gas inlet of the second heat exchanger is connected with the fuming sulfuric acid device. According to the low-pressure waste heat steam production system, the heat exchange between steam and gas is enhanced by additionally arranging a plurality of heat exchangers, the gas inlet temperature of the low-pressure waste heat steam production system can be regulated and controlled, the utilization rate of waste heat is increased, and the productivity of low-pressure steam is improved by utilizing self heat exchange of flue gas of each hrs tower; and the smoke heat energy is transferred to the low-pressure waste heat steam generating device, so that the productivity is improved.

The invention discloses a pavement engineering construction data processing and construction quality control method and system, and belongs to the technical field of pavement engineering construction. The method comprises the following steps: collecting multi-source construction data in real time through sensors arranged on materials, equipment and a site; predicting a future trend value of each quality influence factor by using a gray model; determining the comprehensive weight of each factor by adopting an analytic hierarchy process; the correlation degree between the factors is calculated through a grey correlation analysis method; constructing a multi-level grey comprehensive evaluation system based on the predicted value, the weight and the correlation degree; according to the prediction result, generating a plurality of construction parameter combination schemes in a preset step length to form a candidate scheme set; sorting the candidate schemes by adopting the comprehensive evaluation system, and selecting an optimal construction scheme; and finally, the parameters of the optimal scheme are issued to corresponding construction equipment through a control interface, the equipment operation parameters are dynamically adjusted, and real-time closed-loop control over the construction quality is achieved. According to the invention, accurate, dynamic and intelligent control of the construction process is realized.

The present invention discloses a method for intelligently identifying abnormal CO disturbance in a mine and determining a warning value for coal spontaneous combustion, comprising the steps of: obtaining historical time series data of CO concentration in the upper corner when there is no sign of coal spontaneous combustion in the goaf during normal mining of the working face; dividing the obtained data into various subsequences, and marking whether each subsequence is an interference sequence; establishing an upper corner CO concentration time series classification model using an LSTM network; establishing a CO concentration time series data reconstruction model in a non-interference state using an LSTM autoencoder network; determining an abnormal warning threshold for coal spontaneous combustion in the goaf according to the reconstruction error during the training of the CO concentration time series data reconstruction model in a non-interference state; and providing a real-time warning for the coal spontaneous combustion state in the goaf. The method is driven by the upper corner CO concentration data measured on site, fully considering the correlation of its time dimension, and can effectively reduce the missed reports and false reports of coal spontaneous combustion in the goaf, and reduce the blindness of fire prevention and extinguishing measures in the goaf.

The invention belongs to the technical field of suspension bridge full-bridge cable force automatic inspection, and particularly relates to a suspension bridge full-bridge cable force automatic inspection recognition system and method based on a sliding rail moving platform and machine vision. The system comprises a fixed rail subsystem which is fixedly installed on the side face of a suspension bridge stiffening beam; the mobile detection vehicle subsystem is movably mounted on the fixed track subsystem and is used for walking autonomously along the track, collecting sling vibration videos and environmental parameters and transmitting the data in real time; and the background data processing and analyzing subsystem is in remote communication connection with the mobile detection vehicle subsystem and is used for receiving, storing and processing data transmitted by the mobile detection vehicle subsystem. According to the invention, a three-level collaborative architecture of'fixed track-mobile detection vehicle-background processing 'is constructed, full-bridge detection coverage is realized through the fixed track subsystem, autonomous movement and accurate detection are completed through the mobile detection vehicle subsystem, data integration and health assessment are realized through the background data processing and analysis subsystem, and the detection efficiency is improved.

The invention discloses an intelligent checking vehicle control system and checking method for a stereoscopic warehouse, and the system comprises a four-direction moving chassis, a data processing and transmission module, a power supply and battery management module, and an ultrahigh frequency RFID recognition system. The ultrahigh-frequency RFID identification system comprises an antenna array consisting of four groups of ultrahigh-frequency antennas of which the angles can be independently adjusted, and an RFID reader-writer connected with the antenna array; the four-way mobile chassis is in communication connection with a path planning and navigation module, and the path planning and navigation module plans a driving path for the four-way mobile chassis based on a pre-established warehouse digital twin model and sensor data; a charging contact of the autonomous charging module is arranged on the four-direction moving chassis; the data processing and transmission module is in communication connection with the ultrahigh frequency RFID identification system, the path planning and navigation module and the autonomous charging module; and the power supply and battery management module supplies power to the system. The problems that in the prior art, efficiency is low, recognition is limited, and algorithm adaptability is poor are solved.

This invention provides a method and system for processing dynamic stress test data of blades. By segmenting the blade dynamic strain data and performing multi-channel parallel order analysis on the segmented data, a waterfall plot of orders is generated, enabling concurrent automated processing of multi-channel data. By slicing the data file in the waterfall plot, automatically marking and extracting blade vibration modal parameters, generating final test data, and automatically saving the processing results, this invention solves the technical problems of manual data processing and low efficiency in existing technologies, improving the efficiency of blade dynamic strain test data processing and achieving unmanned processing.

The invention discloses a garage intelligent parking guidance method based on an alteration principle and an optimal parking path planning algorithm, which is characterized in that the method adopts a method of fusing multi-modal information such as graphics, vision and voice to realize intelligent parking guidance of a garage, and specifically comprises the following steps: 1) constructing a garage electronic map, and providing visual available parking space information for a vehicle owner; 2) realizing intelligent license plate recognition and real-time driving trajectory tracking by utilizing a visual detection and analysis algorithm; 3) according to an alteration principle and real-time vehicle positioning, path searching is carried out in a half space of a garage plane by adopting shortest parking path planning of a Dijkstra algorithm, and efficient parking navigation of a multi-layer garage is supported at the same time; compared with the prior art, the method has the advantages of being clear in available parking position, intelligent in path planning, convenient and fast in navigation prompting and the like, an effective solution is provided for the parking difficulty of the underground garage, and the method is helpful for improving the living satisfaction of people.

The application discloses a facade obstacle detection method based on three-dimensional laser point cloud data features. Before the cleaning machine starts to move and clean, a point cloud coordinate system is established, and facade point cloud information is acquired; next, abnormal points are filtered, the correct corresponding relationship between the point cloud data and the real scene is acquired, and inherent parameters for coordinate system correction are acquired. After the cleaning machine starts to move, the rolling brush position of cleaning is acquired as ROI, then the ROI is subjected to target detection and segmentation through a random sample consensus algorithm, the point cloud of the obstacle on the facade is extracted, the point cloud of the same obstacle is merged through Euclidean clustering, and the position and size information of each obstacle are counted; finally, the obstacles are tracked through a Hungarian matching algorithm and Kalman filtering. The application can realize automatic detection of obstacles of different facade scenes such as ordinary straight wall surfaces and tunnel walls, the whole process does not need manual intervention, and is used for automatic obstacle avoidance of facade cleaning equipment.

The invention relates to an automatic FPC insertion device, comprising a ROBOT base and a body linear rail group, a left camera group, a right camera group, a right FPC insertion group and a left FPC insertion group, the ROBOT base and the body linear rail group are installed on a six-axis manipulator, the left and right camera groups and the left and right FPC insertion groups are connected to the ROBOT base and the body linear rail group, FPC coil feeding devices are arranged at the left and right FPC insertion groups, the left camera group and the right camera group are arranged in a mirror direction and have the same structure, the left FPC insertion group and the right FPC insertion group are arranged left and right and have the same structure, the left FPC insertion group and the right FPC insertion group are both used for automatically opening a movable upper cover of a connector and inserting an FPC to a connector waiting position and then closing the movable upper cover, and automatically opening the movable upper cover of the connector and removing the FPC after the test is completed; the invention can save the overall process time, improve the work efficiency, and realize unmanned and automation.

The invention discloses an automatic ammeter digital information acquisition device and a use method, and belongs to the technical field of ammeter verification, the automatic ammeter digital information acquisition device comprises an ammeter, an ammeter loading box, a conveyor belt, an ammeter NFC information acquisition device, an ammeter grabbing mechanism and an ammeter conveying mechanism, the ammeter loading box is arranged at the rear end of the conveyor belt, and the ammeter loading box is arranged at the rear end of the conveyor belt; an electricity meter is placed on the electricity meter feeding box and can be placed on the conveying belt, the electricity meter NFC information collecting device is fixed to the conveying belt, the electricity meter positioning device is fixed to the front side of the electricity meter NFC information collecting device, and the electricity meter positioning device can clamp the electricity meter. The electricity meter conveying mechanism is arranged at the front end of the conveying belt, the electricity meter recycling box is arranged on the lower portion of the electricity meter conveying mechanism, the electricity meter grabbing mechanism is arranged on the electricity meter conveying mechanism, and the electricity meter conveying mechanism can drive the electricity meter grabbing mechanism to move horizontally and vertically so that the electricity meter grabbing mechanism can move between the conveying belt and the electricity meter recycling box. And the electric meter is placed in the electric meter recycling box.

The present application relates to the technical field of vehicle functional safety, in particular to a whole vehicle functional safety test evaluation method and related equipment, the method comprising: obtaining running state data of a vehicle to be tested, driver state monitoring data and a preset test trigger threshold; calculating an in-loop score according to the driver state monitoring data and determining whether the test trigger threshold is met; when the test trigger threshold is met, generating a directional fault injection instruction according to the line-of-sight deviation direction and sending the instruction; collecting chassis dynamics data in real time during execution and determining whether the safety boundary threshold is exceeded; when the safety boundary threshold is exceeded, revoking the fault instruction and recovering control; after the instruction is ended or revoked, extracting the takeover response time, maximum lateral deviation amount and transient acceleration peak value, calculating a comprehensive controllability score according to a multi-factor weighted controllability calculation model and determining a functional safety controllability level. The present application realizes adaptive fault injection based on the real-time state of a driver and improves the objectivity and accuracy of functional safety testing.

The utility model relates to an automatic wire harness production and processing center, including cable conveying mechanism, terminal conveying mechanism and terminal pressure welding machine, cable conveying mechanism includes support frame, slide rail and cable drive assembly, support frame slidingly sets up on slide rail, can be side by side and set up multiple cable conductors on support frame, cable drive assembly includes upper support and lower support, and all are provided with the slide that can move up and down on upper support and lower support, all are provided with the gyro wheel on the slide of both sides, support frame is set up between two slides, and the movable cable conductor can be made to the gyro wheel between both sides by sliding support frame, when two slides approach each other, the gyro wheel of both sides can jointly hold the cable conductor and drive its removal. The utility model can process multiple different types of cables simultaneously, when pressure welding with the terminal, can realize the automatic intelligent switching cable that needs processing, need not manual replacement material, realized unmanned, intelligent production, greatly improved production efficiency.

The invention discloses a subway tunnel support installation method and system, and the method comprises the steps: scanning a tunnel, building a three-dimensional model of the tunnel, recognizing a channel in the three-dimensional model of the tunnel, and obtaining the actual space position of the channel; the support is scanned, support information is obtained, and the support information comprises the inner hole distance of the support, the placing pose angle of the support and the spatial position of the support; the channel is scanned, and the bolt installation position on the channel is obtained according to the actual space position of the channel; based on the bolt mounting position, a first mechanical arm is controlled to clamp a first bolt to the bolt mounting position, and a second mechanical arm is controlled to clamp a first nut to lock the first bolt; and based on the bolt installation position and the support space position, the second mechanical arm is controlled to clamp the support to be assembled with the first bolt in a hole alignment mode, and the first mechanical arm is controlled to clamp a second nut to lock the support. The installation quality and the installation efficiency of subway tunnel support installation can be improved.

This invention relates to a carbon dioxide fracturing system and control method, belonging to the field of oil and gas extraction technology. The carbon dioxide fracturing system of this invention includes a liquid supply module, a fracturing pump injection module, a precooling module, a venting module, and a control module. The liquid supply module stores and supplies liquid carbon dioxide. The fracturing pump injection module is connected to both the liquid supply module and the well to be fractured. The precooling module is connected to the liquid supply module to precool it. The venting module is connected to both the liquid supply module and the fracturing pump injection module. The control module is connected to the liquid supply module, fracturing pump injection module, precooling module, and venting module to monitor and control their operation. The technical solution disclosed in this invention can solve the problems of low automation in existing carbon dioxide fracturing operations, which generally rely on manual operation, resulting in high labor intensity and safety hazards.