48results about How to "Reduce positioning deviation" patented technology

The invention relates to the technical field of wireless positioning, in particular to a fusion positioning method based on reinforcement learning and particle filtering, and the method comprises the steps: S1, selecting two effective base stations as a first base station and a second base station; s2, initializing model parameters of UWB and pedestrian track plotting; s3, predicting to obtain a particle state at a t moment; s4, introducing a reinforcement learning algorithm to adaptively select a ranging standard deviation; s5, updating the particle weight wt at the moment t according to the ranging standard deviation to obtain a particle weight wt '; s6, determining a resampling threshold value, if the number of effective particles is smaller than the resampling threshold value, performing resampling to obtain a particle weight w ''t, and entering S7; and S7, outputting a positioning result at the moment t by adopting a particle filtering algorithm, enabling t to be equal to t + 1, screening two optimal base stations as a new base station I and a new base station II, and returning to the S2. The reinforcement learning algorithm is introduced, the ranging standard deviation and the two base stations are adaptively selected, and the precision and robustness of the fusion positioning system are improved.

The invention belongs to the technical field of concrete beam column structures, and particularly relates to a beam column structure locally internally provided with thin-wall steel pipes and a mounting method of the beam column structure. By reasonably arranging the internally-arranged steel pipes and the reinforcing steel bars, the effects of reducing the dead weight of the structure and improving the bearing capacity are achieved. Due to the application of the steel pipe, the bending resistance and the shearing resistance of the concrete member are enhanced, and generation and expansion of cracks are effectively delayed. In addition, as the steel pipe has high strength and rigidity, the structure can still keep stable under the condition of high load, and is particularly suitable for occasions needing high bearing capacity, such as bridges and buildings. The stress characteristics of beam column components are fully considered, and a novel design method for internally-arranged steel pipe concrete is provided. Through detailed analysis of construction details and working principles, professional technicians can implement the method according to description, so that the safety and economical efficiency of an engineering structure are effectively improved. The shear resistance, the bending resistance and the overall stability of the structure are improved.

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

The invention relates to the technical field of mobile robot navigation, and discloses a robot adaptive motion control method and system, and the system comprises a step test module which is used for recording odometer data and control quantity data with a timestamp; the parameter fitting module is used for analyzing the odometer data and the control quantity data and establishing a mapping function of the control quantity and the movement speed; the delay compensation module is used for maintaining a historical control quantity queue and predicting the expected pose of the robot when the control instruction sent at the moment t is executed based on the control delay tau; the multi-objective optimization module is used for solving the optimal control quantity; and the online updating module is used for continuously collecting motion data in the motion process of the robot and dynamically updating the mapping function and the key parameters. According to the method, actual motion parameters are automatically obtained through step testing, different robot individuals and performance attenuation scenes are adapted, the problem of model mismatching is solved, and time delay compensation is controlled to reduce positioning deviation.

The invention relates to the field of industrial production, in particular to a workshop conveyor system based on an air conditioner compressor assembly production line. Comprising a double-speed chain conveyor, a controller, compressed parts conveyed on the double-speed chain conveyor, an assembly plate used for receiving and fixing the compressed parts, an electric push rod arranged below the double-speed chain conveyor and a top plate used for stretching out and drawing back the assembly plate, and the controller controls operation of the double-speed chain conveyor. According to the technical scheme, positioning is achieved in an electromagnetic driving and rail matching mode, mechanical friction between a traditional positioning pin and a positioning hole is completely avoided, the stroke is limited through matching of a second electromagnet and a second iron plate through a convex structure and a concave structure, the positioning process is more accurate through the design of an insertion hole of a triangular structure and the second iron plate, and the positioning precision is improved. Accurate assembly of parts on the assembly plate is effectively guaranteed, and the influence of inaccurate positioning on quality is avoided.

This utility model relates to the technical field of wave pile installation, and in particular to a wave pile first pile limiting device for river restoration; it can limit the installation of the first wave pile, improve the verticality of the wave pile body installation, reduce positioning deviation, and improve installation efficiency; it includes a wave pile body and a positioning mechanism for straightening and installing the wave pile body. The positioning mechanism includes a positioning frame, multiple positioning cones installed at the bottom of the positioning frame, and two support positioning rods installed inside the positioning frame. The wave pile body has two arc-shaped concave portions facing opposite directions. The edge of the wave pile body is tangent to the inner wall of the positioning frame. The ends of the support positioning rods extend into the corresponding arc-shaped concave portions and slide in contact with the inside of the arc-shaped concave portions. Both sides of the wave pile body are provided with axially extending grooves, and the inner wall of the positioning frame is provided with positioning blocks that fit into the grooves. A first roller is rotatably installed at the end of the support positioning rod.

A visual and precise corneal cross-linking astigmatism correction system guided by corneal topography imaging includes a cross-linking treatment module, a real-time detection module and a control module. The cross-linking treatment module is used to output a light spot for realizing corneal cross-linking treatment. The real-time detection module is used to detect the eye morphology and corneal topography imaging during treatment in real time in synchronization with the cross-linking treatment, and dynamically locate the astigmatism treatment axis according to the real-time detected corneal topography changes. The control module generates a corneal cross-linking pattern scheme according to the corneal topography detected and imaged in real time by the real-time detection module and the dynamically located astigmatism treatment axis, and controls the cross-linking treatment module to output the light spot according to the corneal cross-linking pattern scheme, thereby realizing corneal cross-linking astigmatism correction guided by corneal topography imaging. During the cross-linking treatment process, the corneal topography changes are detected in real time, the astigmatism treatment axis is accurately located, and the treatment pattern is dynamically and real-time output accordingly, which greatly improves the accuracy of the cross-linking output pattern and can achieve better surgical treatment effects.

The application discloses a high-pressure elbow ballistic hole positioning and clamping device and a use method, and belongs to the technical field of machining. The device comprises a lathe, a rotary workbench is arranged on the workbench of the lathe, a special rotating shaft is fixed through a three-jaw chuck, a locking mechanism and a limiting mechanism are matched to realize accurate clamping of a workpiece, the rotating shaft realizes centering of an inner hole of the elbow, a locking cone ring cooperates with a plurality of bolts to form a curved surface clamping and locking structure, and an adjustable limiting mechanism limits a processing posture of the elbow. During processing, the device can continuously complete processing of a plurality of groups of different space included angle ballistic holes through reference positioning, rigid locking and rotary positioning. The application discloses the device, which eliminates artificial positioning mode and human measurement error, greatly improves clamping rigidity and hole position processing precision, effectively avoids problems of hole position angle out-of-tolerance and workpiece leakage, simplifies processing procedures, and significantly improves high-pressure elbow batch processing efficiency and pipeline pressure-bearing reliability.

The invention discloses an automatic feeding device and a discharging control method. The automatic feeding device comprises a rack; the roller is rotationally arranged on the rack; the discharging mechanism is arranged on the rack and comprises a discharging table and a roller shaft assembly, the discharging table and the rollers are horizontally arranged at intervals, and the roller shaft assembly is arranged between the discharging table and the rollers; one part of the material belt is wound on the roller, the other part of the material belt passes through the roller shaft assembly and is laid on the discharging table, and a plurality of material sheets are distributed on the material belt; and the material receiving mechanism is arranged on the rack and connected with the material belt, and the material receiving mechanism is used for driving the material belt to advance at a first material receiving speed determined according to the thickness of the part, wound on the roller, of the material belt. According to the automatic feeding device, the material belt is driven to advance at the first material receiving speed determined according to the thickness of the part, wound on the roller, of the material belt through the material receiving mechanism, the positioning deviation of the material sheet can be reduced, the material sheet can be accurately located above the discharging table, and the discharging accuracy is improved.

The utility model discloses a vertical board printing device which comprises a base station, a lifting adjusting stand column is fixedly arranged on the base station, an upper end installation plate and a lower end installation plate are fixedly arranged at the upper end and the lower end of the lifting adjusting stand column respectively, and a lifting guide rail is fixedly arranged between the upper end installation plate and the lower end installation plate. A lifting sliding block is arranged on the lifting guide rail in a sliding mode, a lifting adjusting air cylinder piece is fixedly arranged on the upper end mounting plate, and a working shaft of the lifting adjusting air cylinder penetrates through the upper end mounting plate and is fixedly connected with a connecting rod between the upper end mounting plate and the lifting sliding block. According to the vertical card printing device, the lifting adjusting air cylinder, the steering adjusting module, the double-head clamping jaw air cylinder and the auxiliary clamping assembly are integrated, full-automatic accurate overturning and positioning of the acrylic vertical cards in the double-face printing process are achieved, the printing efficiency is remarkably improved, the problem of positioning deviation caused by manual overturning is solved, and the printing quality is improved. And meanwhile, the adjustable design can adapt to stable clamping of vertical cards of different sizes, and the alignment precision and quality consistency of double-sided printing are ensured.

The invention discloses an automatically-adjusted workpiece clamping system and a control method, and belongs to the technical field of machining, clamping and positioning. The system comprises a clamp base, a lineation detection unit, an image acquisition unit, a hydraulic adjustment unit and a control unit. The hydraulic adjusting unit comprises hydraulic cylinder sets in the X direction, the Y direction and the Z direction, the two hydraulic cylinders in the Z direction are communicated through a hydraulic communicating device to form linkage, the two hydraulic cylinders in the Z direction and the other two hydraulic cylinders jointly form a three-point supporting structure, and the over-positioning problem of four-point supporting is solved. The control unit carries out processing and feature extraction on the image, calculates the six-degree-of-freedom deviation of the workpiece, calculates the adjustment amount of each hydraulic cylinder according to the deviation and controls the hydraulic cylinders to act. The system realizes closed-loop automatic adjustment of the position of the workpiece by cyclically executing the detection and adjustment process until the six-degree-of-freedom deviation is within the allowable range. Automation and high precision of large workpiece clamping and positioning are achieved, and the device is suitable for precise positioning of large heavy workpieces such as train chassis.

The utility model discloses a kind of stringer welding jigs, including pedestal, the middle part of pedestal is equipped with positioning assembly one, the both sides of pedestal are equipped with several symmetrically arranged clamping assembly and positioning assembly two, 2 positioning assembly two symmetrically arranged in the both sides of positioning assembly one, positioning assembly one includes positioning base one, positioning base one is installed on pedestal, the top of positioning base one is installed cylinder one and 2 guide rails one, 2 guide rails one are respectively installed slider one, sliding bottom plate one is installed on 2 slider one, the both sides of 2 slider one are respectively installed with positioning pin one mounting bracket, positioning pin one is installed in the top of positioning pin one mounting bracket, the middle part of the upper end of sliding bottom plate one is installed with connecting block one, connecting block one is hinged with the output end of cylinder one.The utility model can simultaneously weld left and right stringer, can be quickly positioned when positioning, improve welding efficiency.

The invention provides an analogue simulation method and device for determining a risk field based on a particle diffusion model, and the method comprises the steps: carrying out the analysis of the current sensing data collected by each target sensing device on a target vehicle in a simulation scene, and determining the risk particles included in each current sensing data; performing particle diffusion model updating processing by using each risk particle and the current environmental influence data, and determining at least one candidate particle diffusion model; for each candidate particle diffusion model, re-updating the candidate particle diffusion model by using effective secondary particles generated by chain reaction after collision to obtain at least one optimal particle diffusion model; fusing all the optimal particle diffusion models to determine a target particle diffusion model; and outputting a target risk field according to particle information in the target particle diffusion model. Therefore, the particle diffusion model and dynamics are combined to realize dynamic interactive modeling, so that the dynamic accurate evaluation of the risk field can be effectively realized.

This invention discloses an AR tourism real-time cultural interpretation system and method. In the field of AR tourism technology, it addresses the technical problem of how to provide personalized interpretation methods based on the age, interests, and other characteristics of different tourists, thereby improving tourist satisfaction with the interpretation content. This invention categorizes users according to their age, calculates the feedback standards for different interpretation methods corresponding to different age groups, sorts the feedback standards by age group from highest to lowest, and selects the interpretation method with the highest feedback standard. Simultaneously, it introduces user interest factors, calculates the similarity between user interests and the same standard method, and combines dynamically adjusted weight coefficients to calculate recommendation values, generating personalized interpretation information to meet the needs of users of different ages and interests. It also obtains real-time user feedback and adjusts and analyzes the interpretation information based on the feedback, thereby improving user satisfaction with the interpretation content.

The utility model relates to the technical field of molding machine template replacing equipment, and provides a molding machine template replacing device which is used for replacing a template in a molding machine and comprises a moving device, the moving device is provided with a transverse moving mechanism, a longitudinal moving mechanism, a lifting mechanism and a clamping piece, and the clamping piece is arranged on the lifting mechanism. The lifting mechanism is arranged on the longitudinal moving mechanism, the longitudinal moving mechanism is arranged on the transverse moving mechanism, and the clamping piece is used for being connected with a formwork in a clamped mode. The blowing mechanism is arranged on the lifting mechanism, an air outlet pipe of the blowing mechanism faces the end, away from the lifting mechanism, of the clamping piece, and the blowing mechanism is configured in the mode that after the blowing mechanism blows the template connecting face in the molding machine, the clamping piece clamps the template to be connected with the molding machine. By means of the technical scheme, the technical problem that in the prior art, due to the fact that sand adheres to the mold plate connecting face of a molding machine, mold plate positioning is not accurate when mold plates are replaced is solved.

The utility model relates to the technical field of municipal construction, concretely is a kind of granite paving joint positioning device, including cross-shaped bearing frame, joint positioning mechanism being located on bearing frame, joint positioning mechanism includes respectively being located on the two-way synchronous drive assembly of bearing frame horizontal direction side and longitudinal side, two telescopic positioning components being symmetrically located on two-way synchronous drive assembly, joint assembly being located on telescopic positioning component;Two-way synchronous drive assembly and two telescopic positioning components transmission connection drive two positioning components to each other close or far away. Through the two-way synchronous drive assembly of horizontal direction and longitudinal direction symmetry arrangement, drive two telescopic positioning components synchronous reverse movement, cooperate the scale line on bearing frame, expansion plate and joint board, solve the problem of traditional manual visual non-quantitative standard, ensure the straightness of horizontal direction, longitudinal joint and spacing consistency;Joint assembly adopts gear and rack transmission structure, realizes the trace sliding adjustment of joint board, improves positioning accuracy.

The application relates to the field of compressive strength detection and discloses a compressive strength detection device for high-strength corrugated paper of new materials and a process thereof. The device comprises a controller, a lower supporting platform and an upper mounting seat arranged above the lower supporting platform. The upper mounting seat is driven to ascend and descend by a hydraulic lifting cylinder. The device further comprises a total pressure head mounted on the lower surface of the upper mounting seat through a rotating mechanism. The total pressure head comprises an outer cylinder, an inner pressure disc and an angle adjusting mechanism. The outer cylinder is a hollow cylinder with openings at the upper and lower ends, and the top end is rotationally connected with the upper mounting seat. The inner pressure disc is arranged at the bottom of the outer cylinder. The inner pressure disc is arranged in an inverted T-shaped structure. The vertical part of the inner pressure disc is rotationally connected with the outer cylinder through a hinged shaft. The inner pressure disc can be deflected in the left and right directions relative to the outer cylinder around the hinged shaft. A pressure contact is detachably mounted on the center of the bottom surface of the inner pressure disc. The angle adjusting mechanism is used for driving the inner pressure disc to deflect relative to the outer cylinder and locking the deflection angle, so as to realize compressive detection in different stress directions.

This application provides a double-pole mutually exclusive three-position electrically operated disconnect switch, including a mounting frame, an incoming line assembly, a first outgoing line assembly, a second outgoing line assembly, a knife switch assembly, a drive assembly, and an electrically operated mechanism. The incoming line assembly is mounted on the upper part of the mounting frame, and the first and second outgoing line assemblies, symmetrically distributed front to back, are mounted on the lower part of the mounting frame. The knife switch assembly is rotatably connected to the lower end of the incoming line assembly. The knife switch assembly is connected to the drive assembly and can rotate under the drive of the drive assembly. The drive assembly is located behind the incoming line assembly and mounted on the mounting frame. The electrically operated mechanism is fixedly mounted on the outside of the mounting frame and connected to the drive assembly, used to operate the drive assembly via a motor drive to achieve selective contact connection between the knife switch assembly and the first and second outgoing line assemblies. This application achieves a double-pole parallel configuration in a single device, making the two-pole control structure arrangement more compact and significantly reducing installation space.

The invention discloses a multi-sensor fusion and intelligent data transmission method for inland waterway inspection, which takes an unmanned ship as a core execution carrier to cover three inspection scenes of inland river revetment damage, overwater floating objects and river-crossing bridge pier stud structure damage. An inland waterway inspection task of the unmanned ship is designed in the whole process of navigation of the unmanned ship, target data collection of multiple scenes and transmission and analysis of the target data, and the inland waterway inspection requirements in different inspection scenes are met; the inland waterway inspection task comprises an inspection task initialization step, an unmanned ship autonomous inspection task execution step and an inspection task termination and subsequent processing step. According to the method, the problems of low efficiency, poor environmental adaptability, data processing lagging, insufficient fusion precision and the like of traditional inspection and existing unmanned ship multi-scene inspection are effectively solved, and reliable technical support is provided for inland river safety operation and maintenance.

The utility model provides a kind of high-precision positioning mechanism of aluminium alloy die-casting die with insert, belong to mould technical field.It includes lower mould plate, the lower mould plate is provided with two installation annular iron insert's forming cavity, the lower mould plate is provided with high-precision positioning assembly corresponding with annular iron insert, the lower mould plate is also equipped with wind-water cooling combined type cooling runner structure.High-precision positioning assembly can be accurately positioned annular iron insert by being set, improve insert installation precision, avoid die-casting size out-of-tolerance and combination bad;With wind-water cooling combined type cooling runner structure, the speed of expansion and contraction of aluminium iron can be comprehensively prevented insert skin aluminium shell fracture, guarantee product performance and reliability.

The utility model discloses a sealing well casing pipe positioning butt joint device, which relates to the technical field of oil and gas engineering, and comprises a chassis, one side of the chassis is connected with a rotatable rotating disc, one side of the rotating disc is fixedly provided with an inner sleeve, and the outer wall of the inner sleeve is sleeved with an outer sleeve. A first motor is fixedly installed at one end of the outer sleeve, one side of the first motor is in transmission connection with a threaded rod, the threaded rod is in threaded connection with the interior of the inner sleeve, a connecting rod is hinged to the outer wall of the outer sleeve, and a retention plate is hinged to the end, away from the outer sleeve, of the connecting rod; according to the utility model, the rotating wheel is matched with the reset spring to realize flexible positioning, even if a small deviation exists in a wellhead, the position of the sleeve can be automatically adjusted through the sliding of the rotating wheel and the elastic compensation of the spring, so that the adaptability to the wellhead is improved, the existence of positioning deviation is reduced, and the accuracy of butt joint positioning is improved.

This utility model relates to an alternating loading and unloading device, comprising: a frame; a first conveying mechanism, which includes: first driving members disposed on both sides of the frame, and a first fixture connected to the first driving members; and a second conveying mechanism, which includes: second driving members disposed on both sides of the frame, an extension frame connected to the second driving members, and second fixtures respectively connected to the extension frame on both sides, wherein the conveying directions of the first driving members and the second driving members are parallel. Through the above-mentioned configuration, this utility model eliminates the waiting time loss of a single mechanism in an alternating working mode, making the loading and unloading rhythm more matched with the production line speed, and effectively improving overall production efficiency.

The utility model discloses a kind of multi-directional limiting toughened glass drilling devices, for the problems of low positioning accuracy, easy to break, inflexible processing etc of traditional device, provide a kind of multi-directional limiting, stable lifting and multi-axis processing solution.The device comprises: multi-directional limiting assembly (forward roller, left and right clamping roller and adjustable angle rear / inclined roller cooperation push mechanism realizes three-dimensional accurate limiting);Hidden lifting assembly (multiple parallel jacking rods and support ball dispersed stress, avoid glass breakage);Multi-axis drilling assembly (XY drive and replaceable drill bit realize X-Y plane multi-coordinate processing).It improves positioning accuracy, reduces breakage rate by structure optimization, and enhances processing flexibility, suitable for toughened glass efficient finish machining.

The invention discloses a security check method and system based on multi-model collaboration, and the method comprises the steps: carrying out the preprocessing of multi-dimensional detection data of a target region, and obtaining a detection image and attached metadata; inputting the detection image and the attached metadata into a lightweight target detection model to obtain a target area image and structured metadata; respectively inputting the detection image, the attached metadata, the target area image and the structured metadata into a multi-modal large model to obtain global semantic information and local semantic information; performing keyword retrieval, vector matching and cross-modal adapter retrieval on the global semantic information in an external professional knowledge base to obtain safety knowledge entries; and inputting the local semantic information, the global semantic information and the safety knowledge entries into a multi-modal large model to obtain a potential safety hazard region, potential safety hazard contents, improvement suggestions and safety regulations. The method is high in positioning precision and high in output reliability, and has professional field knowledge guarantee.

The invention is suitable for the field of automatic monitoring of a power system, and provides a power transmission line fault detection and positioning method and system based on a sensor network, and the method comprises the steps: continuously collecting multi-dimensional monitoring data through a sensor; each sensor independently judges abnormity, marks abnormal nodes and generates an abnormal information packet; the abnormal node broadcasts information, and the neighbor node verifies and generates verification information containing coordinates, voting types and confidence weights; the verification information is integrated, and a fault consensus is achieved if the sum of confidence weights exceeds a dynamic threshold value; and if consensus is reached, calculating and correcting the fault position, and if not, discarding data and processing false alarms. The system comprises corresponding acquisition, judgment, broadcasting, consensus judgment and positioning processing modules. The method improves the fault detection reliability and positioning precision, reduces the false alarm, and is suitable for a complex environment.

The application discloses a kind of automobile rear axle flow processing assembly positioning systems, it is related to industrial automatic control system device manufacturing field, the system includes: multi-source acquisition module synchronously obtains temperature, deformation, displacement three kinds of state data, coupling calculation module fuses multi-physical field information and quantifies positioning error, pre-judgment control module analyzes error trend and generates leading compensation instruction, precision adjustment module realizes closed-loop fine tuning and attitude correction, self-learning module continuously optimizes operation parameter;The application is fused with closed-loop control by multi-physical field data, accurately quantifies and eliminates the positioning deviation caused by thermal coupling, ensures that rear axle assembly attitude continuously fits benchmark requirement, in combination with error trend prediction and active compensation, avoid error accumulation, improve positioning accuracy and process stability, at the same time, system can be self-adapting different vehicle and environment, simplify debugging process, reduce manual intervention, effectively improve assembly consistency, product qualification rate and equipment running cycle.

The utility model belongs to steel sheet processing technical field discloses a steel plate shearing machine with automatic positioning structure, this kind of steel plate shearing machine with automatic positioning structure includes work table, support, electric box, numerical control control unit, pressing structure, drive structure and positioning structure, the support is connected in work table, is used for supporting the component of steel plate machine, drive piece three are moved through transmission assembly rack, and the limiting assembly is pushed to the steel plate on work table, makes the steel plate gradually adjusts position and angle in the moving process, realizes the rotation fine adjustment, makes the opposite side of limiting assembly and steel plate can gradually stick together, corrects steel plate position, makes steel plate finally with blade parallel, greatly reduces the positioning deviation caused by human factor and machine vibration, significantly improves the precision and efficiency of steel plate positioning, effectively guarantees the steel plate size accuracy and shape regularity after shearing, greatly reduces the scrap rate.

This invention relates to the field of paperboard strength testing technology, and in particular to a paperboard processing device with strength testing function. The device includes a testing platform, a support plate fixed to the top of the testing platform, and two paperboard clamps for holding the paperboard above the support plate. A curvature adjustment mechanism for driving the paperboard clamps to rotate up and down is provided between the support plate and the two paperboard clamps. Furthermore, two torsion adjustment mechanisms for driving the paperboard clamps to swing are also provided outside the paperboard clamps. This invention, through the curvature and torsion adjustment mechanisms, allows for the application of compression bending loads and horizontal torsional loads sequentially to the paperboard within the clamps after a single clamping and fixing of the paperboard on the same device. This not only reduces testing procedures and labor costs but also reduces positioning deviations, increases the accuracy of test results, and significantly improves testing efficiency, meeting the batch and rapid testing needs of the comprehensive mechanical properties of paperboard in large-scale production.

This utility model discloses a positioning fixture for positioning the body of a garbage container and its main beam, relating to the field of garbage container technology. It includes a handle and a positioning block. One end of the positioning block has the handle, and the other end has an opening whose shape matches the end profile of the main beam. In this utility model, the opening design on the positioning block that matches the end profile of the main beam allows the operator to quickly achieve initial positioning simply by aligning the opening with the end of the main beam and inserting it. Compared to traditional tape measure measurements, this eliminates cumbersome measurement steps.

The application discloses a three-axis holder structure and a stabilizing and target following control method thereof, and relates to the technical field of three-axis holder visual control, which comprises the following steps: acquiring initial image data containing target visual features by means of an image acquisition device carried by a holder, extracting a complete contour of the target through foreground and background segmentation, and calculating the centroid coordinates and the size of the outer rectangular frame; acquiring the instantaneous values of the real-time pitch angle, roll angle and heading angle of the holder, calculating the target lateral and longitudinal pixel deviation and scale zoom proportion deviation, fusing the multiple deviations and the attitude angle data into a multi-dimensional error state vector, and generating motor driving instructions accordingly. The application optimizes target positioning parameter calculation through complete contour extraction, realizes visual and attitude data cooperative control by means of multi-dimensional error vector fusion, improves the target positioning deviation problem in a complex scene, improves the cooperativeness and accuracy of the holder stabilizing and target following control, and is suitable for three-axis holder visual following and stabilizing control scenes.