4results about How to "Remove constraints" patented technology

The invention relates to a grabbing task-oriented visual relationship understanding method and a grabbing task-oriented visual relationship understanding system. The grabbing task-oriented visual relationship understanding method comprises the following steps of: acquiring a scene image containing a plurality of objects; performing feature extraction on the scene image based on a deep convolutional network to obtain a basic feature layer of the scene image; inputting the basic feature layer into a target detection network, and obtaining classification information and position information of each object; the classification information and the position information are mapped to a basic feature layer to obtain a region of interest of each object, irrelevant object feature pairs are removed through a relation filter, and relevant object feature pairs are obtained; inputting the object feature pairs into a visual relation detection network to obtain a relation matrix; and the object grabbing sequence is determined by combining the grabbing task and the relation matrix, and the target object is grabbed according to the object grabbing sequence. According to the method, the reasonable grabbing sequence is obtained by understanding the visual relation of the multiple target objects in the complex scene, and the safety and reliability of the robot in the grabbing operation process are guaranteed.

The invention relates to an injection mold. Comprising a fixed mold mechanism; the fixed die mechanism is slidably connected with the fixed die mechanism along a first direction; the sliding mechanism and the fixed mold mechanism are arranged in a sliding mode in the first direction, the sliding mechanism is used for forming an inverted buckle of the product, and when the movable mold mechanism slides away from the fixed mold mechanism, the sliding mechanism slides close to the movable mold mechanism so that the product can be separated from the fixed mold mechanism. When the movable mold mechanism slides away from the fixed mold mechanism, the sliding mechanism slides close to the movable mold mechanism to separate the product from the fixed mold mechanism, so that the constraint of the fixed mold mechanism on the product is eliminated, the product is expanded to a certain extent, and the friction force between a fixed mold ejector pin and the product can be reduced. In the process that the movable mold mechanism continues to move away from the fixed mold mechanism to drive the product to be separated from the fixed mold ejector pin, on one hand, the fixed mold ejector pin can be rapidly separated from the product, and therefore the machining efficiency of the product is improved. And on the other hand, damage to the fixed mold ejector pin and the product due to overlarge friction force is avoided, so that the forming quality of the product is improved.

The invention discloses casting equipment for navigation lifesaving equipment, and belongs to the technical field of lifesaving casting devices, the casting equipment comprises a casting device, a plurality of traction devices and lifesaving equipment, the casting device is provided with a single group of independent casting cavity channels, and the traction devices and the lifesaving equipment are both provided with a plurality of groups of independent casting cavity channels. Each group of traction devices is matched with a single group of lifesaving equipment in a one-to-one correspondence manner, and the plurality of groups of traction devices can be sequentially switched to be correspondingly matched with the casting station of the casting device. A single cavity channel is matched with a plurality of groups of switchable traction devices, so that continuous casting operation and independent traction matching of each lifesaving device are realized; the rope releasing speed is controlled in a closed-loop mode through weight data, the buffering allowance is reserved in the whole process to pull the rope, casting reverse damping is eliminated, the problems that existing equipment is low in rescue effectiveness, limited in casting performance and low in response speed are solved, and the maritime emergency rescue reliability is greatly improved.

This invention discloses a motor appearance inspection production line, including a frame, a conveying device, a top surface inspection device, a five-sided inspection device, and an endoscopic inspection device. The endoscopic inspection device is positioned between the top surface inspection device and the five-sided inspection device along the conveying direction. In the appearance inspection process, the endoscopic inspection device first inspects the internal condition of the motor. Before the five-sided inspection, motors that fail the endoscopic inspection are graded and removed to the first or second NG line, avoiding the use of five-sided inspection resources by defective motors. Endoscopic and appearance inspections are integrated in one step. The five-sided inspection device uses a transparent motor placement platform combined with a surrounding reflector group and a bottom single-camera architecture. Transmission imaging of the motor's bottom surface and reflection imaging of the four sides are acquired simultaneously in a single exposure, without the need for flipping. This invention eliminates the constraint of the flipping process on production cycle time, achieving highly efficient and automated integrated inspection of motor appearance and endoscopy.