Automatic overturning and assembling mechanism in vehicle-mounted cup stand production

Abstract

The invention discloses an automatic overturning and assembling mechanism in vehicle-mounted cup stand production, relates to the field of vehicle-mounted cup stand product production, and aims at solving the problems that in the current vehicle-mounted cup stand assembling process, working steps are dispersed, and fool-proof cannot be achieved. One side of the turnover mechanism is provided with a profiling base capable of installing a vehicle-mounted cup holder, the other side of the turnover mechanism is fixed to the turnover platform, a controller is arranged below the turnover platform, the controller is connected with a visual detection module, and the visual detection module executes in-place detection and early warning detection. According to the automatic overturning and assembling mechanism in the vehicle-mounted cup stand production, the vehicle-mounted cup stand production process can be optimized, and then the production quality and the production efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of automotive cup holder manufacturing, specifically to an automatic flipping assembly mechanism in automotive cup holder manufacturing. Background Technology

[0002] Currently, there are seven screw tightening positions in the assembly process of car cup holders: two on the top and five on the sides. However, since the screws must be installed perpendicular to the screw holes, the screws in these two locations require manual rotation twice to complete the operation, which is time-consuming, labor-intensive, and inconvenient for manual work. Furthermore, the manual screw installation process, with its long working hours and frequent transfers between workstations, easily leads to missed screws, significantly impacting product performance. Therefore, it is crucial to ensure no missing screws are installed during this stage of production. Firstly, the screw installation in these two locations requires two people, resulting in fragmented work steps and wasted time during transfers, severely wasting manpower. Secondly, due to the product's structural characteristics, disassembly and assembly during transfers can affect the product's internal stability; ideally, both locations should be completed at a single workstation to ensure product quality. Thirdly, the screw-installing workstation lacks warnings, making it impossible to identify or determine if screws are missed. For example, a car cup holder with publication number CN221272726U does not solve these problems. Summary of the Invention

[0003] This invention solves the problems of scattered steps and lack of error prevention in the current automotive cup holder assembly process. It proposes an automatic flipping assembly mechanism for automotive cup holder production, which can optimize the automotive cup holder production process and thus improve production quality and efficiency.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an automatic flipping assembly mechanism for the production of vehicle cup holders, comprising a flipping platform and a flipping mechanism disposed on the flipping platform, wherein one side of the flipping mechanism is provided with a contoured base capable of installing vehicle cup holders, the other side of the flipping mechanism is fixed to the flipping platform, a controller is disposed below the flipping platform, the controller is connected to a vision detection module, and the vision detection module performs position detection and early warning detection.

[0005] The invention features a highly integrated mechanism that integrates two processes into one through electrical interlocking and human-machine interaction. Its positioning adopts a contour-following mechanism to locate the product based on its outline, making the installation position more precise and effectively ensuring that the relative position of the product does not shift when screwing in screws.

[0006] The present invention is further configured such that: the flipping mechanism includes a cylinder and a cylinder fixing plate fixed to the cylinder fixing end; the cylinder is connected to a cylinder output shaft, and the other end of the cylinder output shaft is connected to a gear; the gear is fixed to a gear connecting plate and connected to the contour base through the gear connecting plate.

[0007] The present invention is further configured such that: a positioning sensor is provided on the flipping mechanism, the positioning sensor including a first positioning sensor and a second positioning sensor arranged along the length direction of the cylinder.

[0008] The present invention is further configured such that: the surface of the flipping platform is provided with a first start button, a second start button and an audio-visual indicator light, the audio-visual indicator light is connected to the controller, and the side of the flipping platform is provided with a switch and several plugs.

[0009] The present invention is further configured such that: the visual detection module includes a visual acquisition unit and a processing unit connected to the visual acquisition unit; the processing unit is capable of performing frame-by-frame analysis on the acquired video data, extracting important frames for image parsing, and determining whether the assembly process is normal based on the image parsing results.

[0010] The invention is further configured such that: an electric screwdriver is provided on the flipping platform, which is capable of tightening screws on the vehicle cup holder.

[0011] The present invention is further configured such that: the gear is connected to a gear shaft, and gear shaft fixing plates are connected to both sides of the gear shaft, and the gear shaft fixing plates are fixed to the cylinder fixing end.

[0012] The present invention is further configured such that: the processing unit includes an image parsing subunit and a feature extraction and judgment subunit; the image parsing subunit can extract important frames from video frames for parsing; and the feature extraction and judgment subunit can extract several obvious features of the image and compare the obvious features with a set threshold.

[0013] The present invention is further configured such that: the controller is provided with an alarm module, the alarm module is connected to the processing unit of the visual detection module, and the alarm module is also connected to an audible and visual indicator light.

[0014] The present invention is further configured such that: the controller is also connected to a remote service terminal, the remote service terminal being able to receive early warning data and issue task execution instructions.

[0015] The automatic flipping assembly mechanism for the production of vehicle cup holders according to the present invention can bring the following beneficial effects: The mechanism of this invention can optimize the production process of in-vehicle cup holders, thereby improving production quality and efficiency; and has the advantages of complete detection functions, rapid mechanism response, small fixture size, and low research and development and maintenance costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an automatic flipping assembly mechanism in the production of a vehicle-mounted cup holder according to the present invention.

[0017] Figure 2 This is a schematic diagram of the automatic flipping assembly mechanism in the production of a vehicle-mounted cup holder according to the present invention from another perspective.

[0018] Figure 3 This is a schematic diagram of the structure of an automatic flipping assembly mechanism for removing the contour base in the production of a vehicle-mounted cup holder according to the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of an automatic flipping assembly mechanism for removing the contour base in the production of a vehicle cup holder according to the present invention, from another perspective.

[0020] Figure 5 This is a flowchart illustrating the operation of an automatic flipping assembly mechanism in the production of a vehicle-mounted cup holder according to the present invention.

[0021] Figure label: 1. Tilting platform 2. Electric screwdriver 3. Contouring base 4. Tilting mechanism 5. First position sensor 6. Second position sensor 7. First start button 8. Second start button 9. Sound and light indicator light 10. Power plug 11. Rocker switch 12. Air pipe plug 13. Cylinder fixing plate 14. Cylinder 15. Cylinder output shaft 16. Gear 17. Gear shaft fixing plate 18. Gear connecting plate. Detailed Implementation

[0022] Example 1 To address the issues of fragmented assembly steps and lack of error prevention in current automotive cup holder assembly processes, this embodiment proposes an automatic flipping assembly mechanism for automotive cup holder production. (Refer to...) Figure 1 , Figure 2 , Figure 3 as well as Figure 4 It includes a flipping platform 1 and a flipping mechanism 4, wherein the flipping mechanism 4 is mounted on the flipping platform 1, and a contouring base 3 is provided on one side of the flipping mechanism 4, wherein the contouring base 3 can install a car cup holder. Specifically, the contouring base 3 is adjusted and set according to the shape of the car cup holder; the other side of the flipping mechanism 4 is fixedly connected to the flipping platform 1, and a controller is provided below the flipping platform 1. The controller is also connected to a vision detection module, which can perform position detection and early warning detection.

[0023] The positioning detection performed by the vision detection module mainly detects whether the cup holder is in the correct position during the flipping process. It can be fused with the distance data detected by the first positioning sensor 5 and the second positioning sensor 6 (described later) to obtain a more accurate detection result.

[0024] The early warning detection performed by the vision inspection module mainly involves detecting whether the overall tooling is stable during the screw tightening process. The main areas to be detected are the flipping mechanism 4 and other components on the flipping platform 1.

[0025] refer to Figure 1 and Figure 2 The flipping mechanism 4 mainly includes a cylinder 14, a cylinder fixing plate 13, a cylinder output shaft 15, and a gear 16. One end of the cylinder fixing plate 13 is fixedly connected to the fixed end of the cylinder 14, and the other end of the cylinder fixing plate 14 is fixedly connected to the flipping platform 1. The cylinder 14 is fixedly connected to the cylinder output shaft 15, and the other end of the cylinder output shaft 15 is connected to the gear 16. One part of the gear 16 is fixedly connected to the gear connecting plate 18. The gear 16 is mainly connected to the contour base 3 through the gear connecting plate 18.

[0026] A positioning sensor is provided above the flipping mechanism 4. The positioning sensor mainly includes a first positioning sensor 5 and a second positioning sensor 6, which are connected and spaced apart along the length of the cylinder 4.

[0027] A start button is provided on the surface of the flipping platform 1. The start button mainly includes a first start button 7 and a second start button 8. The start can be performed when the first start button 7 and the second start button 8 are pressed at the same time, so that the cylinder output shaft 15 moves out and drives the gear to rotate 90 degrees. The rotating gear and the top tooling rotate 90 degrees synchronously.

[0028] An audible and visual indicator light 9 is also provided on the surface of the flipping platform 1, and the audible and visual indicator light 9 is connected to the controller. Specifically, the audible and visual indicator light 9 is connected to the alarm module of the controller.

[0029] Several plugs and switches are also provided on the side of the flipping platform 1. The plugs include a power plug 10 and an air pipe plug 12. The switches are specifically rocker switches 11.

[0030] An electric screwdriver 2 is also installed on the flipping platform 1, which can tighten screws on the car cup holder.

[0031] Gear 16 is also connected to gear shaft, and both sides of gear shaft are connected to gear shaft fixing plate 17. Gear shaft fixing plate 17 is fixedly connected to the fixed end of cylinder 14.

[0032] The visual inspection module mainly includes a visual acquisition unit and a processing unit. The visual acquisition unit can be connected to the processing unit. The processing unit can analyze and process the acquired data frame by frame, extract important frames for image analysis, and finally make detection judgments based on the image analysis results. The visual acquisition unit can monitor the video data of the flipping mechanism 4 and the components on the flipping platform 1 in real time.

[0033] The visual acquisition unit can be a combination of several acquisition sub-units. The several acquisition sub-units are set in different positions to monitor the condition of the components on the flipping mechanism 4 and the flipping platform 1. In this embodiment, the acquisition sub-unit is preferably a camera, but it can also be other acquisition devices, as long as they can acquire stable video frames.

[0034] The processing unit mainly includes an image analysis subunit and a feature extraction and judgment subunit. The image analysis subunit is connected to the feature extraction and judgment subunit. The image analysis subunit can extract important frames from continuous video frames for analysis, and the feature extraction and judgment subunit can extract multiple obvious features of the image and compare the obvious features with a pre-set threshold to obtain the comparison result. The alarm module can determine whether to trigger an alarm based on the comparison result.

[0035] The extraction of important frames is mainly determined by the preliminary positioning detection of the first positioning sensor 5 and the second positioning sensor 6. After the first positioning sensor 5 or the second positioning sensor 6 initially detects an abnormal positioning result, the video frame under the timestamp of the positioning result obtained from the preliminary detection is extracted. After removing duplicates from the obtained video frame, the important frame can be extracted.

[0036] The extraction of obvious features is mainly determined based on several pre-set thresholds. For example, these obvious features may be the distance between the flipping mechanism 4 and the flipping platform 1, which corresponds to a distance threshold. By comparing the obvious feature (the distance between the flipping mechanism 4 and the flipping platform 1) with the distance threshold (or the distance threshold range), if it is not within the aforementioned distance threshold range, an abnormal comparison result is obtained; the abnormal comparison result needs to be sent to the controller.

[0037] The controller is equipped with a corresponding alarm module, which is connected to the processing unit of the vision detection module. It can receive the comparison results from the processing unit and is also connected to the sound and light indicator light 9.

[0038] The above-mentioned technical solution of this application can be widely applied to the production of automotive cup holders, solving the problems of scattered work steps and lack of error prevention. The mechanism in the technical solution is highly integrated, using electrical interlocks and human-machine interaction to integrate two processes into one. Its positioning adopts a contour-following mechanism positioning method, which positions according to the product outline, making the installation position more accurate and effectively ensuring that the relative position of the product does not shift when screwing. First, after the automotive cup holder is placed in the fixture, it is manually started by pressing the button with one hand. After the position sensor detects that the product is in place, the electric screwdriver 2 is powered on to start the screwing operation. After the corresponding top screw is screwed, the sound and light integrated light 9 turns green, indicating that the number of screws has been screwed as required. The cylinder is automatically started to push out. The top of the cylinder has a gear and rack structure, which converts the linear motion into a flipping motion, which can flip the product 90° so that the side position is facing up to continue the assembly operation. This mechanism has the advantages of high work efficiency, complete detection functions, rapid mechanism response, small fixture size, and low research and development and maintenance costs.

[0039] For more details, see the reference. Figure 5 The operation process of this invention includes the following steps: First, plug the DC 12V power cord into the power plug 10 and turn on the rocker switch 11 on the back of the mechanism to ensure there are no faults or leftover products. Second, manually place the product to be assembled on the contour base, press both start buttons (first start button and second start button), the position sensor detects that the position is in place, and sends a power start signal to the electric screwdriver. The electric screwdriver is powered on, and the manual tightens the top screws (2 screws). Third, after the controller (in this embodiment, the controller is a PLC) detects the tightening signal twice, the manual presses both start buttons again (for safety), the cylinder output shaft moves linearly out, driving the gear to rotate 90°. The rotating gear and the top tooling rotate 90 degrees synchronously. At this time, the position sensor detects whether the position is in place again. If the position is in place, the electric screwdriver is powered on again, and the mounting surface of the side screws is facing upwards. Meanwhile, after the electric screwdriver is powered on, it begins driving five screws onto the top of the car cup holder. An internal torque sensor feeds back the number of screws reaching the set torque value to the controller. When the target number of screws is reached, the controller activates the audible and visual indicator light 9, which illuminates green to indicate that the screws have been installed. If any screws are missed and the product is removed directly, the light turns red, triggering an alarm. Finally, the product is manually removed from the mechanism, completing one cycle.

[0040] The operating logic is as follows: Start with both hands, cylinder sensor 1 detects the position (electric screwdriver is energized), manually tighten two screws (torque value is reached), manually press the button (torque value is reached twice), the cylinder extends, the cylinder shaft drives the gear, the gear rotates and drives the tooling to rotate synchronously 90 degrees, sensor 2 detects the position, the electric screwdriver is energized, manually tighten 5 screws (torque value is reached). The light is green at this time.

[0041] In the above operation process, the positioning detection can also be performed in conjunction with the above-mentioned visual detection module. For details, please refer to the above description of the visual detection module, which will not be repeated here.

[0042] Example 2 This embodiment proposes an automatic flipping and assembly mechanism for the production of vehicle-mounted cup holders, referencing... Figures 1 to 4 It includes a flipping platform 1 and a flipping mechanism 4, wherein the flipping mechanism 4 is mounted on the flipping platform 1, and a contouring base 3 is provided on one side of the flipping mechanism 4, wherein the contouring base 3 can install a car cup holder. Specifically, the contouring base 3 is adjusted and set according to the shape of the car cup holder; the other side of the flipping mechanism 4 is fixedly connected to the flipping platform 1, and a controller is provided below the flipping platform 1. The controller is also connected to a vision detection module, which can perform position detection and early warning detection.

[0043] The positioning detection performed by the vision detection module mainly detects whether the cup holder is in the correct position during the flipping process. It can be fused with the distance data detected by the first positioning sensor 5 and the second positioning sensor 6 (described later) to obtain a more accurate detection result.

[0044] The early warning detection performed by the vision inspection module mainly involves detecting whether the overall tooling is stable during the screw tightening process. The main areas to be detected are the flipping mechanism 4 and other components on the flipping platform 1.

[0045] refer to Figure 1 and Figure 2 The flipping mechanism 4 mainly includes a cylinder 14, a cylinder fixing plate 13, a cylinder output shaft 15, and a gear 16. One end of the cylinder fixing plate 13 is fixedly connected to the fixed end of the cylinder 14, and the other end of the cylinder fixing plate 14 is fixedly connected to the flipping platform 1. The cylinder 14 is fixedly connected to the cylinder output shaft 15, and the other end of the cylinder output shaft 15 is connected to the gear 16. One part of the gear 16 is fixedly connected to the gear connecting plate 18. The gear 16 is mainly connected to the contour base 3 through the gear connecting plate 18.

[0046] A positioning sensor is provided above the flipping mechanism 4. The positioning sensor mainly includes a first positioning sensor 5 and a second positioning sensor 6, which are connected and spaced apart along the length of the cylinder 4.

[0047] A start button is provided on the surface of the flipping platform 1. The start button mainly includes a first start button 7 and a second start button 8. The start can be performed when the first start button 7 and the second start button 8 are pressed at the same time, so that the cylinder output shaft 15 moves out and drives the gear to rotate 90 degrees. The rotating gear and the top tooling rotate 90 degrees synchronously.

[0048] An audible and visual indicator light 9 is also provided on the surface of the flipping platform 1, and the audible and visual indicator light 9 is connected to the controller. Specifically, the audible and visual indicator light 9 is connected to the alarm module of the controller.

[0049] Several plugs and switches are also provided on the side of the flipping platform 1. The plugs include a power plug 10 and an air pipe plug 12. The switches are specifically rocker switches 11.

[0050] An electric screwdriver 2 is also installed on the flipping platform 1, which can tighten screws on the car cup holder.

[0051] Gear 16 is also connected to gear shaft, and both sides of gear shaft are connected to gear shaft fixing plate 17. Gear shaft fixing plate 17 is fixedly connected to the fixed end of cylinder 14.

[0052] The visual inspection module mainly includes a visual acquisition unit and a processing unit. The visual acquisition unit can be connected to the processing unit. The processing unit can analyze and process the acquired data frame by frame, extract important frames for image analysis, and finally make detection judgments based on the image analysis results. The visual acquisition unit can monitor the video data of the flipping mechanism 4 and the components on the flipping platform 1 in real time.

[0053] The visual acquisition unit can be a combination of several acquisition sub-units. The several acquisition sub-units are set in different positions to monitor the condition of the components on the flipping mechanism 4 and the flipping platform 1. In this embodiment, the acquisition sub-unit is preferably a camera, but it can also be other acquisition devices, as long as they can acquire stable video frames.

[0054] The processing unit mainly includes an image analysis subunit and a feature extraction and judgment subunit. The image analysis subunit is connected to the feature extraction and judgment subunit. The image analysis subunit can extract important frames from continuous video frames for analysis, and the feature extraction and judgment subunit can extract multiple obvious features of the image and compare the obvious features with a pre-set threshold to obtain the comparison result. The alarm module can determine whether to trigger an alarm based on the comparison result.

[0055] The extraction of important frames is mainly determined by the preliminary positioning detection of the first positioning sensor 5 and the second positioning sensor 6. After the first positioning sensor 5 or the second positioning sensor 6 initially detects an abnormal positioning result, the video frame under the timestamp of the positioning result obtained from the preliminary detection is extracted. After removing duplicates from the obtained video frame, the important frame can be extracted.

[0056] The extraction of obvious features is mainly determined based on several pre-set thresholds. For example, these obvious features may be the distance between the flipping mechanism 4 and the flipping platform 1, which corresponds to a distance threshold. By comparing the obvious feature (the distance between the flipping mechanism 4 and the flipping platform 1) with the distance threshold (or the distance threshold range), if it is not within the aforementioned distance threshold range, an abnormal comparison result is obtained; the abnormal comparison result needs to be sent to the controller.

[0057] The controller is equipped with a corresponding alarm module, which is connected to the processing unit of the vision detection module. It can receive the comparison results from the processing unit and is also connected to the sound and light indicator light 9.

[0058] The above-mentioned technical solution of this application can be widely applied to the production of automotive cup holders, solving the problems of scattered work steps and lack of error prevention. The mechanism in the technical solution is highly integrated, using electrical interlocks and human-machine interaction to integrate two processes into one. Its positioning adopts a contour-following mechanism positioning method, which positions according to the product outline, making the installation position more accurate and effectively ensuring that the relative position of the product does not shift when screwing. First, after the automotive cup holder is placed in the fixture, it is manually started by pressing the button with one hand. After the position sensor detects that the product is in place, the electric screwdriver 2 is powered on to start the screwing operation. After the corresponding top screw is screwed, the sound and light integrated light 9 turns green, indicating that the number of screws has been screwed as required. The cylinder is automatically started to push out. The top of the cylinder has a gear and rack structure, which converts the linear motion into a flipping motion, which can flip the product 90° so that the side position is facing up to continue the assembly operation. This mechanism has the advantages of high work efficiency, complete detection functions, rapid mechanism response, small fixture size, and low research and development and maintenance costs.

[0059] Based on Embodiment 1, this embodiment also proposes an automatic flipping assembly mechanism for the production of vehicle cup holders. In addition to the controller, the mechanism is equipped with a remote service terminal, which is also connected to the controller for communication. The remote service terminal can be a mobile phone, computer, or other communication device. The remote service terminal can receive the warning data sent by the controller, namely, the positioning information of the positioning sensor and the comparison results generated by the vision detection module. It can first send and store the data to the controller for aggregation. When the remote service terminal has a corresponding retrieval requirement, it can extract the specific positioning information and comparison results according to the timestamps corresponding to the positioning information and comparison results, and then package the positioning information and comparison results and send them to the remote service terminal. The data sent to the remote service terminal is the warning data.

[0060] In addition to receiving early warning data, the remote service terminal can also issue task execution instructions, that is, it can remotely start, pause, and resume the mechanism. Specifically, the remote terminal user is first verified by entering the verified user account password, and then logs into the remote control center. The remote control center issues the corresponding start, pause, and resume instructions, which are sent to the controller for parsing. The receiving and processing unit in the controller can parse the specific operation corresponding to the instruction, and then control the mechanism to perform the corresponding start, pause, and resume operations.

Claims

1. An automatic flipping assembly mechanism for the production of vehicle cup holders, characterized in that, It includes a flipping platform (1) and a flipping mechanism (4) set on the flipping platform (1). One side of the flipping mechanism (4) is provided with a contoured base (3) that can be installed on a car cup holder. The other side of the flipping mechanism (4) is fixed to the flipping platform (1). A controller is provided below the flipping platform (1). The controller is connected to a vision detection module. The vision detection module performs position detection and early warning detection.

2. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 1, characterized in that, The flipping mechanism (4) includes a cylinder (14) and a cylinder fixing plate (13) fixed to the fixed end of the cylinder (14). The cylinder (14) is connected to a cylinder output shaft (15), and the other end of the cylinder output shaft (15) is connected to a gear (16). The gear (16) is fixed to a gear connecting plate (18) and is connected to the contour base (3) through the gear connecting plate (18).

3. An automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 1 or 2, characterized in that, The flipping mechanism (4) is provided with a positioning sensor, which includes a first positioning sensor (5) and a second positioning sensor (6) arranged along the length direction of the cylinder (4).

4. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 3, characterized in that, The surface of the flipping platform (1) is provided with a first start button (7), a second start button (8) and a sound and light indicator (9). The sound and light indicator (9) is connected to the controller. The side of the flipping platform (1) is provided with a switch and several plugs.

5. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 4, characterized in that, The visual inspection module includes a visual acquisition unit and a processing unit connected to the visual acquisition unit. The processing unit can analyze the acquired video data frame by frame, extract important frames for image analysis, and determine whether the assembly process is normal based on the image analysis results.

6. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 1, characterized in that, The flipping platform (1) is also equipped with an electric screwdriver (2), which can tighten screws for the vehicle cup holder.

7. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 2, characterized in that, The gear (16) is connected to a gear shaft, and gear shaft fixing plates (17) are connected to both sides of the gear shaft. The gear shaft fixing plates (17) are fixed to the fixed end of the cylinder (14).

8. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 5, characterized in that, The processing unit includes an image parsing subunit and a feature extraction and judgment subunit. The image parsing subunit can extract important frames from video frames for parsing, and the feature extraction and judgment subunit can extract several obvious features of the image and compare the obvious features with a set threshold.

9. The automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 5, characterized in that, The controller is equipped with an alarm module, which is connected to the processing unit of the visual detection module and is also connected to the sound and light indicator (9).

10. An automatic flipping assembly mechanism for the production of a vehicle-mounted cup holder according to claim 1 or 2, characterized in that, The controller is also connected to a remote service terminal, which can receive early warning data and issue task execution instructions.

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