12086 results about "Autonomation" patented technology

The invention discloses a CAD automatic generation system and method based on intelligent model selection and application, and aims at achieving automatic modeling under the multi-modal design requirement. The system comprises a user interaction module for receiving multi-modal input such as natural language, sketch and voice; the intelligent demand analysis module is used for combining an industrial large language model and a product knowledge graph, combining semantic analysis and generating a structured demand; the intelligent model selection calculation module is used for matching the optimal parameter combination and the component list based on a multi-objective optimization algorithm; the CAD automatic generation module calls a parametric modeling engine to generate an editable three-dimensional model; the constraint solving module is used for processing hard constraints and soft constraints in real time and dynamically adjusting model parameters; and the model output and interaction module feeds back a design state and supports user iteration. The system realizes full-process automation from the design intention to the CAD model, improves the design efficiency and accuracy, and is suitable for the fields of mechanical design, intelligent manufacturing and the like.

The invention relates to the technical field of industrial automation control, and discloses a change gear assembly processing technological parameter intelligent optimization system, which comprises a multi-dimensional data synchronous acquisition unit, an angular domain static map construction unit, a phase lead constraint control unit and an angle trigger execution unit, according to the method, a static angle-load topological graph with a main shaft angle as an index is established, a phase lead angle is calculated by combining inherent physical response lag time of a servo system, and a parameter adjustment instruction sequence is directly injected into a servo current loop at a preset angle window before physical load impact occurs; according to the feed-forward control mechanism based on angular domain reconstruction and phase lead constraint, the problem of physical lag of traditional time domain feedback control in response to high-frequency intermittent cutting is avoided, and zero time difference of periodic load impact and even pre-judgment torque compensation are achieved.

The invention relates to the technical field of automatic production control and industrial data processing, in particular to a PLC-based gypsum-based flame-retardant plate production line control system and method, and the system comprises a data collection module which collects sensor data in real time; the ideal state construction module is used for constructing a pure ideal state vector; the disturbance simulation module is used for generating a theoretical damaged state vector corresponding to a specific fault mode; the difference calculation module is used for generating real and theoretical deviation vectors; the coupling verification control module is used for calculating a similarity value between the actual deviation vector and the theoretical deviation vector; if the similarity value is larger than a preset judgment threshold value, it is judged that a real physical fault exists at present, and a PLC precise compensation instruction is generated and sent to a production line execution mechanism; otherwise, judging that non-physical noise exists at present, keeping the control parameters of the production line unchanged, and starting a dynamic filtering program; according to the method, the problem that physical faults and sensor clutters are difficult to distinguish in a high-noise environment is effectively solved, and missing report is avoided.

The invention relates to the field of metallurgical automation control, and discloses an intelligent metallurgical automation control method and system, and the method comprises the steps: collecting the real-time operation data of multiple working procedures of metallurgical production, carrying out the time alignment processing, and quantifying the correlation features between the working procedures, thereby obtaining an initial quantification feature set; dynamically simulating the feature set, acquiring intensity and direction parameters of process variable fluctuation conduction, and constructing a cross-process influence model; a global coordination instruction set is generated by combining downstream constraint feedback optimization distributed controller coordination parameters; updating a multi-process state vector, and if a local optimal risk exists, correcting a conduction path; and generating an optimal control scheme based on downstream real-time feedback iterative optimization, and distributing adjustment parameters to realize multi-process cooperative control. The process coupling relation can be accurately quantified, and the metallurgical production efficiency and the quality stability are improved.

The invention provides a multi-AGV bidirectional channel dynamic avoidance method and system based on conflict prediction, and relates to the field of industrial logistics automation control, when a vehicle-mounted laser radar of a first AGV detects an opposite second AGV in a preset fan-shaped early warning interval, double-AGV priority quantification is carried out, avoidance role distribution is carried out according to a quantification priority comparison result, and an avoidance AGV is positioned; and the way-giving AGV receives the standard driving track of the non-way-giving AGV, calculates a smooth way-giving track, and carries out two-way traffic conflict dynamic resolution. The technical problem that the logistics efficiency of a high-beat precise assembly production line is seriously restricted due to the fact that the accuracy of collision conflict prediction and avoidance processing and the response timeliness are insufficient due to the fact that the autonomous collaboration of multi-AGV passing control is weak in a narrow industrial channel in the prior art is solved. Full-autonomous cooperative passage control of multiple AGV clusters in a narrow industrial channel is realized, and zero-interruption execution of high-value logistics tasks is ensured.

The invention relates to the field of computer graphics, reverse engineering and additive manufacturing, discloses a multi-modal fusion and physical constraint three-dimensional point cloud geometric modeling system and method, and aims at overcoming the defects that traditional three-dimensional reconstruction entity attributes are missing, key features are prone to being lost, semantic understanding does not exist, and process automation is low. The system comprises a point cloud preprocessing module, a semantic segmentation and recognition module, a mixed geometric reconstruction module, a multi-component assembly and physical constraint solution module and an entity model output module. The method comprises the following steps: denoising and sampling an original point cloud, realizing semantic and instance double segmentation through a Point Net + + network, endowing a geometry-function composite label, completing hybrid reconstruction through improved Poisson reconstruction, parameterized B-Rep fitting and standard component library matching, and outputting a multi-format engineering available model after physical constraint verification and automatic correction of a violation model. According to the method, automatic, high-fidelity and high-practicability conversion from the point cloud to the engineering-level entity model is realized, and the method is adaptive to multiple industrial application scenes.

The invention discloses laser cladding repairing equipment for an exhaust valve rod of a marine main engine. The laser cladding repairing equipment comprises a rotating mechanism, a cleaning mechanism and a repairing mechanism. The rotating mechanism adopts a plurality of stepping motors to drive friction wheels, self-centering clamping and intermittent rotation of the exhaust valve rod are achieved through a hydraulic cylinder and a plane connecting rod mechanism, it is ensured that positioning is accurate, and the rotating mechanism adapts to workpieces with different diameters. The cleaning mechanism is arranged below the rotating mechanism, a centrifugal fan is used for simultaneously driving a grinding disc to rotate at a high speed to conduct surface grinding, scrap iron is discharged in time through the negative pressure suction function of the centrifugal fan, and cleaning and dust removal are integrated. And the anti-diffusion cover and the anti-diffusion plate are matched to form a local closed area, so that dust dissipation is effectively inhibited. The repairing mechanism adopts a mechanical arm to carry a laser cladding head, the curved surface of the valve rod can be tracked with high precision, and automatic cladding is completed. The equipment integrates automatic clamping, efficient cleaning, synchronous dust removal and intelligent repairing, and the automation level, the surface treatment quality and the operation safety of repairing of the exhaust valve rod are remarkably improved.

The invention discloses a mechanical production practice virtual simulation method and system constructed based on a three-dimensional scene CAD model. Firstly, a target workshop is subjected to systematic aerial photography through an unmanned aerial vehicle to collect multi-view image data; a high-fidelity and interactive three-dimensional virtual scene model is automatically constructed by adopting a three-dimensional reconstruction technology fusing generative artificial intelligence and Gaussian splashing; and finally constructing an immersive virtual simulation platform. The platform not only can provide VR roaming and equipment simulation operation functions from a first person perspective, but also can collect user multi-dimensional operation behavior data in real time, and generates a visual intelligent comprehensive evaluation report through a preset multi-dimensional skill map and a quantitative scoring algorithm. According to the invention, high-efficiency and high-fidelity digital reproduction of a mechanical production practice scene is realized, a novel practical teaching mode which is safe, quantifiable and accurate in evaluation is created, and systematic pain points such as single scene, high cost, safety risk and subjective evaluation in traditional practice are effectively solved.

The invention provides a servo press control system and method based on a time-sensitive network, and relates to the technical field of intelligent manufacturing and industrial automation control, and the system comprises a time-sensitive network TSN which is used for providing global time synchronization and deterministic data transmission; a main controller of the multi-axis servo control unit is used for issuing a motion control instruction and a feeding and discharging control instruction through a TSN. A robot controller in the robot feeding and discharging unit is used for driving an industrial robot to execute plate taking and placing operation under the action of the feeding and discharging control instruction. The visual monitoring unit comprises an industrial camera accessed to the TSN and is used for collecting images and transmitting image data to the edge computing node through the TSN; the edge computing node is used for processing the image data to generate a compensation instruction and feeding back the compensation instruction through the TSN; and the upper monitoring system is used for subscribing real-time data published by the edge computing nodes, so that the control range of the servo pressure control system is expanded, and the convenience of data transmission and interaction is improved.

The invention provides a tire crane automatic control system and method based on embedded edge calculation, and relates to the technical field of port automation, the tire crane automatic control system comprises a sensing and detecting layer used for collecting motion states and operation environment information of a cart, a trolley and a lifting appliance of a tire crane in real time; the core control layer is used for processing sensor data in real time and generating a control instruction; the action execution layer comprises a PLC gateway, a main control PLC and a driving motor, the PLC gateway communicates with the core control layer and is used for receiving a control instruction, and the main control PLC drives the motor to execute corresponding actions of a cart, a trolley and a lifting appliance; and the task management layer comprises an intelligent remote control console, is in communication connection with the core control layer, and is used for issuing the operation task instruction to the core control layer and receiving the system state data from the core control layer. Unmanned operation of the tire crane can be achieved, and a complete technical base is provided for port automation.

The invention relates to the technical field of planetary gear machining equipment, and discloses a planetary gear machining device with a bidirectional feeding mechanism, which mainly comprises a planetary gear machining machine tool machining table for bearing machining operation, and a conveying mechanism for conveying planetary gear blanks, the bidirectional feeding mechanism is used for realizing bidirectional precise feeding; the conveying mechanism is arranged between machining tables of the planetary gear machining machine tool and used for achieving long-distance conveying of blanks. Two-way operation of blank feeding and finished product discharging can be achieved through the feeding robot of the two-way feeding mechanism, manual intervention is not needed, the blanks on the conveying belt are accurately transferred to the machining table, the finished products are transferred to the designated position after machining is completed, and automation of the whole process is achieved; the mechanical arm of the feeding robot is flexible and controllable and can be matched with the rotating shaft to meet the grabbing and transferring requirements of different angles, the feeding path is accurate, the feeding time is greatly shortened, and the batch production efficiency is improved.

The invention relates to an intelligent process research and development system and method based on AI model closed-loop iteration, and belongs to the field of intelligent manufacturing and artificial intelligence. In order to solve the problems that in existing process research and development, due to the fact that links of knowledge analysis, model optimization and experimental verification are separated, the efficiency is low, and manual experience is highly relied on, the method comprises the steps that unstructured process knowledge is automatically analyzed into machine executable scripts, and new process parameters are recommended according to experimental data through a process optimization model. The core of the method is that the system automatically feeds back verification results of new parameters, updates the verification results to a data set, and drives a model to carry out next round of iterative training, so that an automatic closed loop from knowledge to the model to an experiment is constructed, and continuous self-evolution and efficient convergence of process research and development are realized.

The invention discloses a dragging positioning spraying track planning method for a local area of the surface of special equipment and a storage medium, and belongs to the technical field of industrial robot automation. The method comprises the steps of obtaining point set data of a to-be-sprayed area; calculating a convex hull based on the point set, and solving a minimum enclosing rectangle by using a rotary caliper method to determine an accurate rectangle spraying boundary; constructing a rectangular amplitude limiting sedimentary model through spraying testing and parameter identification; generating a grid track with a buffer area based on the model and the boundary, and optimizing the spraying speed by taking the minimization time as a target; and for the curved surface, performing B-spline curved surface reconstruction and extracting a normal vector to control the attitude of the spray gun. According to the method, the complex multi-parameter trajectory optimization problem is simplified into single-speed optimization through the rectangular amplitude limiting deposition model, the problems that in local spraying, trajectory planning is complex, edge control is not precise, a coating is not uniform and the like are effectively solved, and the spraying efficiency and quality are remarkably improved.

The invention discloses a spraying control method of a waveform guardrail spraying manipulator, which relates to the technical field of industrial automation and robot control, and comprises the following steps: acquiring relative position change data of the manipulator and the surface of a waveform guardrail in a rotation process through a pre-established manipulator rotation track model; and for each time node, recording the spraying angle change and distance dynamic adjustment information, establishing a dynamic space mapping relationship under a manipulator rotation state for spraying control, and triggering a secondary spraying supplementing control instruction according to the coating quality consistency feedback, so that the reliability and stability of the spraying supplementing effect can be further ensured, and the spraying efficiency is improved. Therefore, the equipment utilization rate of the manipulator and the automation and intelligence level of spraying operation are remarkably improved while the uniformity of the coating and the consistency of spraying quality are improved.

The invention discloses an automatic copper pipe tooth rolling production line, and belongs to the technical field of copper pipe tooth rolling machining. The gear rolling production line comprises a plurality of gear rolling machines, a feeding line and a feeding assembly. The feeding assembly comprises a feeding conveying mechanism, a jacking distributing mechanism, a feeding buffering mechanism and a longitudinal conveying mechanism. The feeding conveying mechanism comprises a feeding frame and a plurality of feeding conveying units, the feeding temporary storage mechanism comprises a feeding temporary storage frame, and a temporary storage part of the feeding temporary storage frame and a bearing surface of a discharging guide part are obliquely arranged; the jacking and distributing mechanism comprises a jacking and distributing unit, and the jacking and distributing unit comprises a first-stage jacking frame and a second-stage jacking frame. The position layout of the tooth rolling machines is reasonable, the space of a plant workshop is fully utilized, the feeding requirements of multiple tooth rolling machines can be met by arranging the feeding assembly on one layer and one feeding line in the workshop, the production rhythm of the multiple tooth rolling machines can be met, copper pipes are stable, reliable and high in conveying efficiency in the conveying process, the falling risk is avoided, and the production efficiency is improved. And the safety of equipment and personnel is ensured.

The utility model provides a firework inner cylinder feeding assembly and firework production equipment, and relates to the technical field of firework automatic production equipment, the firework inner cylinder feeding assembly comprises a stock bin, an inner cylinder cake feeding mechanism, an inner cylinder cake transferring mechanism and an inner cylinder pushing mechanism; the inner cylinder cake transferring mechanism comprises a transferring frame and a first driving unit; a plurality of material frames are arranged on the transfer frame; the first driving unit can drive the transfer frame to move, so that the material frame on the transfer frame moves to a first position and a second position; when the material frame is located at the first position and the material frame is aligned with the inner cylinder cake feeding mechanism, the inner cylinder cake feeding mechanism can load inner cylinder cakes into the material frame; and when the material frame is located at the second position and the material frame is aligned with the stock bin, the inner barrel pushing mechanism can push the inner barrels contained in the inner barrel cakes in the material frame into the stock bin. The automatic feeding assembly for the firework inner barrels has the technical effects that the automation degree is high, workers do not need to get close to a stock bin to conduct feeding operation on the inner barrels during production, and safety is high.

The invention provides a production process configuration method and device for a manufacturing execution system in the technical field of industrial manufacturing informatization. The method comprises the steps that S1, customized information is extracted from order data to generate a production task instruction; s2, matching resource requirements based on the production task instruction to generate a resource allocation list; s3, generating a flow configuration file based on the resource allocation list and the production task instruction, and issuing the flow configuration file to a corresponding production execution unit to execute production operation; s4, collecting production data from each production execution unit in real time, recording production logs in real time, and carrying out standardized processing and unified storage on the production logs; and S5, carrying out real-time monitoring on a production task state, a production resource state, a system operation state and a change condition of order data, and dynamically reconstructing a process configuration file. The method has the advantages that the flexibility, the automation level and the response efficiency of production process configuration are greatly improved.

The invention relates to the technical field of high-speed line assembly equipment, in particular to a production line for automatically assembling a rubber core and a lower iron shell, which comprises a material carrying table, the material carrying table comprises a movable seat transversely and movably arranged on a supporting slide rail, the movable seat is provided with a supporting seat, the supporting seat is provided with a lifting seat, and the top of the lifting seat is provided with a material receiving table; the material receiving table comprises a material placing table, and a pair of rubber core placing grooves and a pair of upper iron shell placing grooves are formed in the top surface of the material placing table; comprising a pair of placing parts which are respectively arranged on two sides of the material placing table; a lower iron shell discharging module, a rubber core discharging module and an assembling mechanism are arranged beside the supporting sliding rail, and the lower iron shell discharging module, the rubber core discharging module and the assembling mechanism are sequentially arranged in the moving direction of the carrying table. According to the invention, the lower iron shell and the rubber core are uninterruptedly discharged and assembled without separate discharging equipment and assembling equipment, so that the assembling efficiency of the high-speed line and the smoothness of automation are improved.

The invention discloses an automobile precision part airtightness detection method. The method comprises the steps that a to-be-detected part is clamped in an airtightness detection tool in a sealed mode to form a detection cavity; the detection cavity is pre-filled with detection gas until the initial detection pressure is reached and the pressure is stabilized, so that pressure drift caused by sealing springback, clamping elastic deformation and gas separation is weakened; applying pressure disturbance with a preset amplitude under the same clamping state, collecting pressure change data, and calculating to obtain an equivalent volume parameter of the detection system; collecting pressure change data within a preset detection time, and performing adaptive compensation on the airtightness detection result based on the equivalent volume parameter to obtain a compensation result; and completing qualification judgment according to a compensation result, and analyzing detection abnormity in combination with an equivalent volume parameter so as to distinguish tool leakage and part body leakage. According to the invention, the stability and consistency of airtightness detection of the aluminum casting can be improved, the misjudgment rate is reduced, and the batch detection requirement of an automatic production line is met.

The invention relates to the technical field of industrial automation and robots, in particular to a forklift goods forking method and system based on tray position visual identification, and the method comprises the steps that an AGV body travels to a fan-shaped area, point cloud information is collected through a radar to be matched with tray characteristics, and the initial position of a tray is calculated; planning a retreating curve, driving to a visual identification position, and controlling the AGV body to retreat and fork after primary visual identification, error adjustment and secondary visual identification accurate positioning; the forking state is detected through a tray in-place switch and a fork tip photoelectric sensor, and the result is judged. The system comprises an AGV body, a recognizable tray and a scheduling module, and the AGV body carries a controller, a radar, a camera, an in-place switch and a photoelectric sensor. According to the scheme, SLAM accumulated errors are eliminated through laser-vision double recognition, tray deviation is adapted, recognition reliability is improved in a fan-shaped area, a narrow channel strategy widens the range, intervention is reduced, and the forking success rate and efficiency are improved.

The invention discloses an automatic testing line of a positioner. The automatic testing line comprises a feeding machine, a discharging machine and a testing machine arranged between the feeding machine and the discharging machine. The feeding machine comprises a feeding bin device, a feeding conveying line arranged on one side of the feeding bin device and a feeding carrying device arranged between the feeding bin device and the feeding conveying line. The feeding carrying device comprises a middle transferring device and a feeding transferring device. The feeding and transferring device comprises a feeding mechanical arm, a first feeding base connected with the feeding mechanical arm, and a plurality of feeding and transferring modules installed on one side of the first feeding base. According to the invention, automatic transmission of the carriers carrying the positioners, automatic loading and unloading of the carriers and automatic detection of the positioners can be realized, the automation degree is high, the working efficiency is high, and the requirements of modern large-scale production are met.

The invention belongs to the technical field of automatic control, discloses an integrated system based on magnetic drive conveying, automatic assembly and automatic detection, and aims to solve the contradiction between the requirements for high efficiency, flexibility and integration of a production line in the field of new energy and fragmentation, conveying limitation, heavy manual dependence, the machining rhythm as long as 40 s, large precision fluctuation and lack of an automatic detection closed loop in the prior art. The system integrates a magnetic drive conveying module, a bending module, a riveting module, a code printing module, a multi-dimensional detection module and the like, and realizes the automation of the whole process from conveying, processing, code printing, detection to management and control by overall planning the time sequence coordination of the whole process through a PLC (Programmable Logic Controller); traditional conveying limitation is broken through through magnetic field driving, multi-machine-type production is adapted, a driving module provides stable pressure to guarantee machining accuracy, unqualified product accumulation is avoided through multi-dimensional detection, the single cycle beat is smaller than or equal to 4.1 s, the production efficiency and the product percent of pass are greatly improved, and manpower and quality control cost is remarkably reduced.

The invention discloses a paper-plastic mold positioning auxiliary system capable of monitoring hydraulic pressure in real time through an AI. The paper-plastic mold positioning auxiliary system comprises an AI control center, a hydraulic monitoring unit, an air pressure monitoring unit, a positioning auxiliary execution unit, an abnormity protection unit and a data acquisition and transmission module. The hydraulic monitoring unit is used for collecting hydraulic oil cylinder pressure, temperature, hydraulic oil viscosity and equipment operation duration data; the air pressure monitoring unit collects air pressure, flow and valve delay time data of a pipeline valve; the data acquisition and transmission module transmits data to the AI control center, and the AI control center analyzes abnormity through a model and calculates a correction amount; the positioning auxiliary execution unit coordinates the positioning of the servo motor and the hydraulic oil cylinder; and the abnormal protection unit receives the early warning and starts a protection action. The system solves the problems of hydraulic monitoring lag and the like, realizes hydraulic and air pressure cooperative monitoring and positioning compensation, ensures production coherence and equipment safety, and is adaptive to automatic production of paper-plastic molds.

The invention provides welding and conveying equipment for air conditioner liquid accumulator machining, and relates to the technical field of liquid accumulator machining. The welding and conveying equipment comprises a welding table, and a conveying table is arranged at the top of the welding table; a conveying assembly used for conveying the material fixing assembly is arranged on the conveying table. The top of the conveying assembly is provided with an overturning assembly used for overturning the material fixing assembly. The material fixing assembly is rotationally connected with the overturning assembly. Through the arrangement of the structure and the cooperation of the conveying assembly, the positioning assembly, the overturning assembly and the material fixing assembly, automatic conveying, precise positioning, stable clamping and flexible overturning of materials in the machining process of the air conditioner liquid accumulator are achieved; the problems of high labor intensity, low machining precision, low production efficiency and the like caused by dependence on manual operation in traditional machining are effectively solved.

The invention provides a laser cutting production line task automatic allocation control method based on multi-device state coupling analysis, and belongs to the technical field of intelligent manufacturing and industrial automation. The method comprises the following steps: constructing a dynamic closed-loop control process through a central control scheduling system: receiving a task information packet of an MES; constructing an equipment state vector based on a real-time station state, and introducing a dynamic weight factor set to generate a weighted state vector; performing task triggering judgment through a coupling triggering judgment function in combination with the task dependency graph and historical task records; when the conditions are met, a task instruction is issued to the target station; and feeding back the state and updating the historical record after the task is completed. The invention further relates to AGV intelligent scheduling, visual positioning compensation, process parameter dynamic adjustment, predictive conflict detection, weight self-optimization and the like. According to the method, the production line cooperation efficiency is remarkably improved, manual intervention and system delay are reduced, and the method is suitable for an intelligent laser processing scene in which multiple devices run in parallel.

The invention provides an automatic simulation test system and method for a semiconductor EAP system, and belongs to the field of semiconductor manufacturing, and the method specifically comprises the steps: defining a test scene through test case coding; constructing a test environment by using the equipment simulation module and the external system simulation module; driving a test process of the tested EAP program through an automatic execution engine and generating real-time output data corresponding to the tested EAP program; and comparing the real-time output data generated by the automatic execution engine with an expected result, and generating a test report. According to the processing scheme, behaviors of equipment and an external system are truly simulated in a software simulation mode, an actual production scene is accurately restored in a test link, dependence on a physical environment is reduced, and test coverage is improved; and moreover, the test scene is solidified through codes and configuration files, so that the versioning management and one-key automatic regression test of the test cases are realized, the test efficiency is remarkably improved, and the quality of secondary development is guaranteed.

The invention provides automatic production equipment for a humanoid robot filter inductor, the automatic production equipment is used for assembling the inductor, the inductor comprises a bottom plate and two coils adhered to the bottom plate through glue, the two coils are arranged in the direction perpendicular to the extension direction of the single coil, and the assembling machine comprises a rack, a first support and a second support; a turntable assembly; the bottom plate feeding assembly is used for feeding the bottom plate to a clamping jaw located at a bottom plate feeding station; the bottom plate gluing assembly is used for gluing the upper surface of the bottom plate located at the bottom plate gluing station; the first coil feeding assembly is used for feeding one of the two coils to the bottom plate located at the first coil feeding station; the side face gluing assembly is used for gluing the outward side of the coil located on the bottom plate; the top gluing assembly is used for gluing the top of the coil located at the top gluing station; the second coil feeding assembly is used for feeding the other coil of the two coils onto the bottom plate; and the discharging assembly is used for discharging the assembled inductors.

The invention belongs to the technical field of industrial automation control, and particularly relates to a control system and method of a battery shell cleaning machine, and the method comprises the steps: obtaining a sound field signal in a cleaning tank, and carrying out the preprocessing to remove direct current drift and low-frequency mechanical vibration; the permutation entropy of the sound field signals is calculated to evaluate load complexity, a penalty factor of variational mode decomposition is adaptively constructed according to the load complexity, and then a fundamental frequency mode and a high frequency mode are separated; constructing a risk index reflecting the cavitation erosion degree according to the energy ratio of the high-frequency mode and the time domain volatility of the high-frequency mode; and according to the deviation between the risk index and the safety threshold, cooperatively adjusting the frequency jitter amplitude and the power amplitude of the ultrasonic generator. According to the method, through a self-adaptive decoupling damage signal and double-variable cooperative control strategy, on the premise that high cleaning efficiency is guaranteed, destructive cavitation and resonance damage are effectively restrained, and the balance between the cleaning effect and workpiece safety is achieved.

The invention relates to the field of modern intelligent manufacturing and automation, and discloses a method for planning a path of an intelligent robot with a body based on visual inspection, which comprises the following steps: acquiring real-time image data, preprocessing and extracting position coordinates of an obstacle, and generating an obstacle distribution diagram; an A star algorithm is adopted to generate a preliminary optimal route sequence, and map information is updated; uncertain interference in the path is judged, and a path alternative set is generated through coordinate calibration; a time-varying parameter and a security constraint optimization path strategy are integrated through adaptive path optimization; key node coordinates are extracted and are fused with obstacle boundary identification to obtain a path execution sequence; real-time performance is checked, if calculation is overtime, a rollback mechanism is triggered, and an initial path is loaded and fused with real-time obstacle information to generate a final feasible route; a control instruction sequence is generated according to the final route and transmitted to the robot for execution. According to the method, efficient and adaptive path planning in a dynamic environment can be realized, and the real-time response capability and task execution reliability of the robot are improved.

The invention relates to the field of petroleum well repair engineering, and particularly discloses a secondary well control automation system for conventional minor repair operation of an oil and gas field, which comprises the following steps of: firstly, performing time domain synchronization and Kalman filtering smoothing on multi-source sensor data, and constructing a high-precision synchronization data set; on the basis, the theoretical reference pressure value containing the excitation or swabbing effect is calculated in real time by utilizing the extracted tubular column instantaneous speed and operation modal characteristics and combining a fluid dynamic model. The core lies in that differential calculation is carried out on the theoretical value and actually measured pressure data, and pressure residual decoupling is achieved. The process can dynamically counteract normal physical fluctuation caused by tubular column tripping operation, and the reserved residual sequence is the pure stratum anomaly feature after interference stripping. And finally, a hierarchical control instruction is generated based on the residual sequence, so that the operation efficiency is guaranteed, and meanwhile, the real-time and accurate capture and automatic hierarchical disposal of the secondary well control risk are realized.