975 results about "Deflection angle" patented technology

The invention relates to the field of cableway transportation safety control, in particular to a cableway lift carriage operation deflection attitude monitoring device and a control method, and the method comprises the steps: collecting the position, speed, attitude angle and local micro deflection disturbance information of a lift carriage in real time by constructing a multi-mode sensing network; the frequency of the sensor is dynamically adjusted by adopting an adaptive sampling mechanism, and space-time alignment and fusion of heterogeneous data are completed in combination with dynamic time warping and minimum mean square estimation; strengthening the key disturbance dimension based on a disturbance-driven attention mechanism, and predicting a future deflection angle sequence; a decoupling torque is generated through spatial deflection vector field modeling, regional coupling tensor analysis and a dynamic direction alignment matrix, and power consumption constraint and a dynamic environment parameter optimization control instruction are fused; and finally, driving the quadrilateral moment gyroscope to execute correction, and constructing a multi-dimensional evaluation index based on the attitude response residual error. According to the method, adaptive closed-loop adjustment of the control strategy is realized, and the robustness under wind speed disturbance and load variation is improved.

The invention discloses a textile production defect detection method and system based on image processing, and belongs to the field of textile defect detection. According to the method, the point cloud data is generated by collecting the surface deformation stripes, and the penetrability reflection signal containing the sound wave propagation time is obtained through the multi-frequency ultrasonic probe. Denoising the point cloud data and then positioning a surface deformation candidate area based on a curvature gradient and a normal vector deflection angle; and an internal abnormal region is determined by separating and extracting a reflection wave amplitude value and a time delay parameter through an ultrasonic frequency band. And matching the surface point cloud coordinates with the ultrasonic propagation time by adopting an iterative nearest point algorithm to establish feature association between the normal vector deflection angle and the reflected wave amplitude. And dynamically distributing fusion weights for the surface features and the internal features according to the curvature gradient change rate and the amplitude attenuation rate to generate a multi-modal defect distribution diagram. And geometric shape and reflection intensity parameters are extracted and matched with a preset defect template to realize type and position judgment, and the method can be suitable for production defect detection of the thick textile with a multi-layer composite material structure.

The invention discloses a laser channel atmospheric turbulence fading real-time compensation device and method based on a galvanometer system, and the method comprises the steps: enabling an incident light beam to irradiate a transparent PCB integrated with a photodiode array after the incident light beam is focused through a convex lens, obtaining the light intensity distribution of a current light spot through the photodiode array, and transmitting the light intensity distribution to a signal processing unit; the signal processing unit coarsely adjusts the deviation direction of the light spots according to the received light intensity distribution data, and aligns the part with the strongest light intensity in the light spots to the end face of the optical fiber; and based on the roughly adjusted light spot deviation direction, the signal processing unit dynamically adjusts the deflection angle of the galvanometer by using a gradient descent method according to the power measurement value of the receiving coupling module, so that the fine adjustment of the light spot deviation direction is realized, and the receiving coupling power is maximized. The objective of receiving optical power maximization is achieved, optical design, electronic control and algorithm optimization are combined, and atmospheric turbulence compensation with high cost performance is achieved.

The invention discloses a pipeline flange butt joint method based on multi-sensor cooperation and a storage medium, and the method comprises the following steps: when a mechanical arm carries a movable pipeline to approach a fixed pipeline, a magnetic encoder is utilized to detect the axial relative deflection angle of the pipeline, and the mechanical arm is controlled to adjust the axial posture of the movable pipeline to realize axial alignment. Under the axial alignment condition, the mechanical arm moves horizontally, the laser distance measuring sensor measures the linear distance, and meanwhile the axial deviation is continuously corrected by combining data of the magnetic encoder. And after the linear distance meets a preset threshold value, the industrial camera collects images of the movable pipeline flange and the fixed pipeline flange, a bolt hole coordinate set is recognized through an image processing algorithm, the rotating angle of the mechanical arm is calculated, the mechanical arm is controlled to rotate, bolt holes of the two flanges are accurately aligned, and butt joint is completed. According to the method, precise positioning of the pipeline flange in the axial direction, the plane direction and the rotating direction is achieved through closed-loop cooperation of the magnetic encoder, the laser ranging device and the visual sensor, and the butt joint precision and reliability are improved.

The invention discloses a three-degree-of-freedom measurement method based on a planar two-dimensional time grating sensor, and the method comprises the following steps: enabling a movable ruler base body and a fixed ruler base body to be installed in a parallel and opposite manner, and leaving a certain gap between the movable ruler base body and the fixed ruler base body; after same-frequency and equal-amplitude sine excitation signals with the phase difference of pi / 2 are applied to the four-phase excitation electrode groups on the fixed ruler base body respectively, the movable ruler base body moves in the X direction and the Y direction and deflects around the Z axis relative to the fixed ruler base body; the single sensing unit on the movable ruler base body can solve output signals deflecting in the X direction and the Y direction and around the axis, the output signals of all the sensing units are subjected to combined operation, and displacement values of the movable ruler base body in the X direction and the Y direction and the deflection angle theta can be decoupled. According to the method, displacement measurement in the X direction, the Y direction and the deflection angle around the Z axis can be achieved through combined calculation between the induction units on the movable ruler base body, the calculation speed is high, interference can be further eliminated, and the measurement precision is improved.

The invention discloses a visual labeling mechanism device and an automatic labeling method thereof, and the method comprises the steps: obtaining a workpiece surface image in motion in real time through a visual assembly, extracting a pose parameter of a workpiece in combination with an image processing algorithm, generating a pose data set containing a coordinate parameter and a deflection angle, and inputting a motion prediction model. Calculating a future movement track of the workpiece in combination with the speed parameter of the conveying line, and generating an adjustment instruction set of the labeling head; the movement track of the multi-axis mechanical arm is controlled based on the adjusting instruction set, the attaching pressure of the label contact face is adjusted through the pressure feedback module, and labeling operation of the curved surface of the workpiece is completed; a line scanning camera module is used for scanning the geometric position of the labeled label, a real-time detection result is generated by comparing the geometric position with a preset quality standard, a compensation signal is triggered if position deviation exists, and compensation operation is conducted through a compensation pressure head so as to ensure that the labeling quality meets the preset standard; and through cooperative control of visual identification, track prediction and compensation, the stability and the fitting precision of dynamic labeling are effectively improved.

The invention discloses a leveling device and leveling equipment, relates to the technical field of mine blast hole environment detection, and aims to solve the technical problem that the accuracy of a detection result is affected as an existing hole environment detection device is easily in an inclined state during use. The leveling device comprises a base, an adjusting assembly, a mounting frame, a gradienter and a control module, wherein the adjusting assembly is connected with the base; the mounting frame is connected with the hole environment detection device, the gradienter is arranged on the mounting frame, and the mounting frame is in transmission connection with the adjusting assembly; the control module is electrically connected with the gradienter and the adjusting assembly. The leveling device is connected with the hole environment detection device through the mounting frame, the control module can automatically drive the adjusting assembly to adjust the space posture of the mounting frame according to the deflection angle data fed back by the gradienter, it is ensured that the mounting frame is always kept in the horizontal state, and the posture of the hole environment detection device is synchronously corrected; and the detection result accuracy of the hole environment detection device is improved.

The invention provides a laser welding method for an unequal-thickness heterogeneous hot-formed steel joint by cooperatively regulating and controlling annular light spots and light beam deflection. The method comprises the following steps: firstly, pretreating, clamping and positioning the PHS1500 and PHS2000 unequal-thickness ultrahigh-strength steel plates; then, the deflection angle of the light beam is adjusted to be within the range of-30 degrees to + 30 degrees; and finally, a galvanometer control system is used for driving a laser beam to conduct swing scanning in a circular track, and welding is completed under the condition that parameters such as laser power, welding speed, swing frequency, the ratio of swing amplitude to core ring energy and the like are set. According to the method, wire filling is not needed, the PHS1500 and PHS2000 butt welding joints can be effectively connected within the light beam deflection angle range of-30 degrees to + 30 degrees, efficient connection can be achieved within the light beam deflection angle range of-20 degrees to + 20 degrees, weld joint forming is effectively improved, weld joint grains are refined, and the problems of stress concentration and welding softening areas caused by different thicknesses and different strengths of plates are solved. And within the light beam deflection angle range of-20 degrees to + 20 degrees, the obtained joint welding seam is well formed, the tensile strength can reach 1400 MPa or above, and the method is suitable for manufacturing the tailor-welded structure of the unequal-thickness plates of the automobile body.

The utility model belongs to the technical field of aeronautical manufacturing, and relates to a quick sampling device for a combined support, which is characterized in that the center of a bottom plate and support positions on two sides are hollowed-out, through holes are drilled in the bottoms of supports, and arc-shaped grooves are formed in the tops; the two supports are inserted into the hollowed-out positions of the two sides of the bottom plate respectively, a slotted hole is formed in the center of the swing frame, threaded shafts A are symmetrically and coaxially welded to the upper ends of the two sides, pin shafts are symmetrically and coaxially welded to the lower ends of the two sides, the symmetrical threaded shafts A penetrate through arc-shaped grooves in the supports respectively, and the symmetrical pin shafts penetrate through through holes in the bottoms of the supports respectively. One side of the support arm is connected with the slotted hole through a welded threaded shaft B and fixed through a nut, the other side of the support arm is provided with mounting holes, the mounting holes in the four flexible support positioners are connected with the fixing pin holes of the model frame respectively, and the fixing positions and deflection angles of the support positioners are adjusted. Therefore, the whole finished fixing support can be manufactured at a time, working efficiency is improved, and sampling waiting time is shortened.

The invention discloses a multi-direction adjusting mechanical clamping jaw which comprises a mechanical clamping jaw body and an adjusting base, and an adjusting mechanism used for adjusting the space posture of the mechanical clamping jaw body is arranged between the adjusting base and the mechanical clamping jaw body. The adjusting mechanism comprises a spherical hinge unit providing a universal rotation foundation and an adjusting unit used for accurately controlling the deflection angle, the spherical hinge unit comprises a ball seat fixedly installed in an adjusting base, the inner wall of the ball seat is connected with a hinge ball in a rolling mode, and a first connecting rod is fixedly installed on one side of the hinge ball; the mechanical clamping jaw belongs to the technical field of mechanical automation equipment, and achieves the technical effects that multi-degree-of-freedom angle adjustment of the mechanical clamping jaw in the space is achieved through the synergistic effect of the spherical hinge unit and the cross arc-shaped frame adjusting unit, and the adaptability of the clamping jaw to complex grabbing scenes is greatly improved.

The invention discloses an auxiliary positioning device for mounting and welding a steel structure, relates to the technical field of steel structure welding, and aims to solve the problems of deviation and low accuracy during positioning of the device. According to the technical scheme, the device is characterized in that a laser ranging module is integrated on the outer side of a clamping mechanism and comprises at least four sets of laser emitters distributed in a spatial orthogonal mode, the four sets of laser emitters form a spatial positioning matrix, the deflection angle of a component is calculated through a triangulation method, and three-dimensional space coordinates of the component and a target installation point are collected in real time; and an industrial PLC and a welding deformation prediction algorithm module are arranged in the controller, and the controller is used for receiving the three-dimensional coordinate data of the laser ranging module. The controller generates the pre-compensation amount through the welding deformation prediction algorithm module, drives the hydraulic clamping jaw to adjust the pose through PID control according to laser ranging data, monitors the clamping pressure, the positioning precision and other parameters in real time, triggers an alarm and protection mechanism when the parameters are out of tolerance, and ensures the accuracy and safety of the welding process.

The invention relates to the field of track detection, in particular to a multi-track type track detection device and a detection method thereof.The multi-track type track detection device comprises a base, a supporting unit arranged on the base and a detection unit arranged on the base. The outer gear ring is matched to drive the detection piece to carry out surrounding detection on the track, the detection area is enlarged, meanwhile, through cooperation of the arc-shaped contact plate and the connecting round block, through back-and-forth movement of the arc-shaped contact plate and the meshing relation between the arc-shaped contact plate and the connecting round block, precise micro movement of the detection end is achieved, and the incident angle of the light source is locked in the low-angle interval of 10-25 degrees. The deflection angle of a detection end is adaptively adjusted, track reflection is inhibited, a detection blind area is eliminated, an image imaged by a polarization camera is more accurate, angle automatic compensation ultrasound and low-angle glancing polarization difference are coupled in a rotating ring in cooperation with ultrasonic detection, mechanical and optical coupling type difference is combined, and the false detection rate is reduced.

The invention provides a normal alignment algorithm of an ultrasonic probe, which belongs to the technical field of ultrasonic detection, and comprises the following steps of: automatically judging whether the current posture is vertical or not after a probe moves to a rough measurement point of a preset motion path by utilizing the distribution rule of ultrasonic time domain surface wave signal amplitude, and running a correction program when a deflection angle exists, so that the normal alignment of the ultrasonic probe is realized. And real-time waveform data is fed back to a motion actuator, and the actuator judges a result and guides the next motion, so that deflection correction of an unknown deflection angle is realized, a closed-loop control scheme of a control strategy and ultrasonic detection is constructed, and the ultrasonic thickness measurement precision and efficiency are effectively improved. The method is widely suitable for ultrasonic thickness measurement under industrial plane or curved surface coarse positioning.

The invention discloses an integrated galvanometer laser projection method and an integrated galvanometer laser control device. The integrated galvanometer laser projection method comprises the steps that 1, a control card stores various data in a classified mode; when an upper computer issues a system parameter instruction, a communication interface is automatically switched according to a communication mode of the upper computer, and instruction data is analyzed and stored in an EEPROM (Electrically Erasable Programmable Read-Only Memory); 2, after the upper computer issues an instruction, the control card cooperatively controls the on-off state of the laser light source and the deflection angle of the laser galvanometer, and the position and the focal length of the lens are adjusted; 3, positioning an instruction according to a target point of the upper computer; the control card cooperatively controls the laser and the galvanometer to coarsely position the center of the target; and performing fine positioning on the center of the target by taking the target point obtained by coarse positioning as an initial reference position. The integrated galvanometer laser control device has the advantages that the environmental adaptability, the control precision and the operation convenience of the integrated galvanometer laser control device are remarkably improved.

The invention relates to the technical field of power transmission line construction, in particular to a continuous uphill and downhill construction sag determination method and system considering the influence of a strain string, and the method comprises the steps: obtaining basic parameters of a continuous uphill and downhill line; the method comprises the following steps: establishing a mechanical model containing a strain string, regarding the strain string as a catenary unit with distributed weight, forming a continuous span combined stress system with a lead, and constructing a mechanical equilibrium equation set of the system; based on the mechanical equilibrium equation set, adopting an iterative algorithm to solve the tension value of the continuous-gear wire gear by gear, taking the initial tension of the first gear as a starting point, and sequentially iterating to determine the final tension; calculating a construction sag value according to the final tension in combination with each span parameter and a tension string deflection angle; and outputting the sag value of each gear and the corresponding wire clamp installation position adjustment parameter. According to the method, the sag calculation precision of the continuous uphill and downhill terrains is improved, and the design and construction accuracy is guaranteed.

The invention relates to a dynamic measurement device for a deflection angle of a transmission shaft system based on a laser alignment and error separation technology. The dynamic measurement device mainly comprises a laser alignment module, an axis measurement module, a photoelectric detection module, a laser compensation module, a multi-channel signal acquisition card and a computer. The laser collimation module emits a collimated laser beam as a linear measurement reference, and the multiple axis measurement modules synchronously measure the dynamic axis tracks of the two transmission shafts in the rotation process. The photoelectric detection module is used for sequentially adjusting the poses of the measuring heads on all the axis measuring modules to be consistent, and the laser compensation module is used for compensating laser beam drift in real time so as to improve the laser alignment precision. And finally, fitting and calculating the dynamic deflection angle between the two sections of transmission shafts according to the axis trajectories of the plurality of sections. The three-point method error separation technology is adopted to separate the motion error and the section roundness error of the shaft, the dynamic measurement precision of the axis track is improved, and dynamic measurement of the deflection angle between any two sections of transmission shafts in a high-speed transmission system is achieved.

The invention provides a phased array ultrasonic interface debonding detection method for a multilayer curved surface bonding structure, which comprises the following steps of: accurately calculating delay time of each array element in a phased array ultrasonic probe to a target focus by designing a delay block attached to a solid engine and aiming at a cylindrical special structure; therefore, in-phase superposition of sound waves at the target focus is achieved, focusing of sound beams is achieved, the problem of delay time calculation of sound waves emitted by all array elements of a phased array probe of a cylindrical structure is solved, and the problem of control over the deflection angle and the focusing depth of the sound beams synthesized after the sound waves pass through a plurality of curved surface interfaces is solved. Accurate positioning and visual representation of the debonding defect of the deep interface are realized. The technology provides a new technical means for accurately judging the interface debonding defect, and has important significance for guaranteeing the structural integrity and the use safety of the interface debonding defect.

The invention relates to the technical field of image processing, in particular to a grabbing deviation correction method and system based on a visual inspection technology. The method comprises the steps that images of all workpieces to be grabbed after discharging are collected; for any image, the center coordinate of the workpiece to be grabbed corresponding to the image and the deflection angle relative to the horizontal direction are determined, and then the center coordinate and the deflection angle are stored in a deviation correction list; the center coordinate and the deflection angle of each workpiece to be grabbed form a piece of data in the deviation correction list; one piece of data is taken out from the deviation correction list and sent to the grabbing robot, so that the grabbing robot grabs the to-be-grabbed workpiece corresponding to the piece of data; and in response to grabbing completion, deleting the piece of data from the deviation correction list, taking the next piece of data and sending the next piece of data to the grabbing robot until the deviation correction list is empty. According to the method, the workpiece can be successfully grabbed.

The invention belongs to the technical field of composite material structural mechanics and computational mechanics, and particularly relates to a composite material fan blade composite crack propagation simulation method, program and equipment and a storage medium. According to the method, key rotation and a failure judgment criterion based on a key deflection angle are introduced into the conventional state near-field dynamic model, so that the crack propagation behavior of the composite material under the shear or mixed mode load can be more accurately captured and simulated. According to the flat plate mapping method, the improved PD model suitable for the flat plate is successfully expanded and applied to the fan blade airfoil section, the problem of complex geometric modeling is solved, and the flat plate mapping method is suitable for complex geometric structures. According to the method, a near-field dynamics method is adopted, crack paths do not need to be preset or grid reconstruction does not need to be carried out, and complex expansion behaviors such as spontaneous bifurcation and merging of cracks can be naturally simulated; the PD model can be used for meticulously describing the mechanical behaviors and crack evolution of each layer and interlayer in the laminated plate, including intra-layer cracking and interlayer layering.

The invention relates to the technical field of virtual reality simulation training, in particular to a shooting simulation training method and system based on virtual reality, and the method comprises the steps that a virtual training space is constructed, and dynamic light and shadow and terrain disturbance variables are injected into a visual environment model; loading a physical attribute template by the trajectory simulation engine; and loading a standard attitude sequence into the instrument action library. In training, the system captures real-time posture, instrument operation and environment interaction data of a trainee, inputs the data into a trajectory simulation engine to generate a trajectory prediction data set containing a speed curve and a deflection angle, compares the trajectory prediction data set with a standard posture frame by frame, and generates an action analysis report. According to the method, the authenticity and adaptability of training are enhanced by simulating continuously changing environmental physical interference; through full-process trajectory simulation and action traceability, accurate evaluation and deviation correction guidance of shooting operation details are realized.

The invention discloses a pose detection device and method based on array type laser reflection focal spot monitoring, three collimation lasers are arranged in an array mode, an optical measurement method similar to an optical lever is adopted, when an optical element has height deviation, the positions of three light spots are equivalently changed on an imaging screen at the same time, and the position of the three light spots is detected. When the optical element has angle deviation, the distance of the light spots on the imaging screen is changed, and the change quantity is related to the laser incident angle, the light beam spacing distance and the element deflection angle, so that the light spot position image shot by the light spot imaging visual camera can be accurately positioned. And the pose information of the optical element located on the optical element positioning tool can be obtained through accurate inversion, so that accurate online detection of the angle and height information in the vertical plane of the optical element is achieved by bypassing a lateral view field, and then accurate grabbing of the optical element can be achieved in a matched mode.

A positioning tool for a deflection angle shaft is used for clamping and fixing workpieces of deflection angle shafts, and each workpiece comprises a straight shaft section and an inclined shaft section. The tool comprises a first positioning part and a second positioning part which are located on the two end faces of the deflection angle shaft piece respectively. The workpiece achieves positioning of the straight shaft section and the inclined shaft section through the straight shaft center hole and the inclined shaft center hole, the straight shaft center hole is located in the center axis of the straight shaft section, and the inclined shaft center hole is located in the center axis of the inclined shaft section. The inclined shaft center hole is located in the outward end face of the first positioning part and the outward end face of the second positioning part. The surface, making contact with the workpiece, of the tool is subjected to nickel plating or tin plating treatment. During machining, the tool is installed on a clamp of a rotary workbench of a fourth shaft of the vertical machining center. Compared with the prior art, the method has the following beneficial effects that the machining precision is high, the cost is low, and precise grinding can be achieved.

The present disclosure provides a laser scanning device and a projection imaging device, which realizes real-time compensation of the outgoing direction of the scanning beam by adding a hardware level distortion correction component and its control module after the reflection of the galvanometer. In the nonlinear distortion area such as the pillow-shaped distortion and the tilt distortion generated by the galvanometer scanning, the distortion correction component can accurately adjust the beam deflection angle according to the pre-calibrated correction parameter sequence, effectively restore the geometric shape of the scanning pattern, significantly improve the linearity of the point cloud distribution and the overall imaging accuracy, and complete the distortion correction of the full field of view without sacrificing the field of view angle or the resolution, thereby ensuring a wider effective imaging area and more delicate image details. By integrating a special distortion correction component in the optical path, the dependence on the upper image processing algorithm is reduced, the demand for high-performance controllers and complex software operations of the entire system is reduced, and better cost effectiveness and engineering implementation are achieved.

The invention discloses a light deflection device, a transmitting module, a laser radar system and electronic equipment. The light deflection device comprises a control device, a first light deflection device and a second light deflection device, the second light deflection device comprises a plurality of deflection subareas, and each deflection subarea can independently adjust the deflection angle of the incident light beam; the first light deflection device deflects an incident light beam by a plurality of different first deflection angles, and the incident light beam is incident to a corresponding deflection subarea of the second light deflection device; the currently scanned deflection subarea deflects the incident light beam by a required second deflection angle; the control device controls the deflection subareas to adjust the deflection angle of the light beam, and the deflection angle of at least one deflection subarea which is not scanned currently to the light beam is adjusted after the scanning of the incident light beam in the current deflection period is finished and before the scanning of the incident light beam in the next deflection period is started. By adjusting the deflection partitions which are not scanned, the waiting time of angle switching adjustment is shortened, and the scanning frame rate is improved.

The utility model relates to the technical field of precision optical devices, and discloses a piezoelectric adjusting frame which comprises a fixed plate, a movable plate, an elastic connecting assembly and a piezoelectric screw. And the movable plate corresponds to the fixed plate. The two ends of the elastic connecting assembly are connected with the fixed plate and the movable plate correspondingly. The piezoelectric screw comprises a threaded pipe and a screw rod. A first through hole is formed in the fixing plate. The threaded pipe penetrates through the first through hole and is fixed to the fixing plate. The screw abuts against the movable plate and is used for pushing the movable plate to be close to or away from the fixed plate. The moving plate comprises an X-axis moving plate and a Y-axis moving plate which are adjacent to each other. The three piezoelectric screws are used for pushing the movable plate to achieve X-axis deflection, Y-axis deflection and Z-axis linear motion. According to the utility model, the deflection angle and the linear movement range are larger, the positioning is more accurate, and the response is quicker. The X axis and the Y axis have the same deflection axis, and coupling between the axes is small. The overall structure is compact, control is easy, and the service life is long.

The invention relates to the technical field of airborne rocker arm assembly control, in particular to an aircraft control surface deflection angle limiting mechanism which comprises a fixed part and a movable part, an overturning groove is formed in the fixed part, the movable part and the inner wall of the overturning groove are rotationally installed, a fixed plate is fixedly installed on the inner wall of the overturning groove, and the movable part is fixedly installed on the fixed plate. A rotating plate is fixedly installed on the movable part, a connecting shaft is rotatably arranged on the rotating plate in a penetrating mode, the connecting shaft rotatably penetrates through the fixed plate and is rotatably connected with the inner wall of the overturning groove, a fan-shaped limiting ring is fixedly installed outside the connecting shaft, and an adjusting mechanism used for limiting the maximum deflection angle of the fan-shaped limiting ring is arranged in the fixed plate. A two-way pipe is installed on the movable component, and a limiting and compensating mechanism used for limiting and compensating the deflection angle of the movable component is arranged in the two-way pipe. Compared with the prior art, the application range is wide, the lifting height and the steering angle of the aircraft can be compensated, and the influence of external wind power is reduced.

The invention provides a double-arm puncture positioning mechanism and a puncture robot. The double-arm puncture positioning mechanism comprises two linear motion units arranged in parallel in a spaced mode, two motion swing arms, a probe angle adjusting unit, a probe, a puncture angle adjusting unit and a puncture execution unit. Wherein the linear motion unit is used for adjusting the position of the motion swing arm in the first direction; one moving swing arm is used for adjusting the position of the probe angle adjusting unit in the second direction and the third direction; the other moving swing arm is used for adjusting the positions of the puncture angle adjusting unit in the second direction and the third direction; the probe angle adjusting unit is connected with the probe and used for adjusting the deflection angle of the probe; the puncture angle adjusting unit is used for adjusting the pitching angle and the deflection angle of the puncture execution unit. By the adoption of the technical scheme, the adjustment accuracy and the flexibility degree of the puncture robot are improved.

The invention provides a lens optical fiber array coupling system and a chromaticity measurement system and method, and belongs to the field of chromaticity measurement, and the lens optical fiber array coupling system comprises an imaging lens which is used for obtaining incident light of an object to be measured and guiding the incident light to an array optical fiber; the end face of the array optical fiber is located on the first image plane of the imaging lens, the normal of at least part of the optical fiber end face in the array optical fiber has a deflection angle relative to the normal of the first image plane, and the deflection angle is angle deflection performed by taking the main light ray of the light received by the corresponding optical fiber position as a target reference; and the imaging spectrometer is used for receiving the light information sent by the array optical fiber. By setting the deflection angle of the array optical fiber, the effective receiving area of the optical fiber is maximized, and the change of the transmission efficiency of light of different wavebands is avoided.

The invention discloses a light scanning method, which comprises the following steps of: controlling a plurality of deflection partitions in a light deflection module to receive a plurality of incident light beams with different first deflection angles; the deflection angle of each deflection subarea on the incident light beam can be independently adjusted; controlling the currently scanned deflection subarea to deflect a second deflection angle required by the incident light beam; and controlling at least one deflection partition which is not scanned currently to adjust the deflection angle of the deflection partition to the light beam, so that the deflection angle of the deflection partition to the light beam is adjusted after the deflection partition is scanned by the incident light beam in the current deflection period and before the deflection partition is scanned by the incident light beam in the next deflection period. And adjusting the deflection angle of the incident light beam to be a second deflection angle required by the next deflection period. By adjusting the deflection partitions in the non-scanning state in the light deflection module, the waiting time of angle switching adjustment is reduced, and the scanning frame rate is improved.

The invention relates to a method for determining a theoretical deflection angle of a single umbrella in a group umbrella system, which comprises the following steps of: calculating and analyzing the theoretical deflection angle of the axis of the single umbrella relative to the central line of a group umbrella bundle in the group umbrella system consisting of circumferentially and uniformly distributed and adjacently tangent single umbrellas according to a primary design principle of maximizing the resistance performance and the stability performance of the group umbrella system; the method can quantitatively reflect the influence of the number of umbrellas in the group umbrella system and the related design parameters of the single umbrellas on the theoretical deflection angle of the single umbrellas and the comprehensive performance of the system, and can preliminarily lay foundation for formation and gradual improvement of the theoretical design method of the group umbrella system.