5 results about "Hole Finding" patented technology

The application discloses a drilling and anchoring robot drilling arm trajectory planning method and system and electronic equipment, relates to the technical field of trajectory planning, and comprises the following steps: acquiring a three-dimensional working area model of a drilling and anchoring robot, a working starting point and a drilling point; determining an initial drilling arm path of the drilling and anchoring robot by using a rapidly-exploring random tree algorithm; the initial drilling arm path is a path of a drilling arm of the drilling and anchoring robot from the working starting point to the drilling point in the three-dimensional working area model; removing redundant points in the initial drilling arm path of the drilling and anchoring robot by using a connection method to obtain a first optimized path; and fitting the first optimized path by using a second-order Bezier curve to obtain a final drilling arm path of the drilling and anchoring robot. The drilling and anchoring robot drilling arm trajectory is optimized to assist in realizing fast and accurate hole finding and drilling.

The application provides a kind of anchor rod drilling rig automatic hole finding positioning system and method based on machine vision, belongs to anchor rod drilling rig automatic hole finding positioning technical field;In order to solve the technical problems of low precision, poor efficiency and poor adaptability of automatic scheme when artificial operation during anchor rod support, the technical scheme is that: binocular vision camera and laser displacement sensor are arranged on the anchor rod drilling rig vehicle body, drilling rig controller, inclination sensor, industrial switch, drilling rig electric control box and communication module are arranged inside the anchor rod drilling rig vehicle body, the drilling rig controller is connected with other modules or components through wire, positioning target and wireless AP base station are also arranged in the roadway, and the communication module is wirelessly connected with the wireless AP base station through wireless network;Positioning console is arranged in the control room, and positioning control computer, core switch and drilling positioning server are also arranged in the positioning console;The application is applied to anchor rod drilling rig automatic hole finding positioning.

The utility model relates to a kind of hole finding positioning mechanism, belong to water heater inner bag processing technical field, the hole finding positioning mechanism, including bearing assembly, it is characterized in that, the bearing assembly is equipped with two groups, two groups the bearing assembly all include installation bin, two The side of installation bin close together is jointly installed with conveying assembly, the top of two The installation bin all is slidably connected with clamping mechanism, two The clamping mechanism is placed with inner bag component or inner bag two with cooperation, the utility model is cooperated by bearing assembly, conveying assembly, positioning component one, clamping mechanism and jaw power mechanism, accurate positioning function to water heater inner bag can be realized, improve late product pass rate, and do not need operating personnel manual handling and hole finding, guarantee late hole finding efficiency, reduce operating personnel labor intensity, different model inner bag detection work can also be realized simultaneously, and then the functionality and practicality of the hole finding positioning mechanism late use can be improved.

The present application relates to the technical field of oil and gas field development, and particularly relates to a method for designing production system of a well transformed by seam following and hole finding, comprising: collecting parameter information of oil and gas wells which have been subjected to the "seam following and hole finding method" construction in the early stage; establishing a functional relationship between the production system and the parameter of the oil and gas well according to the collected parameter information; obtaining the parameter information of a target oil and gas well; bringing the parameter information of the target oil and gas well into the obtained functional relationship to calculate the preliminary data of the production system of the target oil and gas well; producing according to the preliminary data of the production system, and recording the production in a certain period; optimizing the production system of the target oil and gas well according to the production in a certain period; and repeating the foregoing steps until the target oil and gas well stops production. The present application comprehensively considers the influence of geological and engineering factors on the production system, establishes a dynamic design method of the production system of the oil and gas well after being transformed by the "seam following and hole finding method", and guides the efficient development of the oil and gas well subjected to the "seam following and hole finding method".

This invention discloses a method for anti-jamming shaft hole assembly based on visual-tactile perception for unknown hand posture. One visual-tactile sensor with and without anchor points are installed on the robot gripper. The orientation of the main axis of the gripped shaft is calculated using the visual-tactile image without anchor points, and the gripper posture is adjusted to achieve pre-alignment before insertion. To correct insertion failures caused by shaft posture estimation errors, the visual-tactile image with anchor points is used to extract low-latency relative force feedback in real time through a dual-mask spatial averaging algorithm. This guides a helical search based on force-potential hybrid admittance control to establish a stable contact state, achieving tactile-guided hole finding. Finally, for shafts with complex surface textures that experience jamming due to abrupt friction changes, a bidirectional escape mechanism involving inward and outward contraction along the helical normal direction is employed to release contact constraints, achieving compliant insertion guided by tactile perception. This invention achieves visual-tactile insertion operation in situations where there are no wrist force sensors and the initial posture of the shaft within the gripper is unknown, significantly improving the assembly success rate and robustness in complex working conditions.