35 results about "Precision engineering" patented technology

The invention relates to the technical field of engineering measurement, and particularly discloses a level gauge i angle self-adaptive calibration method and system, and the method comprises the steps: constructing an i angle calibration data set fusing environmental parameters; performing intelligent prediction on the i angle deviation by using a machine learning model; a prediction result is cooperatively corrected through a multi-station dynamic verification mechanism and an optimization algorithm; real-time calculation and dynamic modeling are carried out, and full-automatic calibration is realized; a complete self-adaptive calibration system is established, and the system can realize the real-time and self-adaptive calibration of the angle i in a complex environment, and improves the measurement stability and precision. Compared with a traditional static calibration mode, the method can reduce manual intervention, improves the calibration efficiency, and can effectively support high-precision engineering measurement and long-term automatic monitoring scenes.

The present application relates to a kind of piezoelectric driving device for cell mechanical property dynamic test, belong to precision motion driving technical field.The device includes driving foot, clamping foot, fixed guide rail, moving guide rail, pre-tightening force adjusting unit, pedestal, T-shaped support, lengthening rod, biological pressure head, cell container, force sensor and displacement sensor.Driving foot and clamping foot are made of piezoelectric stack, triangular amplification driver head and square block.The device has two working modes: mode one is step motion, for large stroke positioning to preload depth;Mode two is cyclic load dynamic loading, for dynamic excitation to cell.The mechanical response and displacement data of cell are acquired in real time by force sensor and displacement sensor, so as to calculate energy storage modulus, loss modulus and other mechanical properties.The present application has simple structure, integrates two working modes, can realize wideband dynamic test, and is suitable for biomedical and precision engineering field.

The invention relates to the technical field of steel pipe pile cutting, and discloses a steel pipe pile underwater cutting device which comprises a fixed support, and a first driving assembly, a second driving assembly, an expansion supporting assembly, a rotating platform assembly and a hydraulic cutting assembly are installed on the fixed support; the first driving assembly comprises a first driving bin and a first driving piece. According to the underwater cutting device for the steel pipe pile, by arranging the first driving assembly, the second driving piece, the rotating platform assembly and the hydraulic cutting assembly, automatic or semi-automatic cutting around the steel pipe pile is achieved, an operator can conduct remote control at safe positions such as an overwater working ship, the labor intensity and the operation difficulty are reduced, and the working efficiency is improved. The hydraulic cutting assembly carries out accurate cutting, the movement track of the hydraulic cutting assembly is guaranteed by a mechanical structure, instability of manual operation is avoided, a flat and vertical cutting section can be obtained finally, the high-precision engineering requirement is completely met, and subsequent pile head treatment or new structure connection is facilitated.

The invention provides a multi-dimensional vibration platform with oppositely-arranged double-sandwich piezoelectric actuators and an excitation method of the multi-dimensional vibration platform, and belongs to the technical field of high-frequency vibration engineering and micro-nano machining.The vibration platform comprises a center platform, the two oppositely-arranged piezoelectric actuators, two end covers and two bolts, wherein the center platform is integrated with the tail end platform, the two flexible hinges and the two amplitude-change poles, and the center platform is slender and is in mirror symmetry about the longitudinal symmetry plane of the tail end platform. The piezoelectric actuator comprises a longitudinal vibration ceramic group, a bending vibration ceramic group around the Y axis and a bending vibration ceramic group around the Z axis, translation along the X / Y / Z axis and rotation around the Y / Z axis can be realized through in-phase or anti-phase excitation different combinations under the condition of not increasing extra driving channels, and five-degree-of-freedom high-frequency micro-vibration output can be achieved at most. The structure has high symmetry, low parasitic vibration, compact size and high integration, and is suitable for precise engineering scenes such as micro-nano processing, laser-assisted manufacturing, cell manipulation and active vibration suppression.

The invention discloses a multi-station carrying, transferring and precise positioning driving line, and belongs to the technical field of factory mechanical equipment and automatic production, the multi-station carrying, transferring and precise positioning driving line comprises a plurality of stations, the stations are connected in sequence, tool plates are arranged on the stations in the length direction of the driving line in a sliding mode, and multiple sets of module driving assemblies are arranged on the stations; the multiple groups of module driving assemblies are arranged in the length direction of the driving line; a clamping point is fixedly arranged at the bottom of the tool plate, and the module driving assembly comprises a clamping assembly used for clamping the clamping point on the tool plate and a first driving piece used for driving the clamping assembly to move. The large-stroke precise displacement requirement is met, so that the displacement deviation is reduced, and the influence on precise engineering production and manufacturing is reduced.

This invention relates to the field of precision engineering metrology, specifically to a method for separating shape error and texture of freeform surfaces based on a mask-aware physical information network. The method includes the following steps: Step S1: Generating a synthetic dataset; Step S2: Generating dual masks; Step S3: Adaptive threshold inference; Step S4: Constructing a mask-aware physical information network; Step S5: Model training; Step S6: Domain-adaptive fine-tuning; Step S7: Shape error-texture separation. This invention effectively overcomes the end effect generated during filtering separation of freeform surfaces containing topological discontinuities such as holes, reduces parameter tuning dependence, endows the model with physical interpretability, and achieves high-fidelity shape and texture separation of complex freeform surfaces.

The invention relates to an adjustable fully compliant guide device with constant force, which enables the setting of a force operating point by changing the preload of compliant elements, an associated method for setting the device for a predetermined force, and for dimensioning the compliant elements of the guide device. The adjustable, fully compliant guide device with constant force has a wide range of applications. These include metrology, weighing technology, precision engineering, nanofabrication, biomedical engineering, sports and rehabilitation equipment, the automotive industry, and robotics.

The utility model provides a rapid high-precision engineering supervision surveying and mapping device which comprises a surveying instrument and a support, a positioning supporting leg and an extending supporting leg are arranged at the lower end of the support, oil pressure pipes are arranged at the inner ends of the positioning supporting leg and the extending supporting leg, the outer ends of the oil pressure pipes are connected with an oil pump, the oil pump is embedded into the inner end of the support, and a positioning shaft is arranged in the center of the positioning supporting leg. A center rod is arranged in the center of the linkage ring; a bottom ball is arranged at the lower end of the center rod; a gravity center laser lamp is arranged at the inner end of the bottom ball; a plurality of groups of laser end lamps are arranged at the outer end of the gravity center laser lamp; an arc-shaped sliding groove is formed in the inner end of the laser end lamp, a linkage sliding rod is arranged at the inner end of the arc-shaped sliding groove, and a positioning sliding groove is formed in the outer end of the linkage sliding rod. The surveying and mapping instrument leveling method solves the problems that the surveying and mapping instrument cannot be quickly leveled in the design of surveying and mapping engineering, and the surveying and mapping accuracy is easy to deviate.

The present application relates to the cross technical field of computer graphics, geographic information technology, digital twinning and intelligent transportation, and discloses a kind of fusion method and system of multi-source three-dimensional geographic information data, including obtaining the oblique photography surface model to be fused, fine three-dimensional structure model and digital elevation model;Obtain spatially aligned real scene model and terrain model;Determine the first edge area and the second edge area based on the profile and spatial position of fine three-dimensional structure model respectively;The driving reconstruction related to fine three-dimensional structure model is carried out to terrain model;The transition deformation related to fine three-dimensional structure model is carried out to real scene model to make the deformed real scene model smoothly connect with fine three-dimensional structure model in the second edge area;Integrate fine three-dimensional structure model, the deformed real scene model and the reconstructed terrain model.The present application realizes the seamless in real geometric sense, and lays a reliable geometric foundation for high-precision engineering application.

This invention discloses an automated iterative monitoring method and system for preventing platform swaying. This invention relates to the field of engineering surveying technology, addressing the problem that existing methods are prone to measurement errors, making continuous stakeout and monitoring via a moving platform difficult. This invention acquires images of at least three non-collinear fixed base points with known absolute coordinates and an image of the forward stakeout target; calculates the absolute coordinates and attitude parameters of the platform on the moving platform; combines the absolute coordinates of the platform with the target image parameters synchronously acquired by the forward camera to calculate the absolute coordinates of the stakeout target; and uses the newly calculated stakeout target as the base point to drive the platform in iterative forward measurement. This method achieves fast measurement speed through synchronous imaging by front and rear cameras, fundamentally eliminating platform sway errors, effectively suppressing error accumulation through forward iteration using base points, and enabling real-time correction of the zoom lens via the target group, thus realizing long-distance, automated, and high-precision engineering stakeout and structural deformation monitoring.

The utility model relates to the technical field of electric push rods, and provides an electric mute electric push rod, which comprises a motor, a cylinder body and a transmission mechanism, and adopts a series of innovative designs such as optimization of a motor structure, adoption of a high-precision engineering plastic transmission mechanism and a ball screw, arrangement of a damping device and use of a sound insulation shell. The noise of the electric push rod in the operation process is effectively reduced, low-noise even mute operation is achieved, the use experience is greatly improved, and the electric push rod is suitable for occasions with high noise requirements. Particularly, due to the adoption of the plastic transmission gear set, noise generated by metal friction is effectively avoided, the overall weight is remarkably reduced, the production cost is reduced, and the service life of equipment is prolonged by utilizing the self-lubricating characteristic of the plastic transmission gear set. The utility model has important innovativeness and practicability in technology, and opens up a new way for the development of the field of electric push rods.

This invention discloses a non-inertial navigation mobile indoor volume measurement and 3D reconstruction method, equipment, and computer-readable medium, belonging to the interdisciplinary field of precision engineering measurement, computer vision, and digital twin technology. The method includes the following steps: S1, dynamic scanning data acquisition; S2, adaptive data augmentation and cleaning; S3, trajectory and depth calculation based on motion continuity constraints; S4, cross-sectional topology construction and closure constraints; S5, 3D solid modeling preserving volume characteristics; and S6, precise volume calculation based on the solid model. This invention employs the aforementioned non-inertial navigation mobile indoor volume measurement and 3D reconstruction method, equipment, and computer-readable medium, and through a single-line 2D LiDAR combined with innovative algorithms, achieves mobile high-precision volume measurement and high-fidelity 3D reconstruction of irregular indoor spaces under low-cost hardware conditions.

The invention provides a high-order sparse matrix LDL efficient decomposition calculation acceleration method, which can be used for a high-order sparse matrix linear equation set solving calculation scene. The accelerator is constructed based on an FPGA platform, and efficient decomposition of a high-order sparse matrix is achieved through a software and hardware cooperative computing mechanism. The software level realizes symbolic analysis of a sparse positive definite matrix, calculation sequence dependency modeling and LDL decomposition hardware customization instruction generation; and the hardware acceleration unit realizes streamlined execution of decomposition tasks by performing instruction fetching, decoding and execution of customized instructions, and completes high-order matrix numerical calculation. The system comprises an instruction generation unit, an instruction analysis unit, a calculation module, a data access module and a control scheduling module, and all the modules work cooperatively to improve the degree of parallelism and the storage access efficiency. Matrix data types support fp16, fp32 and fp64, matrix compression is realized by adopting a sparse column (CSC) format and a matrix rearrangement method, and storage overhead and memory access delay are remarkably reduced while high calculation precision is ensured. Experiments show that compared with traditional CPU and GPU platforms, the sparse matrix solution performance and energy efficiency of the method are remarkably improved by one order of magnitude, and the method is suitable for high-precision engineering calculation and edge real-time solution scenes such as engineering simulation, structural mechanics, electromagnetic analysis and attitude calculation.

The application discloses a water surface three-dimensional reconstruction method based on oblique view geometric constraint and attitude blind correction, and belongs to the technical field of precision engineering measurement, computer vision and physical oceanography, and comprises the following steps: acquiring point clouds by oblique scanning of a 905nm laser radar near Brewster angle, removing noises through straight-through filtering and statistical outlier removal, realizing IMU-free attitude leveling based on SVD and Rodrigues formula, taking a preset low quantile of a Z axis as a dynamic reference to perform height normalization, and finally generating a continuous three-dimensional wave surface model through two-dimensional gridding, morphological closing operation and Gaussian smoothing. By using the above method, the low-cost near-infrared laser radar can be used to realize high-precision three-dimensional reconstruction of micro-scale waves without external inertial measurement hardware and physical targets, so that the hardware cost is greatly reduced, and the convenience and precision of non-contact measurement are improved.

The utility model relates to the technical field of positioning platforms, in particular to a ball screw driving frequency adjustable macro-micro composite flight positioning platform. In order to solve the problems that a flexible hinge platform is driven by a linear motor and is easily interfered, so that the positioning precision is reduced, and an existing fixed-frequency flexible hinge cannot adapt to different working conditions to maintain stable and efficient operation of the platform due to manufacturing errors and working frequency changes, the following technical scheme is provided: the flexible hinge comprises a base; the movable platform is arranged on the base and comprises a movable frame, a through hole is formed in the movable frame, an installation platform is arranged in the through hole, and a plurality of sets of flexible hinge pieces are connected between the two sides of the installation platform and the movable frame; and the driving mechanism is mounted in the base. The platform can adapt to manufacturing errors and working frequency changes, it is guaranteed that the platform stably and efficiently operates under different working conditions, and the strict requirements for high precision and high stability in the precision engineering field are met.

The present application relates to the field of aerial photogrammetry and engineering surveying, in particular to a kind of oil and gas pipeline engineering section data checking method.The present application can conveniently draw out three-dimensional section line in drawing software by generating section data file containing three-dimensional coordinates, and three-dimensional section line and oil and gas pipeline engineering real scene three-dimensional model adopt the same three-dimensional coordinate system, can accurately compare the distance difference of each point on three-dimensional section line and corresponding point in real scene three-dimensional model;The present application can intuitively and quickly identify the fit difference of each coordinate same point by directly importing three-dimensional section line vector file and real scene three-dimensional model in three-dimensional model browser software, and then realize quickly judging whether each point engineering section data is correct, effectively reduce the workload of checking;The present application is based on model fit degree comparison, real-time correction, update and re-output to section data, can obtain high accuracy section data, generate high-precision engineering section drawing.

A novel form of height-adjustable electric DJ booth designed to enhance the performance experience for DJs of all levels. This innovative booth seamlessly blends sleek aesthetics with practical functionality. Its height-adjustable feature ensures comfort and convenience during extended DJ sets, allowing DJs to maintain their focus on the music and the crowd. Crafted with precision engineering, ElectraSpin enables smooth transitions between different heights, providing DJs with the flexibility to adapt to various performance environments effortlessly. Whether performing at weddings, corporate events, or clubs, ElectraSpin empowers DJs to command the stage with style and ease. This electric-powered marvel sets a new standard for innovation and performance in the electronic music scene, offering a versatile and ergonomic solution to elevate DJ performances to new heights.

The utility model relates to the technical field of foundation detection, in particular to a precise engineering foundation bearing capacity detection device which comprises a detection frame, a lifting device is fixedly connected to the top of the detection frame, a gravity hammer is fixedly connected to the bottom of the lifting device, and a bottom plate is fixedly connected to the bottom of the detection frame. A connecting frame is fixedly connected to the top of the bottom plate, a detection assembly is slidably connected to the surface of the connecting frame, a sliding groove is formed in the side face of the detection frame, a groove is formed in the bottom end of the side face of the detection frame, and a fixing structure is fixedly connected to the bottom end of the side face of the detection frame. According to the device, the moving wheels are arranged at the bottom of the bottom plate, so that the moving convenience of the device is greatly improved when a detection point is replaced, the labor cost and the time cost are reduced, the stability of vertical stamping of the gravity hammer is guaranteed through the arrangement of the detection assembly and a clamping block and a sliding groove in the lifting device, the labor consumption is greatly reduced, and the working efficiency is improved. And the detection precision is obviously improved.

The application discloses a RCS recovery and compensation calculation method based on flexible metal mesh equivalent surface reconstruction, which comprises the following steps: collecting the structure of the metal mesh, the test scene, the fitting state parameters and the measured RCS original data, and forming a standardized parameter database after preprocessing; adopting an adaptive density triangular division algorithm to disassemble the complex curved surface into triangular facets, constructing an electromagnetic reflection model for each triangular facet, correcting the electromagnetic coupling effect of adjacent facets, and integrating the complete equivalent reflection surface; dividing the system error and random error of the RCS measurement, establishing an error calculation model through electromagnetic theory derivation and experimental data fitting, and determining the weight through the entropy weight method; adopting a hybrid compensation strategy to compensate the system error, the random error and the curved surface reconstruction error, and verifying the recovery accuracy and the curved surface adaptability after outputting the accurate RCS data. The method greatly improves the RCS recovery accuracy, can well adapt to the complex curved surface of equipment, and meets the high-precision engineering test demand.

This application discloses a coordinate measurement compensation method, device, medium, and equipment for a solid corner reflector, relating to the field of large-size precision engineering measurement technology. The method includes: acquiring the coordinates of the measurement optical center of the solid corner reflector using a laser tracker; calculating the three-dimensional attitude parameters of the solid corner reflector based on the measurement optical center coordinates and calibration parameters, including the coordinate system rotation transformation matrix and the physical depth from the incident surface of the solid corner reflector to its vertex; calculating the refractive geometric parameters of the laser incident on the solid corner reflector based on the three-dimensional attitude parameters and the direction of the incident laser beam; constructing a complete optical path propagation model based on the refractive geometric parameters, and calculating the propagation optical path and lateral displacement of the laser inside the solid corner reflector; and compensating the measurement optical center coordinates of the solid corner reflector based on the propagation optical path and lateral displacement to obtain the compensated physical geometric vertex coordinates. This application can improve the coordinate measurement accuracy of solid corner reflectors.

The invention relates to the technical field of crossing of computer graphics, geographic information technology, digital twinning and intelligent traffic, and discloses a multi-source three-dimensional geographic information data fusion method and system, and the method comprises the steps: obtaining an oblique photography surface model to be fused, a fine three-dimensional structure model and a digital elevation model; obtaining a live-action model and a terrain model which are spatially aligned; respectively determining a first edge matching area and a second edge matching area based on the outline and the spatial position of the fine three-dimensional structure model; performing driving reconstruction related to the fine three-dimensional structure model on the terrain model; transitional deformation related to the fine three-dimensional structure model is carried out on the real scene model so that the deformed real scene model can be smoothly connected with the fine three-dimensional structure model in the second edge matching area; and integrating the fine three-dimensional structure model, the deformed real scene model and the reconstructed terrain model. According to the method, the seamless effect in the true geometric sense is achieved, and a reliable geometric foundation is laid for high-precision engineering application.

The invention relates to a piezoelectric driving device for dynamic testing of mechanical characteristics of cells, and belongs to the technical field of precise motion driving. The device comprises a driving foot, a clamping foot, a fixed guide rail, a movable guide rail, a pre-tightening force adjusting unit, a base, a T-shaped bracket, an extension bar, a biological pressure head, a cell container, a force sensor and a displacement sensor. The driving foot and the clamping foot are composed of piezoelectric stacks, triangular amplification driving heads and square blocks. The device has two working modes, wherein the first mode is stepping motion and is used for large-stroke positioning to the preloading depth; and the mode II is cyclic dynamic loading and is used for dynamically exciting the cells. The mechanical response and displacement data of the cells are obtained in real time through the force sensor and the displacement sensor, so that the mechanical characteristics such as the energy storage modulus and the loss modulus are calculated. The device is simple in structure, integrates two working modes, can realize broadband dynamic testing, and is suitable for the fields of biomedicine and precision engineering.

The present invention relates to a steam jet device (1) for use in precision engineering, in particular in dental technology for cleaning and sterilizing workpieces such as dental crown models and base models, as well as an operating method for this device. The steam jet device (1) according to the invention is characterized by at least one mixing device (5) which is connected to a compressed air line (22), a cold water line (32), and a steam boiler (4) for material exchange, and which is configured to supply the fluids saturated steam, cold steam, compressed air, and water, and / or a mixture of two or more of these fluids, individually for output via a steam gun (6). The possibility of outputting the aforementioned fluids not only individually but also mixed in any combination via the steam gun (6) enables not only a particularly fine and stable atomization of the fluids, but also...Fluid mixtures, but also the generation of lukewarm steam in a temperature range of 30 - 50 °C for cleaning temperature-sensitive, 3D-printed workpieces, especially 3D-printed dental models.

The invention belongs to the technical field of high-frequency vibration and micro-nano control, solves the problems that an existing multi-dimensional vibration platform is insufficient in degree of freedom, asymmetric in structure, complex in modal coupling and the like, and provides a three-sandwich type piezoelectric actuator equidirectional arrangement type multi-dimensional vibration platform and an excitation method thereof. The platform comprises a center platform, three piezoelectric actuators, three end covers and three bolts, the center platform is of a mirror symmetry structure, the three piezoelectric actuators are arranged in a 1 + 2 triangle mode, one piezoelectric actuator is located on a longitudinal symmetry plane, and the other two piezoelectric actuators are symmetrical about the plane. Each piezoelectric actuator is integrated with a longitudinal vibration ceramic group, a bending vibration ceramic group around a Y axis and a bending vibration ceramic group around a Z axis, three-direction translation along the X axis, the Y axis and the Z axis and three-direction rotation around the X axis, the Y axis and the Z axis can be achieved through an in-phase or anti-phase excitation strategy, and six-degree-of-freedom high-frequency micro-vibration output is achieved in total. The vibration platform is fixed by a node bracket, so that the main mode is prevented from being interfered; the method is suitable for precise engineering scenes such as laser micromachining, ultrasonic-assisted manufacturing, cell manipulation and active vibration suppression.

The invention discloses an embedded part accurate positioning method based on a BIM model, and the method comprises the steps: taking the BIM model as a core carrier, fusing coordinate system conversion, structural mechanics calculation, deformation compensation and three-dimensional measurement technologies, and converting a traditional positioning process depending on experience into a quantifiable process of parameterized modeling-formulated calculation-digital monitoring. Each link is controlled and managed through a clear mathematical model, so that precise positioning is realized, the positioning error of the embedded part is stably controlled at a millimeter level, the high-precision requirement of precise engineering such as a pump station on equipment installation is met, meanwhile, conflict detection and deformation pre-compensation are performed in advance through a BIM model, the field rework rate is reduced, the construction period is shortened, and the construction efficiency is improved. And in addition, the construction qualification rate of the whole embedded part is effectively increased, and equipment installation difficulty or structural potential safety hazards caused by offset of the embedded part are avoided.

The invention discloses a high-precision surveying and mapping unmanned aerial vehicle for engineering construction and a surveying and mapping method. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a first motor, a base, a camera, a laser radar, an inertial measurement unit, a shell, a through hole, a partition plate, a buffer spring, a buffer plate, supporting legs, a first fixing buckle, a first connecting rod, a second fixing buckle and a second connecting rod. The method comprises the steps of 1, route planning and equipment inspection; step 2, collecting flight anti-collision data; step 3, point cloud data optimization processing; 4, integrating and synchronizing multiple sensors; 5, improving positioning and mapping precision; 6, self-adaptive buffering landing is carried out; the anti-collision structure of the unmanned aerial vehicle for engineering construction is designed, aiming at the complex dynamic obstacle environment of an engineering construction site, collision protection can be effectively conducted on the unmanned aerial vehicle body in an omnibearing mode, and collision energy is absorbed so that it can be guaranteed that the unmanned aerial vehicle body and carried precise surveying and mapping equipment can be prevented from being damaged, and continuous and stable operation can be achieved.

The invention provides an ultrahigh vacuum compatible angular vibration online monitoring system and method, and belongs to the technical field of precision engineering and vibration measurement. The system comprises a differential measurement unit, a signal transmission unit, a signal acquisition unit and a data processing terminal, the differential measurement unit is composed of two sealed vacuum measurement assemblies and a rigid connection assembly, a passive magnetoelectric speed sensor is arranged in the differential measurement unit, and the differential measurement unit adapts to an ultrahigh vacuum environment through vacuum compatible design. The signal acquisition unit realizes synchronous sampling of two paths of signals, and the data processing terminal solves angular vibration information through differential operation, frequency domain integration and other algorithms. The device can be directly deployed in an ultrahigh vacuum cavity, shields external vibration interference, realizes in-situ and real-time angular vibration monitoring of nano-radian magnitude, has the advantages of excellent thermal stability, compact structure and low cost, is suitable for vibration monitoring of precise optical machine elements in large scientific devices and high-end manufacturing equipment, and has a wide application prospect.

The application relates to a foot-leg-trunk integrated multi-foot piezoelectric mobile robot and an excitation method thereof, and relates to the field of micro mobile robots. The application solves the problems of high assembly difficulty, poor consistency between multiple drive units, complex control signals and the like of existing multi-foot piezoelectric mobile robots. The multi-foot piezoelectric mobile robot comprises a base body, a leg piezoelectric ceramic and a trunk piezoelectric ceramic. The base body is a positive symmetric integrated structure, comprises a first drive foot, a second drive foot, a third drive foot, a fourth drive foot, a first drive leg, a second drive leg, a third drive leg, a fourth drive leg and a trunk, the drive foot is connected with the drive leg, the drive leg is connected with the trunk, the leg piezoelectric ceramic is symmetrically arranged on the left and right sides of the drive leg, and the trunk piezoelectric ceramic is symmetrically arranged on the upper and lower sides of the trunk. The application is applied to the fields of precision engineering, aerospace, optical scanning and life science and the like.

The invention relates to the technical field of measurement engineering, and particularly provides a true north direction measurement method and system based on solar azimuth solution, the true north direction measurement method is suitable for a measurement system equipped with a total station and a data processing terminal, and the measurement system is used for true north direction measurement. Comprising the following steps: manually positioning a solar facula by adopting the total station, and after the positioning is completed, enabling a horizontal dial of the total station to be in an observation locking state; calculating a solar azimuth angle at an observation moment on the basis of a sun position algorithm at a data processing terminal, wherein the observation moment is the observation time recorded when the total station completes positioning; and after the horizontal dial reversely rotates the dial reading by the degree of the solar azimuth angle, determining that the pointing direction of the collimation axis of the total station is the true north reference. According to the method, high-precision measurement of the geographical due north direction is realized through solar azimuth calculation, and the precision requirement of precise engineering such as a concentrating solar photo-thermal project on due north reference is met.

The invention provides a telecentric position determination method and device of a telecentric mechanism and a storage medium, and is applied to the technical field of precision engineering. The telecentric mechanism comprises a plurality of movement joints with joint axes passing through a theoretical telecentric position, the tail end of the telecentric mechanism is connected with a tool assembly, the tool assembly is provided with at least three non-collinear first reference points, and the method comprises the steps that in response to pose adjustment of the telecentric mechanism, the first positions of the first reference points in a base coordinate system of the telecentric mechanism are obtained; based on the fitting telecentric position and the relative position relation of the at least three first reference points under the target coordinate system, according to the first positions corresponding to the at least three first reference points, the target telecentric position of the telecentric mechanism after pose adjustment is determined, and the fitting telecentric position is predetermined based on the fitting joint axis of each movement joint; the target coordinate system is a base coordinate system or a tool coordinate system corresponding to the tool assembly. The method is used for accurately determining the telecentric position of the telecentric mechanism under any pose.