6969 results about "Working environment" patented technology

The invention relates to the field of crane management, and discloses an intelligent agent control method and system.The method comprises the steps that operation parameters and operation environment data are collected in real time through multiple sensors arranged on a crane and subjected to standardization processing; transmitting the processed data to an operation state analysis model, and outputting an operation state evaluation value so as to analyze the current operation state of the crane and predict potential risks; based on the analysis result, an optimization control instruction is generated and issued to each execution mechanism controller, and corresponding mechanisms are driven to execute precise actions; through multi-source data fusion and intelligent analysis, real-time monitoring and risk assessment of the running state of the crane are achieved, the self-adaptive capacity and safety of the control system are improved, the manual intervention requirement is effectively reduced, and the method is suitable for intelligent crane control in the complex working environment.

The invention discloses a non-standard weldment-oriented robot efficient collision-free path planning method and system, and belongs to the technical field of robot welding, and the method comprises the following steps: S1, obtaining three-dimensional model data of a non-standard weldment and an operation environment, and extracting welding seam point cloud data; s2, carrying out feature extraction and downsampling on the welding seam point cloud data to generate a group of key path points; s3, global optimization is conducted on the welding path through an improved genetic algorithm, candidate paths are generated, and the welding sequence of the multiple sections of welding seams and the welding gun postures at the key path points are optimized at the same time through the improved genetic algorithm; s4, evaluating the candidate paths generated by the improved genetic algorithm through a multi-target fitness function including path length, attitude stability and collision risk; and S5, outputting an optimal collision-free welding path according to an evaluation result, and converting the optimal collision-free welding path into a smooth track which can be executed by the robot. According to the invention, the high-efficiency, high-quality and collision-free welding gun motion trail can be automatically generated.

The invention discloses a large-load unmanned aerial vehicle group structure, a control method, system and device and a storage medium, and relates to the technical field of material transportation in the power industry, and the method comprises the steps: selecting a proper unmanned aerial vehicle connection mode according to the working environment of transportation and the load requirement, and constructing an unmanned aerial vehicle group and a material carrying platform; based on the constructed unmanned aerial vehicle group and the material carrying platform, synchronous take-off is achieved in combination with environment and load data; the horizontal attitude of the material carrying platform is controlled through a hierarchical cooperative control architecture based on the synchronous take-off unmanned aerial vehicle group data; on the basis of unmanned aerial vehicle group data after horizontal attitude flight is controlled, the height and the attitude are combined, and a multi-mode hierarchical control strategy is adopted, so that the unmanned aerial vehicles safely land and unload materials; the method can effectively guarantee the safety, stability and high efficiency of transportation in the whole process of cargo transportation, and has important practical application value.

The invention provides a multi-angle cutting laser pipe cutting machine, and belongs to the technical field of laser cutting equipment, the multi-angle cutting laser pipe cutting machine comprises a machining module, a feeding module is arranged at one end of the machining module, a discharging module is arranged at the other end of the machining module, and the multi-angle cutting laser pipe cutting machine further comprises a cutting assembly connected with the machining module and used for cutting pipes; the device has the advantages that flexible adjustment of the position of the focus lens is achieved through cooperation of air cylinder driving and telescopic spring buffering, focus requirements of pipes with different thicknesses are met, flexible connection of a cooling channel is achieved through the telescopic pipe, continuous and stable heat dissipation of the focus lens is guaranteed, and the service life of the lens is prolonged; the electromagnetically-driven rotating cylinder drives the turbine blades to rotate to form negative-pressure airflow, an air curtain is formed at the cutting end, metal residues and dust are prevented from being diffused to the focus lens and the lens cone, a physical isolation barrier is formed through the protection sleeve, impurities are prevented from being attached to equipment parts or blocking a pipeline, long-term stable operation of equipment is guaranteed, and diffusion of the equipment to the working environment is reduced.

The invention discloses a vacuum sealing leakage rate prediction method and device, equipment and a medium. The method comprises the following steps: constructing a three-dimensional microstructure model of a flange sealing surface according to a processing mode of the flange sealing surface; based on the three-dimensional microstructure model, establishing leakage micro-channels between the sealed contact interfaces in different contact states, analyzing channel characteristics, and determining flow characteristics of leakage media in the leakage micro-channels in different contact states; constructing a first leakage rate prediction model represented by the microscopic characteristic parameters according to the working environment parameters and the physical attributes and flow characteristics of the leakage medium; and constructing a mapping relation between the macroscopic design parameters and the microscopic characteristic parameters through characteristic multi-scale coupling, and substituting the mapping relation into the first leakage rate prediction model to obtain a second leakage rate prediction model driven by the macroscopic design parameters so as to predict the vacuum sealing leakage rate. The method has the advantages of high precision, strong adaptability and good engineering practicability.

The invention relates to the technical field of electric welding machines, in particular to a dynamic heat dissipation control method and system for an intelligent electric welding machine. A heat load real-time calculation and heat accumulation trend prediction step; a dynamic collaborative heat dissipation strategy generation and execution step: dynamically generating and executing an air cooling heat dissipation strategy, an air cooling and liquid cooling collaborative heat dissipation strategy or a protective heat dissipation strategy according to a comparison result; wherein the control parameters of the air cooling heat dissipation strategy are determined according to the difference value between the predicted temperature and the corresponding threshold value and the environment temperature; the control parameters of the air cooling and liquid cooling collaborative heat dissipation strategy are determined according to the difference value between the predicted temperature and the corresponding threshold value and the environment humidity; and a heat dissipation effect feedback and self-adaptive calibration step. Real-time sensing, thermal load prediction, a dynamic heat dissipation strategy and feedback calibration are combined, the heat dissipation strategy can be dynamically adjusted according to the working environment and the operation state of the electric welding machine, and the stability and reliability of equipment are improved.

The present invention belongs to the field of multi-equipment safety management and control for personnel and equipment clusters at an underground coal mine driving working face, and solves the problem of safety hazards caused by human-machine collaborative operations as the mechanization level of underground equipment increases. Provided are a system and method for safety monitoring and early warning of human-machine collaborative operation at a working face. The system comprises a safety management and control system for mobile equipment at a working face, which is used for performing in real time position, orientation and environmental sensing of individual equipment and behavior analysis of drivers; working-face collaborative intelligent wearable devices, which are used for environmental sensing of operating personnel and individual equipment and acquiring in real time the motion postures of the operating personnel; and a working face output control subsystem, which is used for identification and management of operating personnel entry and exit, position monitoring of personnel and individual equipment, operating personnel behavior identification and monitoring and working environment monitoring, and generating corresponding alarm instruction information. The present invention can realize human-equipment and equipment-equipment safety management and control during multi-equipment collaborative operation at a driving working face.

A multi-robotic-arm collaborative control method. The method comprises the steps of: according to process requirements of an execution task and on the basis of a plurality of robotic arms, constructing a multi-arm coupled dynamics model, the multi-arm coupled dynamics model being used for position decomposition and force distribution for the plurality of robotic arms; on the basis of the multi-arm coupled dynamics model, decomposing the execution task to form a plurality of sub-task segments; on the basis of the sub-task segments, forming a collaborative controller group, the collaborative controller group consisting of controllers corresponding to a plurality of robotic arms under a master terminal; and, by means of the collaborative controller group, controlling each robotic arm to execute a path of a sub-task segment. The present application solves the problems of poor coordination and adaptability among various robotic arms when confronted with unknown working environments and uncertainties of task objectives during cooperative operation of the multiple robotic arms. Further provided are a multi-robotic-arm collaborative robot system and a storage medium.

The invention discloses a triphibian robot based on a multiplex driving mechanism, and belongs to the technical field of robots. The robot comprises a main body, four connecting assemblies and four propelling units, the four connecting assemblies are evenly distributed on the side wall of the main body, one end of each connecting assembly is connected with the main body, the other end of each connecting assembly is connected with one propelling unit, and the propelling units can rotate by 360 degrees around the connecting assemblies connected with the propelling units; the main body is used for controlling the triphibian robot to be switched among three movement modes of air, water and water bottom and driving the triphibian robot to move; the propelling unit comprises a central motor with double output shafts, an air propelling assembly and an underwater and underwater dual-purpose propelling assembly, and the central motor drives the air propelling assembly and the underwater and underwater dual-purpose propelling assembly to rotate through the double output shafts so as to achieve movement of the triphibian robot. The method is suitable for various working environments and has wide application value.

The invention relates to the technical field of underwater robot cooperative control, and provides an elastic consistency control method and system of a multi-underwater robot system. The elastic consistency control method for the multi-AUV system comprises the following steps: discretizing and linearizing the multi-AUV system, introducing a performance index to describe the influence of communication topology on the dynamic behavior of the system, and calculating the elastic consistency of the multi-AUV system on the basis of a centralized optimal control method of a local decoupling system and a robust stability theory. And designing an elastic consistency controller and obtaining controller gain by solving a local algebraic Riccati equation so as to realize consistency control of multiple AUV system states. According to a sparse mode matrix spectrum of a distributed controller, a system stability condition is given, and efficient cooperation and stable operation of a multi-AUV system in a complex underwater environment are ensured. According to the method, the calculation and communication complexity is remarkably reduced, the method is suitable for a multi-AUV cooperative working environment, and a new technical solution is provided for cooperative control of the underwater unmanned system.

Automatic welding equipment for trailer girders comprises a welding table, a gantry type welding workstation, a girder turnover mechanism, a plurality of conveying roller ways, a plurality of girder clamping mechanisms, a welding station positioning detection module and a control system. The welding table is arranged in the left-right direction. The gantry type welding workstation comprises a welding station portal, a sliding table, a welding robot and a line laser, the sliding table reciprocates left and right on a top beam of the welding station portal, the welding robot is fixedly mounted on the sliding table, and the line laser is mounted on the sliding table through a lifting mechanism and a front-back moving mechanism; the girder turnover mechanism is arranged in the middle of the welding table; the conveying roller ways are arranged on the upper portion of the welding table left and right at intervals. The girder clamping mechanisms are arranged on the upper portion of the welding table left and right at intervals. And the welding station positioning detection module is arranged on the downstream side of the incoming girder workpiece on the welding table. The device can reduce the labor intensity of workers, reduce the auxiliary working hours, improve the production efficiency, improve the product quality stability and improve the working environment.

The invention discloses an enterprise production safety operation and maintenance operation listing and locking intelligent management system. The system is composed of a management platform, a mobile terminal, an intelligent lock set and an evidence storage module. The management platform is responsible for creating an isolation job task, tracking the state and removing the right after timeout; the mobile terminal sequentially implements face, fingerprint and voiceprint multi-factor identity verification, and generates a locking or unlocking instruction after completing geo-fence verification; the intelligent lock group comprises a Bluetooth lock, a fingerprint lock and a mechanical lock, and is used for executing unlocking and locking operations and collecting operation logs and on-site images; and the evidence storage module performs hash abstract on the event data during task creation, lock operation and exception repair and asynchronously writes the event data into the block chain. Intelligent monitoring and management of three risk factors of users, equipment and operation environment in the whole process of production operation and maintenance operation are realized, and the method is suitable for safety management and control of high-risk production operation places, so that the safety, compliance and management efficiency of production and maintenance operation are remarkably improved.

The invention relates to the technical field of plate polishing, and provides a polishing device for decorative plate production, which comprises a frame body, a dust removal cover body is arranged on the frame body, a plate body input channel and a plate body output channel are oppositely formed in the dust removal cover body, and a polishing conveying assembly is arranged in the dust removal cover body and is used for polishing a plate body; the top of the dust removal cover body is communicated with a dust discharge pipe; the number of the dust overflowing prevention assemblies is two, and the dust overflowing prevention assemblies are arranged in the plate body input channel and the plate body output channel correspondingly. According to the decorative plate polishing device, the dust overflowing prevention assemblies are arranged in the plate body input channel and the plate body output channel correspondingly, and the gap air inlet design between the channels and the plate body is combined, so that the dust overflowing probability at the gap of the channels is reduced when the plate body passes through; the technical problem that the working environment is affected due to the fact that dust easily overflows when a polishing device in the related technology polishes a plate body is solved.

The invention provides an electric power engineering full-period safety supervision method, and relates to the technical field of electric power engineering safety monitoring, and the method comprises the steps: collecting the electromagnetic field intensity and environment humidity data of a hot-line work region, obtaining three-dimensional space coordinates in real time through combining with a positioning tag on a safety helmet of a constructor, and dynamically calculating the three-dimensional boundary of a dangerous region; a comprehensive proximity index is constructed by analyzing the spatial relationship and the moving trend of the constructors and the dangerous boundary, the trend of the constructors approaching the dangerous area is judged in real time, and early warning is given out through the dynamically adjusted vibration frequency. In this way, the problems that in the prior art, dangerous area division is not accurate, monitoring of the movement trend of constructors is insufficient, and early warning response is single can be solved, and the safety monitoring capacity of the hot-line work environment is greatly improved.

The invention belongs to the field of dust production characteristic research of coal mining machines in coal mines, and relates to a device and method for researching coal breaking dust production characteristics of cutting picks, the device comprises a dustproof shell, a coal sample restraint device, the cutting picks, a counterweight and lifting system, a pressurization system and the like, and the dust production amount and particle size distribution are accurately measured by simulating the coal breaking process of the cutting picks under different working conditions. The experiment method comprises the steps of sample preparation, device arrangement, experiment operation, data acquisition and processing and the like, and the experiment accuracy is ensured by utilizing the secondary impact prevention lock. According to the method, dust production influence factors can be effectively analyzed, a dust generation mechanism is disclosed, a basis is provided for coal cutter design and operation parameter optimization, an effective dust control strategy is formulated, and an operation environment is improved.

The utility model relates to the technical field of conveying equipment, in particular to an oil cylinder lifting frame of a conveying vehicle frame, which comprises a conveying vehicle bottom frame and a conveying vehicle top frame provided with walking wheel sets, and a first supporting arm and a second supporting arm which are mutually hinged are arranged between the conveying vehicle bottom frame and the conveying vehicle top frame. One end of the first supporting arm and one end of the second supporting arm are hinged to the conveying vehicle underframe and the conveying vehicle top rack correspondingly, and the other ends of the first supporting arm and the second supporting arm are in sliding fit with the conveying vehicle underframe and the conveying vehicle top rack correspondingly. The design of the oil cylinder lifting frame is introduced, so that the limitation of the fixed height design of a traditional conveying vehicle is effectively solved. The telescopic movement of the oil cylinder can flexibly adjust the height of the top rack of the conveying vehicle, so that the distance between the traveling wheels and the ground is adjusted to adapt to platforms with different heights and loading and unloading operation environments; when the conveying vehicle moves to a cargo loading and unloading area, the wheels can be lifted to be in contact with the ground, and the chassis of the conveying vehicle is fixed to the ground, so that the cargo loading and unloading stability is ensured.

A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.

The invention discloses a mechanical arm intelligent control method based on demonstration video imitation learning, and the method comprises the steps: firstly obtaining a human demonstration video containing a task target, and obtaining a video marked by a key point; the method comprises the following steps: hierarchically extracting semantic information and spatial geometric information by using a multi-modal large language model, decomposing a task into a plurality of sub-task stages, and generating a sub-target constraint function and a path constraint function of each sub-task stage; a task scene similar to a human demonstration video is arranged in a mechanical arm simulation environment, and environment key points are generated through feature extraction and clustering; constructing a mapping function from the video key points to the environment key points; and solving the optimal solution of the sub-target constraint function and the path constraint function of the current working environment of the mechanical arm, and driving the mechanical arm to execute the action until the task is completed. Through fine-grained key point analysis, multi-modal information fusion and cross-scene mapping, the action understanding accuracy, the complex scene adaptability and the task generalization ability of the mechanical arm are remarkably improved.

The invention relates to a multi-station printing roller efficient polishing machine, and relates to the technical field of printing roller polishing, the multi-station printing roller efficient polishing machine comprises an operation platform, a rough polishing device, a conveying device and a fine polishing device are arranged on the upper surface of the operation platform, and the rough polishing device comprises a first motor, a first rotating rod, a first mechanical chuck and a rough polishing frosted block; the conveying device comprises a first driving assembly and a lifting assembly, and the fine polishing device comprises a second motor, a third rotating rod, a second mechanical chuck and a fine polishing abrasive block. By designing the rough polishing device, the conveying device and the fine polishing device, automatic procedure connection from rough polishing to fine polishing is achieved, traditional manual carrying and transferring are replaced, the takt time is remarkably shortened, the overall machining efficiency is improved, meanwhile, printing roller collision and damage caused by manual operation are avoided, fine polishing dust is sucked in real time, and the production efficiency is improved. Secondary scratch of the roller surface caused by dust is avoided, the working environment is improved, the occupational disease risk is reduced, and meanwhile the workshop cleaning cost and the environment-friendly compliance hidden danger are reduced.

The utility model discloses a device for testing the service life of a gear motor, and particularly relates to the technical field of detection equipment, which comprises a torque sensor and an input transition seat. The torque sensor, the input transition seat and the load gear motor are all arranged on the workbench, the tested gear motor is fixedly installed at one end of the input transition seat, and an output shaft of the tested gear motor is fixedly connected with the input end of the input transition seat. The output end of the input transition seat is fixedly connected with the input end of a torque sensor through a first coupler, and the output end of the torque sensor is fixedly connected with a rotating shaft of a load gear motor through a second coupler. According to the utility model, the load gear motor and the input transition seat are arranged, the tested gear motor is fixed on the input transition seat and is powered by the tested gear motor, and the load gear motor is arranged at the tail end to serve as a load, so that the working environment of a conventional gear motor is simulated, and the service life of the gear motor can be conveniently tested after long-time operation of the gear motor.

The invention discloses a mechanical wall-cutting and filling mining method for gypsum ore. Aiming at the problems of difficulty in ventilation, high labor intensity, low production efficiency, poor surrounding rock stability and the like in a traditional wall cutting filling method, the method realizes safe and efficient mining of an extremely thin ore body through mechanical ore breaking, precise separation of a photoelectric ore separator and an in-situ immediate filling process of waste rocks. The method comprises the steps of ore block parameter design, mining preparation cutting, mechanical stoping, photoelectric mineral separation, barren rock in-situ filling and goaf ground pressure management, the stope structure and process can be dynamically adjusted according to the thickness and inclination angle of an ore body, and operation accuracy and safety are guaranteed through laser monitoring and supporting measures. According to the method, the mechanization level and mining and stoping efficiency of a gypsum mine mining process are remarkably improved, manual selection operation is reduced or even canceled, the labor intensity and cost of workers are reduced, the operation environment is improved, the stability of surrounding rock is improved, the method is suitable for mining of extremely thin ore bodies and other similar ore bodies under different conditions, and a foundation is laid for mine intelligent construction.

The invention relates to the technical field of battery temperature control, and discloses a temperature control method and system for a new energy battery pack, and the method comprises the steps: obtaining a real-time scene, an external environment and battery monitoring feature information through multi-dimensional data monitoring, setting a rigid temperature control condition according to the information, carrying out the predictive analysis to obtain a prediction constraint condition, and carrying out the calculation of the prediction constraint condition. According to the method, self-adaptive temperature control analysis is carried out based on hard temperature control conditions and prediction constraint conditions, temperature control target features are generated, a temperature control decision is generated through multi-target optimization analysis, and a temperature control system is driven to execute. The service life is prolonged, and the problem that a single temperature control mode cannot adapt to a specific working environment in the prior art is solved.

The invention discloses a hose feeding and oil sticking mechanism, relates to the technical field of industrial assembly, and is particularly suitable for assembly procedures of hoses such as hydraulic hoses, fuel pipes and cooling water pipes in whole vehicle manufacturing of new energy automobiles. Comprising a bottom plate, a feeding assembly, a clamping and moving assembly and an oil sticking assembly are arranged on the top face of the bottom plate, the feeding assembly is used for feeding of hoses, the clamping and moving assembly is used for clamping the hoses from the feeding assembly and moving the hoses to the oil sticking assembly, and the oil sticking assembly is used for oil sticking and oil removing of the hoses; the oil sticking assembly comprises a third supporting frame body, a sixth air cylinder, an oil disc, a fifth air cylinder, an oil immersion groove block, an oil removal cavity and a vacuum pump. According to the mechanism, automatic lubricating oil sticking and redundant lubricating oil removing operation of the hose can be achieved, automation of the whole process from bulk material feeding, positioning to oil coating is achieved, the production efficiency is greatly improved, meanwhile, splashing and waste of lubricating oil are avoided, cleanliness of the working environment is kept, and the mechanism is exquisite in structural arrangement, efficient and suitable for application and popularization.

The invention relates to the technical field of lithium ion batteries, in particular to a system and method for detecting the conductivity of lithium ion battery conductive paste, comprising a detection bin, conductive paste spraying mechanisms are fixedly connected to the left and right sides of the bottom of the inner wall of the detection bin, and a detection mechanism is fixedly connected to the bottoms of the inner sides of the two conductive paste spraying mechanisms. By arranging the detection mechanism and the conductive slurry spraying mechanism, efficient and accurate detection of the conductivity of the conductive slurry of the lithium ion battery is realized, uniform spraying and accurate detection of the conductive slurry are realized through fine mechanical structure design, and meanwhile, the conductivity of the conductive slurry is accurately detected through detailed detection method steps. The standard and accuracy of the detection process are ensured, the stability and reliability of the conductive slurry in different working environments are further evaluated through conductivity performance at different temperatures, and in addition, the system also has the characteristics of high automation and intelligence.

The invention provides a method and equipment for safely executing a motion trail of a robot in a working environment. The method comprises the following steps: S1, generating a motion track of a robot three-dimensional model according to a task instruction; s2, updating the position and posture of the human body three-dimensional model according to the sensor information; s3, visualizing a three-dimensional scene formed by combining the robot three-dimensional model, the environment model and the human body three-dimensional model by utilizing a visualization engine based on the position and posture of each discrete step of the motion trail and the position and posture of the current human body three-dimensional model, and generating an image sequence; s4, inputting the image sequence and the semantic tag into a visual language model, and performing semantic security judgment; and S5, if the judgment result is risk, triggering a risk disposal strategy. According to the method provided by the invention, semantic dangerous actions can be identified and avoided, so that more comprehensive robot safety control is realized.

The utility model provides an efficient high-pressure atomization spraying device which comprises a rack, a conveying device, an adjustable spraying device, a feeding control device and a dustproof device. The conveying device comprises a plurality of driving rollers which are horizontally arranged at intervals; the adjustable spraying device comprises a plurality of nozzle mounting plates, and a plurality of nozzles with upward nozzles are fixedly mounted on the nozzle mounting plates; the feeding control device comprises a high-pressure feeding pipe, a control valve and a flow valve; the spray head is sequentially connected with the control valve, the flow valve and the high-pressure feeding pipe; the dustproof device comprises a dustproof upper cabinet and a dustproof lower cabinet. The dustproof upper cabinet and the dustproof lower cabinet are arranged, all-directional dust prevention is achieved, the environment protection performance is good, the working environment is good, and harm to the body health of workers is prevented. By means of the conveying device, the adjustable spraying device and the feeding control device, automatic monitoring, automatic control and automatic assembly line type production can be achieved, and production efficiency is high.

The invention discloses an automatic cleaning device for flyings, dust and impurities on the surface of a leather roller of a drawing frame, and relates to the technical field of drawing frames. The leather roller comprises a leather roller seat, a leather roller body is installed on one side of the leather roller seat, and a scraper is arranged on one side of the leather roller body. Through the rotation effect of the rotating rod, the fixing cylinder and the stand column in the anti-blocking mechanism, scraped flyings are wound on the surface of the stand column, the flyings are prevented from directly blocking the filter screen, and therefore it is guaranteed that the ventilation quantity of the filter screen is stable. Flying is further guided to flow to the fixed cylinder through cooperation of a material guide plate and a semi-ring sleeve, accumulation is reduced, the maintenance frequency is reduced, the cleaning efficiency is improved, the humidification mechanism monitors the humidity of the working environment of the leather roller in real time through a hygrometer, when the humidity is lower than a set value, a linkage assembly automatically starts an atomization plate to spray water mist, and static electricity is effectively reduced. The reduction of static electricity can obviously reduce the adsorption of flying and dust impurities, a virtuous cycle is formed, the surface of the leather roller is protected, and the service life of equipment is prolonged.

The invention discloses a driving takeover method, device and equipment for a commercial vehicle and a storage medium. The method comprises the following steps: acquiring sensor data, and determining a current operation scene type based on a determined operation area; determining a risk level for the target commercial vehicle based on the operation scene type, and determining an early warning level for the target commercial vehicle based on the driver state information; when the risk level meets a first preset condition and / or the early warning level meets a second preset condition, automatic driving takeover is triggered and executed; after automatic driving takeover, whether the target commercial vehicle is transferred from the current operation area to the safe area within the set takeover time or not is judged; and if yes, determining that the driving is successfully taken over, otherwise, taking over the remote driving. Through different preset conditions, different automatic driving takeover meeting the conditions can be triggered and executed, and response strategies are more flexible and diversified. In addition, timeliness and safety of automatic driving takeover in a complex operation environment can be guaranteed.

The invention relates to the technical field of industrial automation, and discloses a multi-mode switching control method for a variable displacement piston pump driven by a servo motor, which comprises the following steps of: acquiring multi-dimensional operation state parameters and load power of a variable displacement piston pump system; performing dynamic mode decomposition on the load power signal, and executing preset state switching compensation mapping to complete mode switching on the basis of the extracted mode characteristics and the current state parameter under the condition of judging that the switching condition is satisfied; executing a corresponding control strategy in the new mode, and dynamically adjusting the pump displacement and the rotating speed of the servo motor through feedback control; and detecting the response and energy efficiency performance of the regulation and control system according to the performance index in the system operation process. By adopting a dynamic mode intelligent switching mechanism, the system can automatically match the optimal operation mode in different working environments, the energy utilization efficiency is greatly improved, and the effects of effectively reducing energy waste and reducing the total energy consumption of the system during stable load or low load operation are achieved.