10756 results about "Working environment" patented technology

The invention relates to the technical field of industrial robots, in particular to an industrial robot disordered grabbing system and method based on multi-modal sensing, and the system comprises a multi-modal sensing module, a pose estimation and correction module, a grabbing task planning module and a mechanical arm execution module. The multi-modal sensing module is used for acquiring RGB image data, depth image data, point cloud data and force / torque data in a working environment, and the pose estimation and correction module performs feature extraction and fusion on multi-modal data based on topology invariant mapping and performs adaptive pose estimation on a target object. The grabbing task planning module generates an optimal grabbing strategy based on deep reinforcement learning and outputs a grabbing control instruction, and the mechanical arm execution module receives the grabbing control instruction, controls a mechanical arm to execute a grabbing action and monitors a grabbing state through force / torque feedback. And the environmental adaptability and the perception robustness are improved.

The invention provides a robot adaptive motion planning method and system based on compliance control, the method adopts admittance control as a compliance algorithm, the compliance is stronger compared with the traditional rigid control, and different compliance degrees can be selected according to the environment; combining inverse kinematics, trajectory interpolation and environmental parameters to construct an optimal reset trajectory under the constraint of a joint space safety region; by sensing external acting force and dynamically adjusting control parameters, the flexibility of the robot in a complex working environment is improved; a chassis-mechanical arm joint kinematics model is provided, and the problem that the working space of a traditional mechanical arm is limited is solved.

The invention relates to the technical field of intelligent vehicle control, in particular to a loader vehicle control method and system, computer equipment and a storage medium. The method comprises the following steps: collecting multi-modal data of the loader, wherein the multi-modal data comprises working environment data, dynamic load state data and vehicle attitude data of the loader; constructing a three-dimensional operation scene digital twinborn model based on the multi-modal data, and predicting vehicle stability influence data of the influence of the load change on the vehicle stability based on the dynamic load state data; based on the digital twinborn model of the three-dimensional operation scene and the vehicle stability influence data, a dynamic control strategy is generated by utilizing a reinforcement learning algorithm, and cooperative actions of steering, lifting and walking mechanisms are synchronously optimized; according to operation environment data and a dynamic control strategy, hydraulic system pressure and motor torque distribution are adjusted in a self-adaptive mode, and operation efficiency and safety are ensured.

The invention relates to the technical field of data analysis, and discloses a crane intelligent safety analysis and early warning system which comprises a behavior pattern capturing module, an operation abnormity analysis module, a load monitoring module, a dynamic early warning adjustment module, a risk assessment module and a real-time early warning transmitting module. According to the invention, by analyzing the operation data and operation behaviors of the crane in real time, the accuracy and response speed of the safety early warning system are effectively enhanced, the strategy of dynamically adjusting the operation limitation and speed allows the system to adapt to the changes of different working environments, and the safety threshold is adjusted in time to cope with the instant operation conditions and environmental factors; furthermore, through comparison with historical accident data, behavior modes similar to historical accidents are accurately recognized, and possible risks are warned in advance, so that safety accidents caused by misoperation or crane faults can be remarkably reduced, the safety of construction site personnel is guaranteed, and meanwhile possible property loss is also avoided.

The invention discloses a path planning method based on an improved Hybrid A * algorithm and a DWA algorithm. The path planning method specifically comprises the following steps: establishing a grid map for a working environment and setting task starting and ending points; improving a heuristic function in the A * algorithm; the cost function of the Hybrid A * algorithm is improved, the path cost in the improved A * algorithm is used as the complete heuristic constraint cost with obstacles, the extension distance of the Dubins curve is used as the incomplete constraint heuristic cost without obstacles, and a variable step size search strategy based on the obstacle distance is adopted; smoothing the path searched by the global path planning algorithm; extracting path key nodes; optimizing a DWA local path planning algorithm; and outputting the optimal motion path. The efficiency of path planning of the workshop inspection robot in the unstructured complex environment is effectively improved, the real-time performance and safety are enhanced, and the workshop inspection robot can dynamically avoid obstacles while finding the optimal path in the complex environment.

The invention discloses an AI-driven robot working environment safety sensing method, and relates to the technical field of artificial intelligence, and the method comprises the steps: collecting the visual, laser radar, force sense and environment parameter data of a working environment in real time through a multi-mode sensor; performing feature extraction and semantic understanding on the acquired data by using a deep learning algorithm to generate multi-dimensional perception information of the environment; based on a preset security policy model, in combination with the multi-dimensional perception information, predicting and classifying potential risks; according to a risk classification result, a behavior strategy of the robot is dynamically adjusted, and active safety decision is realized; and through the continuous learning module, the deep learning model and the security policy model are optimized online by using newly collected data so as to adapt to environmental changes.

The invention provides a clamping force estimation method of a motor braking system, the motor braking system, a transmission efficiency anomaly detection method of the motor braking system and a vehicle, and belongs to the technical field of vehicle braking. According to the clamping force estimation method, temperature data and piston displacement data are combined, the clamping force can be estimated more accurately, the influence of the temperature on the clamping force is considered, and the clamping force estimation is dynamically adjusted by obtaining the piston displacement data in real time, so that the clamping force estimation method adapts to different working environments and braking working conditions. In addition, by combining the original thickness and the abrasion loss of the friction plate, the influence of abrasion of the friction plate on the clamping force is further compensated, and the estimation accuracy is improved.

The invention discloses a new energy automobile fuse life expectancy prediction system based on current sensing, and belongs to the technical field of power transmission and distribution monitoring. In order to solve the problems that life early warning of a dynamic adjustment mechanism is lacked and variable factors in a complex working environment cannot be handled, the system can recognize different load modes by accurately collecting current, temperature and vibration data related to a fuse and combining multi-dimensional factors such as temperature and vibration, and the service life of the fuse is accurately adjusted. The performance of the fuse under various working conditions is comprehensively evaluated, thermal load and loss conditions of the fuse can be estimated by combining a loss model and temperature influence calculation, the accuracy of life prediction is improved, an early warning threshold value is adjusted in real time through a dynamic threshold value adjusting mechanism, and the service life of the fuse can be predicted by dynamically adjusting residual life threshold values at different stages. According to the utility model, the health state of the fuse can be accurately grasped, the maintenance and replacement time can be reasonably adjusted, unnecessary shutdown or delay can be avoided, the fault risk can be effectively reduced, and the safety and reliability of a new energy automobile system can be enhanced.

The embodiment of the invention provides a mechanical arm insertion and extraction control method and device, test equipment and a storage medium, and the method comprises the steps that sensor data for sensing the working environment of a mechanical arm is received, and the working environment is the environment where the mechanical arm executes insertion and extraction operation on a target interface; according to the sensor data, the tail end acting force of a tail end executor of the mechanical arm and the pose of the target interface are determined; and under the condition that any one of the tail end acting force and the pose of the target interface is abnormal, control parameters of the mechanical arm are adjusted. According to the embodiment of the invention, the detection results of the visual sensor and the force / torque sensor are fused, the process of executing the plugging operation of the mechanical arm is monitored in real time, and once the target interface pose or the tail end acting force is abnormal, the motion track of the mechanical arm is immediately corrected and the insertion force is adjusted, so that self-adaptive adjustment is realized; and the success rate and the automation level of the plugging task are effectively improved.

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 relates to the field of intelligent safety management, and provides a monitoring and alarming method and device based on field operation environment dangerous point AI identification, and the method comprises the steps: transmitting a field operation image collected by a field camera to an edge computing device; identifying a worker state and a scaffold state in the field operation image on the edge computing equipment to obtain a first dangerous point identification result for indicating whether a worker wears a safety belt or not and a second dangerous point identification result for indicating whether a dangerous area exists in the scaffold or not; and different levels of emergency alarm prompts are generated by combining the first dangerous point identification result and the second dangerous point identification result. Therefore, the abnormal wearing condition of the safety belt can be accurately identified in real time, meanwhile, the hidden danger of the scaffold can be rapidly detected, the dynamic evaluation of the composite risk and the graded early warning are realized, and the improvement of the accuracy and initiative of safety prevention and control is facilitated.

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 belongs to the technical field of steel pipe welding, and particularly relates to a welding device for a large-diameter plastic-coated steel pipe, the welding device comprises a base, a support, a first air cylinder and a welding gun, the support is fixedly arranged at the top of the base, the first air cylinder is arranged on the support, the welding gun is fixedly arranged at the moving end of the first air cylinder, and the first air cylinder is arranged on the support. The two clamping mechanisms are arranged between the two sides of the top of the base and the two sides of the top of the support correspondingly, and the two clamping mechanisms can clamp and fix the two large-diameter plastic-coated steel pipes which are in butt joint; and the transverse moving mechanism is arranged at the top of the bracket. The PLC is used for controlling and coordinating actions of all the mechanisms, it is guaranteed that welding, cooling and smoke removal are conducted synchronously, the welding efficiency and the quality stability are improved, the problems that an existing welding device is insufficient in heat input regulation and control, a coating is prone to damage, and the working environment is poor are solved, and the corrosion resistance and the service life of the large-diameter plastic-coated steel pipe are guaranteed.

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 compressed air energy storage indoor simulation test device and method, and relates to the technical field of compressed air energy storage. The device comprises a triaxial pressure servo control system, a temperature control system, an air pressure control system and a multi-parameter measurement system, and can cooperatively simulate the real working environment of the underground gas storage. The triaxial system comprises a high-pressure tank body and a loading device and is used for applying triaxial stress to the rock sample; the temperature control system adjusts the temperature of the rock sample; the air pressure system comprises a high-pressure destructive experiment mode and a low-pressure precise simulation mode, the high-pressure destructive experiment mode is used for carrying out a high-pressure test and verifying the critical burial depth under different geological conditions, and the low-pressure precise simulation mode is used for researching the mechanical behavior, the damage mechanism and the leakage mechanism of the gas storage by regulating and controlling the air pressure and the flow and simulating the inflation and deflation process; the multi-parameter measurement system collects rock sample physical response data in real time. Through cooperative work of multiple systems, response characteristics of multiple support sealing systems under different conditions can be accurately reflected, and the system has remarkable simulation precision, experiment efficiency and cost advantages.

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 invention discloses a high-speed turntable variable load adaptive control method, which is based on a closed-loop control mode, realizes adaptive regulation and control of a microprocessor on the rotating speed and the position of a servo motor by combining a fuzzy PID (Proportion Integration Differentiation) control algorithm, reduces the regulation response time and errors of a high-speed turntable, and improves the operation stability of a turntable system. The rotation angle of the high-speed rotary table is fed back to a microprocessor by a displacement sensor to form a closed-loop control system, and an improved gravity center Lagrange interpolation-Fourier harmonic synthesis displacement sensor error compensation model is established, so that the high-speed rotary table can still obtain a high-precision displacement measurement result in a variable-load processing working environment; a software operating system is designed to control and realize multi-task operation such as start-stop, initialization, instruction import and the like of the turntable, and the real-time performance and the detectability of the high-speed turntable system are improved. The method can be used for self-adaptive control under the condition of a variable-load high-speed turntable, and has the characteristics of high precision, fast response and good robustness.

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.

The invention discloses a cable paying-off and anchoring device and method suitable for a railway-crossing electric power line, and belongs to the technical field of railway engineering construction. The speed limiting anchoring mechanism comprises a first clamping plate and a second clamping plate which can slide relative to each other, the first clamping plate comprises a bevel groove, the bevel groove comprises a first supporting plate and a second supporting plate which are perpendicular to each other, the second clamping plate is parallel to the first supporting plate, and the second clamping plate can slide relative to the second supporting plate. The speed measuring mechanism is arranged on the rope, and the processor calculates and controls the relative distance between the first clamping plate and the second clamping plate according to the real-time speed to automatically control the pay-off speed. The cable paying-off and anchoring device and method suitable for the railway-crossing electric power line can adapt to the working environment where ground anchoring cannot be provided, stable anchoring of the cable can be achieved, accurate regulation and control of the cable paying-off speed can be achieved based on the real-time running speed of the cable, and the cable paying-off and anchoring efficiency is improved. And the cable is prevented from falling off or being damaged due to too high speed.

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 relates to the technical field of gas purification, in particular to a novel start-up method for a PSA (Pressure Swing Adsorption) hydrogen extraction device, which comprises the following steps: on the basis of the working environment of the PSA hydrogen extraction device, checking before start-up is carried out, nitrogen replacement is carried out, the oxygen content of a hydrogen extraction system is controlled within a preset range, and the pressure of the hydrogen extraction system is reduced to normal pressure; the difference between the current environment data and the standard environment data is analyzed, the valve opening degree and the adsorption pressure are adjusted, the equipment operation parameters are optimized to meet the current environment conditions, and an environment parameter adjusting instruction is obtained. By collecting and analyzing the current environmental data, dynamically adjusting the adsorption pressure and the valve opening and connecting the gas quality monitor to collect and analyze the hydrogen purity in real time, the concentration change of impure substances can be found in time, the adsorption time is optimized according to the data, and it is ensured that the hydrogen purity continuously reaches the high standard; and through continuous monitoring and quality verification of the hydrogen purity of the product, the consistency and reliability of the hydrogen product are guaranteed.

The invention belongs to the technical field of industrial equipment fault diagnosis, and discloses an intelligent fault diagnosis system for an Internet of Things high-speed continuous rolling cold pilger mill, and the system comprises a real-time sensing module which is used for collecting the operation state data of the cold pilger mill in real time in the working process of the cold pilger mill; the cold pilger mill operation state data comprises cold pilger mill state data, operation condition data, electrical parameter data and working environment data; the self-adaptive feature extraction module is used for performing feature extraction on the cold pilger mill state data and the electrical parameter data through self-adaptive variational mode decomposition; the data enhancement module is used for automatically removing noise in the operation condition data and the working environment data and filling missing values based on a self-adaptive preprocessing technology of time sequence analysis; and the utilization efficiency of maintenance resources is improved, and unnecessary downtime and production loss are reduced.

The invention relates to the technical field of storage, in particular to a test method, device, equipment, system, medium and product, and the method comprises the steps: obtaining a test management command of an input and output management command representing error injection in a real working environment of a disk array controller chip; the command is analyzed to obtain the error injection test type and the corresponding related parameters, and the error processing mode is changed according to the error injection test type, so that the exception is only reported and not processed when encountering the exception in the test, the interference of exception processing on the test process is avoided, and the test can be smoothly carried out according to the preset error injection scene; and according to the error injection test type and the related parameters, constructing analog input and output and injecting the analog input and output into the target hardware unit to perform an execution behavior test, thereby realizing accurate test of the specific hardware unit in a specific error scene in an environment of performing input and output test based on a read-write input and output test program, so that the test is more comprehensive, and the test efficiency is improved. And the test precision is higher.

The invention provides an intelligent forklift management system and method based on AI collision avoidance. The method comprises the steps that three-dimensional data, attribute data, historical working data and historical working environment data of a forklift are obtained; constructing a digital twin system of the forklift; the size of a passing limiting space of the forklift is determined according to the digital twin system, and the size of a driving detection area is determined; determining a to-be-detected area according to the driving detection area and the driving route, and acquiring data of the area; recognizing obstacles according to the regional data, extracting feature angular points, selecting feature control points, and judging whether the feature control points meet preset requirements or not; if feature control points meeting requirements exist, the feature control points serve as basic control points, remaining control points are solved in combination with the current pose of the forklift, a preset route planning strategy and constraint conditions, alternative routes are generated and transmitted to a route tracking program, the real-time detection state is kept, and the driving route of the forklift is adjusted. According to the scheme, the working efficiency of the forklift can be improved, and the safety risk can be remarkably reduced.

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

The invention relates to an all-welded Ramsey microwave resonant cavity for a cold atom fountain clock, the all-welded Ramsey microwave resonant cavity comprises a Ramsey resonant cavity, a flying area waveguide, a cut-off waveguide and a microwave feed-in system, the flying area waveguide is arranged above the Ramsey resonant cavity, and a non-closed atom free flight channel is formed above the flying area waveguide; the flying area waveguide is connected with the cut-off waveguide through welding; the cut-off waveguide is integrally connected with the Ramsey resonant cavity; the microwave feed-in system is connected with the Ramsey resonant cavity through welding. According to the invention, a full-cavity integrated structure is realized through an integrated welding process, the hidden danger of microwave leakage is thoroughly eliminated, repeated debugging is not needed after welding is completed, the tuning period of the resonant cavity is shortened, and the resonant cavity is especially suitable for a low-temperature working environment scene. Meanwhile, through a non-closed atom free flight channel, a vacuum system can conveniently keep a high vacuum state in a flight area, so that the loss of cold atom cohesion is reduced, and an atom signal is relatively large.

The utility model discloses an online automatic cleaning device for a glue coating nozzle, comprising a base, a paper feeding mechanism, a cleaning device and a paper receiving mechanism, wherein an outer frame is fixedly arranged on the top of the base, the paper feeding mechanism, the cleaning device and the paper receiving mechanism are arranged in the outer frame, and the cleaning device is arranged between the paper feeding mechanism and the paper receiving mechanism; the paper feeding mechanism comprises a first mounting shaft, the cleaning device comprises a first paper roll guide shaft, a second paper roll guide shaft, a third paper roll guide shaft and a fourth paper roll guide shaft, and the paper receiving mechanism comprises a second mounting shaft, an end of the second mounting shaft is connected to an output end of a motor, and the motor is fixed on a third connecting plate, and online automatic detection systems are arranged on both sides of the cleaning device. The utility model has a simple structure and a low cost, and can work online on an automatic production line, which not only prevents pollution of the working environment, but also reduces the configuration of auxiliary production personnel, improves work efficiency and reduces costs.

The invention relates to the technical field of mechanical arm trajectory planning, and particularly discloses a picking mechanical arm trajectory planning method and device, a terminal and a medium. The method comprises the steps that a three-dimensional scene model of the mechanical arm and the working environment of the mechanical arm is established; a collision detection model of the mechanical arm in the operation process is constructed, and a collision-free planned path is determined; adopting a quintic polynomial interpolation function to perform preliminary fitting on a joint track of the mechanical arm, and determining a quintic polynomial preliminary track function of the mechanical arm on the planned path; performing smooth optimization on the preliminary trajectory function of the planned path by using a cubic B-spline curve, and constructing a calculation trajectory function of the picking mechanical arm; and by taking the shortest movement time of the picking mechanical arm as an optimization target, optimizing the calculated trajectory function by using an improved particle swarm algorithm to obtain a picking mechanical arm optimized trajectory function with optimal time. According to the invention, high-precision trajectory planning of the picking mechanical arm in a complex agricultural operation environment is realized.