Detection and control system for container corrugated plate welding track based on laser ranging

The invention relates to a detection and control system for a container corrugated plate welding track based on laser ranging, comprising a laser displacement sensor, a welding torch pose adjusting device and a circuit control device. The laser displacement sensor and the welding torch pose adjusting device are connected with the circuit control device through a circuit; one end of a welding torchspace position and pose adjusting mechanism is fixed on a stand; and the laser displacement sensor is arranged at the lower end of the welding torch space position and pose adjusting mechanism. Through the diction of the corrugated plate welding line, the control of the welding torch pose and the automatic control of the welding process, the invention achieves the effect that the thickness of welding lines of a downslope welding section from a wave crest to a wave trough, a upslope welding section from a wave trough to a wave crest, a wave crest tangential path and a wave trough are consistent, ...

Short-term correction distributed photovoltaic power prediction method and system

The invention relates to a short-term correction distributed photovoltaic power prediction method and system, and belongs to the technical field of power electronic methods and equipment. According to the technical scheme of the invention, the method comprises the steps: obtaining a historical power data set and a historical meteorological data set of a target region; performing power correlation analysis on the historical meteorological data set to generate a correlation feature set; screening the historical meteorological data set to obtain a historical related meteorological data set; building an objective function based on the historical related meteorological data set and the historical power data set; a weather forecast management platform is connected, and meteorological feature prediction information of the to-be-predicted day is obtained according to the correlation feature set; and obtaining a power prediction result according to the objective function based on the meteorological ...

Cable chamber monitored control system

The utility model relates to a cable chamber monitored control system carries out the control technology field to equipment in belonging to electric power system. Technical scheme is: vibration sensor (3) set up on the chamber door inner wall, temperature sensor (4) with feel cigarette sensor (10) and set up respectively on two lateral walls of box, set up and evenly arrange a plurality of gas pocket (5), the position and the gas pocket phase -match of sense cigarette sensor on the box lateral wall of feeling the cigarette sensor, the bottom of box is equipped with power (11) and controller (12), and the controller includes vibration sensor, temperature sensor and sense cigarette sensor output signal's receiving circuit and output circuit, the output connection director's of vibration sensor, temperature sensor and sense cigarette sensor receiving circuit, the output circuit and the distance host (8) of controller are connected. The utility model discloses a positive effect: gather the ...

Cubical switchboard theftproof alarm system

The utility model provides a cubical switchboard theftproof alarm system, it is located switch cabinet doors, lighting equipment is equipped with on the inboard lock next door of cabinet door, the cabinet door department that lighting equipment corresponded is provided with a plurality of holes, cabinet door bottom is provided with master control equipment, master control equipment embeds there is the power, master control equipment connects with the lighting equipment electricity, set up loudspeaker on master control equipment next door or master control equipment, be provided with vibration sensor among the master control equipment, when the vibration, vibration sensor will give master control equipment with corresponding vibration signal transfer, when master control equipment exceedes first threshold value at the vibration signal, instruction lighting equipment is luminous.

Method and system for evaluating and early warning elastic bearing capacity of power grid

The invention relates to a power grid elastic bearing capacity evaluation and early warning method and system, and belongs to the technical field of power grid loads. According to the technical scheme, parameter information of a roof power grid of a predetermined area is obtained; obtaining load information in the predetermined area; obtaining electricity demand information of the predetermined area; and calculating the load information, the electricity demand information and the parameter information of the roof power grid through a neural network algorithm to obtain a first evaluation result of the bearing capacity of the roof power grid in the predetermined area. The method has the beneficial effects that the extreme use condition of the power grid equipment is excavated based on the power utilization demand of the user, and the technical effect of improving the accuracy of power grid bearing capacity evaluation is achieved.

Recognition and reconstruction method for glass in three-dimensional mapping and navigation of mobile robot

An identification and reconstruction method for glass in three-dimensional mapping and navigation of a mobile robot comprises the following steps: (1) screening reflection intensity characteristics to obtain a candidate point queue Point Queue and a point cloud set SubCloud around each point in the candidate point queue Point Queue; (2) screening local structure features, judging whether the local structure features conform to standards or not, and deleting points P which do not conform to the standards and a surrounding point cloud set SubCloud; and (3) reconstructing a glass point cloud to obtain a complete point cloud shape. According to the method, the complexity is reduced by only using one sensor of the laser radar, judgment is performed by combining the reflection intensity characteristics and the local structure characteristics of the point cloud, physical characteristics of mirror reflection and rich geometric information of the three-dimensional point cloud different from the ...

Spiral hydraulic rotary actuator parameter identification method based on particle swarm optimization

The invention discloses a parameter identification method for a spiral hydraulic rotary actuator based on particle swarm optimization, and belongs to the technical field of spiral hydraulic rotary actuators. Comprising the following steps: constructing a dynamic model according to a dynamic relationship of all parts in the spiral hydraulic rotary actuator, and determining a system identification model and to-be-identified system parameters; the output rotation angle of a spiral hydraulic rotation actuator and the input current of a controller are obtained, and temporary parameter estimation is obtained through a recursive least square identification algorithm; according to the temporary parameter estimation, obtaining an initial search range of a preset particle swarm optimization algorithm model; and performing iterative optimization on the system identification model through a preset particle swarm optimization algorithm model to obtain an optimal to-be-identified system parameter. The ...

Technological process of making wing type centrifugal vane whell

Control parameter optimization method and system of electro-hydraulic servo system based on backstepping method

The invention belongs to the technical field of control system optimization, and particularly relates to a control parameter optimization method and system for an electro-hydraulic servo system based on a backstepping method, and the method comprises the steps: constructing a mathematical model of the electro-hydraulic servo system; designing a backstepping controller of the electro-hydraulic servo system based on the constructed mathematical model; and adopting a genetic algorithm, a dynamic inertia weight and a dynamic learning factor to improve a particle swarm algorithm, and optimizing control parameters of a backstepping controller of the designed electro-hydraulic servo system based on the improved particle swarm algorithm to obtain optimal control parameters of the electro-hydraulic servo system based on a backstepping method. The backstepping method based on the Lyapunov theory is adopted, the backstepping controller of the electro-hydraulic servo system is designed, parameters ...

Welding track detection and control method of container corrugated plate based on laser ranging

The invention relates to a welding track detection and control method of a container corrugated plate based on laser ranging, including the following steps: A. track detection is carried out; B. trackidentification is carried out; C. track control is carried out; D. the relative position relation between a welding gun and a welding seam is adjusted at last by performing mechanism actions. In theinvention, the information of welding seam is obtained by a laser displacement sensor, and track fitting is carried out after effective wave filtering treatment to realize track detection; simultaneously, the problem of track detection and control in automatic welding of the container corrugated plate is fundamentally solved by combining track interpolation algorithm of a minimum deviation method.The invention further explains the smooth conversion of welding parameters of inflection points in detail, and proposes an adjustable inflection point parameter conversion method in smooth degree. Inthe ...

Terminal ultra-wideband MIMO antenna and multi-MIMO antenna system

The invention provides a terminal ultra-wideband MIMO antenna and a multi-MIMO antenna system. The terminal ultra-wideband MIMO antenna comprises a floor, a side plate, a radiation unit, a feed unit and a grounding unit, the side plates are arranged on the side edges of the floor; the back face of the floor is covered with copper foil. The radiation unit comprises a rectangular first radiation structure, an inverted L-shaped second radiation structure and a third radiation structure; the first radiation structure is located on the side plate; the second radiation structure is located on the upper layer of the floor; a gap structure is arranged on the copper foil to form the third radiation structure; wherein the first radiation structure is an inductive antenna, and the third radiation structure is a slot antenna, is capacitive and forms neutralization, so that a wider bandwidth is realized; in addition, the second radiation structure and the third radiation structure are located on two ...

Self-adaptive compensation method and system for Y-shaped groove of plasma cutting intersecting branch pipe

The invention belongs to the technical field of automatic cutting control, and provides a self-adaptive compensation method and system for a Y-shaped groove of a plasma cutting intersecting branch pipe. The method comprises the steps that spatial transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters are obtained; a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove is constructed, so that a mathematical model of a plasma cutting gun, a plasma arc and a workpiece is constructed; according to the spatial transformation parameters, the groove parameters, the plasma cutting gun parameters and the intersecting parameters, a mathematical model of a plasma cutting gun, a plasma arc and the workpiece is adopted, the cutting thickness of the workpiece is calculated, and the radius of the plasma arc is adjusted in a self-adaptive mode according to the cutting thickness; according to the mathematical model of the ...

Special screwdriver of maintenance that can throw light on

The utility model relates to a special screwdriver of maintenance that can throw light on belongs to the transformer substation and overhauls screwdriver technical field. Technical scheme is: contain screwdrivers blade (1), metal components (2), laser bulb (3), transmission line (4), button cell (5), lamp switch (6), transmission line two (7) and insulator (8), metal components (2) one end is equipped with screwdrivers blade (1), and the other end is fixed on the terminal surface of insulator (8) one end, still is equipped with laser bulb (3) on this terminal surface, be equipped with on the relative terminal surface with being equipped with laser bulb (3) lamp switch (6), laser bulb (3) are connected with button cell (5) through transmission line (4), and button cell passes through transmission line no. 2 and is connected with the lamp switch. The beneficial effects of the utility model are that: when the transformer substation salvagees night, the emergence of using the screwdriver terminal ...

MOS tube control circuit and LNA single-stage amplification device

The embodiment of the invention provides an MOS tube control circuit and an LNA single-stage amplification device. According to the control circuit, a capacitor C is connected with the grid electrode of a main circuit MOS tube, one end of a bias resistor R is connected with the grid electrode of the main circuit MOS tube MN, and the other end of the bias resistor R is connected with bias voltage; the voltage control type switch MP is connected with the bias resistor R in parallel; an enable signal EN is accessed into the level edge detection circuit, and the output end of the level edge detection circuit is connected with the control end of the voltage control type switch MP; the level edge detection circuit is used for outputting a control signal to turn on the voltage control switch MP for a preset time when a preset edge of the enable signal EN is detected, so that the bias resistor R is short-circuited for a preset time, and the potential of the grid electrode of the main circuit MOS ...

Outdoor multi-vision sensor fusion positioning method and system based on two-factor graph

The invention discloses an outdoor multi-vision sensor fusion positioning method and system based on a two-factor graph. The positioning method comprises the following steps: (1) establishing a relationship between a state model and a coordinate system; the three coordinate systems are respectively defined as a global coordinate system W, a basic coordinate system B, an odometer coordinate system O, an IMU coordinate system I, an RGBD coordinate system R and a stereoscopic vision coordinate system S; (2) constructing an improved point cloud measurement model and an improved IMU pre-integration algorithm for the multi-factor graph model; (3) defining an IMU factor, an RGBD odometer factor and a stereoscopic vision measurement factor; (4) solving state estimation of the robot in the speedometer reference system for positioning; (5); performing factor graph prediction updating circulation; and (6) designing a two-factor graph. The positioning system comprises an initialization module, an acquisition ...

Circuit with MOS (metal oxide semiconductor) tube and LNA (low noise amplifier) single-stage amplification device

The embodiment of the invention provides a circuit with a metal oxide semiconductor (MOS) tube and a low noise amplifier (LNA) single-stage amplification device. The circuit with the MOS tube comprises the MOS tube, wherein a grid electrode of the MOS tube is connected with a radio frequency input signal; the MOS tube protection circuit is provided with a voltage control type switch and is connected between the grid electrode of the MOS tube and at least one working end; wherein the working end comprises a source electrode and a drain electrode of the MOS tube; when the voltage difference between the grid electrode of the MOS tube and the working end is larger than the turn-on voltage of the voltage control type switch, the voltage control type switch is switched on, and the voltage difference between the grid electrode of the MOS tube and the working end is reduced. According to the ESD protection circuit, the technical problem that a traditional ESD protection circuit is insufficient ...

Level conversion circuit, radio frequency switch and electronic equipment

The embodiment of the invention provides a level conversion circuit, a radio frequency switch and electronic equipment, and belongs to the technical field of electronic circuits, and the level conversion circuit comprises a first gain circuit which is used for receiving a high-level signal; the second gain circuit is used for receiving a low-level signal; the input end of the pull-down circuit is electrically connected with the output end of the first gain circuit and the output end of the second gain circuit, and the pull-down circuit is used for pulling down low output signals of the first gain circuit and the second gain circuit to low level signals. According to the embodiment of the invention, effective gain can be carried out on an input signal, and the reliability of the circuit is improved; moreover, the embodiment of the invention is of a single-stage structure, is simple in structure, can be constructed and realized by conventional components, does not need a plurality of negative ...

Method for quantifying rotation deviations of branch pipes of intersection pipes and application

The invention discloses a method for quantifying rotation deviations of branch pipes of intersection pipes and an application. The method comprises the following steps of: carrying out ranging and scanning in a direction vertical to a welding seam of an intersection pipe with a clamping rotation deviation, and analyzing a ranging waveform to obtain a practical welding seam point coordinate; solving a theoretical coordinate, at the place, of a theoretical intersection line according to an equation of the theoretical intersection line; and calculating a branch pipe rotation deviation angle of two points on the basis of the practical welding seam point coordinate and the theoretical coordinate, so as to realize deviation quantification. According to the method and the application, deviation quantification and compensation can be carried out on intersection lines formed by intersection steel pipes of non-ideal models, so as to realize automatic and accurate welding of non-ideal intersection ...

Obstacle avoidance method of six-wheel independently-driven and independently-steering robot

The invention discloses an obstacle avoidance method for a six-wheel independently-driven and independently-steering robot. The obstacle avoidance method comprises the steps of solving an obstacle avoidance path and an obstacle avoidance strategy based on a fuzzy decision; when a sensor detects an obstacle, obstacle information is sent to an obstacle avoidance controller and an obstacle avoidance planner, then an optimal path point is solved through constraint of an actual environment, an optimal path is obtained through trajectory smoothing and polynomial fitting, the optimal path is discretized into coordinate points and then output, and after the coordinate points are output, obstacle avoidance strategies are selected. Obstacle avoidance is carried out according to the strategy, and the whole obstacle avoidance process is finished. According to the method, the obstacle avoidance problem of the six-wheel independently-driven and independently-steering robot under the condition that the ...

Distributed self-expansion relative pose estimation method of modular robot platform

A distributed self-expansion relative pose estimation method of a modular robot platform is characterized in that at least four four-wheel differential steering module robots are adopted, the front face, the rear face, the left side face and the right side face of each module robot are each provided with a camera and a cooperation identifier, and each module robot is provided with a speedometer; a TCP/IP local area network is adopted, and the relative pose estimation of each module robot is carried out according to the following steps: (1) visual pose estimation among the module robots; (2) adding a constraint to a pose estimation result, and carrying out truncation filtering; (3) fusing a plurality of pose relationships by using a sliding window, improving data stability, and performing time matching on the camera and the odometer; (4) carrying out robust pose estimation by fusing a speedometer; and (5) relatively positioning the multi-module robot. According to the method, the configuration ...

Multi-geometry human body collision model generation method and system based on SMPL parameters

The invention provides a multi-geometry human body collision model generation method and system based on SMPL parameters, and the method employs a simplified geometry to represent the size and shape of each part of a human body, and determines the shape, length, width and height parameters of the geometry according to an SMPL model or a model derived from the SMPL model. Wherein the SMPL model parameters can be generated by a currently common 3D human body posture estimation algorithm, and geometric bodies are sequentially fitted to a key point coordinate system to form a human body posture model in a robot motion planning environment.

Intersection double-pipe intersection parameter and clamping pose four-point measuring method based on nonlinear equation system

The invention relates to an intersection double-pipe intersection parameter and clamping pose four-point measuring method based on a nonlinear equation system. According to the method, on the basis of integrating numerical control measurement, mathematical model building and nonlinear equation solving, a machine tool body is used for measuring machine tool coordinates of any four points on the outer wall of a branch pipe, an initial value is solved by means of the combination with estimated parameters to be solved, and intersection parameters and clamping poses of double pipes can be obtained. The method has the advantages that an external measurement tool is not needed, few points need to be measured, and the measuring precision is high; preparation time for measuring all unknown parameters before intersection lines are automatically welded is greatly shortened, the purpose of fast generating the intersection pipeline welding procedure is achieved, and high efficiency of the automatic ...

Distributed temperature difference sensor for protecting and monitoring high-voltage cable terminal

The invention relates to a distributed temperature difference sensor for high-voltage cable terminal protection monitoring, and belongs to the technical field of high-voltage cable terminal detection devices. According to the technical scheme, the sensor comprises a sensor body (1), an adjusting device (2) and a protection device (5), the sensor body (1) is detachably installed on a high-voltage cable (6), the protection device (5) is arranged on one side of the sensor body (1), and the adjusting device (2) is arranged at the bottom of the sensor body (1). The temperature difference sensor has the beneficial effects that the high-voltage cable and the sensor body are fixed by adopting the adjusting device and the protection device, the high-voltage cable tends to be in a stable state, and the protection device can play a role in protecting the high-voltage cable in windy weather, so that the measurement result of the temperature difference sensor is not influenced, and the measurement accuracy ...

Welding track detection and control method of plate butt weld based on laser ranging

The invention relates to a welding track detection and control method of plate butt weld based on laser ranging, including the following steps: A. track detection is carried out; B. track identification and extraction are carried out; C. track control is carried out; D. the relative position relation between a welding gun and a welding seam is adjusted at last by performing mechanism actions. In the invention, the information of welding seam profile is obtained by transverse scanning of a laser sensor, and welding seam is rebuilt after effective wave filtering treatment to realize three-dimensional detection of the welding seam; simultaneously, the welding track curve is obtained by fit while detecting welding seam by using dynamic B spline fit algorithm, and the track control is carried out in combination with constant speed B spline track interpolation algorithm, thereby fundamentally solving the problem of track detection and control in automatic welding of plate butt weld. By using ...

XSS attack load automatic generation method and system based on generative adversarial network

The invention discloses an XSS attack load automatic generation method and system based on a generative adversarial network, and belongs to the technical field of network security, and the method comprises the steps: collecting XSS attack load sample data, and carrying out the preprocessing of the XSS attack load sample data; constructing a generator based on the text generative adversarial network structure, constructing a discriminator based on the convolutional neural network structure, and constructing a generative adversarial neural network model by the generator and the discriminator; performing iterative training on the adversarial neural network model by using the preprocessed XSS attack load sample data until a discriminator reaches a preset classification probability, and completing the training; and inputting a random noise vector into a generator of the trained adversarial neural network model, and generating an XSS attack load. Through the technical scheme of the invention, ...

Automatic network penetration attack method and system based on intelligence sharing

The invention discloses an automatic network penetration attack method and system based on intelligence sharing, and belongs to the technical field of network security, and the method comprises the steps: collecting network asset basic information of a target network, sharing the network asset basic information to a data resource pool, and taking the network asset basic information as the minimum asset of a penetration attack target in the form of an IP + port; aiming at the minimum assets, an attack weapon is selected from the weapon knowledge base by utilizing the trained weapon selection model; according to the minimum assets and the attack weapons, optimizing an attack path and an attack strategy by using the trained attack analysis model; and according to the attack path and the attack strategy, executing penetration attack on the target network by using the attack weapon. Through the technical scheme of the invention, personalized attacks can be carried out on different targets, the ...

Orthogonal intersecting pipeline main pipe roundness deviation intersecting line compensation method and system

The invention provides an orthogonal intersecting pipeline main pipe roundness deviation intersecting line compensation method and system. The method comprises the steps that the distance between a distance measuring device and each selected point obtained by scanning the upper wall of a main pipe through the distance measuring device is obtained; wherein the distance measuring equipment moves on a straight line parallel to the X-axis direction at a set height above the intersecting pipeline and vertically and downwards scans, and the X-axis is a horizontal axis perpendicular to the axis of the main pipe; calculating the distance from the distance measuring equipment to each selected point on the ideal intersecting model; obtaining the deviation of each selection point in the Z-axis direction according to the distance between the distance measuring equipment of the ideal intersecting model and each selection point, and correcting the intersecting line according to the deviation of each ...

Welding track detection and control method of plate butt weld based on laser ranging

The invention relates to a welding track detection and control method of plate butt weld based on laser ranging, including the following steps: A. track detection is carried out; B. track identification and extraction are carried out; C. track control is carried out; D. the relative position relation between a welding gun and a welding seam is adjusted at last by performing mechanism actions. In the invention, the information of welding seam profile is obtained by transverse scanning of a laser sensor, and welding seam is rebuilt after effective wave filtering treatment to realize three-dimensional detection of the welding seam; simultaneously, the welding track curve is obtained by fit while detecting welding seam by using dynamic B spline fit algorithm, and the track control is carried out in combination with constant speed B spline track interpolation algorithm, thereby fundamentally solving the problem of track detection and control in automatic welding of plate butt weld. By usingthe ...

Device for detecting welding track of corrugated plate of container based on laser ranging

The invention relates to a device for detecting the welding track of a corrugated plate of a container based on laser ranging, which comprises a laser displacement sensor and a welding gun position and posture adjusting device; one end of the welding gun spatial position and posture adjusting mechanism is fixed on a stand; the laser displacement sensor is arranged at the lower end of the welding gun spatial position and posture adjusting mechanism; and the laser displacement sensor and the welding gun position and posture adjusting device are connected with a circuit control device through circuits. Through the detection of a weld joint of the corrugated plate, the control of the position and the posture of the welding gun and the autocontrol of a welding process, the device achieves the effect of thickness consistency among downhill welding sections between wave peak and wave trough of the corrugated plate, an uphill welding section between the wave trough and the wave peak and a linear ...

Mechanical arm trajectory planning method and system based on improved white shark optimization algorithm

The invention discloses a mechanical arm trajectory planning method and system based on an improved white shark optimization algorithm. The method comprises the steps that the joint angle of each interpolation point in mechanical arm joints is obtained; according to the joint angle of each interpolation point and the polynomial interpolation trajectory model, a joint moving trajectory is obtained; wherein each segment of interpolation time in the polynomial interpolation trajectory model is determined through an improved white shark optimization algorithm with the purpose of minimizing the sum of all the interpolation time. The interpolation time is optimized through an improved squala optimization algorithm, the joint moving track is finally obtained, and when the mechanical arm joint moves according to the joint moving track, the moving time is the shortest.

Photovoltaic power generation consumption prediction method and system based on time division

The invention relates to a photovoltaic power generation consumption prediction method and system based on time division, and belongs to the technical field of photovoltaic consumption and intelligent data processing. According to the technical scheme, the method comprises the steps of obtaining consumption statistical data; determining multiple types of actual generating capacity; constructing a consumption prediction module; constructing a photovoltaic actual generating capacity prediction module; combining the output layer of the photovoltaic actual generating capacity prediction module with the input layer of the consumption prediction module to generate a photovoltaic consumption prediction model; the actual generating capacity is output based on the photovoltaic actual generating capacity prediction module and transmitted to the consumption prediction module, and a photovoltaic consumption prediction result is output; surplus photovoltaic electric energy is determined; and determining ...

Distributed photovoltaic power fuzzy prediction method and system

The invention relates to a distributed photovoltaic power fuzzy prediction method and system, and belongs to the technical field of image recognition methods and equipment. According to the technical scheme of the invention, the method comprises the steps: collecting regional basic information and historical data, carrying out the preprocessing of the historical data, obtaining a historical target granularity data set, inputting the historical target granularity data set into a photovoltaic power prediction model, carrying out the prediction of distributed photovoltaic power, obtaining first prediction data, carrying out the matching of a photovoltaic house positioning image in a target supervision region with big data, and carrying out the prediction of the distributed photovoltaic power. And obtaining a feature matching result of the photovoltaic house in the target supervised area, carrying out photovoltaic house identification, generating second prediction data according to an identification ...

Device for detecting welding track of corrugated plate of container based on laser ranging

The invention relates to a device for detecting the welding track of a corrugated plate of a container based on laser ranging, which comprises a laser displacement sensor and a welding gun position and posture adjusting device; one end of the welding gun spatial position and posture adjusting mechanism is fixed on a stand; the laser displacement sensor is arranged at the lower end of the welding gun spatial position and posture adjusting mechanism; and the laser displacement sensor and the welding gun position and posture adjusting device are connected with a circuit control device through circuits. Through the detection of a weld joint of the corrugated plate, the control of the position and the posture of the welding gun and the autocontrol of a welding process, the device achieves the effect of thickness consistency among downhill welding sections between wave peak and wave trough of the corrugated plate, an uphill welding section between the wave trough and the wave peak and a linear ...

Device for directly inserting contact into temporary grounding wire and use method

The invention relates to a device for directly inserting a contact into a temporary grounding wire and a use method, and belongs to the technical field of grounding wire equipment. According to the technical scheme, a straight insertion Y-shaped contact (26), an upper insulating rod (27), a middle insulating rod (28) and a lower insulating rod (29) are connected in sequence; the top of the Y-shaped contact is provided with a Y-shaped cutting edge (1), the middle of the Y-shaped contact is provided with a circular ground wire bayonet (2), the bottom of the Y-shaped contact is connected with the top of a contact main body (7), the bottom of the contact main body is provided with a spherical bottom shaft (8), and the bottom of the contact main body is connected with the top of the upper insulating rod main body through the spherical bottom shaft, an arc-shaped elastic sheet I (10), an arc-shaped elastic sheet II (11), a fixed supporting module I (14) and a fixed supporting module II (15).

Detection and control system for container corrugated plate welding track based on laser ranging

The invention relates to a detection and control system for a container corrugated plate welding track based on laser ranging, comprising a laser displacement sensor, a welding torch pose adjusting device and a circuit control device. The laser displacement sensor and the welding torch pose adjusting device are connected with the circuit control device through a circuit; one end of a welding torch space position and pose adjusting mechanism is fixed on a stand; and the laser displacement sensor is arranged at the lower end of the welding torch space position and pose adjusting mechanism. Through the diction of the corrugated plate welding line, the control of the welding torch pose and the automatic control of the welding process, the invention achieves the effect that the thickness of welding lines of a downslope welding section from a wave crest to a wave trough, a upslope welding section from a wave trough to a wave crest, a wave crest tangential path and a wave trough are consistent ...

Enhanced coupling nonlinear control method with state restraining for three-dimensional bridge crane

The invention discloses an enhanced coupling non-linear control method with state restraining for a three-dimensional bridge crane. Firstly, two generalized signals combining trolley displacement and load title angle are introduced, the double targets of accurate trolley positioning and effective load titling elimination are converted into regulation control of the generalized signals, so that a new similar energy function is constructed based on the conversion; in order to control the trolley track error and the load title angle to be in the allowable range all the time, two potential functions and a new similar energy function are combined, so that a novel energy storage function is designed. The method has strong robustness on different rope lengths, load weight, target position and external disturbance; the displacement of a trolley in an X axis direction and a Y axis direction is limited in a proper range, so that the transient state control performance of a system is enhanced; in ...

Two-point determination method for clamping poses of intersected dual-tube based on nonlinear equation set

The invention relates to a two-point determination method for clamping poses of an intersected dual-tube based on a nonlinear equation set, which integrates numerical control measurement, mathematics model establishment and nonlinear equation solving. The machine tool coordinates of any two points on the outer wall of a branch tube are measured by a machine tool, and in combination with known intersection parameters of a tube set, a clamping pose of the tube set can be obtained. The method has the characteristics of no requirement for external measurement tool, less requirement for measurement point, high measurement precision and the like, greatly shortens the preparation time of pose adjustment of a tube set before an intersecting line is automatically welded, and improves the working efficiency. The preparation time of each unknown parameter measurement before the intersecting line is automatically welded is greatly shortened so as to achieve the purpose of rapidly generating an intersected ...

Multi-shaft-hole assembly method and system based on hierarchical reinforcement learning and distributed learning

The invention provides a multi-shaft-hole assembly method and system based on hierarchical reinforcement learning and distributed learning. The method comprises the steps that a main control assembly strategy model based on deep reinforcement learning is established through mechanical arm state data and action data; constructing a plurality of sub-process networks based on different assembly interaction environments, and performing updating training on the main control assembly strategy model by utilizing interaction data obtained by the constructed sub-process networks to obtain a trained main control assembly strategy model; and executing a multi-shaft-hole assembly task of the mechanical arm by utilizing the trained main control assembly strategy model. Compared with a common reinforcement learning algorithm, a mode of constructing a sub-process network by using a plurality of different environments to update the whole network can improve the final effect of robot learning, improve the ...

Fine device of intelligent substation relay protection fiber reel

The utility model relates to a fine device of intelligent substation relay protection fiber reel belongs to transformer substation relay protection equipment technical field. Technical scheme is: leftside fixed disk (3) and right side fixed disk (7) interconnect through the fine post of dish (4), and tenon (2) set up on left side fixed disk (3), and mortise (6) set up on right side fixed disk (7), and hanging hole (1) sets up in the side of left side fixed disk (3), block fine groove (5) and set up at the edge of right side fixed disk (7), block the size of fine groove (5) and the big or small phase -match of optic fibre, optical fiber interface. The beneficial effects of the utility model are that: simple safety, through effective fixed, the bending radius of assurance optic fibre prevents that the optic fibre rupture from damaging, the material is light, brings extra weight can for overload protection device or relay protection screen cabinet, rational in infrastructure, the designof ...

Knowledge graph construction method, construction system, equipment and storage medium

The invention discloses a knowledge graph construction method and system, equipment and a storage medium, and relates to the technical field of network security, and the construction method comprises the steps: collecting law and regulation data and security vulnerability data, carrying out structuring, and filtering out stop words to obtain a corresponding data set; the method comprises the following steps: constructing an AI model by adopting a Sensor-Bert model based on a twin network; taking the two types of data as model input, taking a dichotomy result indicating whether the two types of data are associated as model output, and training an AI model; and carrying out Cartesian product operation on the two types of data sets, inputting every two pieces of data as a group into an AI model, and constructing an associated data set according to an output result so as to construct a knowledge graph of an association relationship between laws and regulations and security vulnerabilities.

Multimode fusion robot sewing method and system based on depth reinforcement learning

The invention discloses a multimode fusion robot sewing method and system based on depth reinforcement learning. The multimode fusion robot sewing method comprises the following steps of respectivelyobtaining state image information, stitch state image information and fabric pulling force state information in the sewing process; and constructing and training a sewing operation skill learning network of a robot, inputting the state information acquired in the sewing process to the sewing operation skill learning network, and outputting joint angles of a mechanical arm to control the mechanicalarm to move. According to the method disclosed by the invention, image information is fused with force sense information to jointly express the fabric state in the sewing process, so that the movement express of the robot is more accurate; and the robot can actively adapt to the change of environment through learning and controlling the operation skill, and the training result has generalizationability ...

Line differential protection method based on differential output of electronic current transformer

The invention provides a line differential protection method based on differential output of an electronic current transformer, and belongs to the field of power system relay protection. The technical scheme is that an integration element in high-voltage side data processing of conventional line differential protection is removed, and differential signals output by the sensing head of a Rogowski coil are directly used to realize longitudinal differential protection of a high-tension transmission line, and complexity of a device is reduced, and data processing time is reduced. On the basis of ensuring reliability and speed, adverse effect caused by an extra integral circuit is prevented, the method adapts to differential output of the Rogowski coil. PSCAD/EMTDC simulation experiments show that the differential protection scheme based on the current differential signals is effective and feasible, line rapid differential protection can be realized by directly using the differential signals ...

Automatic fruit bag bundling equipment and method

The invention discloses an automatic fruit bag bundling device and method, and relates to the technical field of fruit bag packaging, the automatic fruit bag bundling device comprises a grabbing mechanism and a bundling mechanism, the grabbing mechanism comprises a material blocking plate slidably connected to a supporting platform, and the material blocking plate is connected with a gravity hammer through a traction rope; a fruit bag storage space is formed by the material baffle and the discharging side of the fruit bag machine; the clamping tool is connected with the double-shaft movement mechanism; the bundling mechanism comprises a packaging machine, a gap adjusting assembly is arranged on the side, facing the grabbing mechanism, of the packaging machine, the gap adjusting assembly is connected with a turnover mechanism, and the gap adjusting assembly is used for tidying the fruit bags and can turn over to enable the packaged fruit bags to fall into a conveying belt below. The material ...

Material level measuring device and measuring method based on magnetoelectric effect

The invention discloses a material level measuring device based on the magnetoelectric effect. The material level measuring device comprises a shell, a metal coil mechanism is fixedly arranged in the shell, a permanent magnet capable of movably stretching into a coil under the action of external force to generate the magnetoelectric effect is arranged under the metal coil mechanism, the lower end of the permanent magnet is fixed to the upper end of an ejector pin, the lower end of the ejector pin penetrates out of the bottom of the shell and is fixed with a floater, and the portion, in the shell, of the ejector pin is fixedly arranged on a sliding rail mechanism enabling the ejector pin to vertically move under the action of the external force. Leads at the two ends of the metal coil mechanism penetrate out of the shell and are connected to a positive electrode and a negative electrode of an ampere meter outside the shell respectively to form a closed circuit. The invention further discloses ...

Association method and association system for security vulnerabilities and laws and regulations

The invention discloses an association method and association system for security vulnerabilities and laws and regulations, and relates to the technical field of network security, the association method comprises the following steps: collecting laws and regulations data and security vulnerability data and performing structuralization to respectively obtain corresponding structured text data; performing Chinese word segmentation on the structured text data, and filtering out stop words from a word segmentation result to obtain an entry list of two types of data; constructing a dictionary based on the vocabulary entries, and constructing a document vector for each vocabulary entry based on TF-IDF; and traversing and calculating the cosine similarity of each law and regulation vector and each security vulnerability vector, and constructing a knowledge base by using data of which the cosine similarity is greater than a preset threshold value to obtain an association relationship between the ...

Repair structure of distribution cable

The utility model relates to a repair structure of distribution cable belongs to the distribution cable and repairs technical field. Technical scheme is: containing needs and repairing cable (3), repair the body (1) and repair lid (2), the cross -section of repairing the body is big semi -circumference, and the cross -section of repairing the lid be little semi -circumference, repairs the body and repair the lid to mate each other, constitutes the ring cross -section jointly, the internal diameter in ring cross -section with need to repair cable external diameter phase -match, the nestification is on needs repair cable. The beneficial effects of the utility model are that: can get up the cable nestification of damage, avoid damaged cable strength reduction to split easily or the conductor of cable exposes in the outer condition, and convenient operation is firm reliable, guarantees the cable safe operation.

Welding track detection and control method of container corrugated plate based on laser ranging

The invention relates to a welding track detection and control method of a container corrugated plate based on laser ranging, including the following steps: A. track detection is carried out; B. track identification is carried out; C. track control is carried out; D. the relative position relation between a welding gun and a welding seam is adjusted at last by performing mechanism actions. In the invention, the information of welding seam is obtained by a laser displacement sensor, and track fitting is carried out after effective wave filtering treatment to realize track detection; simultaneously, the problem of track detection and control in automatic welding of the container corrugated plate is fundamentally solved by combining track interpolation algorithm of a minimum deviation method. The invention further explains the smooth conversion of welding parameters of inflection points in detail, and proposes an adjustable inflection point parameter conversion method in smooth degree. In ...

Self-adaptive mechanical foot for legged robot and working method thereof

The present disclosure discloses a self-adaptive mechanical foot for the legged robot. The mechanical foot has a piston disposed inside a piston cylinder. The piston is connected to one end of each humeral plate, and the piston cylinder is connected to the other end of each humeral plate. The humeral plates perform opening and closing movement through the up-down movement of the piston in the piston cylinder. The humeral plates are connected to toes on the foot and drive the toes to open and close through the up-down movement. The mechanical foot provided by the present disclosure has higher standing stability and fast interaction response speed when interacting with the terrain. It can realize arbitrary and fast switching between a point-like foot and a planar foot, and meanwhile avoids collision between a support leg and a swing leg.