摘要：【中文】本发明提供了交通隧道的可连续施工移动工作平台，通过检查杆以及检查杆两端的检查球对墙体进行连续的接触，以及检查杆后端的震动扣以及震动扣下端的复印装置，来检测墙体的裂痕，此施工平台能够连续移动工作，对隧道的侧壁进行不间断的检查，并且能够使人直观了解哪一段隧道之间有问题，及时进行维修。 【EN】The invention provides a movable working platform capable of continuously constructing a traffic tunnel, which can continuously contact a wall body through an inspection rod and inspection balls at two ends of the inspection rod, and can detect cracks of the wall body through a vibration buckle at the rear end of the inspection rod and a copying device at the lower end of the vibration buckle.

摘要：【中文】本发明公开了一种基板玻璃在线抽检系统、抽检方法及包装系统，包括机械传送机构、人机交互模块、PLC主控装置、载体到位传感器、传送带在位传感器，所述载体到位传感器和所述传送带在位传感器分别与所述PLC主控装置通讯连接，所述PLC主控装置分别与所述人机交互模块、所述机械传送机构通讯连接；所述载体到位传感器用于检测载体是否到达预定位置，所述传送带在位传感器用于检测基板玻璃是否到达抽检工位。通过机械传送机构、传感器和主控装置的配合使用，解决了液晶基板玻璃行业包装工序人员必须接触玻璃的技术难题，避免人为干预液晶基板玻璃，提升了液晶基板玻璃的抽检品质和可信度，提升了包装效率和设备可操作性。 【EN】The invention discloses an online sampling inspection system, a sampling inspection method and a packaging system for substrate glass, which comprise a mechanical transmission mechanism, a human-computer interaction module, a PLC (programmable logic controller) main control device, a carrier in-place sensor and a conveyor belt in-place sensor, wherein the carrier in-place sensor and the conveyor belt in-place sensor are respectively in communication connection with the PLC main control device, and the PLC main control device is respectively in communication connection with the human-computer interaction module and the mechanical transmission mechanism; the carrier in-place sensor is used for detecting whether the carrier reaches a preset position, and the conveyor belt in-place sensor is used for detecting whether the substrate glass reaches a sampling inspection station. Through the cooperation use of mechanical transport mechanism, sensor and master control unit, solved liquid crystal substrate glass trade packing process personnel and must contact the technical problem of glass, avoided artificial intervention liquid crystal substrate glass, promoted liquid crystal substrate glass's selective examination quality and credibility, promoted packing efficiency and equipment maneuverability.

摘要：【中文】本发明提供了一种用于无人艇的自主安全航行方法和无人艇，自主安全航行方法包括如下步骤：S2：采集无人艇当前的行船信息；S4：根据行船信息和航线指令的偏离程度，基于聚类分析算法和PID算法输出建议执行指令；S5：无人艇依照所述建议执行指令航行。根据本发明的自主安全航行方法，利用聚类分析算法的在线学习能力，可以从原理上克服已有方法在不同环境下的自适应性和鲁棒性的缺陷，从而能够使无人艇自主安全航行，具有更高的控制效率、鲁棒性和自适应性，能够应用于对水面环境复杂的场合。 【EN】The invention provides an autonomous safe sailing method for an unmanned ship and the unmanned ship, wherein the autonomous safe sailing method comprises the following steps: s2: collecting current ship information of the unmanned ship; s4: outputting a recommended execution instruction based on a cluster analysis algorithm and a PID algorithm according to the ship information and the deviation degree of the air route instruction; s5: and the unmanned ship executes the instruction navigation according to the suggestion. According to the autonomous safe sailing method, the defects of self-adaptability and robustness of the existing method under different environments can be overcome in principle by utilizing the online learning capacity of the cluster analysis algorithm, so that the unmanned ship can sail autonomously and safely, the control efficiency, the robustness and the self-adaptability are higher, and the method can be applied to occasions with complex water surface environments.

摘要：【中文】本发明提供了一种起重机主梁连杆举升装置，包括：底座、托架、丝杆、动力驱动机构、第一上连杆、第一下连杆、第二上连杆、第二下连杆、第三上连杆、第三下连杆；第一上连杆底端与第一下连杆顶端铰接，丝杆在动力驱动机构的作用力下左右直动，第二上连杆底端、第二下连杆顶端同时铰接在丝杆上，第三上连杆底端、第三下连杆顶端同时铰接在丝杆上，底座、第二下连杆、第三下连杆与丝杆构成平行四边形机构，托架、第二上连杆、第三上连杆与丝杆构成平行四边形机构。有益效果：连杆与连杆之间、连杆与其他部件之间均为铰接关系，不需要在连杆上加工齿结构，方便加工制造，同时也规避了采用齿结构保持连杆同步动作而造成的使用效果差的问题。 【EN】The invention provides a crane main beam connecting rod lifting device, which comprises: the device comprises a base, a bracket, a screw rod, a power driving mechanism, a first upper connecting rod, a first lower connecting rod, a second upper connecting rod, a second lower connecting rod, a third upper connecting rod and a third lower connecting rod; the bottom end of the first upper connecting rod is hinged with the top end of the first lower connecting rod, the screw rod moves left and right under the action of the power driving mechanism, the bottom end of the second upper connecting rod and the top end of the second lower connecting rod are hinged on the screw rod simultaneously, the bottom end of the third upper connecting rod and the top end of the third lower connecting rod are hinged on the screw rod simultaneously, the base, the second lower connecting rod, the third lower connecting rod and the screw rod form a parallelogram mechanism, and the bracket, the second upper connecting rod, the third upper connecting rod and the screw rod form the parallelogram mechanism. Has the advantages that: the connecting rod and the connecting rod as well as the connecting rod and other parts are hinged, so that a tooth structure does not need to be processed on the connecting rod, the processing and the manufacturing are convenient, and the problem of poor use effect caused by the synchronous action of the connecting rod by adopting the tooth structure is avoided.