CN111340079A - Mechanical terminal state detection method and device and electronic equipment - Google Patents
Mechanical terminal state detection method and device and electronic equipment Download PDFInfo
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Abstract
The invention discloses a method and a device for detecting the state of a mechanical terminal and electronic equipment, wherein the method comprises the following steps: acquiring a mechanical vibration signal; calculating a fluctuation value and a frequency value of the vibration signal; judging whether the fluctuation value is larger than a fluctuation threshold value or not and whether the frequency value is lower than a frequency threshold value or not; and when the fluctuation value is larger than the fluctuation threshold value and the frequency value is lower than the frequency threshold value, outputting alarm information for representing terminal removal. Compared with other mechanical states, the vibration signal acquired by the terminal in the terminal dismantling state obviously has the characteristics of low frequency and large acceleration fluctuation, so that when the fluctuation value is greater than the fluctuation threshold value and the frequency value is lower than the frequency threshold value, alarm information for representing terminal dismantling can be output, and whether the terminal is in a dismantling state or a carried state can be accurately detected.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method and a device for detecting a mechanical terminal state and electronic equipment.
Background
With the continuous development of society and the continuous progress of science and technology, mechanized and automatic production gradually becomes a development trend. For example, construction machines are used in engineering construction, automobiles are used for travel, and production machines such as cranes, excavators and the like are used for production. The development and realization of mechanical automation lead mechanical production to a new field, and by an automatic control system, the industrial production is really realized, the labor intensity is reduced, and the labor efficiency is improved.
Taking an engineering machine as an example, the engineering machine is mainly used for various construction projects, and generally works in construction environments of various mechanical industries. In order to conveniently count the workload of the working personnel, the working state of the engineering machinery can be monitored by installing the terminal equipment on the engineering machinery, and then the workload of the working personnel can be counted scientifically. However, construction sites such as highways, high-speed railways and the like are often sparse. The inventor finds that the terminal equipment is frequently dismantled. The workload statistics of the staff are influenced.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is how to monitor the state of the terminal.
According to a first aspect, an embodiment of the present invention provides a method for detecting a state of a mechanical terminal, including: acquiring a mechanical vibration signal; calculating a fluctuation value and a frequency value of the vibration signal; judging whether the fluctuation value is larger than a fluctuation threshold value or not and whether the frequency value is lower than a frequency threshold value or not; and when the fluctuation value is larger than the fluctuation threshold value and the frequency value is lower than the frequency threshold value, outputting alarm information for representing terminal removal.
Optionally, the calculating the fluctuation value of the vibration signal includes: calculating a variance of the vibration signal; and taking the variance of the vibration signal as the fluctuation value.
Optionally, the vibration signal comprises: acceleration of different shafting collected by the six-axis sensor; the calculating the variance of the vibration signal comprises: calculating the variance of the acceleration of different shafting; calculating the sum of the variances of the accelerations of different axes; and taking the sum of the variance of the acceleration of different shafting and the variance of the acceleration of different shafting as the variance of the vibration signal.
Optionally, the calculating the frequency value of the vibration signal comprises: carrying out frequency domain analysis on the vibration signal to obtain a frequency spectrum of the vibration signal; and extracting the frequency value with the maximum frequency spectrum as the frequency value of the vibration signal.
Optionally, the extracting the frequency spectrum maximum frequency value as the frequency value of the vibration signal includes: extracting a plurality of frequency values with the largest frequency spectrum; and taking the average value of a plurality of frequency values with the maximum frequency spectrum extracted in the first time period as the frequency value of the vibration signal.
Optionally, after outputting the alarm information for characterizing the terminal removal, the method includes: judging whether the alarm information lasts for a second time or continuously outputs the alarm information within a third time; and when the alarm information lasts for the second time or is continuously output in the third time, confirming that the terminal is in a dismantling state.
Optionally, the calculation manner of the fluctuation threshold includes: counting a percentile curve of the fluctuation value of the vibration signal; determining the fluctuation threshold based on the percentile curve.
According to a second aspect, an embodiment of the present invention provides a mechanical terminal state detection apparatus, including: the acquisition module acquires a mechanical vibration signal; the calculation module is used for calculating a fluctuation value and a frequency value of the vibration signal; the judging module is used for judging whether the fluctuation value is larger than a fluctuation threshold value or not and whether the frequency value is lower than a frequency threshold value or not; and the alarm information generation module is used for outputting alarm information for representing terminal removal when the fluctuation value is greater than the fluctuation threshold value and the frequency value is lower than the frequency threshold value.
According to a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to cause the computer to execute the mechanical terminal state detection method according to any one of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of detecting a state of a machine terminal according to any of the first aspect.
This application is through carrying out the analysis to the vibration signal who obtains, obtains vibration signal's fluctuation value and frequency value, utilizes the terminal to demolish under the state, the vibration signal of the collection of terminal compare with other states of machinery, obviously have the frequency low, the undulant characteristics of acceleration, consequently, can be greater than the fluctuation threshold value just at the fluctuation value when the frequency value is less than the frequency threshold value, the output is used for the warning information that the representation terminal was demolishd, whether the detection terminal that can be comparatively accurate is for demolishing or the state of being taken.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram showing a mechanical terminal state detection method of the present embodiment;
FIG. 2 is a schematic diagram of a mechanical terminal state detection apparatus according to an embodiment of the present invention;
fig. 3 shows a schematic view of an electronic device of an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As described in the background, a mechanical terminal device, for example, a terminal of a construction machine, usually has only a six-axis sensor or a nine-axis sensor therein for detecting the working state of the machine and providing basic data for calculating the working hours, fuel consumption, and the like. Usually, the terminal is installed outside the machine and is easy to disassemble and assemble. A mechanical termination removal condition may occur. In order to monitor the terminal device, video monitoring may be performed on the terminal device, for example, the terminal is monitored by a camera, so as to prevent the terminal device from being violently removed or taken away. However, in this way, a set of video monitoring system needs to be customized for the terminal separately for monitoring the terminal, which is inconvenient to install, difficult to realize effective monitoring due to the wide and rare construction site, and the cost for individually customizing the monitoring system for each terminal device is also very high. . Another commonly used monitoring method for terminal equipment is to install an alarm device on the terminal, and when the terminal is violently removed, the alarm device is triggered, so as to achieve a monitoring effect. Adopt this kind of mode also to need set up one set of alarm device alone for every terminal, equally exist the installation inconvenient, problem such as with high costs. The inventor researches and discovers that when the terminal is dismantled, the vibration signal detected by the terminal is generally the vibration signal caused by the dismantling action, and because the dismantling is usually manual dismantling, the vibration signal detected by the terminal in the dismantling process also has the characteristics of low frequency and large acceleration fluctuation because the manual action has the characteristics of low frequency and large acceleration fluctuation compared with the vibration signal caused by the active state (idle speed and running state) of the machine. After the terminal is successfully removed, if the terminal is taken away or discarded by a person, the vibration signal detected by the terminal is generally the vibration signal caused by the terminal in the taken away state, and the vibration signal detected by the terminal in the taken away state also has the characteristics of low frequency and large acceleration fluctuation because the walking or the action of the person is lower than the vibration signal caused by the active state (idle speed and running state) of the machine. In addition, after the removal, there may be a case of discarding, and the acceleration state detected by the terminal is a relatively low-frequency, large-fluctuation acceleration, and then is in a stationary state for a long time. The inventor finds that the terminal can be effectively monitored according to the characteristics, and effective early warning can be realized when the terminal is detached, so that the inventor provides a mechanical terminal state detection method. Specifically, referring to fig. 1, the detection method may include the following steps:
s11, obtaining a mechanical vibration signal. In this embodiment, the raw vibration signal of the engine may be collected by a sensor mounted on the machine, wherein the sensor may include an acceleration sensor, and for example, a six-axis sensor may be adopted, wherein the six-axis sensor includes a three-axis accelerometer and a three-axis gyroscope, and the raw vibration signal of the engine is collected by the three-axis accelerometer. In this embodiment, sampling may be performed at a predetermined sampling frequency, for example, X points per second, acquired at interval Y s. In actual implementation, the acquired data may be sampled at any sampling frequency, which is not specifically limited in this embodiment, and it can be known through analysis that the higher the sampling frequency is, the more accurate the reduction degree of the engine speed is, the information such as terminal power consumption is comprehensively considered, and the actual sampling frequency may be adjusted according to an actual condition. As an alternative embodiment, if the sensor is mounted on or near the engine and the original vibration signal of the engine is directly sampled, in this embodiment, the sampling frequency of the original vibration signal may be not less than 2 times of the maximum frequency of the engine vibration according to the nyquist sampling theorem, that is, in order to recover the analog signal without distortion. Under the normal condition, the maximum frequency of the engine vibration is less than 300HZ, and according to the Nyquist sampling theorem, the frequency spectrum information can be accurately obtained only by the sampling frequency of more than 600 HZ. Of course, it should be understood by those skilled in the art that the above sampling frequency is only an exemplary illustration for explaining the sampling rate, and does not represent the limited range of the embodiment, and any sampling rate for the acquisition of the mechanical vibration signal is within the protection scope of the embodiment.
And S12, calculating a fluctuation value and a frequency value of the vibration signal. In the present embodiment, the variance or standard deviation of the vibration signal may be calculated for the fluctuation value of the vibration signal. In this embodiment, the variance may be taken as an example for explanation, and specifically, the vibration signal includes: and the six-axis sensor acquires the acceleration of different shafting. Calculating the variance of the acceleration of different shafting; calculating the sum of the variances of the accelerations of different axes; and taking the sum of the variance of the acceleration of different shafting and the variance of the acceleration of different shafting as the variance of the vibration signal. Taking a six-axis sensor as an example, the variances of the X, Y, Z axis accelerations can be calculated separately. As an exemplary embodiment, the sum of the variances of the acceleration of the axes X, Y, Z may also be calculated as the fluctuation value of the vibration signal. Specifically, when the variance of the acceleration is calculated, the ratio of the acceleration of each axis to the gravitational acceleration may be calculated, and then the variance calculation may be performed based on the ratio.
In this embodiment, for the calculation of the frequency, the frequency of the vibration signal may be extracted first, specifically, a fast fourier transform may be adopted to perform frequency domain analysis on the signal, calculate a peak value of a frequency spectrum per second, extract a plurality of frequency values with a maximum frequency spectrum, and calculate an average value of the plurality of frequency values with the maximum frequency spectrum extracted in the first time period as the frequency value of the vibration signal. In this embodiment, the maximum 4 frequency values of the frequency spectrum may be extracted, and the average of the maximum 4 frequency values of the frequency spectrum of 20 to 30s may be calculated as the frequency value of the vibration signal. The frequency vibration caused by the drift generated during frequency acquisition is filtered out, and the calculation error is reduced.
In this embodiment, since the acquisition device of the vibration signal is a mechanical detection terminal, when the terminal is removed, the acceleration of the six-axis sensor of the terminal has the characteristics of low frequency and large acceleration fluctuation compared with other states of the machine, and therefore, the frequency and the fluctuation can be used as a basis for judging whether the terminal is removed.
S13, judging whether the fluctuation value is larger than a fluctuation threshold value or not and whether the frequency value is lower than a frequency threshold value or not; when the fluctuation value is larger than the fluctuation threshold value and the frequency value is lower than the frequency threshold value, the flow proceeds to step S14. When the fluctuation value is smaller than the fluctuation threshold value and/or the frequency value is higher than the frequency threshold value, return is made to step S11.
And S14, outputting alarm information for representing terminal dismantling.
In an actual situation, a situation of mistakenly touching the terminal may occur, when the terminal is mistakenly touched, a vibration signal with large fluctuation and low frequency may be collected, and as an optional embodiment, after alarm information, whether the alarm information lasts for a second time or the alarm information is output at intervals within a third time may be judged to prevent false alarm; for example, it may be determined whether the alert message is continuously generated, and the terminal may be considered to be removed when a second duration, e.g., 3-5 minutes, is exceeded. Or the alarm information is generated continuously at intervals, for example, the alarm signal is generated at intervals within 3-5 minutes, and the terminal can be in a dismantling state. In the embodiment, after the alarm information is generated, invalid alarm information can be provided by using the continuity of the alarm information, so that false alarm is prevented.
The change rule of the terminal acceleration can be detected according to the condition that the terminal is discarded after being detached, if the terminal acquires a vibration signal with larger fluctuation and lower frequency lasting for a fourth time length, the fourth time length can represent the time length used for detaching the terminal, for example, the fourth time length can be set to be 1-3 minutes according to the firmness degree of the terminal installation, and then the terminal is in a static state for a long time, so that the terminal can be confirmed to be discarded after being detached.
As an exemplary embodiment, since most machines are in a stationary or idle state when the terminal is removed, the state of the machine may be determined first, and when it is confirmed that the machine is in the stationary or idle state, the removal state detection may be performed. Specifically, the amplitude and the frequency of the vibration signal can be analyzed, and the fluctuation degree and the frequency distribution state of the vibration signal can be further obtained. The six-axis fluctuation is extremely small in the static state and sharply increased in the active state based on the attribute characteristics of the static and active machines, and the fluctuation degree is along with the intensity of the active. Therefore, the machine can be judged to be in a movable or static state through the calculated fluctuation degree of the vibration signal. In addition, when the machine is in the active state, the idle state of the machine is stable in the vibration of the machine compared to the operating state, and the frequency of the vibration signal of the machine is stable compared to the frequency of the mechanical vibration signal in the operating state. Therefore, the fluctuation degree distribution and the frequency distribution of the vibration signal can be obtained by analyzing the fluctuation degree and the frequency of the acquired vibration signal. Since the vibration signal of the machine fluctuates little in the static state, the fluctuation of the vibration signal in the active state increases sharply, the fluctuation degree is along with the intensity degree of the activity, and the maximum fluctuation degree of the static state and the minimum fluctuation degree of the active state have a large difference, namely the value of the fluctuation degree is difficult to fall between the maximum fluctuation degree of the static state and the minimum fluctuation degree of the active state. Therefore, the fluctuation degree threshold is found through a statistical calculation mode and is made to fall into the interval, the state which is larger than the threshold is the active state, and the state which is smaller than the threshold is the static state. In addition, the frequency distribution state of the vibration signals is counted, the frequency distribution characteristic of the vibration signals in the idle state and the frequency distribution characteristic of the vibration signals in the working state are extracted, and the working state or the idle state of the machine in the active state is determined according to the distribution state of the vibration signals obtained through calculation.
As an exemplary embodiment, for the determination of the threshold, at the beginning of the application, an initial threshold may be determined first according to experience, for example, according to the type, model, etc. of the machine, and then the initial threshold may need to be adjusted according to the situation in the actual application process.
Specifically, when the vibration signal is acquired, the characteristic sound of the acquired signal may be changed, for example, the influence on the mean value of the vibration signal is large, when the acquisition frequency of the vibration signal is large, noise is increased, the standard deviation is increased as a whole, the influence of the six-axis posture on the standard deviation is increased, and the mean value is increased in a floating manner and the center is shifted. For the influence of the frequency of the vibration signal, as the standard deviation is increased integrally, the six-axis attitude inclination degree has larger influence on the standard deviation mean value, and the single peak of the original frequency statistics is easily split into two peaks. Therefore, in the practical application process, a threshold value may be changed, and specifically, a percentile curve of the fluctuation value of the vibration signal may be counted; determining the fluctuation threshold based on the percentile curve. As a specific example, a statistical curve of frequencies within a standard deviation range in a mechanical static state may be counted, a percentile curve may be calculated using the curve, an earliest stable interval point (SDvalue, Percent) where the magnitude of the percentile curve is within a range of 0.95 to 1 may be calculated, SdThreshold may be calculated using linear fitting, and the calculated independent variable is a distance from the Percent to 1, SdThreshold is SDvalue (1+ (1-Percent) Z). Wherein, SdThreshold is a fluctuation threshold, SDvalue is a corresponding fluctuation value in the earliest stable interval point, and Percent is a corresponding percentile in the earliest stable interval point.
Specifically, a machine learning mode can be adopted to distinguish the working state from the idle state, specifically, a large amount of machine acquisition data can be calibrated to obtain a training sample, a machine learning model is obtained through a supervised learning algorithm, when the working state and the idle state are distinguished, a frequency spectrum peak value obtained through fast Fourier transform is used as input, and the working state and the idle state are used as output.
As an exemplary embodiment, the machine learning model may be built as follows. Decision trees are a tree structure applied to classes, where each internal node represents a test for a certain attribute, and leaf nodes represent a certain class. The decision process starts from a root node, compares the data to be tested with the characteristic nodes in the decision tree, and selects the next comparison branch according to the comparison result until leaf nodes serve as the final decision result, wherein common decision tree algorithms comprise an ID3 algorithm, a C4.5 algorithm and a CART algorithm. The method and the device build a machine learning model through a CART algorithm by a server.
And randomly dividing the data obtained by calibration into a training set and a testing set, wherein the data volume of the training set is 80% of the total data volume, the classification number is set as the frequency spectrum peak value number, the maximum depth of the decision tree is the peak value number, and the iteration number is 5, so as to establish the decision tree. After the training model is determined, testing the model through the data in the test set, calculating the error ratio of the result, and when the error ratio is less than 6%, determining that the learning model is successfully established.
The above algorithm for determining the samples and establishing the machine learning model is an optional implementation manner, and in the actual calculation process, various manners existing in the prior art can be adopted to determine the training samples and determine the machine learning model through the corresponding learning algorithm.
After the frequency distribution state of the vibration signal is obtained, the frequency distribution state is input into a trained machine learning model, the activity state of the machine is classified, and finally the activity state is confirmed to be a working state or an idling state.
An embodiment of the present invention provides a mechanical terminal state detection apparatus, as shown in fig. 2, the apparatus includes: the acquisition module 10 is used for acquiring a mechanical vibration signal; a calculation module 20 for calculating a fluctuation value and a frequency value of the vibration signal; a determining module 30, configured to determine whether the fluctuation value is greater than a fluctuation threshold and the frequency value is lower than a frequency threshold; and the alarm information generation module 40 is configured to output alarm information for representing terminal removal when the fluctuation value is greater than a fluctuation threshold and the frequency value is lower than a frequency threshold.
An embodiment of the present invention provides an electronic device, as shown in fig. 3, which includes one or more processors 31 and a memory 32, and one processor 33 is taken as an example in fig. 3.
The controller may further include: an input device 33 and an output device 34.
The processor 31, the memory 32, the input device 33 and the output device 34 may be connected by a bus or other means, and fig. 3 illustrates the connection by a bus as an example.
The processor 31 may be a Central Processing Unit (CPU). The processor 31 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 32, which is a non-transitory computer readable storage medium, can be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control methods in the embodiments of the present application. The processor 31 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 32, namely, implements the mechanical terminal state detection method of the above-described method embodiment.
The memory 32 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 32 may optionally include memory located remotely from the processor 31, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 33 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing device of the server. The output device 34 may include a display device such as a display screen.
One or more modules are stored in the memory 32, which when executed by the one or more processors 31 perform the method as shown in fig. 1.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium, and when executed, the program can include the processes of the embodiments of the motor control methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a flash memory (FlashMemory), a hard disk (hard disk drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A method for detecting the state of a mechanical terminal is characterized by comprising the following steps:
acquiring a mechanical vibration signal;
calculating a fluctuation value and a frequency value of the vibration signal;
judging whether the fluctuation value is larger than a fluctuation threshold value or not and whether the frequency value is lower than a frequency threshold value or not;
and when the fluctuation value is larger than the fluctuation threshold value and the frequency value is lower than the frequency threshold value, outputting alarm information for representing terminal removal.
2. The detection method of claim 1, wherein the calculating a fluctuation value of the vibration signal comprises:
calculating a variance of the vibration signal;
and taking the variance of the vibration signal as the fluctuation value.
3. The detection method of claim 2, wherein the vibration signal comprises: acceleration of different shafting collected by the six-axis sensor;
the calculating the variance of the vibration signal comprises:
calculating the variance of the acceleration of different shafting;
calculating the sum of the variances of the accelerations of different axes;
and taking the sum of the variance of the acceleration of different shafting and the variance of the acceleration of different shafting as the variance of the vibration signal.
4. The detection method of claim 1, wherein said calculating a frequency value of said vibration signal comprises:
carrying out frequency domain analysis on the vibration signal to obtain a frequency spectrum of the vibration signal;
and extracting the frequency value with the maximum frequency spectrum as the frequency value of the vibration signal.
5. The detection method of claim 3, wherein said extracting the spectral maximum frequency value as the frequency value of the vibration signal comprises:
extracting a plurality of frequency values with the largest frequency spectrum;
and taking the average value of a plurality of frequency values with the maximum frequency spectrum extracted in the first time period as the frequency value of the vibration signal.
6. The detection method according to claim 5, characterized by comprising, after said outputting alarm information indicative of terminal removal:
judging whether the alarm information lasts for a second time or continuously outputs the alarm information within a third time;
and when the alarm information lasts for the second time or is continuously output in the third time, confirming that the terminal is in a dismantling state.
7. The detection method of claim 1, wherein the fluctuation threshold is calculated by:
counting a percentile curve of the fluctuation value of the vibration signal;
determining the fluctuation threshold based on the percentile curve.
8. A mechanical terminal state detection device, characterized by, includes:
the acquisition module acquires a mechanical vibration signal;
the calculation module is used for calculating a fluctuation value and a frequency value of the vibration signal;
the judging module is used for judging whether the fluctuation value is larger than a fluctuation threshold value or not and whether the frequency value is lower than a frequency threshold value or not;
and the alarm information generation module is used for outputting alarm information for representing terminal removal when the fluctuation value is greater than the fluctuation threshold value and the frequency value is lower than the frequency threshold value.
9. A computer-readable storage medium storing computer instructions for causing a computer to perform the method of detecting a state of a mechanical terminal according to any one of claims 1 to 7.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of mechanical termination status detection of any of claims 1-7.
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| CN111880475A (en) * | 2020-07-23 | 2020-11-03 | 缪建飞 | Anti-collision machine control method and system for numerical control machine tool and numerical control machine tool |
| CN115090681A (en) * | 2022-07-12 | 2022-09-23 | 河南中孚高精铝材有限公司 | Method, device, medium and equipment for diagnosing and repairing brush roll of aluminothermic continuous rolling working roll |
| CN116277161A (en) * | 2023-05-25 | 2023-06-23 | 山东中济鲁源机械有限公司 | Mechanical arm dynamic deviation monitoring system based on three-dimensional model coordinates |
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