CN114452576A - Electric water cannon and control method thereof - Google Patents
Electric water cannon and control method thereof Download PDFInfo
- Publication number
- CN114452576A CN114452576A CN202111525832.1A CN202111525832A CN114452576A CN 114452576 A CN114452576 A CN 114452576A CN 202111525832 A CN202111525832 A CN 202111525832A CN 114452576 A CN114452576 A CN 114452576A
- Authority
- CN
- China
- Prior art keywords
- horizontal
- water
- water cannon
- cannon
- pitching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 17
- 238000002347 injection Methods 0.000 abstract description 4
- 239000007924 injection Substances 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 241000876443 Varanus salvator Species 0.000 description 12
- 238000001514 detection method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
Landscapes
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a tooth-type rotation-driven electric water cannon, which comprises a water cannon main body, a horizontal rotation power system and a pitching rotation power system, wherein the water cannon main body comprises a main pipe of the cannon body, a flange elbow and a cannon mouth; also disclosed is a control method thereof; the tooth-type rotary driving electric water cannon has the advantages of high transmission efficiency, large transmission ratio, high transmission precision, small return clearance and the like, can greatly improve the horizontal rotary speed and the pitching rotary speed of the electric water cannon, improves the transmission efficiency and precision, can improve the automation degree and the injection precision of the electric water cannon by the control method, and is beneficial to realizing the automatic control and the intelligent control of the electric water cannon.
Description
Technical Field
The invention belongs to the technical field of electric water cannons, and particularly relates to a tooth-type rotary-driven electric water cannon and a control method thereof.
Background
Along with the continuous development of fire monitor technology, the style of water monitor is also in a diversified development trend, wherein the water monitor can be divided into an electric control water monitor, a hydraulic control water monitor and a manual water monitor according to a driving mode. In order to realize the intelligent control of the fire water monitor, an electric control water monitor is often required to be selected.
The existing rotary power system of the electric control fire water monitor adopts a worm gear mechanism for driving, and the transmission efficiency of the rotary motion of the fire water monitor is lower due to the characteristics of high worm gear transmission ratio and large friction resistance, and meanwhile, the maximum angular velocity and the maximum angular acceleration which can be reached by the rotary motion are not high, and the response speed of the rotary motion is relatively slow.
Meanwhile, the rotation attitude adjustment of the water cannon can be realized by the falling point adjustment of the water column through manual operation, and the automation degree and the intelligent degree are lower.
Disclosure of Invention
In order to solve the technical problems, the invention provides a tooth-type rotary driven electric water cannon.
The technical scheme adopted by the invention for solving the technical problem is as follows: an electric water cannon comprises a water cannon body formed by connecting a cannon body main pipe, a flange elbow and a cannon nozzle, a horizontal rotary power system for driving the water cannon body to do horizontal rotary motion, and a pitching rotary power system for driving the flange elbow to do pitching rotary motion, wherein the horizontal rotary power system is arranged on a base; the horizontal rotary power system comprises a horizontal rotary driven gear fixed on the base and connected with the gun body main pipe, a horizontal rotary driving gear meshed with the horizontal rotary driven gear and a horizontal rotary motor driving the horizontal rotary driving gear through a horizontal rotary planetary gear reducer; the pitching rotation power system comprises a pitching rotation driven gear fixed on the flange elbow, a pitching rotation driving gear meshed with the pitching rotation driven gear and a pitching rotation motor driving the pitching rotation driving gear through a pitching rotation planetary gear reducer; the horizontal rotary motion angle of the electric water cannon is not less than 170 degrees, the pitching rotary motion angle is not less than minus 45 degrees to plus 75 degrees, and the horizontal rotary motion and the pitching rotary motion of the electric water cannon are independent in the range of the rotation angle; the machine base is provided with a photoelectric tracker, the inside of the water cannon body is provided with a flow sensor and a pressure sensor which are respectively used for flow and pressure detection, the cannon nozzle is provided with a GPS positioning module, the water pump is provided with a water pump controller, the horizontal rotary motor is provided with a horizontal rotary encoder and a first servo driver, and the pitching rotary motor is provided with a pitching rotary encoder and a second servo driver; the control system assembly comprises a first controller connected with the photoelectric tracker and the GPS positioning module, a second controller connected with the first controller, a first servo driver and a second servo driver, wherein the first servo driver and the second servo driver are respectively connected with the second controller, and the second servo driver is connected with the water pump controller.
The photoelectric tracker of the electric water cannon comprises but is not limited to a monocular camera, a binocular camera, a laser radar, a combination thereof and the like.
The horizontal rotary motor and the pitching rotary motor of the electric water cannon are both provided with a power-off brake mechanism.
The horizontal rotary driven gear and the pitching rotary driven gear of the electric water cannon are respectively provided with a zero switch for horizontal rotary motion and pitching rotary motion.
In order to realize the automatic and intelligent control of the electric water cannon, the invention also provides a control method of the tooth-type rotary driven electric water cannon, which comprises the following steps: the first controller obtains the current position of the water cannon according to the GPS positioning module; the control system assembly preliminarily calculates the distance between the gun nozzle and the target according to the information of the first controller; after the control system assembly judges that the gun nozzle approaches the target, the control system assembly transmits a signal to a second controller; after receiving the information of the first controller, the second controller calculates the attitude angle of the water monitor to obtain the horizontal rotation angle and the pitching rotation angle of the water monitor respectively, sends the horizontal rotation angle and the pitching rotation angle to the first servo driver and the second servo driver respectively, and sends a pump starting signal to the water pump controller; the first servo driver calculates the horizontal rotation angle information of the second controller and the horizontal zero angle of the water cannon and then sends a pulse instruction to drive the horizontal rotation force system to horizontally rotate; after the pitching rotation angle information of the second controller and the pitching zero position angle of the water cannon are calculated by the second servo driver, a pulse instruction is sent out to drive the pitching rotation force system to perform pitching rotation, and the horizontal rotation and pitching rotation are in linkage rotation to determine the attitude angle of the water cannon body; meanwhile, the second controller controls the water pump to rotate through the water pump controller, and adjusts the water flow and pressure entering the water cannon body by controlling the power and the rotating speed of the water pump; after a water column sprayed by a gun nozzle falls down, a photoelectric tracker captures the falling point position information of the water column, feeds the falling point position information back to a first controller for error compensation, and sends corrected angle control information through a second controller to reduce the falling point error of the water column; and finally, the control system assembly controls the falling point of the water column by controlling the flow and pressure of the water pump and the attitude angle of the gun nozzle.
The invention has the beneficial effects that:
the horizontal rotation power system and the pitching rotation power system adopt a power scheme of transmission of a servo motor, a planetary gear reducer and a rotation driving gear, have the advantages of high transmission efficiency, large transmission ratio and the like, and can greatly improve the horizontal rotation speed and the pitching rotation speed of the electric water cannon;
2, the horizontal return motor and the pitching rotary motor are high in transmission precision and small in return clearance by adopting a servo motor and a planetary gear reducer, so that the transmission precision of a power system can be improved;
3, the horizontal return motor and the pitching rotary motor both adopt motors with power-off contracting brake functions, so that the attitude angle of the water cannon can be kept, and the attitude instability caused by power-off is avoided;
4, the invention has stable transmission and small friction resistance, can greatly reduce the heating and the abrasion of the transmission mechanism, improve the horizontal rotation speed and the pitching rotation reliability of the electric water cannon and prolong the service life of the electric water cannon;
5, the control method provided by the invention adopts the photoelectric tracker to track and feed back the water column drop point and carry out closed-loop control on the injection target, so that the automation degree of the electric water cannon can be improved, the target injection precision is improved, and the automatic control and intelligent control of the electric water cannon are favorably realized.
Drawings
FIG. 1 is a schematic view of the general structure of the water cannon of the present invention;
FIG. 2 is a schematic view of the construction of the horizontal rotary power system of the present invention;
FIG. 3 is a schematic structural view of the pitch-return power system of the present invention;
fig. 4 is a system block diagram of the water cannon control system of the present invention.
The figures are numbered: 10-water cannon body, 11-cannon body main pipe, 12-flanged bend, 13-cannon nozzle, 20-horizontal rotation power system, 21-horizontal rotation motor, 22-horizontal rotation encoder, 23-horizontal rotation planetary gear reducer, 24-horizontal rotation driving gear, 25-horizontal rotation driven gear, 30-pitching rotation power system, 31-pitching rotation motor, 32-pitching rotation encoder, 33-pitching rotation planetary gear reducer, 34-pitching rotation driving gear and 35-pitching rotation driven gear.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, 2 and 3, the tooth-like rotation-driven electric water cannon disclosed by the invention comprises a water cannon main pipe 11, a flange elbow 12 and a cannon mouth 13 which are connected to form a water cannon body 10, a horizontal rotation power system 20 for driving the water cannon main pipe 10 to do horizontal rotation motion, and a pitching rotation power system 30 for driving the flange elbow 12 to do pitching rotation motion, wherein the horizontal rotation power system 20 is arranged on a base, and a water pump connected with the cannon main pipe 11 is arranged on the base, and the tooth-like rotation-driven electric water cannon further comprises a control system assembly; the horizontal rotary power system 20 comprises a horizontal rotary driven gear 25 fixed on the base and connected with the gun body main pipe 11, a horizontal rotary driving gear 24 meshed with the horizontal rotary driven gear 25 and a horizontal rotary motor 21 for driving the horizontal rotary driving gear 24 through a horizontal rotary planetary gear reducer 23; the pitch-back rotational force system 30 includes a pitch-back rotation driven gear 35 fixed to the flanged bend 12, a pitch-back rotation driving gear 34 meshed with the pitch-back rotation driven gear 35, and a pitch-back rotation motor 31 driving the pitch-back rotation driving gear 34 through a pitch-back rotation planetary gear reducer 33.
The horizontal rotary power system 20 of the invention is connected with the gun body main pipe 11 and drives the water gun body 10 to do horizontal rotary motion through the horizontal rotary motor 21; the pitching rotation power system 30 is connected with the main pipe 11 of the gun body and drives the flange elbow 12 and the gun nozzle 13 to perform pitching rotation motion through a pitching rotation motor 31; preferably, the horizontal rotary motion angle of the electric water cannon is not less than 170 degrees, and the pitching rotary motion angle is not less than-45 degrees to +75 degrees.
The machine base is provided with a photoelectric tracker, the water monitor body 10 is internally provided with a flow sensor and a pressure sensor which are respectively used for flow and pressure detection, the monitor nozzle 13 is provided with a GPS positioning module, the water pump is provided with a water pump controller, the horizontal rotary motor 21 is provided with a horizontal rotary encoder 22 and a first servo driver, and the pitching rotary motor 31 is provided with a pitching rotary encoder 32 and a second servo driver; the control system assembly comprises a first controller connected with the photoelectric tracker and the GPS positioning module, a second controller connected with the first controller, and a first servo driver and a second servo driver which are respectively connected with the second controller.
In order to realize the automatic and intelligent control of the electric water cannon, the invention also provides a control method of the tooth-type rotary drive, which is shown in figure 4 and comprises the following steps:
the first controller obtains the current position of the water cannon according to the GPS positioning module.
The control system assembly preliminarily calculates the distance between the muzzle 13 and the target according to the information of the first controller.
And after judging that the gun nozzle 13 approaches the target, the control system assembly transmits a signal to the second controller.
After receiving the information of the first controller, the second controller calculates the attitude angle of the water cannon to respectively obtain the horizontal rotation angle and the pitching rotation angle of the water cannon, respectively sends the horizontal rotation angle and the pitching rotation angle to the first servo driver and the second servo driver, and sends a pump starting signal to the water pump controller.
After the first servo driver calculates the horizontal rotation angle information of the second controller and the horizontal zero position angle of the water cannon, a pulse instruction is sent out to drive the horizontal rotation power system 20 to horizontally rotate; and after the second servo driver calculates the pitching rotation angle information of the second controller and the pitching zero position angle of the water cannon, a pulse instruction is sent to drive the pitching rotation power system 30 to perform pitching rotation, and the horizontal rotation and pitching rotation are in linkage rotation to determine the attitude angle of the water cannon body 10.
Meanwhile, the second controller controls the water pump (motor) to rotate through the water pump controller, and adjusts the water flow and pressure entering the water cannon body 10 through controlling the power and the rotating speed of the water pump (motor).
After the water column that the big gun nozzle 13 spun fell down, the photoelectric tracker caught the placement positional information of water column, fed back to first controller and carried out error compensation to send the angle control information of revising through the second controller, reduce the water column placement error: the second controller receives the information of the first controller and the position of a water column drop point fed back by the photoelectric tracker, and simultaneously obtains the horizontal rotation angle and the pitching rotation angle of the water cannon body 10, the first servo driver receives the horizontal rotation angle information and the horizontal zero position angle of the water cannon of the second controller and sends out a control signal to control the horizontal rotation power system to drive the water cannon to horizontally rotate, the second servo driver receives the pitching rotation angle information and the pitching zero position angle of the water cannon of the second controller and sends out a control signal to control the pitching rotation power system to drive the water cannon to pitch and rotate, and therefore the horizontal attitude angle and the pitching attitude angle of the water cannon body 10 are adjusted.
And finally, the control system assembly controls the falling point of the water column by controlling the flow and pressure of the water pump and the attitude angle of the gun nozzle 13.
The water cannon posture angle adjusting device comprises a first servo driver and a second servo driver which are in linkage control through a second controller, a horizontal rotary power system and a pitching rotary power system are driven to dynamically adjust water cannon posture angles, the second servo driver is connected with a water pump controller, and water flow and pressure entering a water cannon body 10 are adjusted by controlling power of a water pump and controlling rotating speed.
The relative position of the offshore target and the muzzle 13 is preliminarily calculated through a first controller through a photoelectric tracker and a GPS (global positioning system) positioning module; the first servo driver and the second servo driver are used for adjusting the horizontal and pitching attitude angles of the water cannon; the first controller, the second controller and the photoelectric tracker are used for calculating and controlling the water column drop point position of the water cannon, reducing the error between the water cannon and the target position and improving the drop point position precision.
The gear type rotary driving system adopted by the invention has the advantages of high transmission efficiency, large transmission ratio, high transmission precision, small return clearance and the like, can greatly improve the horizontal rotary speed and the pitching rotary speed of the electric water cannon, and improves the transmission efficiency and precision, and meanwhile, the control system can improve the automation degree and the injection precision of the electric water cannon, and is favorable for realizing the automatic control and the intelligent control of the electric water cannon.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. An electric water cannon is characterized in that: the water cannon comprises a water cannon body (10) formed by connecting a cannon body main pipe (11), a flange elbow (12) and a cannon nozzle (13), a horizontal rotary power system (20) for driving the water cannon body (10) to do horizontal rotary motion, a pitching rotary power system (30) for driving the flange elbow (12) to do pitching rotary motion, wherein the horizontal rotary power system (20) is arranged on a base, a water pump connected with the cannon body main pipe (11) is arranged on the base, and the water cannon further comprises a control system assembly;
the horizontal rotary power system (20) comprises a horizontal rotary driven gear (25) which is fixed on the base and connected with the gun body main pipe (11), a horizontal rotary driving gear (24) which is meshed with the horizontal rotary driven gear (25), and a horizontal rotary motor (21) which drives the horizontal rotary driving gear (24) through a horizontal rotary planetary gear reducer (23);
the pitching rotary power system (30) comprises a pitching rotary driven gear (35) fixed on the flanged bend (12), a pitching rotary driving gear (34) meshed with the pitching rotary driven gear (35) and a pitching rotary motor (31) for driving the pitching rotary driving gear (34) through a pitching rotary planetary gear reducer (33);
the machine base is provided with a photoelectric tracker, the water cannon body (10) is internally provided with a flow sensor and a pressure sensor, the cannon nozzle (13) is provided with a GPS positioning module, the water pump is provided with a water pump controller, the horizontal rotary motor (21) is provided with a horizontal rotary encoder (22) and a first servo driver, and the pitching rotary motor (31) is provided with a pitching rotary encoder (32) and a second servo driver;
the control system assembly comprises a first controller connected with the photoelectric tracker and the GPS positioning module, a second controller connected with the first controller, a first servo driver and a second servo driver, wherein the first servo driver and the second servo driver are respectively connected with the second controller, and the second servo driver is connected with the water pump controller.
2. An electric water cannon according to claim 1, wherein the photoelectric tracker is one or more of a monocular camera, a binocular camera, and a lidar.
3. An electric water cannon according to claim 1, wherein the horizontal rotary motor (21) and the pitching rotary motor (31) are provided with a power-off internal contracting brake mechanism.
4. An electric water cannon according to claim 1, characterised in that the horizontal rotary driven gear (25) and the pitch rotary driven gear (35) are provided with respective null switches.
5. A method for controlling an electric water cannon in accordance with claim 1, comprising the steps of:
the first controller obtains the current position of the water cannon according to the GPS positioning module;
the control system assembly preliminarily calculates the distance between the gun nozzle (13) and the target according to the information of the first controller;
the control system assembly transmits a signal to the second controller after judging that the gun nozzle (13) approaches the target;
the second controller obtains the horizontal rotation angle and the pitching rotation angle of the water cannon, respectively sends the horizontal rotation angle and the pitching rotation angle to the first servo driver and the second servo driver, and simultaneously sends a pump starting signal to the water pump controller;
after the horizontal rotation angle information and the water cannon horizontal zero position angle are calculated by the first servo driver, a pulse instruction is sent out to drive the horizontal rotation power system (20) to horizontally rotate; after the pitch rotation angle information and the water cannon pitch zero position angle are calculated by the second servo driver, a pulse instruction is sent to drive the pitch rotation force system (30) to perform pitch rotation, and the horizontal rotation and the pitch rotation rotate in a linkage manner to determine the attitude angle of the water cannon body (10);
meanwhile, the water pump controller controls the water pump to rotate, and the water flow and the pressure entering the water cannon body (10) are adjusted by controlling the power and the rotating speed of the water pump;
after a water column sprayed by the gun nozzle (13) falls, the photoelectric tracker captures the falling point position information of the water column, feeds the falling point position information back to the first controller for error compensation, and sends corrected angle control information through the second controller to reduce the falling point error of the water column;
the control system assembly controls the falling point of the water column by controlling the flow rate and pressure of the water pump and the attitude angle of the gun nozzle (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525832.1A CN114452576A (en) | 2021-12-14 | 2021-12-14 | Electric water cannon and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111525832.1A CN114452576A (en) | 2021-12-14 | 2021-12-14 | Electric water cannon and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114452576A true CN114452576A (en) | 2022-05-10 |
Family
ID=81406379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111525832.1A Pending CN114452576A (en) | 2021-12-14 | 2021-12-14 | Electric water cannon and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114452576A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09299499A (en) * | 1996-05-13 | 1997-11-25 | Nohmi Bosai Ltd | Robot for fire |
| CN102423529A (en) * | 2011-12-19 | 2012-04-25 | 西安瑞金源能源科技有限责任公司 | Wind speed/direction adapting system in automatic-tracking fire extinguishing system |
| CN203886068U (en) * | 2014-06-05 | 2014-10-22 | 建湖永佳机械有限公司 | Automatic-addressing fire-fighting monitor capable of increasing range |
| CN105126280A (en) * | 2014-06-05 | 2015-12-09 | 建湖永佳机械有限公司 | Rotation precision improving electric control fire water monitor |
| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
| CN208130279U (en) * | 2018-02-27 | 2018-11-23 | 广州市禹成消防科技有限公司 | Modified fire water monitor |
-
2021
- 2021-12-14 CN CN202111525832.1A patent/CN114452576A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09299499A (en) * | 1996-05-13 | 1997-11-25 | Nohmi Bosai Ltd | Robot for fire |
| CN102423529A (en) * | 2011-12-19 | 2012-04-25 | 西安瑞金源能源科技有限责任公司 | Wind speed/direction adapting system in automatic-tracking fire extinguishing system |
| CN203886068U (en) * | 2014-06-05 | 2014-10-22 | 建湖永佳机械有限公司 | Automatic-addressing fire-fighting monitor capable of increasing range |
| CN105126280A (en) * | 2014-06-05 | 2015-12-09 | 建湖永佳机械有限公司 | Rotation precision improving electric control fire water monitor |
| CN107899166A (en) * | 2017-12-07 | 2018-04-13 | 南京航空航天大学 | Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot |
| CN208130279U (en) * | 2018-02-27 | 2018-11-23 | 广州市禹成消防科技有限公司 | Modified fire water monitor |
Non-Patent Citations (2)
| Title |
|---|
| 中华人民共和国公安部消防局, 北京理工大学出版社 * |
| 李宏才: "《装甲车辆构造与原理-MECHANICAL AND PRINCIPLE OF ARMORED VEHICLES》", 31 December 2016, 北京理工大学出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110171259B (en) | Full-vector nozzle structure and vector water jet propulsion control method | |
| CN108202185B (en) | Tube-tube intersecting line weld joint tracking method based on double sensing modes | |
| CN102606786A (en) | Electric-hydraulic valve as well as control device and control method thereof | |
| CN114452576A (en) | Electric water cannon and control method thereof | |
| CN113439524A (en) | Household mowing robot and system based on single-line laser radar automatic lifting device and image building method | |
| CN114576464B (en) | Self-adaptive intelligent pipeline robot and intermittent circulating driving method | |
| CN104820462B (en) | A kind of photovoltaic battery panel maximum power point tracking device and tracking thereof | |
| CN2900632Y (en) | Electromechanical integrated digging machine | |
| US11498224B1 (en) | Fully automatic intelligent spraying robot | |
| CN108382532A (en) | A kind of waters robot assisted turning device and application method | |
| CN110562084A (en) | motion control system and method for telescopic swing arm type charging mechanism | |
| CN114568254A (en) | Water-saving irrigation end flow adjusting, measuring and remote control device | |
| CN113991289A (en) | High-stability control method based on motion of satellite antenna driving mechanism | |
| CN107100784B (en) | Intelligent regulation control system for lifting and steering of wave power generation platform | |
| CN208453942U (en) | A kind of multi-trace electric cam pick and place machine tool hand | |
| CN109683623B (en) | Control system and method for correcting pipeline crawler operation by using attitude sensor | |
| CN202441957U (en) | Electric hydraulic valve control device and electric hydraulic valve and engineering machinery | |
| CN115559831B (en) | Pre-deflection angle adjusting system and method for flexible spray pipe of rocket engine | |
| CN112422184A (en) | Rotation control method and device of coarse pointing device for space optical communication | |
| CN220809136U (en) | Self-adaptive electronic differential control system, automobile and robot | |
| CN102874172B (en) | Control method and control device for adaptive front-lighting system (AFS) actuator | |
| CN114372322B (en) | Parameter type selection method for power system of electric water cannon | |
| CN109542122B (en) | Heliostat rotation control method and system | |
| CN108155864A (en) | A kind of intelligence sun tracking system | |
| CN218364765U (en) | Mechanical arm motion trail tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220510 |
|
| RJ01 | Rejection of invention patent application after publication |