33results about How to "Avoid excessive aging" patented technology

The invention discloses a double-core high-speed four-wheel miniature micro-mouse sprint controller, and the controller comprises a mainboard, a battery, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a triaxial accelerometer A1, and a vacuum device, wherein the battery, the first sensor S1, the second sensor S2, the third sensor S5, the fourth sensor S6, the first motor X, the second motor Y, the third motor R, the fourth motor Z, the fifth motor M, the three-axis gyroscope G1, the triaxial accelerometer A1 and the vacuum device are all disposed on the mainboard. After the above structure is employed, the controller improves the operation speed, continuously monitor and calculate the operation state of a miniature micro-mouse, employs four sensors for detection, reduces the interference, can accurately monitor the surroundings, can correct a movement posture according to the operation state, can distribute torque again, enables more torque to be distributed to a driving wheel which does not stall, enables a system to get off from a unstable state, can automatically adjust the capability of a vacuum device for absorbing the ground, and completely eliminates the slipping when the miniature micro-mouse sprints in a complex labyrinth at a high speed.

The present invention belongs to the technical field of unmanned driving, and discloses a multi-sensor fusion high-speed unmanned vehicle detection obstacle avoidance system. The system comprises a control system, a roof laser radar, a vehicle binocular vision camera, a front laser radar set and a rear laser radar set. The roof laser radar is configured to detect an up-and-down condition of a roadat front of an unmanned vehicle, and the roof laser radar and the front laser radar set are configured to detect a barrier condition in a motion path at front of the unmanned vehicle; the front laserradar set is configured to detect the barrier conditions in motion paths at left front and right front of the unmanned vehicle; the rear laser radar set is configured to detect a barrier condition behind the unmanned vehicle; the vehicle binocular vision camera is configured to identify marks at front of the unmanned vehicle, and the vehicle binocular vision camera, the roof laser radar and the front laser radar set cooperatively detect the barrier condition; and the control system comprises an upper computer and a lower computer, and the lower computer is a dual-core controller formed by anFPGA and an ARM. The system provided by the invention is low in price, relatively high in cost performance and high in practicality.

The invention discloses a five-axis medium-low speed full-automatic dispensing robot servo controller. The servo controller comprises a singlechip, a plurality of LM 629 chips, a plurality of motor drivers and a plurality of high-speed direct current motors, wherein the singlechip is in communication connection with the LM 629 chips; the LM 629 chips transmit control signals to the motor drivers; the motor drivers drive the high-speed direct current motors; and the singlechip comprises an image acquisition and processing module. According to the invention, a dual-core processor is formed on the basis of the singlechip and the LM 629 chips, so as to release the singlechip out of heavy workload, thereby enhancing capacity of resisting disturbance greatly.

The invention belongs to the technical field of unmanned driving and discloses a multiple sensor-integrated medium-speed unmanned vehicle detection and obstacle avoidance system, which comprises a control system, a vehicle roof laser radar, a vehicle-mounted monocular vision camera, a front laser radar group and a rear laser radar group, wherein the vehicle roof laser radar is used for detecting ups and downs of a road in front of the unmanned vehicle and together with the front laser radar group, detecting the obstacle condition in a front motion path of the unmanned vehicle; the front laserradar group is also used for detecting the obstacle condition in a left front motion path and a right front motion path of the unmanned vehicle; the rear laser radar group is used for detecting the obstacle condition in the rear side of the unmanned vehicle; the vehicle-mounted monocular vision camera is used for recognizing a sign in front of the unmanned vehicle and together with the vehicle roof laser radar and the front laser radar group in match, detecting the obstacle condition; and the control system comprises an upper computer and a lower computer; and the lower computer is a dual-corecontroller formed by an FPGA and an ARM. The price is low, the cost performance is relatively high, and the practicability is strong.

The invention discloses a double-core high-speed four-wheeled picomouse full digital navigation servo controller, comprising a mainboard, and a cell, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a three-axis accelerometer A1, a vacuum device, etc. which are all arranged on the mainboard. By employing the structure of the invention, the controller obtains an increased operation speed, and can monitor and calculates running states of a picomouse in real time; through four sensors, interferences can be reduced, and meanwhile peripheral environments can be accurately monitored; besides, the controller can correct motion postures according to running states, redistribute torques, and distribute more torques to nonstall driving wheels so as to get a system out of an unstable state rapidly, automatically regulate the ground absorption capability of the vacuum device, and completely eliminate the skidding of the picomouse in complex labyrinth navigation.

The invention belongs to the technical field of unmanned driving and discloses a multi-sensor fusion quick unmanned vehicle detection obstacle avoidance system. The system comprises a control system,vehicle roof laser radar, a vehicle-mounted monocular vision camera, a front laser radar set and a rear laser radar set, and the vehicle roof laser radar is used for detecting the fluctuation of a front road of an unmanned vehicle and detecting the obstacle condition in a front motion route of the unmanned vehicle together with the front laser radar set; the front laser radar set is further used for detecting the obstacle condition in a left front motion route and a right front motion route of the unmanned vehicle; the rear laser radar set is used for detecting the obstacle condition behind the unmanned vehicle; the vehicle-mounted monocular vision camera is used for recognizing marks in front of the unmanned vehicle and detecting the obstacle condition in cooperation with the vehicle rooflaser radar and the front laser radar set; and the control system comprises an upper computer and a lower computer. The system is low in price, relatively high in cost performance ratio and quite high in practicability.

The invention discloses a single-core low-speed two-wheeled picomouse sprint controller, comprising an STM32F4 controller, an L6207D chip, a cell, a first sensor, a second sensor, a third sensor, a fourth sensor, a gyroscope, a first motor, a second motor, a third motor, a current sensor and a vacuum apparatus. The STM32F4 controller and the L6207D chip are in signal connection; the signal emission direction of two sensors is the same with a wheel running direction, and the signal emission direction of the other two sensors and the wheel running direction form a certain angle; the gyroscope and the STM32F4 controller are in signal emission; two motors among the three motors are respectively in corresponding connection with two wheels of a two-wheeled picomouse, and the other motor is in connection with the vacuum apparatus. The controller increases an operation speed, constantly monitors and calculates running states of the picomouse, automatically regulates the ground adsorption capability of the vacuum apparatus, and completely avoids the skidding of the picomouse when sprinting with a high speed in a complex labyrinth.

The invention discloses a single-core low-speed six-wheeled picomouse exploration controller, comprising a cell, a first sensor, a second sensor, a third sensor, a fourth sensor, a gyroscope, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a direction sensor, an accelerometer, a vacuum apparatus, an STM32F407 controller, seven MX118 chips, etc. The controller increases an operation speed, and constantly monitors and calculates running states of a picomouse; four sensors are employed for detection, which reduce interference, and meanwhile accurately monitor peripheral environments; according to the running states, the controller can correct moving postures, redistribute torques, and distribute more torques to a nonstall driving wheel so as to allow a system to rapidly get out of an unstable state; in addition, the controller can automatically regulate the ground adsorption capability of the vacuum apparatus, and completely avoid the skidding of the picomouse when performing exploration with a high speed and sprinting in a complex labyrinth.

The invention discloses a single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller, and the controller comprises a battery, a first sensor, a second sensor, a third sensor, a fourth sensor, a gyro, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a direction sensor, a gyro, an accelerometer, a vacuum device STM32F407 controller, and a seven-piece MX118 chip. After the above structure is employed, the controller improves the operation speed, achieves the continuous monitoring and calculation of the operation states of a miniature micro-mouse, employs four sensors for detection, reduces the interference, also can accurately monitor the surroundings, can correct the motion posture according to the operation states, can distribute torque again, enables more torque to be distributed to driving wheels which do not lose speed, enables a system to quickly get out of an unstable state, automatically adjusts the capability of a vacuum device for absorbing the ground, and completely eliminates the slipping phenomena of the miniature micro-mouse in a complex labyrinth during exploration and sprinting.

The invention discloses a double-core intermediate speed four-wheel mini mouse exploration device, comprising a main board, and a battery, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a three-axis accelerometer A1, and a vacuum device, which are installed on the main board. Through above arrangement, the double-core intermediate speed four-wheel mini mouse full-digital navigation servo system controller can perform monitoring and operation on the mini mouse operation state all the time, and utilizes four sensors to detect, which reduces the interference and accurately monitors the surrounding environment. Besides, the invention corrects the moving posture according to the moving state, anew distributes torque and distributes more torques to the driving wheel which is not in stall, enables the system to quickly get out of the unstable state and automatically regulates the absorption of the vacuum device to the ground and completely eliminates the slipping of the mini mouse exploring in the complicated maze.

The invention discloses a single-core low-speed four-wheel mini mouse sprint controller, comprising a battery device, a sensor device, a gyroscope device, a vacuum suction device and a control unit module; a pair of the four wheels of the mini mouse is positioned in the middle of the mini mouse, and the other pair is arranged on the tail part of the mini mouse; the gyroscope device comprises a gyroscope G1 and a speedometer A1; the gyroscope G1 is a three shaft gyroscope which is used for measuring movement of three rotation directions; and the speedometer A1 is a three-shaft speedometer used for measuring accelerated speed of three translational motions. The invention solves the slipping of the mini mouse during the walking through the vacuum suction device arranged under a chassis, and automatically adjusts the servo control of the vacuum suction DC motor M according to the marching speed of the mini mouse and the ground situation, so that the mini mouse is not limited to the ground situation of the maze.

The invention discloses a single-core low-speed four-wheel mini mouse exploration controller, comprising a battery device, a sensor device, a gyroscope device, a vacuum suction device and a control unit module; a pair of the four wheels of the mini mouse is positioned in the middle of the mini mouse, and the other pair is arranged on the tail part of the mini mouse; the gyroscope device comprises a gyroscope G1 and a speedometer A1; the gyroscope G1 is a three shaft gyroscope which is used for measuring movement of three rotation directions; and the speedometer A1 is a three-shaft speedometer used for measuring accelerated speed of three translational motions. The invention solves the slipping of the mini mouse during the walking through the vacuum suction device arranged under a chassis, and automatically adjusts the servo control of the vacuum suction DC motor M according to the marching speed of the mini mouse and the ground situation, so that the mini mouse is not limited to the ground situation of the maze.

The invention discloses a double-core high-speed four-wheel mini mouse controller, comprising a main board, and a battery, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a three-axis accelerometer A1 and a vacuum device, which are installed on the main board. Through above arrangement, the double-core high-speed four-wheel mini mouse controller can perform monitoring and operation on the mini mouse operation state all the time, and utilizes four sensors to detect, which reduces the interference and accurately monitors the surrounding environment. Besides, the invention corrects the moving posture according to the moving state, anew distributes torque and distributes more torques to the driving wheel which is not in stall, enables the system to quickly get out of the unstable state and automatically regulates the absorption of the vacuum device to the ground and completely eliminates the slipping of the mini mouse exploring in the complicated maze.

The invention belongs to the technical field of unmanned driving and discloses a multi-sensor-fused low-speed unmanned vehicle detecting obstacle avoidance system. The multi-sensor-fused low-speed unmanned vehicle obstacle avoidance system comprises a control system and a vehicle roof laser radar and further comprises a front laser radar set and a back laser radar set which are configured on the lower portion of an unmanned vehicle body. The vehicle roof laser radar is used for detecting fluctuation of a road in front of an unmanned vehicle and detecting the condition of obstacles in a movement path in front of the unmanned vehicle with the front laser radar set. The front laser radar set is further used for detecting the condition of obstacles in a front left movement path and a front right movement path of the unmanned vehicle. The back laser radar set is used for detecting the condition of obstacles behind the unmanned vehicle. The control system comprises an upper computer and a lower computer, the upper computer receives feedback signals of all the laser radars in real time, conducts decoding, then communicates with the lower computer and transmits input control signals to thelower computer, and the lower computer decodes the input control signals to control travelling of the unmanned vehicle. The multi-sensor-fused low-speed unmanned vehicle obstacle avoidance system islow in price, relatively high in cost performance, and very high in practicability.

The invention discloses a three-axis medium-low speed full-automatic dispensing robot servo controller. The servo controller comprises a singlechip, a first LM 629 chip, a second LM 629 chip, a third LM 629 chip, a first motor driver, a second motor driver, a third motor driver, a first high-speed direct current motor, a second high-speed direct current motor and a third high-speed direct current motor, wherein the singlechip is in communication connection with the first LM 629 chip, the second LM 629 chip and the third LM 629 chip respectively; the LM 629 chips transmit control signals to the motor drivers; the motor drivers drive the high-speed direct current motors; and the singlechip comprises an image acquisition and processing module. According to the invention, a dual-core processor is formed on the basis of the singlechip and the LM 629 chips, so as to release the singlechip out of heavy workload, thereby enhancing capacity of resisting disturbance greatly.

The invention discloses a double-core high-speed two-wheeled picomouse exploration controller, comprising a sensor device, a gyroscope device G, a vacuum suction device and a control unit module; the sensor device and the gyroscope device are both in signal connection with the control unit module; the control unit module is respectively in signal connection with motors X, Y and M. The controller solves the problem of skidding of a picomouse in walking through the vacuum suction device arranged under a chassis, and meanwhile automatically regulates the servo control of a vacuum suction direct current motor M according to the walking speed of the picomouse and ground conditions, thereby preventing the picomouse from being bound to labyrinth ground road conditions.

The invention discloses a four-shaft intermediate and low speed full-automatic dispensing robot servo controller, which comprises a single chip microcomputer, a first LM629 chip, a second LM629 chip, a third LM629 chip, a fourth LM629 chip, a first motor driver, a second motor driver, a third motor driver, a fourth motor driver, a first high-speed direct-current motor, a second high-speed direct-current motor, a third high-speed direct-current motor and a fourth high-speed direct-current motor, wherein the single chip microcomputer is respectively in communication connection with a plurality of LM629 chips; the LM629 chips send a control signal to the motor driver; the motor driver drives the high-speed direct-current motors; and the single chip microcomputer comprises an image acquisition and treatment module. According to the four-shaft intermediate and low speed full-automatic dispensing robot servo controller disclosed by the invention, when a double-core processor based on the single chip microcomputer+LM629, the single chip microcomputer is liberated from heavy workload, and the anti-jamming capability is greatly enhanced.

The invention relates to the technical field of aquaculture, in particular to a method for improving water quality in aquaculture, which comprises the following steps: S1, crushing a water quality modifier, adding sweet potato starch and water, uniformly mixing, putting into an extruder, extruding, and preparing into spherical water quality improving balls by a rounding machine; and s2, uniformly throwing water quality improving balls into water once every 15 days, wherein the throwing dosage is 1-2.3 kg / 1m water depth per mu of water surface; wherein the water quality improver is prepared from the following raw materials in parts by weight: 25 to 35 parts of EM bacteria, 20 to 25 parts of probiotic, 25 to 30 parts of bacillus subtilis, 15 to 25 parts of faecalis coccus, 10 to 15 parts of an algae growth accelerant, 10 to 12 parts of a compound oxygen supply agent, 10 to 20 parts of a heavy metal adsorbent and 10 to 12 parts of a photosynthesis accelerant. According to the present invention, the surface tension of the water body can be reduced, the oxygen absorption capacity of the water body can be improved, the excessive aging of algae in the water can be prevented, and the photosynthetic efficiency of aquaculture can be improved.

The invention discloses a fast exploration controller based on a dual-core four-wheel microcomputer mouse. The exploration controller includes an FPGA processor, an ARM processor, a voltage sensor, a photoelectric compensation sensor, at least six barrier sensors and four motion control systems. , the FPGA processor is electrically connected to each of the motion control systems, and the ARM processor is respectively electrically connected to the voltage sensor, the photoelectric compensation sensor and each barrier sensor. Through the above method, the present invention uses dual-core cooperative work to process data at the same time, and the calculation speed is fast, which avoids the generation of large current; the four-wheel drive structure is adopted, and the required torque can be distributed in different proportions according to the different conditions of the maze ground and the surrounding environment. All front and rear wheels are convenient to turn and have good stability, which improves the driving ability of the microcomputer mouse.

The invention discloses a single-core low-speed four-wheel little mouse full-digital navigation servo controller comprising a chassis. A battery device, a sensor device, a gyroscope device, a vacuum suction device and a control unit module are arranged on the chassis. Two pairs of moving wheels are connected at the two sides of the chassis. One pair of the moving wheels are arranged at the middle part of the chassis, and the other pair of the moving wheels are arranged at the tail part of the chassis. The gyroscope device comprises a gyroscope G1 and an accelerometer A1. The gyroscope G1 is a triaxial gyroscope which is used for measuring movement of three rotating directions. The accelerometer A1 is a triaxial accelerometer which is used for measuring acceleration of three translational movements. The phenomenon of slipping of the little mouse in navigation can be solved by the vacuum suction device arranged below the chassis. Meanwhile, servo control of a vacuum suction DC motor M can be automatically adjusted according to advancing speed of the little mouse and the ground conditions so that the little mouse is enabled not to be limited by the ground conditions of a maze.

The invention discloses a double-core high-speed two-wheeled picomouse full digital navigation servo controller, comprising a chassis provided with a cell device, a sensor device, a gyroscope device G, a vacuum suction device and a control unit module; two sides of the chassis are in connection with motion wheels. The controller solves the problem of skidding of a picomouse in walking through the vacuum suction device arranged under the chassis, and meanwhile automatically regulates the servo control of a vacuum suction direct current motor M according to the walking speed of the picomouse and ground conditions, thereby preventing the picomouse from being bound to labyrinth ground road conditions.

The invention discloses a preparation method of rapeseed oil with high anti-freezing property. The method is characterized by comprising the following steps: (1) removing impurities of raw materials, specifically, using a filter screen and an electromagnetic vibrating screen to remove light and metal impurities in a mixture; (2) frying, specifically, frying the rapeseed mixture by means of microwave heating, and then carrying out micronizing treatment on the fried rapeseed mixture; (3) carrying out enzymolysis, specifically, adding mixed enzyme a and mixed enzyme b into rapeseed mixed powder, and carrying out enzymolysis at constant temperature; (4) steaming the obtained material, specifically, steaming the molded rapeseed cake at the low temperature and the high temperature; (5) extracting, specifically, carrying out squeezing extraction on the rapeseed cake in a vertical squeezer, and then soaking the squeezed rapeseed cake in 95% ethanol for extracting; (6) curing for storing, specifically, storing the extracted rapeseed oil for 2-3 days at the temperature of 9-13 DEG C, and curing. The preparation method of the rapeseed oil can effectively improve the anti-freezing property of rapeseeds, increases the rapeseed oil extraction rate by 12.33%, and reduces the processing cost of the rapeseed oil by 17.3%.

The invention discloses a fast sprint controller of a four-wheel micro-mouse based on dual processors. The fast sprint controller comprises a master control unit, four moving control units and a power source, and the master control unit is electrically connected with the power source. The master control unit comprises an ARM processor and an FPGA processor, the ARM processor is electrically connected with the FPGA processor to output a control signal to the FPGA processor so that the working or stopping of the FPGA processor can be controlled. The FPGA processor is further electrically connected with each moving control unit. The two processors are adopted to process data cooperatively at the same time, the computing speed is high, the production of a large current is avoided, and a lithium ion battery is prevented from being excessively aged; the four-wheel drive structure is adopted, therefore, needed torque can be distributed to front wheels and back wheels according to different proportions based on different labyrinth grounds and surrounding environment states, the turning is convenient to conduct, the stability is good, and the running ability of the micro-mouse is improved.

The invention relates to a method for operating a battery (1) of a parked motor vehicle (2), comprising the following steps: determining an operating state of the motor vehicle (2), determining a current state of charge of the battery (1) when the operating state of the motor vehicle (2) is a parked state, determining a first upper state of charge limit of the battery (1), and determining a second upper state of charge limit of the battery (1) when the current state of charge is greater than the first upper state of charge limit. A first active reduction of the state of charge of the battery (1) is determined, a second upper state-of-charge limit of the battery (1) is determined, and the first active reduction of the state of charge is terminated when the battery (1) is below the second upper state-of-charge limit. The invention further relates to a motor vehicle (2).

The invention discloses a two-axis medium-low full-automatic dispensing robot servo controller comprising a singlechip, a first LM629 chip, a second LM629 chip, a first motor driver, a second motor driver, a first high-speed direct-current motor and a second high-speed direct-current motor, wherein the singlechip is respectively in communication link with the first LM629 chip and the second LM629 chip, the first LM629 chip sends out a control signal to the first motor driver, the second LM629 chip sends out a control signal to the second motor driver, the first motor driver drives the first high-speed direct-current motor, the second motor driver drives the second high-speed direct-current motor, and the singlechip comprises an image acquisition and processing module. According to the two-axis medium-low full-automatic dispensing robot servo controller disclosed by the invention, a singlechip-LM629 based dual-core processor is formed, so that the singlechip is free from heavy workload, therefore the capacity of resisting disturbance is greatly enhanced.

The invention discloses a single-core low-speed six-wheeled picomouse sprint controller, comprising a cell, a first sensor, a second sensor, a third sensor, a fourth sensor, a gyroscope, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a direction sensor, an accelerometer, a vacuum apparatus, an STM32F407 controller, seven MX118 chips, etc. The controller increases an operation speed, and constantly monitors and calculates running states of a picomouse; four sensors are employed for detection, which reduce interference, and meanwhile accurately monitor peripheral environments; according to the running states, the controller can correct moving postures, redistribute torques, and distribute more torques to a nonstall driving wheel so as to allow a system to rapidly get out of an unstable state; in addition, the controller can automatically regulate the ground adsorption capability of the vacuum apparatus, and completely avoid the skidding of the picomouse when sprinting with a high speed in a complex labyrinth.

The invention discloses a double-core high-speed six-wheel mini mouse exploration controller, comprising a sensor device, an auxiliary navigation device, a vacuum suction device and a control unit module; the sensor device and the gyroscope device are in signal connection with the control unit module; the control unit module is in signal connection with motors X,Y,Z,R,U,W and M; the motor X and the motor Y are arranged on two sides of the middle part; the motor Z and the motor R are arranged on two sides of the tail part; the motor U and the motor W are arranged on two sides of the head part; the motor M is positioned on the middle-upper part of the tail part; and the auxiliary navigation device comprises a direction sensor D1, a gyroscope G1 and an accelerometer A1. The vacuum suction device arranged under the chassis of the double-core high speed two-wheel mini mouse spurting controller solves the slipping problem of the mini mouse during the walk, and the servo control of the vacuum suction DC motor M is automatically controlled according to the marching speed of the mini mouse and the ground situation in order to make the mini mouse not limited to the ground condition of the maze.

The invention discloses a Double-core intermediate speed four-wheel mini mouse spurting controller, comprising a main board, and a battery, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a three-axis accelerometer A1, and a vacuum device, which are arranged on the main board. Through above arrangement, the double-core high-speed four-wheel mini mouse controller can perform monitoring and operation on the mini mouse operation state all the time, and utilizes four sensors to detect, which reduces the interference and accurately monitors the surrounding environment. Besides, the invention corrects the moving posture according to the moving state, anew distributes torque and distributes more torques to the driving wheel which is not in stall, enables the system to quickly get out of the unstable state and automatically regulates the absorption of the vacuum device to the ground and completely eliminates the slipping of the mini mouse exploring in the complicated maze.

The invention discloses a five-axis medium-low speed full-automatic dispensing robot servo controller. The servo controller comprises a singlechip, a plurality of LM 629 chips, a plurality of motor drivers and a plurality of high-speed direct current motors, wherein the singlechip is in communication connection with the LM 629 chips; the LM 629 chips transmit control signals to the motor drivers; the motor drivers drive the high-speed direct current motors; and the singlechip comprises an image acquisition and processing module. According to the invention, a dual-core processor is formed on the basis of the singlechip and the LM 629 chips, so as to release the singlechip out of heavy workload, thereby enhancing capacity of resisting disturbance greatly.

The invention relates to the technical field of aquaculture water quality improvement, in particular to a particle floating water-improving agent for aquaculture and a production process thereof, which can effectively control the propagation of algae and macrozooplankton in a water body, reduce the aging turbidity of the water body and improve the light transmittance of the water body so as to facilitate photosynthesis of phytoplankton and further improve the oxygen content in the water body. The particle floating water-improving agent comprises the following raw materials in parts by weight:10-14 parts of a coagulant, 5-9 parts of a coagulant aid, 45-50 parts of coconut shell activated carbon, 5-10 parts of a binder, 1 to 2 parts of abamectin, 1 to 2 parts of ivermectin, 0.01 to 0.02 part of a disinfectant, 0.6-1 part of Photosynthetic bacteria, and 0.2 to 0.8 part of bacillus. The production process comprises the following steps of: S1, preparing a disinfectant, S2, preparing a binder, S3, mixing the materials, S4, mixing and kneading treatment, S5, particle forming, S6, carrying out carbonization treatment, S7, preparing immersion liquid, S8, preparing coating powder, S9, soaking and coating treatment, and S10, airing and sub-packaging.