46results about How to "Fast control response" patented technology

The invention relates to the technical field of intelligent power grids, in particular to a grid-connected control method for an improved RBF (Radial Basis Function) network construction type converter with active support capability. The method comprises the following steps: firstly, taking a group of initial values in a VSG system virtual inertia and equivalent damping coefficient parameter value range; determining an initial angular frequency according to the initial value and a swing equation; a VSG secondary control system is improved, an improved phase self-tracking pre-synchronization method without a phase-locked loop is added, a voltage deviation signal is responded, a frequency phase is compensated, and the rotational inertia and the damping coefficient of the system are adjusted in real time to respond to the change of the system state. According to the neural network, the virtual inertia, the damping coefficient and the angular velocity compensation amount are adaptively adjusted, and whether parameters accord with criteria is compared, so that the input parameters are corrected, the influence of disturbance on the system frequency and the output active power is reduced, the dynamic response process of the system is improved, and the stability of the system is improved. And system output power distribution errors and overshoot caused by a rotor motion equation are reduced.

The invention discloses a stability control method and device for an electric energy quality control system. The method is characterized by comprising the following steps: extracting characteristic parameters of acquired three-phase data of a power grid, and determining system state characteristic data; performing system compensation parameter estimation on the power quality compensation system according to the system state characteristic data and the power grid three-phase data, and determining system compensation parameter estimation data; determining an optimal control parameter according to the system state characteristic data and the system compensation parameter estimation data; performing system control prediction on the power quality compensation system according to the system compensation parameter estimation data, and determining a real-time control quantity of the power quality compensation system; performing control operation on the electric energy quality compensation system according to the real-time control quantity, and determining a control operation result; and optimizing the optimal control parameter based on the control operation result to obtain a target control parameter, and determining a target compensation current instruction according to the target control parameter. Efficient control is achieved, and economical efficiency, energy efficiency and reliability are met.

The invention provides an adsorption module and a motion system, and relates to the technical field of precision equipment. The adsorption module comprises an adsorption substrate, a rotating base, a rotating shaft module, a wafer bearing table and a suction cup. The rotating base is fixedly connected with the adsorption substrate, and the rotating shaft module can rotate relative to the rotating base; the rotating shaft module can move in the axial direction of the rotating shaft module relative to the rotating base; the rotating shaft module is configured to be connected with the suction cup or the rotating base in an air pressure connection mode. The wafer bearing table is configured to be capable of adsorbing the suction cup or supporting the suction cup in an air floatation mode.

The humanoid dexterous finger comprises a single-finger base, a fingertip, a first knuckle and a second knuckle, the fingertip, the first knuckle and the second knuckle are sequentially hinged from top to bottom, the bottom end of the second knuckle is rotationally connected with the single-finger base through a swing part, and the rotating plane, relative to the swing part, of the second knuckle is not parallel to the rotating plane, relative to the single-finger base, of the swing part; the fingertips, the first knuckles and the second knuckles are respectively connected with at least one group of connecting rod driving mechanisms for driving the fingertips, the first knuckles and the second knuckles to independently act; each connecting rod driving mechanism comprises a main connecting rod and a driving assembly driving the main connecting rod to move, each driving assembly comprises a power piece, and the power pieces drive the connecting seats to slide back and forth along the sliding rails through pull ropes. The humanoid dexterous hand comprises a palm and the humanoid dexterous finger which is arranged on the palm and adopts the scheme. The humanoid robot adopts the humanoid dexterous hand. The dexterous finger has four active degrees of freedom and higher response speed, and hand actions closer to a real person are realized.

The invention relates to the technical field of inertia support of a new energy power system, and particularly discloses a power grid inertia support method and system based on a double-shaft excitation phase modifier, and the method comprises the steps: obtaining the frequency and voltage of a key node of a power grid through a phase-locked loop; determining a transient frequency stability evaluation index according to the rated power of the power grid, the frequency of the key node, the longest duration of the frequency in each frequency band and the weight coefficient; determining a system frequency condition according to the frequency of the key node and a transient frequency stability evaluation index; when the frequency condition of the system is unstable, controlling the double-shaft excitation phase modifier to emit or absorb active power to the power grid until the frequency condition of the system is stable, and absorbing or emitting the active power from the power grid through the frequency double-shaft excitation phase modifier, so that the rotating speed of the motor is recovered to the synchronous speed; and when the system frequency condition is stable, the double-shaft excitation phase modifier is controlled to send reactive power to the power grid or absorb reactive power.

The invention discloses a magnetic type controllable slip ring suitable for a matrix motor. The magnetic type controllable slip ring comprises a static module, a magnetic module and a rotating module. The static module comprises a signal wire, a power inlet wire, a power outlet wire, a base, a connecting rod and brush wires. The magnetic attraction module comprises an iron core, an electromagnetic coil, a reset spring, an armature and an iron core support. The rotating module comprises a slip ring rotor and a guide rail. The signal line is connected with the electromagnetic coil, electromagnetic force is generated through current, the armature is attracted to drive the connecting rod and the brush wires to rotate, the reset spring can enable the connecting rod to return to the initial position after power failure, and the contact state of the brush wires and the sliding ring is changed. The simple magnetic suction module is adopted, the working state of the slip ring is rapidly, accurately and efficiently controlled, the service life of the slip ring and the motor is prolonged, and the reliability of the slip ring and the motor is improved.

This application discloses an intelligent reflective surface and a covert communication system, belonging to the field of wireless communication technology. The intelligent reflective surface includes multiple intelligent reflective surface units arranged in an array; each intelligent reflective surface unit includes: a first substrate, a second substrate, and a third substrate; a metal patch and a varactor diode, located on the side of the third substrate opposite to the second substrate; the metal patch includes a first patch and a second patch, and the varactor diode is located between the first patch and the second patch, with its negative and positive terminals electrically connected to the first patch and the second patch, respectively; a metal ground plane, located between the first substrate and the second substrate; a first bias line and a second bias line, located on the side of the first substrate opposite to the second substrate; the first bias line is electrically connected to the metal ground plane and the first patch, respectively, and the second bias line is electrically connected to the second patch. This application can achieve precise control of electromagnetic waves, reduce electromagnetic energy loss, improve energy transmission efficiency, suppress electromagnetic wave leakage, and improve communication covertness.

The invention discloses an underwater vehicle control method based on a sub-S-plane controller. The method comprises the following steps: 1) obtaining the deviation of each degree of freedom of an underwater vehicle as the input of the controller; wherein the degrees of freedom comprise the longitudinal direction, the transverse direction, the vertical direction, the trim direction and the heading direction; 2) constructing a controller based on a sub-S surface; and 3) according to the output of the controller, longitudinal, transverse, vertical, trim and heading control of the underwater vehicle is realized. According to the invention, a classic sigmoid function is replaced by a designed sub-S-type function, so that the control response of the controller is improved, and high-precision motion control is realized.

The invention relates to the technical field of semiconductor lasers, in particular to a semiconductor laser driving circuit which comprises an upper computer, a controller internal module, a constant-current driving circuit and a constant-temperature driving circuit. The upper computer is connected with the controller internal module, the controller internal module is respectively connected with the constant-current driving circuit and the constant-temperature driving circuit, and the constant-current driving circuit and the constant-temperature driving circuit are both connected with the semiconductor laser; the controller internal module comprises a fault detection and identification module, and the fault detection and identification module is connected with the constant-current driving circuit and the constant-temperature driving circuit; and the fault detection and identification module is used for monitoring the constant-current driving circuit and the constant-temperature driving circuit in real time, feeding back monitoring information and displaying the monitoring information to the upper computer. The laser driving circuit has the functions of automatic disconnection, fault early warning and fault prompting, can quickly position a problem and cut off a power supply when a fault occurs, improves the maintenance efficiency, can immediately cut off the power supply of the laser when the circuit fails, and improves the safety of the laser.

The present invention discloses a method for suppressing motor oscillation of an asynchronous motor VF control, comprising the following steps: a frequency converter samples three-phase output current, obtains instantaneous reactive current of the asynchronous motor, extracts reactive current oscillation components, outputs an oscillation suppression calculation angle, and then outputs an oscillation suppression adjustment angle; at the same time, the frequency converter samples bus voltage, obtains bus voltage variation, and then outputs an oscillation suppression adjustment voltage; finally, the oscillation suppression adjustment angle and the frequency instruction are calculated by a second angle integrator to obtain an angle, and the oscillation suppression adjustment voltage and the frequency instruction are calculated by a VF curve calculation unit to obtain an output voltage, which is used for SVPWM modulation output. The present invention simultaneously detects the output current and bus voltage, adds an adjustment angle output controller and a universal adjustment unit, effectively speeds up the control response, realizes the optimal control adjustment output, and has an obvious suppression effect, which can meet the needs of parameter consistency for asynchronous motors of different capacities.

The application provides a water purifier backwashing valve structure, which comprises a valve body, two partitions, a valve core assembly and a communication flow channel, and first and second water outlets are formed at two ends of the valve body; the two partitions divide the valve body into a first cavity, a second cavity and a third cavity, the first cavity is provided with a first water inlet and a third water outlet, and the third cavity is provided with a second water inlet; the valve core assembly is slidably arranged in the second cavity, and the communication flow channel is in communication with the third water outlet and the second water inlet. The valve core assembly is slid into the third cavity to isolate the second water inlet from the second water outlet, and the valve core assembly is slid into the first cavity to isolate the first water inlet from the first water outlet. In this way, the water paths of the upper and lower cavities are controlled by the valve core assembly, and compared with the use of two independent valve bodies for controlling the upper and lower cavities respectively, the water purifier backwashing valve structure is compact and ingenious in design, the structure is simplified, the production and manufacturing cost is low, the control response is rapid, and the use is convenient.

The invention provides a video tracking control algorithm, which comprises the following steps of: S1, after an embedded box algorithm program is started, pulling a video stream from a ball machine and identifying a video picture frame by frame; s2, after the recognition algorithm recognizes the target, the coordinates X and Y of the target with the center point of the screen as the original point and the height H and width W of the target are returned; and S3, the current field angle Az of the dome camera is read by the tracking algorithm, and the angle Ap that the dome camera should rotate in the horizontal direction when the target is in the center of the screen is calculated according to the target coordinate X. According to the video tracking control algorithm provided by the invention, through the algorithm deployed at the front-end equipment, the network delay can be eliminated, the video can be analyzed in real time, the identification distance is long, and the accuracy is high; the control response to the video equipment is fast; according to the algorithm, the pitch angle, the azimuth angle and the focal length of the video equipment are controlled through the size and the position of target recognition by the video equipment, so that target tracking is completed.

The application discloses a kind of multi-energy distribution network voltage control methods, comprising the following steps, define local voltage control rule;Analysis distributed power output causes voltage fluctuation upper and lower limit;Build global voltage control function;Algorithm is solved to objective function, the local voltage control rule is acquisition control point voltage u, determine whether to satisfy the following constraint, set the reactive power output of voltage compensation device.The multi-energy distribution network voltage control method, considering the uncertainty fluctuation of distributed power supply, improve the accuracy of voltage fluctuation analysis, formulate the localized voltage adjustment rule and global voltage optimization function, realize passive control and active control combination, reduce fluctuation rate, using interval number to express the uncertainty of distributed power supply, less computing resource demand, control reaction speed is fast.

The utility model discloses an air inlet adjusting mechanism installed on a motorcycle motor, which relates to the field of motorcycle parts, and comprises a motor main body, an inner sleeve column and an adjusting cap, the inner sleeve column adopts a cylindrical structure and is detachably assembled at the front end of the motor main body, the adjusting cap is movably sleeved on the inner sleeve column, and the inner sleeve column is detachably assembled at the front end of the motor main body. A threaded adjusting rod is rotatably installed in the center of the interior of the inner sleeve column, the tail end of the threaded adjusting rod is in transmission connection with an output shaft of the motor body, an inner limiting sleeve column is installed in the center of the interior of the adjusting cap in the axial direction, a threaded hole is formed in the center of the inner limiting sleeve column in the axial direction, and the front end of the threaded adjusting rod is inserted into the threaded hole in a screwed mode. The adjusting cap is controlled by the motor to move, the gap between the adjusting cap and the throttle valve seat is changed, the air inflow of the throttle valve channel of the motorcycle is controlled, the whole control is simple, and the air inflow control response speed is high, and the efficiency is high.

The present invention relates to a rolling robot with an external swing arm. The existing rolling robot has a built-in swing block that generates a small driving torque, insufficient driving force, and a problem of affected control accuracy. The device includes a rotatable shell, a horizontally arranged main shaft is set between the left and right side walls of the shell, the main shaft can rotate relative to the shell, a horizontally arranged secondary shaft is arranged at the center of the main shaft and is perpendicular to the main shaft, the secondary shaft can rotate and rotate with the main shaft, the two ends of the secondary shaft are suspended, and an inner swing block is fixedly suspended below the two ends of the secondary shaft, and the two ends of the main shaft are fixed with an external swing arm arranged outside the shell. The present invention arranges an external swing arm outside the shell to improve the overall driving torque, so that the robot control response speed is improved, and the control accuracy is more stable; the detection device is hung on the external swing arm, which is not only more convenient to disassemble and assemble, but also has a larger detection angle and detection range; the detection device is concentratedly arranged in the middle of the left and right directions on the external swing arm, which is more conducive to the stability of walking and turning.

The invention discloses an air door assembly and a refrigerating system thereof.The air door assembly comprises a driving part and a control part, the driving part comprises a cavity and refrigerants filled in the cavity, one end of the driving part is used for sensing the temperature, and the pressure of the refrigerants is in direct proportion to the temperature; the input end of the transmission mechanism is connected with the other end of the driving part, and the output end of the transmission mechanism is used for being connected with the air door; wherein the driving part drives the transmission mechanism to move under the action of the pressure of the refrigerant in the driving part so as to drive the air door to rotate, so that the cost is reduced and the mounting space is saved while stable control is provided. The invention further provides a refrigerating system.

The embodiment of the utility model provides a distributed liquid cooling energy storage system, and relates to the technical field of energy storage. The distributed liquid cooling energy storage system comprises a plurality of heat management units, a plurality of battery clusters, a liquid supply main pipeline and a liquid return main pipeline, each heat management unit in the plurality of heat management units is used for outputting a first cooling medium to the liquid supply main pipeline and receiving the first cooling medium output by the liquid return main pipeline, and the first cooling medium is used for exchanging heat with the plurality of battery clusters. An evaporator or a condenser in the heat management unit is used for receiving the first cooling medium and exchanging heat with the first cooling medium through the second cooling medium. The distributed liquid cooling energy storage system further comprises a driver, an electric heater, a filter and an expansion water tank. The multiple heat management units and the multiple battery clusters share at least one of the driver, the electric heater, the filter and the expansion water tank. According to the embodiment of the invention, the structure of the thermal management unit can be simplified, the failure rate of the thermal management unit is reduced, and the reliability and maintenance convenience of the thermal management unit are improved.

This invention belongs to the field of intelligent fitness equipment technology, and provides a zoned temperature-controlled therapeutic intelligent yoga mat and its control method. The yoga mat includes: a mat body, which is composed of an antibacterial sensing layer, a zoned heating layer, an intelligent spacing layer, a cushioning layer, and an adjustable friction bottom layer; the zoned heating layer contains multiple independent heating units, corresponding to the abdominal, hand and foot, and spinal areas respectively; an intelligent control module, which independently and precisely controls the temperature of each area based on the different target temperatures set by the user for each independent heating unit through an interactive terminal, combined with feedback from the zoned temperature sensors; the intelligent spacing layer integrates optical guide lines and a pressure sensor array to provide posture reference and sense the center of gravity distribution, providing real-time posture feedback to the user in conjunction with the intelligent control module. This invention solves the problems of existing heated yoga mats, such as single heating mode, lack of interactive guidance, difficulty in adapting to multiple scenarios, and in achieving precise therapeutic effects, thus improving safety, comfort, and exercise effectiveness.

The invention relates to the technical field of baked food production equipment, in particular to a full-automatic cake blank rolling machine which comprises a middle demolding supporting frame, a plurality of step-by-step demolding lifting control parts are arranged on the middle demolding supporting frame and installed on middle turnover equipment capable of turning over the step-by-step demolding lifting control parts by 180 degrees, a cake blank demolding platform is arranged on the middle demolding supporting frame, and a cake blank rolling machine is arranged on the cake blank demolding platform. The equipment comprises a plurality of cake blank fixed containing plates and liftable cake blank movable containing plates which are arranged at intervals, and is further provided with a demoulding auxiliary system which is close to a middle demoulding supporting frame and is used for impacting, vibrating and demoulding cake blanks and synchronously controlling the cake blank movable containing plates to ascend and descend; synchronous cooperative control of impact demolding and cake blank receiving can be achieved, demolding requirements of different bonding force working conditions are met, cake blank demolding damage is effectively avoided, the demolding yield and the production automation degree are greatly improved, meanwhile, demolding disintegrating slag can be collected and discharged in a centralized mode, and the standard requirement for large-scale clean production of baked food is met.

The present invention relates to the field of motor technology, and discloses a motor control method, device and motor system based on current reconstruction, wherein the method comprises obtaining the A-phase current, A-phase and B-phase voltages, and the electrical angle of the rotor of a permanent magnet synchronous motor; reconstructing the B-phase current according to the A-phase current and the rotor electrical angle, and converting the A-phase and B-phase currents and voltages into feedback currents and feedback voltages in a stationary coordinate system respectively; determining the current estimation value at the next moment according to the current estimation value, feedback voltage and back-EMF in the stationary coordinate system at the current moment; the back-EMF at the current moment is determined according to the feedback back-EMF at the current moment and the back-EMF compensation amount, and the back-EMF compensation amount is determined according to the error between the current estimation value and the feedback current. The present invention determines the compensation amount for dynamically adjusting the back-EMF by reconstructing the current and the estimated current, and has high control accuracy, low cost, easy implementation and wide application range for the motor.

This invention belongs to the field of power electronic converter technology, specifically disclosing a direct optimization model predictive control method and system for an MMC-STATCOM system. The method includes: calculating the differential-mode voltage and common-mode voltage between the upper and lower arms of each phase; injecting third harmonic voltage into the upper and lower arms of each phase to obtain the upper and lower arm voltages of the newly added third voltage component for each phase; based on the obtained upper and lower arm voltages of the newly added third voltage component, determining the number of sub-modules to be engaged in each phase's upper and lower arms using a nearest-level approximation modulation strategy; sorting the sub-modules according to the capacitor voltage of each sub-module in the arm; and determining the engaged sub-modules for each arm according to the current direction. This invention, while maintaining the discrete control structure, achieves direct injection of third harmonic voltage under the MPC framework, exhibiting higher real-time performance and scalability.

The application discloses a vehicle brake anti-skid control method and system, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring driving data and basic data of the vehicle, wherein the driving data comprises vehicle speed, acceleration, steering wheel rotation angle, yaw angular velocity and actual wheel speed, and the basic data comprises wheelbase and track; determining a slip state of the electric vehicle according to the driving data and the basic data, wherein the slip state comprises brake slip and non-slip; determining a target single-wheel output brake torque in response to the slip state being brake slip; determining a target brake torque limit value of a power motor in response to the slip state being brake slip; and controlling the electric vehicle according to the target single-wheel output brake torque and the target brake torque limit value. The application solves the technical problem that, in the prior art, due to a large delay of hydraulic response, the control effect is poor, and it is difficult to meet the requirements of users for driving quality and driving safety.

The invention relates to the field of PLC state control, in particular to a PLC-oriented state space model-based optimization control method and system, and the method comprises the steps: (I) obtaining environment monitoring data collected by a PLC control cabinet, and defining a state space equation; (II) the PLC divides and generates an offline block, an online block and a function operation block according to the collected environment monitoring condition; (III) constructing a model according to the environmental monitoring data, and writing a function block at the same time to realize discretization of an environmental state space equation; (IV) initializing the parameters of the controller again, turning on the trigger switch, starting the operation of the controller, and realizing the transmission of the action instruction of the controlled object; and (V) if the controlled object feeds the working data back to the controller, a function block is calculated, working environment parameters are changed, the step (I) is repeated, and a system control closed loop of the PLC is realized. The method has the characteristics that the PLC system is more convenient to control, adjust and maintain, and the operability and the maintenance cost of the system are reduced.

The invention discloses an environment control device and system based on a textile workshop, and relates to the technical field of workshop environment control systems, and the device comprises a central control module which is used for centralized management and coordination of a plurality of adjusting devices for environment adjustment; the central control module comprises a data summarization unit, an intelligent analysis unit and a coordination control unit. By installing the central control module, the automatic control coordination function of the workshop environment is achieved, the problem of adjustment delay of manual control is solved, the adjustment speed and precision of the workshop environment are improved, manual operation is reduced, the automation level is improved, stable product quality is ensured, and the energy utilization rate is high.

The invention discloses a wheel-legged robot reconstruction stability control method considering foot wheel rigidity influence. The method comprises the following steps: 1, establishing a wheel-legged robot coordinate system; 2, the deviation between the ideal ZMP and the actual ZMP and the deviation change rate are input into a fuzzy controller, and the ideal displacement of the movement of the mass center adjusting sliding block in the wheel-legged robot reconstruction process is calculated and output; 3, differentiating the ideal displacement of the sliding block to obtain an ideal speed, inputting the ideal displacement and the ideal speed in the reconstruction process into an LQG controller to obtain a control voltage, and inputting the control voltage into a dynamic model of a centroid adjusting mechanism to obtain the actual displacement of the centroid adjusting sliding block in the reconstruction process; and 4, calculating an actual ZMP value of the wheel-legged robot, making a difference between the actual ZMP value and the ideal ZMP value, and feeding the difference back to the fuzzy controller to form stable closed-loop control. According to the method, the actual ZMP position in the robot reconstruction process can approach to the ideal position under the influence of the foot wheel rigidity, so that the stability of the system during reconstruction is improved.

The utility model relates to the field of shielding doors, in particular to a full-height shielding door based on a direct-drive servo system, which comprises a stand column, an aluminum alloy cross beam, a servo motor, a fixed door body, a sliding door body and an emergency door body, the aluminum alloy cross beam is arranged on the stand column, and a driving belt connected with the servo motor is arranged on the aluminum alloy cross beam; the fixed door body and the emergency door body are arranged on the left side and the right side of the sliding door body respectively, the top of the sliding door body is arranged on the aluminum alloy cross beam in a sliding mode through a hanging piece, and a driving belt clamping device connected with a driving belt is arranged on the hanging piece, so that the sliding door body is driven by a servo motor to move in a reciprocating mode. According to the full-height shielding door based on the direct-drive servo system, the sliding door body is arranged on the aluminum alloy cross beam in the sliding mode, and due to the fact that the driving belt clamping device connected with the driving belt is arranged on the hanging piece, the driving belt can drive the sliding door body to move in a reciprocating mode under the driving of the servo motor.

The present application relates to the field of vehicle lamp design technology, and in particular to a control system and method for a vehicle taillight, wherein the vehicle taillight includes a plurality of groups of lamp beads, wherein the system includes: an I2C communication component; a plurality of taillight drive circuits, each taillight drive circuit being set in one-to-one correspondence with each group of lamp beads; a control component, wherein the control component communicates with each taillight drive circuit using the I2C communication component to control each taillight drive circuit to drive a group or multiple groups of lamp beads to perform individual flashing actions, individual flowing actions, and / or individual breathing actions based on an I2C communication signal. Thus, the problem of high cost of the control method in the related art, which leads to low cost performance, is solved, and the control system of the vehicle taillight is controlled without increasing the cost of the control component, and the I2C communication realized by the I2C communication component is more stable, has a high rate, and has high performance.

This invention belongs to the technical field of additive manufacturing technology and discloses an in-situ oxygen-controlled composite scraper and a laser selective melting device equipped with the in-situ oxygen-controlled composite scraper. The bottom of the composite scraper includes a second scraper (16), an air jet unit, and a first scraper (18) arranged sequentially along the powder spreading direction. It has an internal gas storage chamber (15) and a powder drop chamber (19). The first scraper is used to evenly spread the powder raw material to form an initial powder layer. The air jet unit performs in-situ oxidation treatment on the surface of the initial powder layer by spraying oxygen-containing gas. The second scraper is used to level and compact the powder layer after the in-situ oxidation treatment. This invention improves the composition and structure of the composite scraper and utilizes the overall cooperation of the first scraper, the air jet unit, and the second scraper to generate a synergistic mechanism of powder spreading, in-situ oxidation, and secondary compaction, breaking through the process limitation that it is difficult to construct oxide dispersion-strengthened structures in-situ during additive manufacturing.

The application provides a bronchial intervention surgery robot control system and method based on eye movement tracking. A collection module collects gaze point coordinate original data of an operator; a calibration mapping module receives the gaze point coordinate original data, and establishes a mapping relationship between the gaze point coordinate and a display terminal; an image display module displays the corresponding gaze point coordinate on an airway image according to the mapping relationship; a signal processing module receives and processes the gaze point coordinate original data, and obtains a gaze point sequence; an intention determination module updates the gaze point coordinate according to the gaze point sequence; a region determination module divides an operable region from the airway image, and generates a control instruction in the operable region by using the updated gaze point coordinate; and an execution control module controls the robot according to the control instruction generated by the region determination module. The application can reduce the operation burden of the operator, improve the control response speed, enhance the rapid positioning ability of the operable region, and improve the operation efficiency.