265results about How to "Good anti-interference performance" patented technology

The invention discloses an alternating current induction motor control system based on a self-immunity to interference control. On basis of the prior art, according to ambiguity compensation, a known part, i.e., the ambiguity compensation sc of the rotation speed working characteristics of the alternating current induction motor is input to an expanded state observer, a sum action quantity Omega 3 of a variety of interference of an actual rotation speed Omega of the motor is an estimation of an unknown part instead of an overall rotation speed, thus burdens of the expanded state observer are relieved, meanwhile a variation scope of a parameter adapting object is enlarged, and the estimation precision of the expanded state observer is increased. By the adoption of the control system, better control effects compared with that of the alternating induction motor system based on the traditional self-immunity to interference control are obtained, the robustness and the immunity to interference are stronger, and the dynamic quality is improved.

The invention discloses a quartz tuning fork photoacoustic gas sensing device based on a broadband light source dual-wavelength difference. A pipy resonant cavity with a slit and a quartz tuning fork are arranged in a sample pool. In the device, a laser diode is used for probing non absorption background noise, the other laser diode is used for probing nitrogen dioxide, coupling and beam splitting are carried out on the two laser diodes through a beam splitting prism, a photoelectric probe is used for monitoring the power of the laser diodes, light is focused to the pipy resonant cavity by a focusing lens, the output end of the quartz tuning fork is connected with the input end of a phase-locked amplifier, the focus of the focusing lens is arranged in the pipy resonant cavity, the output end of a high frequency square wave generator is electrically connected with the input end of the phase-locked amplifier, and the photoelectric probe, the high frequency square wave generator and a lower frequency square wave generator are connected with an external computer.

The invention discloses an UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and a control method. The system comprises a first differentiator, a second differentiator, an adaptive anti-interference sliding mode controller, a filter and data fusion unit, a Doppler sensor, an electric gyrocompass, a thrust allocation unit, an UUV, an accelerometer and a gyroscope , wherein the adaptive anti-interference sliding mode controller comprises a sliding mode controller, an adaptive disturbance compensation controller and a data processing unit; the sliding mode controller is used for realizing UUV four degree-of-freedom dynamic positioning variable structure control and eliminating pose errors; and the adaptive disturbance compensation controller is used for estimating uncertainty errors of an actually controlled object model and wave disturbance effects in an online mode. A dynamic process during which the system state approaches to the sliding mode surface is improved, steady-state anti-interference performance is improved, and compared with a common sliding mode control method, dynamic performance is better, and buffet of the system under disturbance effects can be reduced.

The invention, aiming to enhance a rapid maneuvering capability and an object targeting precision of a weapon system and satisfy requirements of a quick response, a high precision, a strong independence and a good reliability of the system on a vehicle positioning device, provides the vehicle positioning device based on a laser gyroscope strapdown inertial measurement unit. The vehicle positioning device includes: a laser strapdown inertial measurement unit in which a laser gyroscope is employed, an odometer assembly used for measuring a running speed and a running distance of a vehicle on ground, an elevation meter used for obtaining an altitude by measuring an atmosphere pressure of a level of the vehicle, a multimode satellite system which is compatible with single antenna and double antennas, and a display controlling apparatus assembly used for carrying out an intelligent match between positioning information of the vehicle positioning device and a road network electronic map. By means of advantages of being high in precision, stable in performance, wide in dynamic range, short in response time and high in reliability of the laser gyroscope, a positioning and orienting function which is high in precision, strong in independence and good in reliability is achieved through methods, such as a gyroscope demodulation technology, a multi-information fusion technology and the like, on the basis of a digital filter.

The present invention discloses a system and method for soft starting of an isolation direct-current converter applied to a direct current distribution network. After a direct-current converter is started, the H-bridge output square-wave voltage duty ratio of an input side is gradually increased from 0 to 0.5 according to a ramp function, and the time of setting the duty ratio from 0 to 0.5 is a starting time; after the direct-current converter is started, the H-bridge output square-wave voltage duty ratio of an output side is always 0.5, and the direct-current converter is started, in the starting time, output given voltage is gradually increased from 0 to a rated value according to the ramp function, and the changing of the output given voltage is consistent to the changing of the H-bridge output square-wave voltage duty ratio of the input side. Through cooperation control of the two methods, the current impact and direct voltage oscillation are effectively inhibited when starting, the system has a good anti-interference capacity and does not need additional circuits and starting resistors, and the starting logic is simple.

An all-fiber Doppler lidar wind field detection system comprises a laser emission system, an optical receiving system, a frequency discrimination and optical detection system and a signal processing system, wherein the frequency discrimination and optical detection system is connected with the signal processing system; the laser emission system and the optical receiving system are connected with the frequency discrimination and optical detection system through multi-mode / single-mode converters; the laser emission system emits laser light into the atmosphere; the optical receiving system receives backscattering light of atmospheric molecules and couples the backscattering light into multimode fibers, then, the backscattering light is fed into the signal processing system after entering the frequency discrimination and optical detection system for processing through the multi-mode / single-mode converters, and wind speed information is obtained after the backscattering light is processed. A fiber M-Z interferometer is used as a frequency detector, the wavelength range is wide, the selectivity of a laser light source is high, the ability to resist external interference is high, and spectral resolution and light splitting efficiency are high; in this way, the stability of detection is improved, detection accuracy is high, and the all-fiber Doppler lidar wind field detection system is convenient to use.

The invention discloses a method for treating liquefiable sandy soil foundations by using microbial bubbles, mainly targeting at liquefiable sandy soil layers, using liquid injection nozzles, hollow drill pipes, connectors, catheters, compressors, bacterial liquid storage tanks, etc. The device injects pre-enriched and cultured denitrifying bacteria liquid into the soil to replace pore water, and the bacteria perform denitrification in the pores to produce inert gases nitrogen and carbon dioxide. The nitrogen produced by biological metabolism in the pores can effectively reduce the soil saturation, increase the shear strength of the soil, and improve the soil's ability to resist liquefaction. Nitrogen dioxide produced by biological metabolism can induce the precipitation of calcium ions in the bacterial fluid to form calcite. Calcite has strong cementing properties, which can effectively improve the cohesion between soil particles, increase the shear strength, and can fill the pores of the soil, increase the compactness of the soil, and further improve its ability to resist liquefaction.

The invention discloses an expressway road traffic detecting method and device based on a car networking beacon mechanism. The expressway road traffic detecting device comprises a vehicle-mounted broadcast unit, a beacon receiving device A, a beacon receiving device B, a synchronous calibration module, an RS 485 bus, a data processing module, a wireless transmission module, a remote monitoring system and a data storage module. According to the expressway road traffic detecting method and device based on the car networking beacon mechanism, a virtual detecting area is established on an expressway, and the received beacon information is processed in the virtual detecting area to complete the traffic flow detection and the road real-time traffic condition monitoring. The external disturbance resisting capability is high, the device is simple, low in cost and accurate in detection, system maintenance is easy to achieve, the data processing complexity is reduced, the traffic detecting speed is increased, an assisting role can be played on the management of the traffic, and the road condition information can be fast collected and accurately monitored.

The invention provides a piezoelectric excitation pulled silicon micro-resonant pressure sensor chip and a preparation method thereof. The pressure sensor chip mainly comprises a sealed glass cover, aresonator layer, a pressure sensitive film layer, a stress isolation pad, a piezoelectric excitation element and a resistance vibration pick-up element. A composite structure of a pressure sensitivediaphragm and a resonator is adopted. For a second sensitive mode, the resonator layer comprises a resonant beam and a torsion beam. An extension part at one end of two adjacent resonant beams is connected to the same suspended torsion beam, and the other end is connected to a mass block. A coupling beam is arranged in the middle of the mass block. The resonator is connected to an anchor point through a connection point. A pressure guide hole is formed in the stress isolation pad, and the pressure is delivered to the rectangular pressure sensitive diaphragm under the guidance of the pressure guide hole to cause deformation. The deformation is amplified by the anchor point, and delivered to the resonator layer. Piezoelectric actuators and resistive vibration pick-up elements are respectively arranged on the outer surface of the resonant beam and the coupling beam. The piezoelectric actuators and the resistive vibration pick-up elements are connected with an external circuit through leads respectively.

The invention belongs to the technical field of cables, and relates to a double-sheath high voltage connecting cable used in an electric vehicle and provided with an ultra-soft aluminum conductor. The double-sheath high voltage connecting cable comprises the conductor, a wrapping tape, an insulating layer, an aluminum foil layer, a shielding layer and a sheath layer, and is characterized in that the conductor is formed by intertwisting the fifth kind of soft aluminum wires obtained after annealing treatment, and the cross sectional area of the conductor ranges from 1.5 mm<2> to 120 mm<2>; materials of which the insulating layer and the sheath layer are made meet one of the conditions that (1) both the insulating layer and the sheath layer are made of environment-friendly flame-retardant thermoplastic elastomers (TPEs) at the temperature of 125 DEG C, (2) both the insulating layer and the sheath layer are made of environment-friendly flame-retardant irradiation crosslinking polyolefin at the temperature of 125 DEG C and (3) the insulating layer is made of environment-friendly flame-retardant irradiation crosslinking polyolefin at the temperature of 125 DEG C and the sheath layer is made of environment-friendly flame-retardant thermoplastic elastomers (TPEs) at the temperature of 125 DEG C. The double-sheath high voltage connecting cable has the advantages of being softer, easier to bend, lower in self weight, lower in cost, highly resistant to high voltage and high currents, better in flame retardant effect and safer to use.

The invention discloses a construction method for an active-disturbance-rejection controller of a hybrid electric vehicle BSG system. Specifically, the method includes the following steps that a composite controlled object is constructed; a second-order extended state observer is constructed; a proper reference trajectory transition process is arranged through a first-order tracking differentiator; the error of an output signal of the first-order tracking differentiator and an output signal of the second-order extended state observer serves as an input signal of a nonlinear PID controller; a signal formed by the output signal of the second-order extended state observer and an output signal of a fuzzy compensator in a superposition mode is combined with an output signal of the nonlinear PID controller to serve as a given input of the composite controlled object; the active-disturbance-rejection controller is constructed to control the composite controlled object. The construction method does not rely on a precise mathematic model of the system, internal disturbance and external disturbance of the system can be ascribed to total disturbance to be observed and compensated, and thus the hybrid electric vehicle BSG system has better disturbance resistance and a better steady-state characteristic.

The invention relates to an automatic sampler. The automatic sampler comprises an X-axial motion assembly, a Y-axial moving assembly, a Z-axial moving assembly and a sample introduction device (5), the X-axial moving assembly comprises baseboard (101), a first guide rail (102), a first connecting board (103), a first motor (104), a first leading screw (105) and two first synchronous wheels (107), the Y-axial moving assembly comprises a second motor (204), two second synchronous wheels (205), a second synchronous belt (206), a second guide rail (202), a pedestal (201) and a second connecting board (203), the sample introduction device (5) is fixedly connected with a moving block (307), and the Z-axial moving assembly comprises a third motor (304), two third synchronous wheels (306), a third synchronous belt (305), a third guide rail (302), a bearer (301) and the moving block (307). Compared with traditional systems, the automatic sampler has the advantages of steadiness, small noise and strong extraneous interference resistance.

The invention discloses a method for dual-phase-shift control with bidirectional inner phase shifts for a minimum reflux power of a dual-active-bridge converter. Under a condition of constant power transmission, compared with dual-phase-shift modulation, the dual-phase-shift modulation with the bidirectional inner phase shifts has an advantage of inhibiting the influence of the disturbance of an outer phase-shift duty ratio on an inner phase-shift duty ratio, so that a control system is more stable, and the transmission power is more stable. The invention provides a minimum reflux power control method based on the dual-phase-shift modulation with the bidirectional inner phase shifts. According to the method, an optimal operation point of the backflow power can be found through automatic adjustment when different powers are output, so that the backflow power is greatly reduced, and the efficiency of the converter is effectively improved. Therefore, for the dual-phase-shift modulation, the method is more suitable for being applied to a system with the dual-active-bridge converter as an energy transmission unit, in particular to occasions with high requirements for control stability.The method is very wide in prospect and easy to popularize.

The invention discloses a closed-loop magnetic balance Hall current sensor with small zero point drift and fast response speed. The Hall element is connected to one end of the compensation coil through the amplifier circuit, and the other end of the compensation coil is connected to the load resistance Rm. The amplifier circuit is provided with an operational amplifier IC1 and a power amplifier composed of triodes Q1 and Q2. The Hall element passes through The resistor R1 is connected to the negative input terminal of the operational amplifier IC1, the Hall element is connected to the positive input terminal of the operational amplifier IC1 through the resistor R2, and the output of the power amplifier is fed back to the negative input terminal of the operational amplifier IC1 through the zero adjustment circuit FH1.

The invention discloses an efficient isotope battery based on a gas radioactive source. The isotope battery comprises a battery base with an embedment groove, a radioactive light source support put in the embedment groove of the battery base, at least one radioactive source radiation light-emitting unit put on the radioactive light source support, a lens buckled on the embedment groove of the battery base and isolating the inside and the outside of the embedment groove, an output end support connected with the battery base, and a photovoltaic conversion unit put on the output end support, matched with the lens in position and used for outputting electric energy, wherein light rays emitted by all the radioactive source radiation light-emitting units are projected to the photovoltaic conversion unit after being gathered by the lens. A gas isotope radioactive source is ingeniously used for stimulating a radioactive light-emitting material to emit light, light rays are gathered on the photovoltaic conversion unit by the lens through the combination of an optics principle so that electric energy can be output, the light intensity on the photovoltaic conversion unit is greatly improved, the efficiency of the photovoltaic conversion unit is greatly improved, and the output power and the energy conversion efficiency of the isotope battery are improved.

The present invention discloses 3D digital watermark embedding and detecting method and device based no virtual optics, and belongs to the field of mode distinction. Parallel hardware and algorithm or parallel electronic device and software are adopted, and the emulational virtual optical imaging process is utilized to add digital watermark information to static image, audio or video data. During embedding watermark, geometrical structural parameters of the virtual optical path are used as cipher key, and multiple cipher keys are designed. During detecting watermark, the digital watermark is extracted from watermark containing information by means of deciphering the multiple cipher keys. The watermark may be text, digital, signature, mark, etc. The adopted device is one master-slave system comprising PC, DSP, programmable special IC, or one PC-off embedded system. The present invention has the advantages of high robustness, high safety, high flexibility, etc.

The invention relates to a measurement conveying method of extraction, measurement and release of a reducing agent of an after treatment system of exhaust purification of an internal combustion engine, comprising the following steps: 1) liquid which is more than the needed dosage is extracted excessively and the dosage is determined by a container with fixed volume; 2) the extracted liquid is adjusted to the needed dosage and simultaneously the residue liquid is returned to the liquid source; and 3) the liquid with the dosage is released. The invention provides an economical and effective reducing agent measurement conveying method and a device for the market; as the preposing and pressurization are canceled, the invention leads the whole after treatment system to have more simple and reliable structure, the manufacturing cost is further reduced and the installation space is reduced further; and simultaneously, the invention also has all the advantages of other metering pumps, such as stable dosage supply, strong anti-interference performance to outside, small installation volume, little energy consumption, low cost and the like. Besides, a new pipeline leads a reducing agent conveying system to have sensible response to the change of the working condition of the engine and further reduces the energy consumption of a metering pump.

The invention provides a method and device achieving far-field super-resolution imaging. According to the method, exciting light and STED light are coupled simultaneously into single mode fiber so as to achieve the beam combining effect firstly, the exciting light and the STED light after beam combination pass through a polarizer and a dual-wavelength wave plate in sequence to be modulated to two perpendicular linear polarized light in the polarization direction, a liquid crystal polarization convertor is adopted, and the exciting light and the STED light are converted into the radial direction polarized light and the angle direction polarized light. The device achieving the method comprises an exciting light source, an STED light source, a collimating lens, the polarizer, the dual-wavelength wave plate, the liquid crystal polarization convertor, a dichroscope, a high numerical aperture lens, a three-dimensional nanometer displacement platform, a focusing lens and a light intensity detector. Through the coupling effect of the ingle mode fiber and the different focusing functions of the radial direction polarized light and the angle direction polarized light under the high numerical aperture, a circular excitation facular and an annular STED facular which are focused on the surface of a sample can be overlapped automatically, and difficulty of achieving the STED super-resolution imaging is reduced.

An embodiment of the invention discloses a highway active luminous contour mark traffic induction apparatus and a method thereof. The apparatus comprises a terrestrial magnetism sensor group, a plurality of active luminous contour marks, a data processing terminal and a contour mark gateway node. The terrestrial magnetism sensor group comprises a first terrestrial magnetism sensor and a second terrestrial magnetism sensor. The data processing terminal is arranged in a middle section of a vehicle driving induction area. The data processing terminal and each terrestrial magnetism sensor group are connected in a wired communication mode. The data processing terminal and the contour mark gateway node are connected in the wired communication mode. The active luminous contour marks and the data processing terminal are connected in a wireless communication mode through the contour mark gateway node and are mutually and wirelessly communicated and connected. An LED luminescent device is added on a traditional retro-reflection contour mark so as to cooperate with the terrestrial magnetism sensor group so that a traffic induction opportunity can be accurately determined; and timely through a mode of combining active luminescence and passive reflection, safe induction and jam detection to areas where accidents are easy to generate and traffic environments are bad are realized so that a traffic induction effect is effectively increased.

This invention discloses an asymmetrical ciphering and deciphering method based on virtual wave front coding and a device, which utilizes an optical model of wave front sensing to set up a public cryptographic key and a private key, the ciphering process is to carry out virtual optical wave front coding to the original image to be encrypted then wave front sensing and centroidal computation to get the cryptograph, the deciphering process is to utilize rule lattice and the cryptograph for wave front re-establishment to recover the original image information. A device for realizing said method includes a digital signal processor, a site programmable gate array, a video code-decode device, a PCI bys controller, an Ethernet interface controller, a synchronous burst static storage, a synchronous dynamic storage, a supply monitor circuit and a reset control circuit.

The invention discloses an eye-protection table lamp with sitting posture correcting and intelligent reminding functions. The eye-protection table lamp with the sitting posture correcting and intelligent reminding functions comprises LED lamp bodies, a driving power supply module, a touch key control module, an LED control module, an image processing module, an information acquisition module, a sound reminding module, a display screen, a lamp body shell, a table lamp middle column and a table lamp base. The LED lamp bodies are connected with the driving power supply module. The driving power supply module is connected with an external power supply. The table lamp middle column is arranged under the lamp body shell and connected with the lamp body shell through a rotary movable joint. The table lamp middle column is connected with the table lamp base through an oblique movable joint. The LED lamp bodies are mounted on the two radial sides of the lamp body shell, and the LED lamp bodies on the two sides are provided with light guide plates. An angle-adjustment movable joint used for adjusting the angles of the LED lamp bodies is arranged on the lamp body shell. The eye-protection table lamp with the sitting posture correcting and intelligent reminding functions has the characteristics that the heat dissipation effect is better, the heat dissipation cost is low, a sitting posture can be judged more accurately, and reminding is more user-friendly.

An electronic thermometer and a control method thereof. The electronic thermometer comprises a single chip, a thermometric component, a LCD, a circuit board, a housing and a battery; the circuit board is disposed with a switch type vibration transducer to provide shaking signal to the control input port of the single chip, the vibration transducer is disposed with a conductive elastic body and a conductive fixed body, the elastic body is contacted with the fixed body or being away from the fixed body when moving in the housing. The present invention can turn to be in thermometric state from standby state by a user's shaking, or turn to be in standby state from thermometric state.

The invention discloses an active disturbance rejection control method for 3-DOF (Degree Of Freedom) helicopter attitudes. The active disturbance rejection control method comprises the steps of: establishing a mathematical model for a 3-DOF helicopter with helicopter body rigidity, designing a controller by utilizing an active disturbance rejection control technology, making differences between output of a target value after a transition process is arranged and output of an extended state observer (ESO) as well as between a differential of the output of the target value and the output of the ESO, and carrying out non-linear transformation on the two difference values to obtain a non-linear feedback control law; and further making a difference between the obtained feedback control law and feedback of the ESO, and regarding the obtained output as input of a corresponding channel of the ESO and a 3-DOF helicopter system, so as to form a closed-loop active disturbance rejection controller. The active disturbance rejection control method tests and verifies observation ability of the high-order ESO, is high in anti-interference capability, effectively solves the problems such as difficult modeling of the 3-DOF helicopter and environmental diversity during the flight process, achieves stable tracking control of attitudes, and solves the stable tracking control problem of the existing 3-DOF tandem twin-rotor helicopter.

The invention provides a direct-current speed regulation system where a prediction PI algorithm and a combined integral link are combined. The system is characterized in that the system comprises the combined integral link and a prediction PI controller which are connected in series; an input voltage signal is filtered through the combined integral link so that the input voltage signal can ascend uniformly; an output signal of the combined integral link is conveyed to the prediction PI controller, an output signal of the prediction PI controller is conveyed to a direct-current motor, and an output value of the direct-current motor is fed back to the input end of the prediction PI controller. The control strategy where the combined integral link and the prediction PI algorithm are combined, average filtering is performed on an input signal so that a deviation voltage can not become large suddenly in the starting process, and a current limiting effect is achieved; the prediction PI controller can effectively control the stable and dynamic performance of the system. On the basis of current limiting protection, rapidity of the system is obviously improved, the stable performance and the anti-interference capacity of the system are excellent, and meanwhile the anti-interference capacity and robustness are high.

An embodiment of the invention discloses an interference elimination method and an interference elimination device. The interference elimination method comprises the steps of: acquiring a time domain sample sequence input at this time, and subjecting the time domain sample sequence to time-frequency transformation to obtain a frequency domain sample sequence; carrying out interference estimation according to the frequency domain sample sequence and a preset filter to obtain frequency domain interference data; and performing interference elimination on the frequency domain sample sequence according to the frequency domain interference data. According to the interference elimination method and the interference elimination device, the time domain sample sequence is converted into the frequency domain sample sequence, thus interference in the frequency domain sample sequence is eliminated from the aspect of frequency domain, thereby the interference removing performance of a receiving end can be improved, and the receiving end can demodulate data transmitted by a transmitting end accurately.

The invention discloses a metal wire clip of a tail end fixing cable, which comprises the metal wire clip, a connector and an outgoing wire sleeve, and is characterized in that the outgoing wire sleeve comprises a flange, an outgoing wire tube and a wire pressing tube; the flange is a rectangular plate which is provided with a central through hole and a step; the outgoing wire tube is a sleeve with a platform in the middle and respectively a saw tooth-shaped cylindrical surface and a knurled cylindrical surface on both ends; the outgoing wire tube is sleeved with the flange, and the knurled cylindrical surface of the outgoing wire tube and a circular groove are in flanging compaction riveting; the wire pressing tube is sleeved on the saw tooth-shaped cylindrical surface; a port on one side of the metal wire clip is provided with a groove; the outgoing wire sleeve is sleeved in the groove; and the connector is fixedly arranged on the port on the other side of the metal wire clip through a screw. Compared with the prior art, the metal wire clip of the tail end fixing cable has a simple structure and is convenient to assemble, the wire clamping is firm and durable, the grounding of a shield layer is convenient, the anti-disturbance from environment is strong, the cable alternation is good, and outgoing wire tubes which are matched with the cables diameter can be selected, combined and used on demand.

The invention relates to an elevator guide rail quality detecting device which comprises two plumb lasers independently fixed on the ground, a reflector and a camera. The reflector is fixed below thebottom bodies of grippers on the two sides of an elevator guide rail crawling robot; the camera is fixed on the inner side of a stabilizing arm unit; a pair of traction wheels and a pair of gripper wheels of the elevator guide rail crawling robot always cling to the elevator guide rail and crawl along the guide rail; the laser rays of the plumb lasers separately shine to the positions near to thecenter of the reflector; the camera shoots laser points generated on the reflector without stop; guide rail quality variation is directly converted into position changes of the reflector and the camera in the horizontal direction; and the straightness and other quality conditions of the elevator guide rail can be measured through treating each crawling information of the robot and the position data of the laser points. The elevator guide rail quality detecting device is convenient to use and mount and easy to operate, and has the advantages of being low in cost, high in resolution, measuring precision and efficiency and wide in building applicable range.

The invention provides a remote control robot for underwater precise measurement. Motion of four or more degrees of freedom of the underwater robot is achieved, the underwater robot has the capabilityof depth keeping hover, direct movement, rotation and lateral movement, and can maintain good communication with land control equipment, electronic components are all subjected to watertight pressure-resisting protection, and the remote control robot is suitable for passing through an underwater narrow area to conduct underwater detection and underwater measurement operation; the precise measurement underwater robot specially plans a path to improve the cruise and measurement efficiency; a multi-beam depth finder and a binocular precision measuring instrument are utilized to synergistically carry out underwater measurement, high-precision and high-density measurement of underwater detection targets is achieved through a multi-beam depth measuring technology, binocular precision measurement helps the underwater robot to execute certain complex underwater operation tasks, and two measurement methods synergistically complete high-quality underwater precision measurement; and the relativeerror of underwater measurement is small, and the operating requirements of the underwater robot for underwater target grabbing and the like are met.

The invention relates to a closed device for carrying out researches of gas release and gas reforming rule of plants, which mainly consists of a plant growth chamber 1, a gas pipe 2, a gas cooling chamber 3, a liquid header 4, a circulating pump 5, a gas analyzer 6 and an illumination system 7; the closed device is characterized in that growing space of plants is completely closed, and cultivation conditions of illumination, temperature and humidity, wind velocity, water irrigation, and the like, can be properly adjusted and controlled according to experiment needs. The closed device for carrying out researches of gas release and gas reforming rule of plants has the beneficial effects of good tightness, strong external interference resistance, adjustable conditions of illumination, temperature, humidity, wind velocity, water irrigation, and the like, and being beneficial to researches of the gas release and gas reforming rule of plants under the closed condition. The closed device of the invention can be used for the researches of the closed systems such as space stations and space permanent bases, and the like, as well as the plant gas research fields of ground greenhouse and air purification, etc.

In the invention, the beam of the coherent source through the procedures of beam splitting, diffraction, fine tuning the direction, spatial filtering, the light beam spacing transformation as well asfocusing and magnifying is projected on the scene to obtain the structure light of the static stripes with intensity in sine distribution. The two parallel beams after being split enter the two inputends of double acousto-optical modulators with the Bragg angle. The double acousto-optic modulators of the radio frequency signal in same frequency with 0-2 pi tunable phase difference are utilized to change the frequency of the signal in real time. The device includes the coherent source, the filter, the focusing lens and microscope objective.