551results about How to "No cumulative error" patented technology

The invention discloses a heliostat tracking control device, which comprises a main controller and a closed-loop tracking sensor. The main controller comprises a DSP control circuit, a RTC real-time clock, digital signal input and output units, an analog signal input unit, a signal amplifying circuit, a human-computer interface device, a display device, a watchdog circuit, an asynchronous motor, a line of serial port communication interface which carries out the communication with a monitoring computer, and a line of serial port communication interface which carries out the communication with an azimuth angle and altitude angle encoder. The invention further discloses a heliostat tracking control method, the method adopts the open-loop and the closed-loop combined control, the open-loop roughly calculates and adjusts the position of a heliostat and the closed-loop corrects and eliminates the accumulated error till the precise tracking. The heliostat tracking control device has the advantages that the heliostat tracking control device can not have the accumulated error or the failure of the tracking system due to the rainy and cloudy weather. The system adopts the combined control algorithm within the control period, thus achieving the precise tracking of the heliostat. The tracking reaction speed, the power consumption and the cost are low, thus forming a modular structure.

The invention discloses a detection device and a detection method for human motion information, belonging to the field of electronic information and mode identification. The detection device and the detection method of the human motion information are based on a single triaxial accelerometer and a Zigbee module; the detection method is based on a gait recognition technology and a statistical data modeling and can achieve detection of the human motion information by the triaxial accelerometer; the detection device comprises wireless sensing comprehensive modules arranged on a pair of shoes and an upper computer receiving module connected with a PC (Personal Computer) terminal; the device uses a trigger mode to perform wireless transmission for motion data in order to perform a human-computer interaction; due to a Zigbee low-power consumption design, a system can use batteries with smaller volume and capacity to reduce weight and volume of the whole system so as to be beneficial to be put at the bottom of the shoes; due to a voltage-stabilizing power supply design, an error of a quantized acceleration magnitude of an accelerometer after a working voltage drops can be avoided when the batteries are powered.

The invention relates to an unmanned vehicle positioning algorithm based on a three-dimensional laser radar. The unmanned vehicle positioning algorithm includes the following steps: 1. extracting road edge feature points from a single frame of laser point cloud data, and according to a vehicle kinematic model, converting multiple frames of detected road edge feature point coordinates into a current vehicle coordinate system; 2. utilizing a Beam model method to extract the outlines of the multiple frames of road edge feature points; and 3. matching the road edge outline extracted in the Step 2 with high-precision map data, calculating lateral, longitudinal and course angle deviations of a current vehicle as observation values, and inputting the observation values into Kalman filters to perform vehicle pose estimation. Long-time long-distance stable positioning of the vehicle can be guaranteed. The method is applicable to various laser sensors, and can also obtain relatively high positioning accuracy. Abnormal points can be effectively removed, so that map matching is more accurate, and positioning accuracy is higher.

The invention discloses a construction method for a large-area concrete weighbridge. The construction method comprises the steps of: dividing the locations of a construction water flowing section and a construction separation joint, erecting a weighbridge side template, installing a force transmission rod at a junction of the water flowing section, erecting a laser leveller, fixing a levelling staff, selecting a levelling base point, pouring concrete in a space surrounded by weighbridge templates, vibrating, compacting and levelling the weighbridge by the leveller, finishing surface conditioning and polishing of the concrete weighbridge before the final solidification of the concrete, maintaining the concrete weighbridge, cutting the construction separation joint within 24h, stuffing the construction separation joint and carrying out secondary maintenance. By the construction method, the technical problem that the whole levelling degree of the large-area weighbridge is very difficult to control is solved; the problems that the cost of later maintenance of the ground and the use quantity of the templates are very high since the construction joint of the large-area concrete weighbridge is very prone to breakage is solved; and the problems such as breakage along a warehouse dividing joint on the large-area concrete weighbridge, easy hollowing in the layered pouring of the weighbridge, easy cracking and the like are solved.

The invention discloses a camera external parameter calibration method of a multi-camera system for solving the problems that a three-dimensional precise calibration object is difficult to manufacture, the efficiency of a multi-camera external parameter calibration process is low, and that accumulative errors are generated in the existing method. The method comprises the following steps: performing fitting to obtain quadratic curve matrixes of shooting ball projections of cameras; solving inhomogeneous coordinates of three spherical centers in a camera coordinate system; establishing a world coordinate system in which the three spherical centers are located on the same plane through the plane where the three spherical centers are located and the positions of the spherical centers; solving external parameters of a plurality of cameras in the world coordinate system in which the three spherical centers are located on the same plane, and accomplishing the external parameter calibration of the cameras in the multi-camera system, wherein the two coordinate systems are overlapped. By adoption of the camera external parameter calibration method disclosed by the invention, the external parameters of the plurality of cameras in the same world coordinate system are calculated quickly, conveniently and accurately without requiring more conversion, no accumulative error is generated, and the camera external parameter calibration precision is high. The camera external parameter calibration method is applied to the fields of image measurement, three-dimensional reconstruction, unmanned aerial vehicle navigation, etc.

The invention discloses a Beidou / GPS combination based safe train locating method and system. A Beidou satellite navigation system is combined with a GPS satellite navigation system, a ground differential station system, a train-mounted speedometer and a ground responder system are combined in use, and safe location of a train is realized. The system of the invention can coexist and be compatiblewith existing train locating systems, and satellite navigation is safer in the aspect of train locatin.

A binocular vision splicing method based on a laser tracker of the invention belongs to the technical field of computer vision measurement, and relates to a binocular vision splicing method based on a laser tracker. 3D data splicing is carried out using a laser tracker and a binocular vision system in the invention. The whole splicing process includes the steps of calibrating the binocular vision system, calibrating a binocular vision measurement system and a control point, data acquisition, and transformation matrix solving. 3D data splicing is completed by transforming measurement data obtained in different positions to a global coordinate system according to the transformation matrix of the data. The method does not need manual arrangement of mark points, and has high measurement efficiency and a large measurement range. The method well combines the high speed of vision measurement and the high measurement precision of the laser tracker. High-precision and fast global measurement of large aircraft parts is realized. The coordinate transformation chain is simple. There is no accumulated error for multi-region measurement. The method is of high applicability.

The invention discloses a COT-control-based ripple-compensation-based buck circuit power management chip comprising a power input pin, an output voltage pin, a grounding pin, an enabling pin, an over-current detection pin, a feedback pin and a switch SW pin. A reference circuit module, an over-current protection module, a zero-current switching module, a control logic and soft starting module, a constant conduction time generation module, a comparator module, a ripple compensation module, a drive module, and two on-chip switching tubes are arranged inside the chip. According to the power management chip provided by the invention, ripples can be superposed at the reference voltage terminal inside the chip. Compared with the traditional method superposing the ripples with the feedback voltage sampling terminal, the provided technical scheme enables the traditional COT-control-based off-chip RC passive compensation network to be reduced; and the on-chip ripple compensation module uses the active compensation way with the pseudo inductive current ramp, so that the low resistance and capacitance are used and no accumulation error of the used compensated waveform is caused.

The invention relates to a pose and force control method for a six-dimension force sensor assembly mechanical hand, belonging to the electromechanical control technical field. Steps are as follows: step 1: an operating platform of three-linkage rod in parallel is set up, which comprises an upper platform, a lower platform and adjusting actuator arms. The upper platform and the lower platform are flat boards, the upper platform is fixed as a rack and the lower platform is provided with a six-dimension force sensor; step 2: the poses and assembly force of a micro switch and workpieces tested by a six-dimension force sensor is transmitted to an industrial controlling machine which processes and transfers the poses and assembly force to a control command and sends the control command to a motion control card. Motion command from the motion control card drives a DC motor via an amplifier. During the adjustment of the poses of the workpieces, the adjusting positions of the actuator arms are fed back to the industrial controlling machine and realize the precise control of the actions of the actuator arms via PID control. Hence, the length of the three actuator arms of the parallel platform is continuously adjusted according to the output of the six-dimension force sensor so as to realize the precise and automatic adjustment of the assembly poses of the workpieces.

The present invention discloses an agricultural vehicle autonomous navigation steering control method which belongs to the agricultural mobile platform intelligent high-precision tracking control field and accords with the standards of modern agriculture and intelligent agriculture. The agricultural vehicle autonomous navigation steering control method based on the integer-order PD and fractional-order PD controllers aims at a time delay link objectively existing in an actual control system, adopts a conventional closed loop control mode, calculates the actual transverse deviation of an agricultural vehicle roughly by an open loop, corrects the transverse deviation in a closed loop manner, eliminates an accumulative error, and restrains a time delay parameter until tracking accurately, thereby realizing the complete control of the agricultural vehicle expected path tracking.

The controlling device thereof comprise a live wire connector, a earth wire connector, a load current outputting end, a power circuit, a brightness sampling circuit, a setting circuit, a zero-cross sampling circuit, a single-board and a controllable silicon output circuit. The method thereof comprises: the single board processes the brightness signal and compares the brightness value with a pre-set value; if the brightness value is higher than the pre-set value, then it is confirmed to be at daytime; not providing power for the load; if the brightness is less than the pre-set value, it is confirmed to be at night time; starting up the night main control program to control controllable silicon output circuit to provide 100% power supply for the load; when reaching a energy-saving time, the controllable silicon output circuit is controlled to provide a certain percentage power supply for the load.

The invention discloses an image processing method and device, a storage medium, equipment and a system, and belongs to the technical field of machine learning. The method comprises the steps of obtaining a video image stream of a to-be-detected body part; sequentially carrying out focus detection on each frame of image in the video image stream; for the current frame of image, classifying the current frame of image according to a first focus detection result of a previous frame of image and a second focus detection result of the current frame of image; wherein the previous frame of image is at least one frame of image located in front of the current frame of image in time sequence. The invention discloses an image processing method. The prediction result of the previous frame of image isconsidered in the prediction of the current frame of image, the advantages of high efficiency and no accumulative error of a single frame of image detection method are integrated, the accuracy of image classification is remarkably improved by fusing the related information of other frames of images, and the continuity of the prediction result is ensured.

The invention relates to an information acquisition system and method, a man-machine interaction system and method, and a pair of shoes. The movement information acquisition system comprises a data acquisition unit used for acquiring acceleration data, a data processing unit used for processing acceleration data, and a data transmission unit used for sending the processing results to a terminal in a wireless transmission manner, wherein the data processing unit comprises a procedure used for acquiring movement information according to the acquired acceleration data; and the terminal receives the information by means of a wireless receive module and then, based on the information, realizes interaction with upper computer software, including movement information comprehensive display, control of the upper computer to perform operation, and control of motion sensing game. The invention also provides a pair of shoes with the man-machine interaction function, which is particularly suitable for games completed by feet, and realizes a novel and free control mode of directly controlling the software or games with the motion of human feet. The man-machine interaction system and method provided by the invention can realize the identification of human body motion modes so as to achieve the purpose of man-machine interaction.

The invention discloses a household gas burner, belonging to the part in the household gas kitchen range. The present household gas burner has the complex structure, poor processing precision and big accumulative error in assembling. The household gas burner comprises a nozzle, a gas distributing device, a gas mixing device and a fire lid, and characterized in that the gas distributing device and the gas mixing device are all the integrated structure, wherein the gas distributing device comprises a gas supplying pipe and a distributing chamber, a primary air inlet open is arranged on the distributing chamber, the nozzle is fixed on the orifice of the gas supplying pipe in the distributing chamber; the gas mixing device comprises a mixing pipe, a mixing chamber, a buffer baffle plate and a secondary air inlet slot, the mixing chamber is matched with the distributing chamber, the buffer baffle plate is arranged above the orifice of the mixing pipe in the mixing chamber, the secondary air inlet slot is arranged at the side surface of the gas mixing device. The gas distributing device and the gas mixing device in the invention have no accumulative error in assembling, simple assembling and safe and reliable use.

The invention provides a three-degree-of-freedom parallel serial joint plastic operation robot. The problems of uneven operation level of doctors and low overall precision in the present prosthesis joint replacement are solved. The three-degree-of-freedom parallel serial joint plastic operation robot comprises a workbench, wherein a vertical mechanism and horizontal mechanisms are arranged on the workbench; an abrasive drilling mechanism is arranged on each of the horizontal mechanisms; the quantity of the horizontal mechanisms is two; the horizontal mechanisms are respectively arranged on the two sides of the vertical mechanism; the vertical mechanism comprises a vertical sliding table and a vertical driving component; each of the horizontal mechanisms comprises a horizontal sliding table and a horizontal driving component; connecting arms are fixedly connected with the two sides of the vertical sliding table; an outer end of each connecting arm is hinged to the horizontal sliding table on the corresponding side; a claw arm forward extends from each of the horizontal mechanisms; a sleeve ring is arranged at the front end of each claw arm; the sleeve rings forward extending from the horizontal mechanisms on the two sides are vertically overlapped and formed into a communicated sleeve hole; the abrasive drilling mechanism is penetrated through the sleeve hole; an inner wall of the sleeve hole is in sliding contact with an outer wall of the abrasive drilling mechanism. According to the invention, a triangular structure is adopted by the robot, so that the accurate route of a three-dimensional space track is realized and the face cutting precision of a bone joint is increased.

The invention discloses a system and a method for underground attitude measurement based on laser ranging and acceleration measurement. The system comprises a datum reference board, a reflective material block group, a datum reference board support, a laser ranging sensor group, an acceleration sensor unit and a measurement controller. Distances from the laser ranging sensors mounted on an object to be measured to reflective material blocks mounted on the datum reference board are measured, the measured distances are calculated to obtain deviation angle and pitch angle of the object to be measured with respect to the datum reference board, an acceleration sensor mounted on the object to be measured is used to measure tri-axial acceleration vectors of the object to be measured in an Euclidean Space and to calculate roll angle of the object to be measured, and accordingly direction and attitude of the object to be measured are obtained. The system and the method are capable of assisting a user in quickly acquiring the information of attitude and position of the object to be measured under severe environments such as mines and the like so as to further provide accurate and reliable data for further engineering operations. The system and the method are simple in operation, safe, reliable and low-cost.

The invention discloses a semiconductor laser array fast-slow axis beam rearrangement device and a manufacturing method, and belongs to the field of laser technology application. By using the principle that the light produces different offsets after passing through parallel flat plates of the same thickness in different incident angles, an optical shaping element 4 and an optical shaping element 5 provided with a plurality of small surfaces are increased in the laser light path transmission process. The device can realize homogenization of fast and slow axis beam quality; by changing the conventional mode of waveguide transmission by means of a thin sheet, the loss of optical power is further reduced, and the shaping efficiency is improved; the device is particularly suitable for high-power semiconductor laser beam shaping; and meanwhile, the device has the advantages of more compact structure, no accumulated error, convenience in installation and adjustment and the like.

The invention provides a synchronous displaying device, a synchronous displaying method and a superposition displaying system, wherein the frame synchronous signal of each displaying signal output device is transmitted to a frame synchronous control circuit by the superposition control circuit; the frame synchronous control circuit measures the time difference of the arriving time of each frame synchronous signal and a reference frame synchronous signal, and sends an adjusting command produced according to the time difference to the clock synchronous control circuit, which adjusts the clock frequency of the clock output channel corresponding to the relative displaying signal output device. Each displaying signal output device of the invention is connected with each clock output channel of the same clock synchronous control circuit, and produces a plurality of clock outputs comprising the same frame and the same phase with a reference clock through the reference clock signal of the same clock synchronous control circuit, therefore, the clock signals of each displaying card are synchronous. Because of using the same reference clock signal, no clock error and accumulative error exists, and the veracity of the synchronous displaying signals is improved.

The invention discloses an absolute grating ruler multi-track encoding method. In order to solve problems, such as the accumulative error of incremental encoding and the hardware complexity of absolute encoding, etc., in the micro-nano machining measurement process, the invention adopts an absolute encoding method based on p-element M-sequence pseudo-random codes suitable for single track and multiple tracks. The encoding method is suitable for a straight line absolute position encoder, and a disk absolute angle encoder, locating can be performed at any time, and the boot back-to-zero operation does not needed. Moreover, an incremental encoding strip is provided, so measurement accuracy can be improved by suing the phase segmentation method. The encoding method is an absolute position encoding method has advantages of easy generation, replication and processing, large encoding capacity, low decoding cost and macro-micro composite performance. The encoding method comprises ordinary single-track binary M-sequence absolute grating ruler straight-line encoding, a M-sequence disk encoder, code expanding method multi-code-channel pseudo-random code straight-line encoding and code expanding method p-element M-sequence pseudo-random codes, and the maximum encoding method is obtained by combing the above the encoding methods.

The invention relates to a method for tracking and positioning a mobile node of a wireless sensor network, which comprises the following steps: in a measurement positioning period, sending low repeated frequency pulse beacon signals for at least four times at known time intervals by the mobile node approximately keeping uniform speed rectilinear motion, receiving the beacon signals continuously for four times by a main anchoring node, measuring self time difference to acquire three self time difference relation expressions relative to an initial measurement moment, providing two trigonometric function equations from a positioning measurement triangle consisting of a motion locus of the mobile node and a motion radius vector of detection wave by using the cosine theorem, and simultaneously solving the equations so as to determine the relative distance and speed between the mobile node and the anchoring nodes; and further, by adopting the technology of beacon retransmission, retransmitting the beacon signals sent by the mobile node for the last time to the main anchoring node by two auxiliary anchoring nodes so as to achieve asynchronous coordinate positioning of the mobile node. The method can achieve tracking and positioning of a mobile target without time synchronization among the anchoring nodes.

The invention discloses a vertical take-off and landing unmanned aerial vehicle mobile platform landing guide device and a guide method thereof, and belongs to the field of shipboard unmanned aerial vehicle landing navigation. The device comprises a stable platform carried on a ship deck. The stable platform comprises a target, an upper platform, a lower platform, an electric cylinder and three supporting rods, and the electric cylinder controls the three supporting rods to perform three-degree-of-freedom motion, so that attitude motion in the pitching direction, the rolling direction and theyawing direction of the deck is compensated; when the vertical take-off and landing unmanned aerial vehicle is about to land on the deck, the unmanned aerial vehicle firstly autonomously follows the deck to move and gradually approaches a landing point until reaching the position above the target; the height of the unmanned aerial vehicle is gradually reduced to be close to a landing point througha dynamic-to-dynamic differential relative positioning technology until the deck reaches a visual capture point of the unmanned aerial vehicle, and visual navigation is introduced into the unmanned aerial vehicle; meanwhile, the deck automatically adjusts the inclination angle to counteract deck posture movement, and stable landing of the unmanned aerial vehicle is guaranteed. The structure is simple, full-autonomous deck landing of the unmanned aerial vehicle is achieved, and the landing guiding precision is improved.

The invention belongs to the field of underwater geomagnetic aided navigation, and particularly relates to an underwater vehicle all-attitude determination method based on magnetic gradient tensor measurement. The method comprises the steps of: under a carrier system, establishing a three-dimensional rectangular coordinate system to obtain five components of magnetic gradient tensor; extracting five isolated components of the magnetic gradient tensor under a geographical system from the prestored magnetic gradient tensor database; substituting the results into a non-linear equation set about q0, q1, q2 and q3; substituting quaternion q0, q1, q2 and q3 to a transformation matrix between a substitution carrier system and the geographical system to obtain the estimated value of a pitch angle theta. The underwater vehicle locating technology based on magnetic anomaly inversion has the characteristics of being low in cost, high in sensitivity, high in anti-interference capability, free from accumulative error and the like; the problem that a single magnetometer can not independently determine the attitude by depending on the geomagnetic field can be solved; an independent and concealed way is provided for underwater vehicle attitude estimation.

The invention relates to a mechanism capable of drilling radial holes in an indexing manner. According to the mechanism, T-shaped grooves which are transversally and longitudinally staggered, and provided with uniform specifications are formed in the upper surface of a rectangular foundation plate, a multi-index locating and clamping mechanism, an auxiliary locating and clamping mechanism and a slide drilling template mechanism are arranged on the rectangular foundation plate respectively, a cross-shaped groove is formed in the bottom of each mechanism, a slide-fit key is arranged in a corresponding side direction in each cross-shaped groove, and each slide-fit key is in slide connection with a narrow groove in the upper end of the corresponding T-shaped groove of the rectangular foundation plate; and a bolt for a rectangular head groove is arranged in the longitudinal direction of each mechanism, and an end head of each bolt for a rectangular head groove is in slide connection with a wide groove in the bottom of the T-shaped groove at a corresponding position on the rectangular foundation plate. According to the mechanism capable of drilling radial holes in the indexing manner and the drilling method, parts are located by a universal interchangeable structure, thus reducing repeated design and assembly for a fixture, reducing losses of raw materials, and improving product quality and production efficiency.

The invention provides an aspheric surface non-contact type measuring system for deflection workpieces. The aspheric surface non-contact type measuring system comprises a non-contact type optical profilometer probe, a profilometer lifting and adjusting mechanism, a precise three-dimensional displacement table, a digital display inclinometer, a two-dimensional deflection table, a base and a computer system. The non-contact type optical profilometer probe is fixed on the profilometer lifting and adjusting mechanism. The precise three-dimensional displacement table is fixed on the two-dimensional deflection table and is used for bearing, horizontal moving and positioning of a measured piece. The digital display inclinometer is fixed on the two-dimensional deflection table and is used for measuring the deflection angle of the two-dimensional deflection table. The two-dimensional deflection table is fixed on the base and is used for achieving deflection of the measured piece through deflection. The computer system is in data connection with the non-contact type optical profilometer probe, the precise three-dimensional displacement table and the digital display inclinometer to receive the face data of measuring points and the horizontal displacement data and the deflection angle of a measured piece, and the face data, the horizontal displacement data and the deflection angle are processed to achieve aspheric surface face recovery. The invention further relates to an aspheric surface non-contact type measuring method for the deflection workpieces.

The invention discloses a three-dimensional computerized numerical control sawing machine, which mainly comprises a frame (1), longitudinal guide rails (2), an upper machine box (3), a lower machine box (4), transverse guide rails (5), a worktable support (6), an electrical control system (7), a transmission system (8) and other parts, wherein the upper machine box (3) and the lower machine box (4) are arranged on rigid frame (1) to move along the longitudinal guide rails (2) under control and move together with the frame (1) as a whole along the transverse guide rails (5) under control; a power box (401) performs a reciprocating motion to draw a tightened saw blade (301) and rotates under control to ensure a saw cutting edge direction is consistent with a saw cutting operation direction;and three-dimensional motions are monitored by a displacement sensor and fed back to the electrical control system (7) to be treated by a computer in real time, and saw cutting tracks may be various complex plane geometrical curves.

The invention discloses a parallel-series six-freedom-degree operating platform for adjusting a position of a curved workpiece, which is applied to a laser strengthening process. A guide rail which is arranged along a y axis direction is arranged between a frame and a y axis moving platform; a guide rail which is arranged along an x axis direction is arranged between the y axis moving platform and an x axis moving platform; a central position on the upper surface of the x axis moving platform is connected to the central position at the bottom of a rotating platform along a z axis direction through a rotating pair; a moving platform is arranged on upper part of the rotating platform; four moving chains are in parallel connection between the rotating platform and the moving platform; moving pairs are arranged on the middle parts of first, second and fourth moving chains; two ends of the first, second and fourth moving chains are respectively connected to the rotating platform and the moving platform through spherical pairs; a lower end of a third moving chain is vertically and fixedly connected to the centre of the rotating platform along the z axis direction, a moving pair is arranged on the middle part of the third moving chain and an upper end of the third moving chain is connected to the moving platform through a universal joint; and the first, second and third moving chains are respectively connected to driving pieces, thereby being capable of realizing the free adjustment for the position and displacement of a large-scale irregular curved workpiece during the strengthening process.

The invention provides a single-frequency GPS (Global Positioning System) direction-finding system. The single-frequency GPS direction-finding system is composed of a double-GPS receiver, double antennae, an ARM 9 processor and a host computer, wherein the double-GPS receiver is respectively connected with the main antenna and the auxiliary antenna. A direction-finding and positioning method comprises the following steps: the position and the speed of the main antenna can be calculated and are used as a reference coordinate, the coordinate is used as a center of a coordinate system for constructing a spherical coordinate space, the spherical coordinate space is used as a searching area for double-differential integers, and two-dimensional attitude information of a carrier can be determined by utilizing a direction vector between the main antenna and the auxiliary antenna after an integer ambiguity is determined. The invention has the advantages of low cost, convenience for carrying, flexibility in installation and high measuring accuracy, and can be widely used for aerospace measurement, accurate landing, geography attitude measurement, attitude or heading measurement of an automotive and a boat, and the like.

The invention provides a skylight controlling unit of a vehicle belonging to the technology and electronics field. The invention resolves the problems of the current vehicle skylight such as single function, poor controlling precision, etc. while controlling a skylight. The skylight controlling unit of vehicle includes a microcontroller. The microcontroller is connected with a power supply for supplying the whole unit, bottons for operation and a start switch for sending opening and closing signals; besides, a drive circuit is connected with the microcontroller, the output end of the drive circuit is connected with a motor, and the motor is also connected with a sensor for testing the motor running state, the output end of the sensor is connected to the microcontroller. The skylight controlling unit of the vehicle uses double control way of Hawl pulse counting and the current test of the motor to control, hereby is characterized by complete functions, high controlling precision and reliable characteristics, long service life of the motor.

The invention provides a mechanical wheel counter noncontact reading sensor and the design method thereof, using the light reflection principle to convert optical signal into electric signal code data so as to implement a function of noncontact mode reading of counter wheel indicated figures, where photoelectric triode, photoelectric diode and signal processing circuit are arranged on a circuit board on the upper part of a bracket, the lower part of the bracket is made with optical fiber fixing holes, the optical fiber is connected between the photoelectric triode, photoelectric diode and optical fiber fixing holes as a light path, the lower part of the bracket is provided with a wheel pasted with light reflecting strip to read code data from the photoelectric triode, and a MCU looks up a wheel figure-code data contrast table to convert the code data into counter wheel indicated figures, which are outputted through serial socket. The invention accurately calculates included angles between the optical fiber fixing holes and geometric parameters of the light reflecting strip and can implement remote data transmission.

The invention discloses a minimally invasive celiac surgery robot. The minimally invasive celiac surgery robot comprises a base, a surgery mechanical box and a driving system. The surgery mechanical box and the driving system are arranged above the base. The driving system comprises an X-direction translational driving device, a Y-direction translational driving device and a Z-direction elevatingdriving device. The X-direction translational driving device is used for driving the Z-direction elevating driving device, the Y-direction translational driving device and the surgery mechanical box to perform reciprocating linear motion along an X-axis direction. The Z-direction elevating driving device is used for driving the Y-direction translational driving device and the surgery mechanical box to perform reciprocating elevating motion along a Z-axis direction. The Y-direction translational driving device is used for driving the surgery mechanical box to perform reciprocating linear motionalong a Y-axis direction. With outstanding strengths in stability, safety and feasibility, the minimally invasive celiac surgery robot helps improve accuracy of surgery operation and surgery quality.