1493results about How to "Realize closed-loop control" patented technology

The invention discloses an automatic guidance system based on radio frequency identification labels and vision, and the method of the automatic guidance system. The invention is characterized in adopting a four-wheel structure, wherein two front wheels are used for steering and two rear wheels are used for driving; a direct current motor is used as the travelling and driving device, which is driven to steer by a stepping motor; the invention is provided with a wheel steering angle positioning device, so the invention has relatively high dynamic response ability; a black and white parallel guide belt is adopted as a guide path, with the radio frequency identification labels discontinuously laid below, and red work station characters arranged at both sides; CCD collects road surface information, and the brightness of light source adaptive controls according to image gray information; characters are extracted by utilizing color differences; straight lines are rapidly HOUGH transformed and identified; a control signal is sent to AGV controller after processed by an industrial control computer, and the direct current motor and the stepping motor are controlled. In order to effectively realize the communication dispatch between AGVS in real time, radio frequency identification labels are adopted for positioning, and a wireless transceiver module is adopted for communication between AGVS and a host. The invention has the advantages of good environmental adaptability and navigation precision, and lower cost.

The invention relates to an intelligent pesticide applying system and a control method of a plant protection unmanned aerial vehicle. The system is provided with a meteorological station used for measuring environment parameters and sending collected data to a ground station. The ground station sends the environment parameters, pesticide applying control parameters and control commands to an onboard pesticide applying controller on the plant protection unmanned aerial vehicle through a wireless data transmission module. Meanwhile, a flight controller measures real-time geographic information parameters and flight parameters of the plant protection unmanned aerial vehicle and sends collected data to the onboard pesticide applying controller in real time. The onboard pesticide applying controller conducts autonomous programmed decisions by combining the flight parameters, the environment parameters, the pesticide applying control parameters and the control commands, a miniature diaphragm pump and two centrifugal atomization disc sprayers are independently controlled, and therefore the pesticide liquid flow, the mist drop diameters and spraying width parameters of the plant protection unmanned aerial vehicle are intelligently controlled. By means of the intelligent pesticide applying system and the control method, it is guaranteed that pesticide in an operation area is quantitative and evenly sprayed in a fully covering mode, the phenomena of repeated spraying and miss-spraying of the pesticide are avoided, the pesticide applying quality is improved, and effective prevention and treatment of farmland pest and disease damage are guaranteed.

The invention discloses an electronic cigarette smoking set heater with a low-temperature heating function. The electronic cigarette smoking set heater comprises a core rod (1), an insulation layer (2), anode and cathode pins (3) and a temperature sensor (4), wherein the insulation layer (2) wraps the outer surface of the core rod (1) in a sintering manner; the anode and cathode pins (3) are connected with the insulation layer (2) which wraps the outer surface of the core rod (1); the temperature sensor (4) is embedded in a blind hole (11) which is formed in the tail end of the core rod (1); the rear end of the temperature sensor (4) is connected with pins (41) which extend out of the blind hole (11). The electronic cigarette smoking set heater can be conveniently inserted into core parts of tobacco products for heating; meanwhile, the temperature sensor can be embedded into the core part of the heater for realizing closed-loop control on temperatures; the control precision of an electronic cigarette smoking set heater with a low-temperature heating function on the heating temperature of the tobacco products can be improved.

The invention relates to a 3D-coordinated power grid energy management system and a power grid evaluation and control method, which belongs to the field of scheduling automation of power system. The system comprises a power grid model reconstruction sub-system, a power grid safety evaluation and alarm sub-system, an active frequency optimization control sub-system and a passive voltage optimization control sub-system, and a background calculation sub-system and a system foreground. The method comprises following steps: tracking isoline of an external power grid and automatically reconstructing a global power grid model; automatically executing online safety analysis integrated with static power grid, dynamic power grid, voltage stabilization, coordination of relay protection setting values, etc., and online recognizing the safety state of the power grid; alarming for normal unsafe condition, and carrying out prevention control; alarming for emergent conditions, and carrying out correction control calculation; and carrying out realtime active scheduling closed-loop control and passive voltage optimized closed-loop control under normal safety condition. The invention can achieve comprehensive and coordinated closed-loop control for the safety of the power grid, the economy and the electric energy quality.

A servo device of motor position based on DSP consists of brushless DC motor being used as servo motor as its servo device being suitably set on digital control system requiring position control response quickly, control circuit being designed independently by DSP and programming logic component for realizing closed loop servo control of current loop and speed loop as well as position loop.

The invention provides a reversible and amphibious multi-legged robot with variable postures. The robot comprises three parts, i.e. a body bracket, a one-way input and vertical output module and a leg mechanism, wherein the one-way input and vertical output module is installed on the body bracket, and the leg mechanism is installed on the one-way input and vertical output module. The reversible and amphibious multi-legged robot with variable postures of the invention is formed by the parallel connection of a plurality of walking legs, and by controlling a posture adjustment motor, the real-time change of the standing and moving postures of the robot can be realized, thereby improving the capability of adapting to the complex amphibian environment; and each walking leg is formed by the serial connection of the one-way input and vertical output module and the leg mechanism. A tridimensional force sensor is installed at the leg end and is used for feeding back the stress of the leg end during movement, so as to realize the closed loop control of the stress of each leg of the robot.

The invention provides a double passive vision sensing detecting device in GMA material increase manufacturing and a detecting method thereof. The device comprises a working platform, a base plate, a welding gun, a spray nozzle, a width vision sensor, a width composite light filtering system, a height vision sensor and a height composite light filtering system, wherein the width vision sensor is used for monitoring width information of a tail part of an accumulating weld pool; and the height vision sensor is used for monitoring a distance from a spray nozzle to the tail part of the accumulating weld pool. The detecting method comprises a process of processing accumulating dimension images and a process of calibrating the sensing system. According to the double passive vision sensing detecting device in GMA material increase manufacturing and the detecting method thereof disclosed by the invention, accumulating width in GMA material increase manufacturing and feature information of a distance from the spray nozzle to the upper surface of a cladding layer can be monitored simultaneously, so that the real-time detecting problem of cladding width and cladding height in GMA material increase manufacturing is effectively solved; and real-time monitoring and closed-loop control for follow-up accumulating dimension are realized by extracting the feature information of accumulating dimension, so that reliable technical support is provided for real-time control of accumulating quality in GMA material increase manufacturing.

The invention relates to a regeneration bone scaffold forming system and method based on comprehensive 3D printing formation. A comprehensive 3D printing formation technology method of a regeneration bone scaffold can be built by combining an electrospinning technology and a freeze drying technology, a digital system integration method which can realize the 3D printing formation processes of the electrospinning formation and a modeling structure can be given on the basis, and finally the specific system realization method and operation steps can be given. The data processing method of the built comprehensive 3D printing formation system comprises the steps of: completing filling and lapping on each layer of the scaffold by adopting a parallel and repeated path scanning method, judging adjacent fibers through adopting a transition line method and conducting curve fitting to realize the formation of complicated contour boundaries and realize the automatic integration management of the 3D printing formation processes of the electrospinning formation and the modeling structure through specific post-processing. The regeneration bone scaffold forming system and method based on the comprehensive 3D printing formation are key technologies for realizing the multiscale formation of the regeneration bone scaffold, and have obvious characteristics.

The invention discloses an energy-saving shield segment assembling and positioning electro-hydraulic control system adopting a load-sensitive technology. The system comprises a motor, a variable pump, a two-position three-way proportional reversing valve, a variable cylinder, an overflow valve, a pressure reducing valve, a pressure compensating valve, a one-way valve, a multi-way valve, a balancing valve, a hydraulic lock, a hydraulic motor, a hydraulic cylinder, a moment rotation speed sensor, a displacement sensor and a pressure sensor. The multi-way valve with the pressure compensating valve in a segment assembling system is used for controlling the rotation speed of the hydraulic motor for driving the segment assembling machine to rotate and the moving speed of each hydraulic cylinder. The pressure sensor is used for detecting the pressure of a main oil passage of the system and the working pressure of each executer in real time; and a computer control unit is used for determining a variable pump control signal according to a system pressure signal, so that the displacement of the variable pump is changed with the load change so as to achieve load sensitive control. According to the invention, energy waste caused by continuous oil supply at the highest working pressure of the traditional system is avoided, the throttling loss and overflow loss are greatly reduced, and an obvious energy saving effect is obtained.

The invention provides one intelligent remote close method and device to avoid electrical error operation, which comprises PAD computer, blue teeth opener and intelligent lock ware, wherein, the PAD computer is imbedded with relative operation software and blue teeth module for communication by blue teeth opener to collect relative information; it judges and sends operation order according to the rules to drive blue teeth opener; the intelligent lock ware has automatic opening and feedback information for display and relative operations by persons.

The invention relates to a safety production management and control device, system and method. The device includes a safety monitoring module, a device management module, a risk management and controlmodule, and a safety production management module; the electronic labels of devices in the device management module are associated with the devices and are the identity labels of field devices and device pattern model libraries; the safety monitoring module obtains field device operating parameters, device state information, work field safety measures and staff field operation information; the risk management and control module combines the device operating parameters and other information with a device risk knowledge base and generates device state risk early warnings and operation risk pre-control measures; and the safety production management module generates operation tasks, work tickets and operation tickets according to requirements, and ensures the implementation of operation fieldsafety measures and performs safety supervision on the operation process and process management and control on the operation behaviors of operating personnel according to the device operating parameters, the device state information, the risk pre-control measures and the safety measures.

The invention discloses a redundant fault-tolerant control method applied to a double-motor steering-by-wire system, comprising the following steps of: measuring the steering angle of a steering wheel by a steering angle sensor at the steering wheel and transmitting to a central controller; calculating a target steering angle of a pinion according to the steering angle of the steering wheel and an ideal transmission ratio; sending a target steering angle value to a steering angle motor controller by the central controller; carrying out closed loop control on a steering angle motor by the steering angle motor controller according to the target steering angle; measuring the working current of the steering angle motor by a current sensor; inquiring a constant current distribution curve to obtain a target working current of an auxiliary motor; sending a target working current value to an auxiliary motor controller by the central controller, and carrying out closed loop control on the auxiliary motor by the auxiliary motor controller according to the target current value to realize precise control of the pinion steering angle; monitoring whether an engine is flameout by the central controller; monitoring whether the two motors go wrong by the central controller; and carrying out steering control on one motor in the normal operating condition by the central controller when the othermotor goes wrong.

The invention relates to a load follow-up loading system for plane flap reliability tests. The system comprises a bearing wall. The system is characterized by further comprising a support component, a load loading adjusting unit and a load detection and adjusting unit, wherein a flap is mounted on a wing; the root of the wing is mounted on the bearing wall; the support component comprises two vertical columns and a transverse beam for supporting the load loading adjusting unit and the load detection and adjusting unit; the load loading unit comprises a moment motor and a steel rope; the moment motor is arranged on the support component and is used for exerting an action force on the flap; the steel rope is connected with the moment motor; the load detection and adjusting unit comprises an angle sensor, a sliding track component and a pulley component. A plurality of loading points are arranged on the surface of the flap, one loading point corresponds to one set of loading system, the size, the direction and an equivalent action point of real-time flap surface aerodynamic force can be simulated.

The invention discloses a new balance detection bias control method for an MZ external modulator. The method comprises the following steps: sending RF (radio frequency) signals and pilot signals into a signal end of the MZ external modulator after synthesizing the RF signals and the pilot signals by a signal synthesizer, wherein modulated light signals pass through an optical splitter and part of the optical signals enter an photoelectric detector; converting the part of the optical signals into electric signals by the photoelectric detector; detecting the electric signals; detecting fundamental waves and secondary harmonics of the pilot signals or two or more harmonic components; performing division operation on a transmission function of the two harmonic components and obtaining an adjustment amount of a direct current bias according to a ratio function after the division operation; and obtaining a bias voltage according to the adjustment amount of the direct current bias and sending the bias voltage into the direct current bias end of the MZ external modulator to realize the closed-loop control of an optimal direct current bias point of the MZ external modulator. By using the method, the influence on the precision of a direct current bias control method caused by the output power of a laser and the loss of a link can be eliminated, so that the precision of a system is improved.

The invention provides a self-driving car lane changing control method based on monocular vision and belongs to the technical field of car electronic control. A camera is installed on a roof of an self-driving car and used for collecting a lane line image; an image processing module is used for processing and recognizing the lane line image to obtain a fit lane line; an upper computer module is used for calculating turn angle increment of a steering wheel, and outputting a motor control signal to an executing unit. According to the method, lane changing reference angles are defined, the optimal lane changing track model based on the lane changing reference angles is provided, the turn angle increment of the steering wheel is obtained by means of a preview control theory to control the steering wheel of the car, and the left lane changing reference angle or the right lane changing reference angle is selected according to needs. Lane changing closed-loop control can be achieved only by using the camera for path recognizing, the lane changing process is stable and reliable, cost is reduced, and the complex degree of the system is reduced.

The invention discloses a testing system of cutting force and torque loading reliability of a numerical control turret power knife rest, which comprises a supporting part and a loading part. The supporting part comprises a numerical control turret power knife rest supporting part, a cutting force loading supporting part and a torque loading supporting part. The numerical control turret power knife rest supporting part is fixed at left side below a floor iron, and the torque loading supporting part is located at the right side below the floor iron. The loading part comprises a dynamic cutting force loading part, a cutting torque loading part and a loading bar. The dynamic cutting force loading part is connected with a rotating plate in the cutting force loading supporting part through a 2# sliding plate. The cutting torque loading part comprises an eddy current dynamometer and an elastic coupler. The eddy current dynamometer is installed on a 3# pedestal, the output end of the eddy current dynamometer is connected with the elastic coupler, the elastic coupler is connected with a right end key of the loading bar sleeved with a bearing loading unit, and the left end of the loading bar is fixedly connected with the right end of a power knife seat on the measured numerical control turret power knife rest.

The invention discloses a difference double-interference type optical fiber gyroscope based on birefringence modulation. The optical fiber gyroscope comprises a light source, a modulator, a coupler, an optical fiber ring, a polarization beam splitter, a first detector and a second detector, wherein the light source and the modulator are welded at a melting point O1 with an angle of 45 DEG; the modulator and a port A of the coupler are welded at a melting point O2 with an angle of 45 DEG; an end C of the coupler and one end of a polarization-maintaining optical fiber ring are welded at a melting point O3 with an angle of 0 DEG; an end D of the coupler and the other end of the optical fiber ring are welded at a melting point O4 with an angle of 90 DEG; an end B of the coupler and an input end of the polarization beam splitter are welded at a melting point O5 with an angle of 0 DEG; and two output ends of the polarization beam splitter are respectively welded to the first detector and the second detector. According to the invention, closed-loop control of the difference double-interference type optical fiber gyroscope is realized; and a wide-spectrum light source with very weak coherent characteristics is adopted, thereby avoiding strong noise brought by various stray wave interferences which are caused by strong coherent characteristics of a laser light source.

The invention provides a closed loop control method of sintering mixture moisture, belongs to the technical field of automatic sintering mixture water adding controlling, and particularly relates to a control method based on a fuzzy control theory, an automatic optimizing algorithm and a sintering water adding operation process. The control process of the method mainly comprises the steps that 1, the mixture water adding amount is automatically calculated through the target moisture and data detected by a microwave moisture testing instrument and a water adding flowmeter according to the fuzzy control theory; 2, a target moisture value is optimized regularly and automatically by establishing sintering moisture quality evaluation indexes through the automatic optimizing algorithm, and the water adding amount is precisely controlled. According to the method, the manual adjusting mode of traditional sintering mixture water adding is changed, closed loop control over the sintering mixture moisture is achieved, the control precision of sintering mixture water adding is improved, the automation level of sintering mixture water adding is increased, and the good uniform mixing and pelletizing effects and the ideal air permeability are guaranteed.

The invention relates to a human body simulation circulating system in the technical field of the detection of medical apparatuses, which comprises a heart simulating assembly, a heart control system, a sensing device, a data acquisition system, a peripheral simulating assembly, a cardiac ventricle auxiliary device and a controller, wherein the heart control system is connected with the heart simulating assembly; the heart simulating assembly and the peripheral simulating assembly are sequentially connected in series to form a heart simulating flow path system; the cardiac ventricle auxiliary device is connected in parallel with the heart simulating assembly to form a cardiac ventricle auxiliary flow path system; the sensing device is connected to a heart simulation and cardiac ventricle auxiliary combined flow path system; the input end of the data acquisition system is respectively connected with the sensing device and a computer to receive a pressure flux signal and a control command, and the output end of the data acquisition system is connected with the heart control system and the cardiac ventricle auxiliary device. The invention can detect the pressure and the flux of a plurality of positions in a flow path and is convenient for continuously optimizing the structure of the cardiac ventricle auxiliary device and a control system.

The invention provides a digital satellite attitude and orbit control algorithm ground simulation verification system. The digital satellite attitude and orbit control algorithm ground simulation verification system comprises a simulation platform, a host computer platform, a data transfer platform, and a satellite control algorithm platform. The simulation platform is suitable for acquiring control information of a satellite attitude and orbit algorithm, and is operated in a preset simulation environment according to a dynamical model to generate an actual attitude and an actual orbit of a satellite, and then is used to output satellite simulation information. The host computer platform is suitable for receiving the satellite simulation information, and based on the setting of the satellite simulation information and parameters related to the dynamical model, and is used to transmit operation information of operating the simulation platform to the simulation platform according to an instruction input by a user. The satellite control algorithm platform is suitable for determining the satellite attitude and orbit algorithm according to the satellite simulation information, and is used to transmit control information of executing the satellite attitude and orbit algorithm to the simulation platform. The linked operation of the satellite simulation verification system is realized, and a satellite simulation integration level is improved.

The invention relates to the field of brush direct current motor speed regulating control, in particular to a compensation feedback speed regulating device of a brush direct current motor and a method therefor. The method realizes the speed regulating control to the brush direct current motor via acquiring and analyzing speed gain links of the voltage signal of the motor and current compensation control links of a motor working current signal; the speed gain links provide voltage feedback; and the current compensation feedback control links provide wasted current feedback used for compensating consumption and caused by the motor armature inner resistance; and a feedback controller of the device provided by the invention comprises the two links, and the device can also be used for achieving the method. The invention has the benefits that close-cycle control to the rotation speed of the motor is achieved via the speed gain link; an extra speed sensor is not required; the rotation speed deviation of the load change, which is caused by the motor armature inner resistance, is corrected by the current compensation control links; and the control is simple, the cost is low, and the universal property is high.

The invention discloses a power switching coordination control method of a coaxial parallel hybrid electric vehicle with an engine torque observer. Based on the method of a least square support vector machine, the testing sampledatum of the engine rack performance aretrained; the distribution estimation algorithm is adopted to optimize the parameter C and Lambda of the least square support vector machine; and through off-line training and optimization to an engine toque module and based on the optimum parameters, the engine torque observer is built. The current throttle value percentage and rotary speed are inputted to acquire a real-time torque value, thus realizing on-line observation to the engine torque. During the switching process of switching a pure electric driving model to a pure engine driving model (different power sources) of the vehicle provided herein, section coordination control is carried out aiming to different power sources, thus realizing stable transition of the whole switching process and stable torque of power system output without fluctuation, and satisfying the requirement of vehicle driving total torque.

The invention discloses a method for controlling the speed regulation of the isothermal extrusion of industrial aluminum profiles for transportation, wherein a control system host machine, an isothermal extrusion PLC (Programmable Logic Controller) and an industrial aluminum profile outlet temperature thermodetector are used. The isothermal extrusion curves of the industrial aluminum profiles and profile outlet temperature control information are saved in the control system host machine. The method comprises the steps of: continuously monitoring and acquiring extruded profile outlet temperature by the thermodetector, importing temperature data into the isothermal extrusion PLC, issuing an extrusion speed regulation instruction by the isothermal extrusion PLC and a control system according to the detected temperature, transmitting the extrusion speed regulation instruction to an extruder PLC through the isothermal extrusion PLC, and regulating the increment / decrement of the extrusion speed of an extruder; and meanwhile, feeding back the real-time extrusion speed of the extruder to the isothermal extrusion PLC by the extruder PLC, and carrying out the processes in cycle. The method disclosed by the invention obviously improves the automation degree and production and manufacture efficiency of the extrusion production procedure of the industrial aluminum profiles and solves the technical problems of huge quality fluctuation and low production efficiency caused by controlling on the basis of manual experience for a long time.

The invention discloses a macro-micro combination continuously variable transmission of an electromagnet-ultrasonic transducer and a method of the macro-micro combination continuously variable transmission, belonging to the field of transmissions. The macro-micro combination continuously variable transmission comprises a box body (8) which is provided with a front end cover (10) and a rear end cover (3); and the macro-micro combination continuously variable transmission further comprises an input shaft component arranged on the front part of the box body and an output shaft component arranged on the rear part of the box body. According to the device, continuously variable transmission is realized by combining macro control and micro control; the reduction gear is small in size, simple in structure and easy for machining, assembling and using; speed change is continuous and adjustable; response time is short; and control is easy.

The invention discloses a variable speed wind-power system based on a variable frequency transformer and a control method of the variable speed wind-power system. The variable speed wind-power system comprises a cage type wind-power unit group, a variable frequency AC bus, a booster transformer, a high voltage transmission line, a step down transformer, a variable frequency transformer and a power frequency power grid, wherein a variable frequency AC sent by the cage type wind-power unit group is collected to the variable frequency AC bus, the variable frequency AC subjected to voltage reduction of the step down transformer enters the variable frequency transformer, the variable frequency transformer converts the variable frequency AC into power frequency AC, and the power frequency AC is injected into the power frequency power grid. According to the variable speed wind-power system based on the variable frequency transformer, the single-machine capacity of the wind-power unit group can be increased, the failure rate of the wind-power unit group is reduced, the maintenance work is reduced, the effective power generation time is increased, the wind energy utilization rate can be increased, and mechanical stress and output power fluctuation are decreased. The control method is simple in control and is convenient for operation.

The invention provides a micro fluid flow adjusting device based on air pressure drive, belongs to the field of micro fluids, and aims to solve the problems of low flow adjusting precision, low dynamic response speed and absence of capacity of measuring actual flow when an injection pump is adopted to adjust the flow in a micro fluid system. The micro fluid flow adjusting device adopts an air pressure drive mode, an air supply source supplies compressed air, outlet pressure is adjusted and set by a pressure reducing valve to obtain stable air supply pressure, the pressure is measured by a pressure sensor, a liquid in a liquid container passes a valve and a flow meter to enter a liquid micro-channel under the pushing of the air pressure, the actual liquid flow is measured by the flow meter and fed back to a microprocessor, the microprocessor outputs a control signal to change the working state of a micro valve, the liquid flow of the liquid micro-channel is adjusted, and closed-loop control of the flow is realized; further, a PID (proportion integration differentiation) control algorithm can be adopted, the adjusting precision and the dynamic response speed of the flow can be increased, and the liquid flow in the micro-channel can be adjusted accurately and rapidly.

The invention relates to an automatic solar tracking system which tracks the sun accurately in real time and is used for efficiently collecting and using solar energy. The automatic solar tracking device comprises a solar energy photovoltaic array, an adjusting device connected with the solar energy photovoltaic array and used for adjusting the position of the solar energy photovoltaic array, a stand column for supporting the adjusting device and a control system. The adjusting device is composed of a pitch angle adjusting assembly and a position angle adjusting assembly, wherein the pitch angle adjusting assembly is connected with the position angle adjusting assembly through a vertical shaft, the position angle adjusting assembly is arranged on the stand column, and the control system is used for performing closed loop control on the adjusting device. The accuracy in solar tracking of the automatic solar tracking device is smaller than 0.1, the energy consumption only occupies for 0.5% of the electric energy production of the driving photovoltaic array, and the automatic solar tracking system has the advantages of being long in service life, intact in protection function and the like.

The invention discloses a closed-loop control available multifunctional in-water snake-shaped robot which mainly solves the problem that a movement posture of the existing in-water snake-shaped robot cannot be adjusted. The multifunctional in-water snake-shaped robot comprises a snake head (1), a snake tail (2) and a snake body (5), wherein the snake body (5) is formed by alternately connecting a plurality of rigid joints (3) and a plurality of flexible joints (4); the two ends of the snake body (5) are connected with the snake head and the snake tail respectively to form a snake part; a camera (11) is mounted in the snake head (1); a steering engine (51), a master controller (52), a battery pack module (53), a ten-freedom-degree sensor (56), a steering engine controller (57), a solar power charging module (58) and an electric quantity detection module (59) are mounted in the snake body (5); the ten-freedom-degree sensor sends data measured in real time to the master controller for data fusion; and the master controller controls the steering engine through the steering engine controller, so as to adjust a movement posture of the snake part. The multifunctional in-water snake-shaped robot can be used for oil pipeline inspection, drilling platform underwater structure overhaul and military reconnaissance, and has the advantages that the multifunctional in-water snake-shaped can correct the movement posture of the snake part, can detect the air tightness of the snake part, and can be charged by solar power.

The invention relates to a surface defect automatic detecting device for production process of a section bar rolling mill production line, which comprises a fixing device, a control device, video cameras, an image collecting computer, an information processing server, a light-emitting diode (LED) light source, a local area network, a process control network system, a spraying device, a pinch roll, a conveying roller way, stripper rubber and compressed air. The surface defect automatic detecting device for production process of the section bar rolling mill production line is characterized in that the number of the video cameras is determined according to the maximum number of the video cameras needed in the most complex surfaces of all varieties of the section bars to be detected. The surface defect automatic detecting device achieves automatic detection of surface defect of section bars (including varieties of heavy rails, H-shaped steel, joint steel, channel steel, steel angle and the like) by controlling and adjusting focal distance and angle of the video camera and the number of the video cameras. The surface defect automatic detecting device for production process of the section bar rolling mill production line is strong in adaptability, the same configuration can be applied to heavy rail processing lines and profile steel finishing lines, and accordingly software, hardware and spare parts of the device are universal, and manufacture and maintenance cost of equipment can be saved.

The invention relates to equipment for calibrating the flow rate characteristic of a fuel gas nozzle, which comprises a fuel gas source 1 for supplying a fuel gas, a depressurizing device 2 for depressurizing the fuel gas from the fuel gas source 1, a pressure stabilizing device 3 for stabilizing the pressure of the fuel gas from the depressurizing device, a gas collecting device 10 for collecting and measuring the volume of fuel gas injected by a nozzle 8 to be calibrated, pressure testing devices 4a and 4b for testing pressures before and after the nozzle and a control system, wherein the control system comprises a flow rate calibrating device for calibrating the variation characteristic of the flow rate of the nozzle with ejection duration and ejection pressure; and the control system is used for determining the characteristics of the driving current of the nozzle and determining the driving current suitable for the fuel gas nozzle according to the response characteristic of an electromagnetic valve of the nozzle. The equipment can calibrate the flow rate characteristics of different fuel gas nozzles, determine the optimal working areas of the fuel gas nozzles, optimize the driving characteristics of the fuel gas nozzles and provide an accurate basis for the model selection and application of the fuel gas nozzles.