180results about How to "Realize motion control" patented technology

The invention discloses a robot off line programming system and method. The robot off line programming method includes: importing a robot kinematic constraint condition, a three-dimensional model of a working object of a robot, three-dimensional models of the robot and a tooling thereof into a robot three-dimensional virtual environment; performing curve discretization on extracted robot motion path graph primitives and pose information thereof, extracting path points, and generating a robot motion path; performing robot motion simulation and collision detection; modifying the path points according to a given definition on basis of the result of robot motion simulation and collision detection, generating a new robot motion path and pose, and displaying the new robot motion path and pose in an operation system; acquiring a feasibility result and generating a robot executable file; and communicating with the robot, importing the robot executable file into a robot controller, and realizing robot motion control. The robot off line programming system and method can effectively simplify operations, and improve the efficiency of robot programming work.

The invention relates to a ground wall transition robot imitating a wall lizard, which adopts a manner of crawling on all fours and consists of a mechanical part and a circuit part. The mechanical part comprises a body and four legs, is divided into two parts in a completely symmetric manner with interchangeability; the two parts are connected by sliding part; each joint is driven by steering engine; the position of paw is designed into a damping joint, which provides a fixed position for the paw joint when suspending, and angles can be adjusted according to the condition of the wall surface when adsorbing, so as to adapt to varied conditions of the wall surface; the robot realizes the ground wall transition in a transitional walking manner, and the ground wall transition can be realized by the combined of the pitching action of the body and the change of the foothold position of a single foot; the motion control of the robot adopts a master-slave control structure, wherein, a host computer takes charge of the algorithm operation relevant to the gait planning of the robot, and meanwhile sends out orders to a slave computer at certain frequency, then the slave computer receives the orders of the host computer and makes corresponding responses, thus completing the output of the control information of the driver and sending relevant operation state information of the robot back to the host computer; the host computer and the slave computer are communicated by a 232 serial port.

The invention belongs to the technical field of digital control of electromechanical integration, and relates to an intelligent control method with the three-stage processing self-optimization function. The intelligent control method comprises the following steps: firstly, optimizing and an executing processing program according to optimum processing parameters; secondly, detecting the current and the power supply voltage of a main motor in real time during processing, taking the current as a decision-making value, the voltage as an supplementary means and the variation delta af of the feeding speed af as a system adjustment value, and realizing closed-loop feedback fuzzy control of the processing process; and thirdly, taking a trigger signal of a three-dimensional measuring head as an input mark value after completing the procedure of detection of geometrical information of workpieces, reading the actual coordinate of a current measuring point after detecting the input mark value of the measuring head, estimating errors of processed workpieces after measuring all the measuring points, and performing secondary self-adaptive optimization and adjustment on the processing program. The intelligent control method can realize self-optimization of a digital control program; and a digital control system can acquire shape and position error information of the workpieces in time, so that parameters in subsequent technology are convenient to adjust.

The present invention relates to a non-co-axial multi-rotor aircraft, which comprises an aircraft body, a power system, a transmission system, a flying control system, and 2N rotor components, wherein N is more than or equal to 2, the power system drives the rotor component to rotate through the transmission system, the flying control system controls the power system to work, every rotor component comprises a rotor and a blade pitch driving mechanism for changing a rotor blade pitch, the flying control system is provided for controlling works of every blade pitch driving mechanism, the transmission system comprises N forward direction transmission mechanisms and N reverse direction transmission mechanisms, the forward direction transmission mechanisms and the reverse direction transmission mechanisms are sequentially and staggedly distributed, and the power system drives the rotors of the N rotor components to rotate along the same direction through the N forward direction transmission mechanisms. With the present invention, technical problems of single driving manner, low aircraft load, short flying time and the like due to application of rotor rotation speed changing to control an aircraft attitude by the existing multi-rotor aircraft are solved.

The invention relates to a pool ship collision experiment system. The pool ship collision experiment system mainly comprises a forward traction guiding device, a traction hook (8), a heading stabilizing mechanism and a reverse traction device (15). The forward traction guiding device is installed at the head end of a guide rail (7), the traction hook (8) is arranged in the middle point of a movable frame (5) and is kept in a horizontal state, a front end guiding frame (22) of a ship model (9) is clamped in the traction hook (8), and when the forward traction guiding device drags the ship model (9) to move forwards, the ship model (9) and the movable frame (5) are connected into a whole through the traction hook (8), and the ship model (9) can move forwards along with the movable frame (5) in an accelerated mode. The heading stabilizing mechanism is arranged at the tail of the ship model, and the reverse traction device (15) is arranged at the tail end of a pool guide rail and used for decelerating the movable frame (5) after the ship model accelerates in the experiment. The pool ship collision experiment system is simple in structure, movement of the movable frame is controlled, and the ship model is separated from the movable frame after the speed of the ship model reaches to the preset value.

The invention provides a ship motion control system with control input restraints considered. The ship motion control system comprises a guide system, a control system, a sensor system, a differential homeomorphism convertor and a data processing system and further comprises an input compensation system. The guide system calculates the expected pose and the expected speed of a ship at each moment according to the input expected value and the initial position of the ship; a sensor collects actual pose information and actual speed information of the ship; the data processing system obtains low-frequency pose information and the low-frequency speed of the ship; the differential homeomorphism convertor obtains new state variables; the control system conducts corresponding solution according to the new state variables to obtain corresponding control instruction information; the control instruction information is transmitted to the input compensation system to be compensated, and a final control instruction is obtained and sent to an execution mechanism of the ship. According to the ship motion control system, a model has an unknown non-linear function, the control input restraints are considered, and the ship motion control system is designed on the basis of self-adaption neural network estimation and through the filtering back-stepping method.

The invention belongs to the technical field of intelligent logistics robots, and discloses an intelligent solar unmanned logistics distribution system, a control method and a distribution vehicle. The control method comprises the steps of collecting and analyzing a current road environment, and when a vehicle body detects an obstacle, the vehicle body automatically stopping or bypassing a bend toavoid the obstacle according to an ultrasonic detection distance and runs to a safe area; acquiring a lane boundary sign through a USB camera, carrying out binarization processing on an acquired picture, determining the position of a lane boundary through an edge detection method, solving the area of a lane boundary area, and controlling the vehicle body to run along the lane boundary area through a threshold judgment method; displaying vehicle state information such as latitude and longitude, speed, azimuth angle and battery capacity of the vehicle body in real time and sending the vehicle state information to a remote service center through a wireless module. According to the invention, the uncertainty of the external perception of the vehicle is reduced, and the correctness of the decision of the unmanned vehicle control system is greatly improved.

The invention discloses an anti-shake device of a mobile robotic vision system and an anti-shake compensation control method therefor, and relates to an anti-shake device of a vision system for a robot and an anti-shake compensation control method. Aiming at the shake of a mobile robot, machinery and control methods are used to fundamentally eliminate the shake of the robotic vision system in real time; therefore, the stable motion of the vision system can be achieved. The vision system anti-shake device comprises an anti-shake mechanism, a sensor system and an anti-shake control system which is used for realizing the anti-shake of the vision system. The method has the following steps: measuring the shake parameters, judging whether the mobile robotic vision system shakes or not, calculating the compensation amount, planning compensation track, giving feedback based on PD, calculating shake compensation control by the reverse dynamics The anti-shake device realizes the motion control of two vision sensors within a large range, and prevents and controls the shake generated by the two vision sensors. With the anti-shake compensation control method adopted, each pose parametric curve of the two vision sensors can accurately be close to the expected pose parametric curve.

The invention discloses an RFID-based automatic trolley guiding method and system. The method comprises the steps that 1, an RFID tag is arranged at the bifurcation of an operating path of an automatic trolley, and the RFID tag contains guiding information of the bifurcation; 2, an RFID card reader is arranged on the automobile trolley; 3, when the automatic trolley reaches the bifurcation of the operating path, the RFID card reader automatically reads the RFID tag, the guiding information contained inside the RFID tag is transmitted to a master control unit, and the master control unit controls a driving unit of the trolley according to the guiding information, so that the automatic trolley moves according to the guiding information.

The invention provides a controlling method of driving superfluous six degrees of freedom vibration table internal force decoupling, which adopts the torsion freedom degree controlling technology to eliminate or reduce the system internal force caused by zero drift of servo-actuator. On the basis of traditional drive superfluous structure three-axle and six degree of freedom hydraulic vibrating table servo controlling loop, the horizontal distortion movement trend controlling mathematical equation and vertical distortion movement trend controlling equation are added respectively to realize controlling the two superfluous torsion freedom degree limiting and movement, which effectively weakens the internal force coupling among actuators in system and improves the acceleration transverse ratio of vibration table, the acceleration evenness and other indexes.

The invention provides a snake-like robot based on orthogonal joints. The snake-like robot based on orthogonal joints comprises a plurality of joint modules of the same structure. Each joint module comprises a head base and a tail base, and the head base of each joint module is composed of U-shaped connecting rods. The invention further provides a spiral climbing movement controlling method for the snake-like robot based on orthogonal joints. The method is good in practicability, can dynamically adjust control parameters so that the climbing posture of the snake-like robot can be changed, is high in flexibility, and really controls the movement of the snake-like robot in three-dimensional space.

The invention discloses an ultrasonic precision micro-fluidic chip based on a nano motor array and an implementation method thereof. The ultrasonic precision micro-fluidic chip comprises a substrate,a cover plate, a piezoelectric transducer, a film fixed with a nano motor, a liquid inlet and outlet pipe and a liquid medium. The piezoelectric transducer excites and drives the whole micro-fluidic chip to vibrate at ultrasonic frequency, a specific acoustic flow field is generated in the micro-channel, meanwhile, a catalyst component contained in the nano-motor promotes the substrate to be decomposed to generate bubbles, and vibration of the bubbles in the acoustic flow field is used for controlling small particles around the bubbles to move along a specific track. The liquid medium is catalyzed by the nano motor array to be decomposed to generate bubbles, and directional movement of tiny particles is controlled by utilizing local acoustic flow field change caused by bubble vibration. According to the micro-particle motion control mode, bubble vibration in the acoustic flow field is used as a power source, the motion speed of the micro-particles is effectively increased, the micro-particles of various shapes and sizes can be controlled, no special requirement is needed for the material of the controlled micro-particles, and thus the application range is wide.

The invention discloses a movement control method for a six-shaft industrial robot of a specific structure. The movement control method for the six-shaft industrial robot of the specific structure comprises the steps that a connecting-rod coordinate system of the industrial robot is established, and the geometrical relationship between seven connecting rod pieces and six shafts of the industrial robot is obtained; after a G command file corresponding to the industrial robot is obtained, the target movement position of the industrial robot is read; the joint angles of the six shafts of the industrial robot are calculated in sequence according to the target movement position and the geometrical relationship of the industrial robot; after the calculated six joint angles are converted into the movement pulse numbers corresponding to the six shafts, the movement pulse numbers of the six shafts are sent to a driver of the industrial robot; the driver sequentially drives corresponding motors to drive the corresponding shafts to move. According to the movement control method, the inverse solution of the movement of the industrial robot is conducted based on the geometrical relationship, so that movement control of the industrial robot is achieved; the operating rate is high, the calculation efficiency is high, and the control efficiency is high; and the movement control method for the six-shaft industrial robot of the specific structure can be widely applied to the field of control over industrial robots.

The invention discloses a movement control method for a UR robot. The movement control method includes the steps that a connecting rod coordinate system of the UR robot is established, and the spatial position relation between seven rod pieces and six shafts of the UR robot is obtained; after a G instruction file corresponding to the UR robot is obtained, the target movement position of the UR robot is read; after a DH parameter table of the UR robot is obtained according to the target movement position and the geometrical relation of the UR robot, the joint angles of the six shafts of the UR robot are calculated in sequence; the calculated six joint angles are converted into movement pulse numbers corresponding to the six shafts and are then sent to a driver of the UR robot; and the driver sequentially drives corresponding motors to drive the corresponding shafts to move according to the received movement pulse numbers corresponding to the six shafts. By means of the movement control method for the UR robot, the movement inverse solution is conducted on the UR robot based on the geometrical relation, and therefore control over the movement of the UR robot is achieved; and the computing speed is high, the computing efficiency is high, the control efficiency is high, and the movement control method can be widely applied to the control industry of the UR robot.

Provided is an imitation snake search and rescue robot joint mechanism. The imitation snake search and rescue robot joint mechanism comprises two omnidirectional wheels and a parallel joint group, wherein the parallel joint group comprises a fixed platform, a moving platform, two UPS linear drivers and a PU linear driver. A joint has four degrees of freedom, and the four degrees of freedom are telescoping, pitching, yawing and rotating of omnidirectional wheels around the central axis of the imitation snake search and rescue robot joint. The imitation snake search and rescue robot joint mechanism can effectively combine the advantages of an imitation snake robot with the advantages of a wheel type robot, and the imitation snake search and rescue robot is made to not only have the advantages of having multiple degrees of freedom and being small in size, flexible in movement and high in environmental adaptability of the imitation snake search and rescue robot but also have the advantages of being high in movement speed and easy to control of the wheel type robot, the movement capacity of the imitation snake search and rescue robot is greatly improved, a foundation is laid for expansion of a movement gait of the imitation snake search and rescue robot, and the flexibility and adaptability of the imitation snake search and rescue robot in different environments can be effectively improved.

The invention discloses an electrical control drive device for a hydraulic valve core, in particular an electrical control drive device for driving a valve core of a hydraulic valve. The electrical control drive device comprises a base and is characterized in that the base is provided with a guide rod and two support seats; the two support seats are both provided with concentric holes; two ends of the guide rod are of a sliding shape, pass through the concentric holes of the two support seats and extend out of the support seats; and one end of the guide rod is connected with a valve core of the hydraulic valve in an installation state. One side of the guide rod is provided with a motor; an output shaft of the motor and the guide rod are provided with gears and racks respectively; and the gears and the racks are meshed together. The electrical control drive device has simple production process and low production cost.

The invention provides a surgical instrument of a surgical robot and the surgical robot, wherein the surgical instrument of the surgical robot comprises a first bracket, a transmission assembly, a surgical executing part, a second bracket and a driving assembly, wherein the transmission assembly is arranged on the first bracket and comprises a magnetic transmission piece; the surgical executing part is connected to the transmission assembly; the second bracket is detachably connected to the first bracket; the driving assembly is arranged on the second bracket and comprises a magnetic driving piece which is adaptive to the magnetic transmission piece, wherein the magnetic transmission piece and the magnetic driving piece are connected through magnetic force when the first bracket and the second bracket are connected; and the driving assembly enables the surgical executing part to move by driving a driven assembly to move. According to the surgical instrument of the surgical robot provided by the invention, motion control over the surgical executing part is realized, so that the surgical executing part can adjust own position or angle in accordance with actual demands; therefore, flexibility of the device (the surgical instrument) is enhanced, and an operation or treatment is further facilitated.

The invention relates to a processing cartridge which can be detachably mounted in an electronic imaging device. A rotary power driving head is arranged inside the electronic imaging device. The processing cartridge comprises a processing cartridge shell and a photosensitive element used for bearing an image carrier, wherein a rotary driving power receiving head, which is meshed with the rotary power driving head in the electronic imaging device and used for transmitting the rotary power to the photosensitive element, is arranged at one end of the photosensitive element; a pressing rod used for enabling the rotary driving power receiving head to move in the axial direction of the photosensitive element is arranged at one end of the processing cartridge; and the processing cartridge also comprises a pressing rod control mechanism which is arranged at the end of the processing cartridge shell and is connected with one end of the pressing rod so as to control the pressing rod to move. By virtue of the processing cartridge, the technical problem that the function of the pressing rod can be implemented by closing a cover and a door of the existing processing cartridge by means of the electronic imaging device can be solved.

The invention discloses an AGV (automatic guided vehicle) navigation method based on vision. The method comprises the following steps of obtaining a picture with the orbit marked ground; performing grey processing on a reference horizontal line of the picture to obtain a reference horizontal line array; forming the plurality of reference horizontal line arrays into an orbit matrix; performing Exclusive OR processing on the two adjacent upper and lower lines of the orbit matrix to obtain orbit edge information; performing digitization processing on the orbit edge information; using the result as the controller input of an AGV so as to realize the motion control on the AGV. The invention also discloses an AGV navigation system based on the vision. The invention also discloses the AGV comprising the AGV navigation system based on the vision. The navigation method has the advantages that the precision of the obtained orbit edge information is higher; the goal of fast navigation is achieved.

The invention relates to a flexible surgical tool system adopting constrained structure bones. The flexible surgical tool system comprises flexible surgical tool which comprises a flexible continuum structure formed by a far-end structure, a near-end structure and a middle connector; the far-end structure comprises far-end structure sections, and each far-end structure section comprises a far-end distance plate, a far-end fixed plate and one structure bone; the near-end structure comprises near-end structure sections, and each near-end structure section comprises a near-end distance plate, a near-end fixed plate and one structure bone; the middle connector comprises passage fixed plates and a structure bone guiding passage; the near-end structure sections are internally provided with the constrained structure bones, one end of each constrained structure bone is firmly connected with the corresponding passage fixed plate closed to the corresponding near-end structure section, the other end of each constrained structure bone is directly or indirectly connected with the corresponding near-end fixed plate, and the length of each near-end structure section remains unchanged when the near-end structure section turns.

The invention relates to data acceptance of an absolute type encoder in the field of numerically-controlled machine tool, in particular to a four-channel numerical control system ENDAT2.2 interface. A 32-bit embedded type soft-core processor Nios II is used as a data processing core. ENDAT2.2 is an encoder digital interface protocol. Based on a system on programmable chip (SOPC), hardware design and corresponding driver design are finished. Control and data acquisition of an optical-electricity encoder are finished through cooperative work of a peripheral component interconnect (PCI) bus and a personal computer (PC) numerically controlled upper computer. Through test and verification, requirements of a high-grade numerical control system for motion control are met by high-speed performance and reliability of the ENDAT2.2 interface. The ENDAT2.2 interface is capable of timely providing accurate positional value and diagnostic messages for the numerically controlled upper computer.

The invention provides a submicron-precision multi-pin direct writing type 3D printer comprising material cylinders, a nanoscale-locating-precision three-axis platform, a glue dispensing machine and aprinting platform. Print pins are arranged at the front ends of the material cylinders. The glue dispensing machine is connected with the material cylinders through gas pipes. The nanoscale-locating-precision three-axis platform comprises a X-axis displacement platform, a Y-axis displacement platform and Z-axis displacement platforms. The X-axis displacement platform and the Y-axis displacementplatform are used for adjusting the position of a print platform. The material cylinders are installed on the Z-axis displacement platforms and can move up and down along with the Z axis. Imaging systems following the filament discharging process and printing process of submicron-scale printing pins are arranged above the material cylinders on the Z-axis displacement platforms. Each imaging systemcomprises a CMOS camera, a telecentric lens and an objective lens. Compared with the prior art, the submicron-precision multi-pin direct writing type 3D printer adopts capillary glass micro-pins as printing pins and combines the nanoscale-precision locating platform, the multi-material-cylinder structure, a laser calibrator and the imaging systems, so that high-precision multi-material printing can be achieved.

The invention discloses a PCIe-controlled numerical control interpolation system, which includes an independently set upper computer, a PCIe bus motion control card, and an FPGA expansion board; the PCIe motion control card includes a dual-core microprocessor and a GPMC interface; the FPGA expansion board includes multi-axis pulse control and feedback signal interface, peripheral interface circuit, the number of control axes can be arbitrarily cut within 32 axes, and the scalability is strong; the dual-core motion control microprocessor is integrated with high-performance ARM core With the DSP core, the ARM core is mainly used for high-speed communication with the host computer and instruction analysis, and the DSP core is mainly responsible for regional interpolation operations; the GPMC interface of the dual-core chip is configured as an asynchronous mode and NOR FLASH, non-address data line multiplexing The mode communicates with the FPGA expansion board to transmit the interpolation data to the FPGA, and then controls the multi-axis synchronous interpolation through the peripheral circuit to realize multi-axis linkage and complete the interpolation of complex curves and surfaces.

The invention discloses a robot driving system for vehicle testing and a control method. High-precision following control of the robot driving system to a preset traveling trajectory is achieved through a trajectory tracking unit, a vehicle runs by following a preset target trajectory by adjusting front wheel turning angles and running speed of the vehicle, accordingly a target instruction of thehigh-precision trajectory tracking unit is issued to the tested vehicle, and movement control of the vehicle is achieved. A remote data transmission unit is used for achieving real-time full-duplex communication between the tested vehicle and a monitoring center, the monitoring center can issue an instruction at any time to control the tested vehicle, the robot driving system in the vehicle acquires vehicle condition information of the tested vehicle in real time, and remote state monitoring of the tested vehicle is achieved. By adopting the way integrating a positioning technology and a high-precision trajectory tracking technology, automatic testing of the tested vehicle in a closed test site is achieved, and the robot driving system is high in control precision, good in repeatability and strong in durability.

The invention relates to a flexible operation tool system capable of passing through a natural orifice. The flexible operation tool system comprises a flexible operation tool and a driving unit, wherein the flexible operation tool comprises a flexible continuum structure composed of a far-end structure body, a near-end structure body and a middle connecting body, the far-end structure body comprises a far-end structure joint, the far-end structure joint comprises a far-end distance plate, a far-end fixed plate and a structure skeleton, the near-end structure body comprises a near-end structure joint, the near-end structure joint comprises a near-end distance plate, a near-end fixed plate and a structure skeleton, the middle connecting body comprises a channel fixing plate and a structure skeleton guiding channel, the driving unit comprises a driving unit fixing plate, multiple driving shafts are rotatably supported between the driving unit fixing plate and the channel fixing plate close to the near-end structure joint, a mooring rope pulling mechanism is arranged at the front end of each driving shaft and is in fastened connection with a mooring rope fixing block by penetrating through the near-end distance plate and the mooring rope of the near-end fixed plate, the mooring rope fixing block is in fastening connection with the near-end fixed plate, and the length of the mooring rope located in the near-end structure joint is changed through the mooring rope pulling mechanisms when the driving shafts rotate.

The invention relates to a networked robot control system based on a plurality of CPUs. The networked robot control system aims to solve the problems that all functions are accomplished by a CPU in a conventional controller; the function and the performance are limited greatly. The system comprises a planning level CPU module and a plurality of gathering and control level CPU modules connected with the planning level CPU module through a network; the planning level CPU module comprises an information fusion unit and a decision-making unit; the decision-making unit is connected with the information fusion unit; each gathering control level CPU module comprises a processing unit and an information collection unit; both the information collection unit and a networked communication unit are connected with the processing unit; the information collection unit is connected with a sensor; the processing unit is connected with an execution unit; the networked communication unit is connected onto the information fusion unit. The networked robot control system based on a plurality of CPUs has the advantages that the CPU modules on different levels are provided, and the CPU modules on the same level are combined, so that the robot control is realized, and the function and the performance are improved greatly.

The invention provides an excavator arm movement control method, system and device and relates to the technical field of automatic control. The excavator arm movement control method comprises the steps of acquiring the position information of a current target excavation point, the included angle information of an excavation face and excavator based coordinate system and the information of an included angle between an excavator bucket section and the excavation face; carrying out resolution through a preset inverse kinematics model to obtain the expected pose state of an excavator arm, determining the pose difference between the current pose state and the expected pose state of the excavator arm, and generating a pose difference signal; and sending the pose difference signal to a controller, and using the controller to control the excavator arm to move to the expected pose state. The excavator arm movement control method, system and device can achieve movement control over the excavatorarm, thereby achieving stable and efficient operation of the excavator arm and lowering the labor cost.

The invention discloses a direct-driven redundant planar parallel mechanism control device and a redundant planar parallel mechanism control method. The device comprises a parallel mechanism body and a control unit. The parallel mechanism body comprises a movable platform and three parallel branches. The movable platform is in a shape of equilateral triangle and provided with an angular acceleration sensor and an acceleration sensor. Each parallel branch comprises a linear motor module with a displacement sensor, a rotary motor module with an encoder, a rigid active bar and a rigid passive bar. The control unit is connected with the angular acceleration sensor, the acceleration sensor, the linear motor module and the rotary motor module. Through hybrid driving of linear motors and rotary motors, the working space of the parallel mechanism is enlarged, and movement parameters of the movable platform are measured by means of the multiple sensors to serve as feedback signals, the movement control accuracy of the parallel mechanism reaches the high level.

The invention discloses a small-pipe-diameter endoscope based on drive of external magnets. The small-pipe-diameter endoscope is characterized by comprising a capsule-shaped head part, a channel sealing pipe, a connector, a cable and a tool channel pipe, wherein the capsule-shaped head part comprises a head sealing pipe, a head shell, an annular magnet and a camera module integrated with a light source; the annular magnet is coaxially mounted in the head shell, the camera module is mounted in a through hole of the head shell, one end of the cable is connected with the camera module, and the other end of the cable is connected with an external power supply control device after passing through a cable connector of the connector; one end of the tool channel pipe is mounted in the through holeof the head shell, and the other end of the tool channel pipe is connected with a common channel of a tool channel connector and a suction interface of the connector; the head sealing pipe covers theouter part of the head shell, and the channel sealing pipe covers the tool channel pipe and the cable between the head shell and the connector; the endoscope performs mobile control through the external magnetic field, and can realize the painless and omni-bearing controlled observation.