616results about How to "Realize real-time control" patented technology

The invention discloses an intelligent tree trunk white painting robot and belongs to the related fields of urban and garden greening equipment. The intelligent tree trunk white painting robot comprises a machine frame system, a robot traveling system, a lime slurry supply system, an automatic white painting execution system and a real-time detection system. Adopting a spray painting mode for white painting of tree trunks, the robot can automatically walk along a side pavement and quickly and efficiently spray lime solution onto trees along the side pavement. In a real-time detection system, a digital compass, a laser sensor and a vision system are adopted to realize the semi-automatic searching of tree trunks and tree trunk automatic positioning, an ultrasonic transducer is adopted to realize automatic obstacle avoidance, and the whole-process real-time monitoring with a personal computer (PC) and a programmable logic controller (PLC) is realized. When the intelligent tree trunk white painting robot is used, coating is saved and the painting effect is optimized; and the robot automatically performs white painting of trees along the side pavement, the working efficiency is improved, labor force is saved, and the goals of intelligent control and green environmental sanitation are fulfilled.

The invention discloses a vehicle obstacle-avoidance path planning research method based on a novel manual potential field method. The research method comprises that a CCD cameras, a millimeter wave radar and a vehicle-mounted sensor collect information needed by vehicle obstacle-avoidance path planning in real time, according to the information needed by vehicle obstacle-avoidance path planning, a road boundary repulsion potential field and obstacle repulsion potential field model based on the manual potential field method is established, a balance equation is established according to the force born by a main vehicle in a composite field formed by the road boundary repulsion potential field and the obstacle repulsion potential field, positional points which the main vehicle pass in the obstacle avoidance process are solved, an obstacle-avoidance path is thus obtained, and the speed of the main vehicle is controlled in the obstacle avoidance process to improve the safety and comfortableness. The research method of the invention is low in computing amount and is convenient to control in real time, and the planned obstacle-avoidance path is safer and more reliable than that planed by a traditional method.

The present invention discloses a motor control method which uses a Space Vector Pulse Width Modulation (SVPWM). Data and instruction data are detected according to the operation state of the motor of the present carrier wave period and the modulation signal of each phase SPWM vector corresponding to the carrier wave period is computed. According to the modulation signal of each SPWM vector, the zero sequence component of the carrier wave period is added and the modulation signal of each phase SVPWM vector in the carrier wave period is obtained. The duty cycle of each phase of the carrier wave period is obtained according to the modulation signal of the SVPWM vector. Based on the duty cycle of the carrier wave period, a PWM control signal corresponding to each phase is generated. According to the PWM control signal, a PWM driving signal of the upper and lower bridge arms of a corresponding inverter is generated to control the turning on or off of each bridge arm of the inverter during the present carrier wave period. The method and device of the present invention have few steps to obtain the SVPWM signal, a simple computation and can use a cheaper chip to control the motor real time.

The invention provides an intelligent safety management and control auxiliary system and method for an electric power operation site. The system comprises an AI intelligent visual terminal, a handheldintelligent mobile terminal and an Internet of Things cloud platform. The front-end AI intelligent visual terminal is wearable device and is configured to realize the target detection and identification, the violation behavior identification, the intelligent analysis and the automatic alarm and upload the video data, an identification result and the alarm information to the handheld intelligent mobile terminal, and the handheld intelligent mobile terminal is configured to carry out identity verification, real-time monitoring, operation ticket management and identification result check. The data in the intelligent mobile terminal is accessed to the power grid site operation personal safety Internet of Things cloud platform, the violation behaviors can be identified and an alarm can be given, an identification result is recorded as a scoring basis, an operation ticket is managed and the like, so that a site safety supervisor is powerfully assisted, and the blank problem of the portableand intelligent safety supervision auxiliary products is solved.

The invention relates to a non-penetration laser welding apparatus. The non-penetration laser welding apparatus comprises a laser welding head (1), a transmitting optical fiber (2), a laser (3), a feedback control system (6), a computer (7) and an infrared temperature acquisition system (8); the non-penetration laser welding apparatus is characterized in that the laser light output by the laser (3) is transmitted to the laser welding head (1) by virtue of the optical fiber (2), a laser beam (4) focused by a focusing lens in the welding head acts on the surface of a welding material (5) to weld the material, the infrared temperature acquisition system (8) is used for capturing the temperature of the back surface of a weld joint in the welding process online, obtaining the present welding penetration condition of the material and transferring control information to the feedback control system (6), and the feedback control system (6) is used for controlling the laser (3) to adjust the power of the laser light in real time. The non-penetration laser welding apparatus is capable of performing accurate control on non-penetration welding adopted in industries so that the welded joint can be protected against non-fusion and back burn; the non-penetration laser welding apparatus is high in practicability.

The invention discloses a system for controlling the production process of a petrochemical enterprise on the basis of manufacturing execution system (MES) workflow. The system comprises an MES production flow model base, an MES production flow information database, a workflow server, a production control terminal workstation and a data interaction interface, wherein the MES production flow model base is used for storing MES production flow link models and an MES whole production flow model for describing topological structures among the MES production flow link models; the MES production flow information database is used for storing production execution data in each link of the MES production flow; and the workflow server is used for invoking the MES production flow model base and the MES production flow information database to execute an MES workflow task. The invention also discloses a control method of the system for controlling the production process of the petrochemical enterprise on the basis of MES workflow. The system and the method provide activity execution information of panoramic production links for operators in a graphical mode so as to control the progress of the production flow in real time and improve the production efficiency.

The present invention relates to automobile technology and is one series parallel mixed power system, which includes engine, auxiliary clutch, main motor, main clutch, gear box, belt wheel clutch, belt wheel motor, front belt wheel system, engine fitting system, power cell, auxiliary cell, motor drive controller, high voltage safety controller, power cell controller, DC converter, vehicle controller, engine controller, the first half axis and the second half axis. The belt wheel motor driving the belt wheel is connected via a clutch to the engine and can drive the engine fitting system independently. The main motor is connected via an auxiliary clutch to the engine and connected via a main clutch to the input shaft of the gear box. The present invention has simple structure, compact configuration, low cost, optimized running efficiency, effective braking energy feedback and other advantages.

The invention discloses a multi-scale greenhouse environment control system based on crop information fusion, wherein crop physiological information and growth information are introduced on the base of a greenhouse environment factor control system, the greenhouse parameters are fused in a layering, multilevel and multiaspect manner through an information fusion technology to create a comprehensive greenhouse information fusion platform containing crop information, and an intelligent greenhouse decision control system is created under an evaluation index system. The control system comprehensively considers the demands of environmental factors, crop physiological parameters and crop growth parameters on the greenhouse environment control and creates the intelligent greenhouse decision control system through the information fusion technology to control the greenhouse environment parameters in real time, which both effectively controls the greenhouse environment factors and facilitates the crop physiological and growth demands, improves the greenhouse production efficiency and adds the greenhouse crop yield.

The invention discloses a greenhouse multi-model information fusion based technology for regulating and controlling the greenhouse environment. According to environmental information such as the temperature, the humidity, the illumination intensity and the carbon dioxide concentration inside a greenhouse, which is obtained by a greenhouse environment information collecting sensor, three kinds of greenhouse environment control models which are based on a set value, the illumination and the accumulated temperature are used respectively for extracting feature vectors, multi-information fusion of feature vectors of three kinds of regulating and controlling methods is conducted by using a Dempster / Shafer (D-S) evidence theory method, an environment optimization controlling and regulating decision strategy is established, and coordination of short-scale and long-scale control requirements of the greenhouse is achieved. An actuating mechanism is controlled by a greenhouse environment controller to act to achieve real-time control of greenhouse environmental parameters.

The invention relates to a tri-level inversion indirect vector control system based on simplified SVPWM (space vector pulse width modulation). On bases of the SVPWM simplification algorithm under a 60-degree coordinate system, an asynchronous motor dynamic mathematical model, a vector control fundamental principle and a main circuit in the step A, the tri-level inverter vector control system based on network parameter control (NPC) is established. The method dispenses with judgment that a reference voltage vector is in a large section or a small section, as well as a great deal of trigonometric functional operation, and only requires simple logical judgment, so that nearest three vectors for synthesizing the reference voltage vector can be obtained; and meanwhile, an output switch state equation is introduced in the algorithm, so that midpoint electric potential balance on the direct current side can be effectively controlled, and the method can be easily popularized to inverters with higher level.

The invention relates to a variable-tilt-angle stepless loading type biaxial rotary oscillation ball-block friction-abrasion test machine, comprising a loading component, a biaxial rotary oscillation component and a driving component, wherein the loading component is a stepless loading type loading mechanism, is driven by a servo motor and a ball screw, and transmits a loading force to a clamping piece of a sample block through a buffering spring, so that the sample block supplies a load to a coupling sample ball, and stepless loading is realized; the driving component drives a crank with a sliding groove and a rocker to move through an asynchronous motor; the rocker is linked with a short shaft at one end of the biaxial rotary oscillation component, which is provided with an oscillation framework with a shaft; the biaxial rotary oscillation component is fixedly connected on a bottom engine base through a left bearing plate and a right bearing plate of a rack; and a sample ball shaft in the oscillation framework with the shaft does biaxial rotary oscillation with adjustable tilt angle and frequency with two shafts, which are vertical with each other, through a two-step conical gear transmission mechanism below the sample ball shaft. The variable-tilt-angle stepless loading type biaxial rotary oscillation ball-block friction-abrasion test machine provided by the invention has the advantages of adjustable tile angle and frequency, accurate and controllable loading, reliable transmission and stable movement, and can entirely simulate friction and abrasion of a ball-three quarter block biaxial rotary oscillation working condition.

The invention provides an industrial robot digital twin real-time job control, monitoring and precision compensation method. The industrial robot digital twin real-time job control, monitoring and precision compensation method comprises the following steps: constructing a robot digital twin model, and establishing the connection between a robot controller; driving the twin model and the robot controller to act synchronously by utilizing a real-time joint angle; and acquiring joint angle information of the robot in real time, and performing real-time joint angle compensation through the real-time joint angle of the twin model.

The invention relates to the field of intelligent networked automobiles, in particular to a rolling optimization method for signal intersection traffic signal lamp and vehicle trajectory control, andeach time interval comprises the following optimization steps: acquiring vehicle information in a target area; solving the mixed integer linear programming model by using the vehicle information in the target area to obtain the signal lamp state and the intersection arrival time of the vehicle; solving the motorcade head vehicle trajectory optimal control model by using the moment when the vehiclearrives at the intersection to obtain a motorcade head vehicle trajectory, and solving the motorcade following vehicle optimal control model by using the moment when the vehicle arrives at the intersection to obtain a motorcade following vehicle trajectory; achieving vehicle track control through the head vehicle track and the following vehicle track of the motorcade, and achieving traffic signallamp control through the signal lamp state. Compared with the prior art, the vehicle track and the traffic signal lamp at the signalized intersection are optimized at the same time, so that the signal lamp and the vehicle track are controlled more accurately.

The invention discloses a method for controlling underground sliding sleeves by ground pressure waves. The method comprises the steps as follows: the ground pumping displacement is adjusted regularly to enable underground pressure to change according to the same rule, that is, a pressure fluctuation signal comprising a control command is transmitted to the underground; a receiving device arranged on each sliding sleeve receives the ground control command, and the ground control command is compared with command information assigned by the sliding sleeve; if the ground control command is different from the command information assigned in each sliding sleeve, the sliding sleeve does not act and waits for a next ground control command; and if the ground control command is the same as the command information assigned in each sliding sleeve, the sliding sleeve acts and finishes the opening or closing operation required by the control command. According to the method for controlling the underground sliding sleeves by the ground pressure waves, the underground pressure changes regularly according to regular adjustment of the ground pumping displacement, opening and closing actions of the underground sliding sleeves are remotely controlled by recognizing the signals transmitted through regular pressure change, and opening and closing of the sliding sleeves can be controlled in real time.

The invention provides an in-polluted-site heat-intensifying vapor extracting and repairing integrated device and an application method. The integrated device comprises a high pressure fan, a gas-liquid separation tank, an active carbon absorption tower, an automatic control cabinet, a heating electrode, a flow meter, a vacuum gage, a temperature sensor, a humidometer and an organic pollution gas detector; an extracting pipeline is connected with an extracting well, and the heating electrode is embedded in a polluted area. The specific application method comprises the steps as follows: starting the heating electrode to raise the temperature of the soil in the site and promote the desorption of the pollutant in the soil, then starting the high pressure fan, forming a negative pressure in the pipeline to generate flowing of gas from the extracting well to the outside, taking away the pollutant in the soil from the soil along with the flowing of the gas, and enabling the active carbon absorption tower to absorb the gas pollutant to fulfill the purpose of repairing the polluted site. The in-polluted-site heat-intensifying vapor extracting and repairing integrated device and the application method are used for repairing the soil in the organic polluted site, so that not only the pollutant removal rate is improved, but also the influence of the low temperature condition on the vapor extracting technique is further reduced, the effective repairing working time in winter is prolonged, and the purpose of efficiently treating the polluted site is fulfilled.

The invention provides a biological fermentation adaptive control system and a control method based on neural network inverse. The control method comprises the following steps: constructing the neural network inverse by using a neural network and a time division multiplexing time delay link, enabling the neural network to achieve an inverse system function of a biological fermentation system by adjusting the weight coefficient of the neural network, connecting the neural network inverse and the biological fermentation system in series to form a pseudo-linear compound system, decoupling the pseudo-linear compound system in a linearization mode into two pseudo-linear subsystems with single input and single output, presetting desired signals, according to the control inputs of each pseudo-linear subsystem and the outputs of the biological fermentation system of current time and prior moment, constantly renewing the parameters of a model-free adaptive controller and the control input of each pseudo-linear subsystem of the following moment, enabling the outputs of the biological fermentation system to follow the preset desired signals effectively, thereby achieving the model-free adaptive control of the biological fermentation system, and improving the control performance of a biological fermentation process.

The invention discloses a control method and intelligent household equipment, and aims at solving the technical problem that the intelligent household equipment is relatively weak in play program control. The method comprises that when a program played by the intelligent household equipment at present is a first multimedia program, physical information of a first user who watches the first multimedia program is obtained; whether it is necessary to adjust the program played at present from the first multimedia program to a second multimedia program different from the first multimedia program is determined according to the physical information, and a first determination result is obtained; and when the first determination result is yes, the program played by the intelligent household equipment at present is adjusted from the first multimedia program to the second multimedia program. Thus, the intelligent household equipment can provide matched programs according to practical watching requirements of the users, and further, the capability to control the play programs of the intelligent household equipment is enhanced.

The invention discloses a main base station of submarine observation network based on a constant-current power supply. The main base station is connected in series in a backbone network submarine cable. The main base station is connected with a shore base station and an adjacent main base station through a submarine cable terminal box. The main base station comprises an underwater power supply anda communication control module. The underwater power supply is used for converting a constant-current power supply provided by a shore base station into a power supply of the main base station and aplurality of backup power supplies, outputting a direct-current constant-voltage power supply to the communication control module, and controlling the main base station to be networked and offline. The communication control module is used for monitoring the internal state of the main base station in a master control backup manner and sending the state information and data uploaded by the externalequipment to the shore base station. The communication control module is also used for receiving an instruction of the shore base station to perform fault isolation when the internal state has a fault. The main base station of submarine observation network based on the constant-current power supply has the advantages of high power and high reliability. The problems that a constant-voltage power supply type main base station is poor in submarine cable fault resistance and poor in robustness are solved.

The invention discloses an intelligent household equipment management system and an intelligent household equipment management method. The intelligent household equipment management system comprisesintelligent household equipment, an equipment cloud, a message cloud, and an intelligent mobile terminal. The intelligent household equipment and the intelligent mobile terminal are respectively communicated and connected with the equipment cloud and the message cloud; the equipment cloud is used to provide cloud service related to an equipment terminal for the intelligent household equipment andterminal management service for the intelligent mobile terminal, and the message cloud comprises a message server, and the intelligent mobile terminal is used to realize the real-time control over theintelligent household equipment and acquire the real-time state of the intelligent household equipment via a message channel provided by the message server of the message cloud. Technical problems such as ineffective management in face of a lot of intelligent household equipment data and inability of satisfying user personalized demands are effectively solved.

The invention provides the method of vehicle magnetic flow changing to semi-active suspension damped control, comprising the following steps: using the acceleration transducer and dip angle transducer to obtain the vehicle motion state signal, dividing the motion state into eight sorts, adopting controlling modality to control, defining the control number according to the minimum amplitude versus frequency character from the transfer characteristic in resonance frequency. The vehicle has good control stability. The method integrates the ceiling damped control with proportional plus derivative control to form the multi-modality and multi-controller intelligence control. The algorithm is simple, and the method is conveniently used in vehicle semi-active suspension.

The invention discloses a ground control method for underground sliding sleeves. The ground control method comprises the steps as follows: a ground electromagnetic wave emitting device generates command information for controlling opening or closing of a plurality of underground sliding sleeves according to input control commands, and the command information is sent to the underground sliding sleeves after amplification; an electromagnetic wave receiving device arranged in each underground sliding sleeve receives the command information sent from the ground, and the command information is compared with respective pre-assigned control commands; if the command information is not consistent with the assigned control commands of the underground sliding sleeves, the underground sliding sleeves which are not consistent with the command information do not act and continuously wait for next ground command information; and if the command information is consistent with the assigned control command of one underground sliding sleeve, the underground sliding sleeve acts and finishes opening or closing operation required by the command information. According to the ground control method for the underground sliding sleeves, opening and closing actions of the underground sliding sleeves can be remotely controlled by the ground electromagnetic wave signals and can be controlled in real time, and further, ball pitching is not required.

The invention relates to a speed regulating and energy saving control method for a multi-pump station municipal drainage pipe network system. In the operation of the traditional drainage pump station, mainly relies on the labor experience to control the start, stop, operation and volume switching of a drainage pump are controlled mainly according to worker experience. According to the invention, by combining the mechanical characteristic of a turbine and the pipe network characteristic of a water pump, a water pump characteristic equation of a drainage system is obtained with methods such as parabola fitting, exponential curve fitting and the like; the numbers of single pump station speed-regultion pumps and constant-speed pumps are determined according to a water pump discharge-delivery lift characteristic curve; an optimum control method is used for realizing the energy saving control method for a pump station where multiple speed-regulation pumps operate in the mode of parallel connection; a pipe network optimization control module and energy saving control strategy of a multi-pump station is obtained according to constraint conditions of pipe network operation condition,a manhole, a pipeline, an impunding reservior and the like; and through feeding back control information to a bottom layer PLC (programmable logic controller) of the drainage system, the energy saving control of the whole system pump station is realized, and the unattended pump control is achieved.

The invention relates to a die-casting mold multi-point precise temperature control system and a method. The invention is characterized in that the system comprises a plurality of temperature detectors which are embedded in a mold, each temperature detector is repetitively connected with an analog quantity input module through a compensating lead wire, the analog quantity input modules are connected with a central processing unit, the central processing unit is respectively connected with a human-machine interaction interface and a mold temperature controller, a plurality of oil inlet pipes and a plurality of oil outlet pipes are arranged on the mold temperature controller, and the oil inlet pipes and the oil outlet pipes are respectively communicated with a plurality of flow passages arranged on the mold for forming a cyclic circulation pipeline. The invention has ingenious structural design, can improve the repeatability of the mold temperature control in the die-casting process, can improve the production efficiency, and can be widely used in the temperature control process of the die casting production.

The invention provides a vehicle control system based on a space vector pulse width modulation (SVPWM) algorithm. Pulse width modulated wave generated by a specific switch mode consisting of six power switch components of a three-phase power inverter based on the SVPWM algorithm is established; basic voltage vectors are combined in a switching period according to the average value equivalence principle of the SVPWM algorithm, so that the average value of the basic voltage vectors is equal to a given voltage vector; at a specific moment, the voltage vectors rotate into a specific area and are obtained through different combination of two adjacent non-zero vector and zero vector which form the area; the action time of the two vectors is applied for many times in one sampling period, so that the action time of each voltage vector is controlled, the voltage space vector rotates nearly according to a circular track, an ideal magnetic flux circle is approached by actual magnetic flux generated by different switching stages of the inverter, the switching state of the inverter is determined by the comparison result of the actual magnetic flux and the ideal magnetic flux, and pulse width modulation (PWM) control waveform is formed. The algorithm of the scheme is simple, and the voltage vector for synthesizing reference can be obtained only by performing simple logic judgment.

The invention discloses a high-performance intelligent shooting pan-tilt. A pan-tilt machine box is installed on a machine base through a steering ball; the upper part of the pan-tilt machine box is connected with a machine clamp through a motor and a three-axis bracket; the machine clamp is connected with the pan-tilt machine box through a connecting wire; the pan-tilt machine box is provided with a microprocessor, a triaxial micro-gyroscope, a triaxial accelerometer, a pressure sensor, an infrared image receiving device, an infrared signal receiving device, a battery device and a motor, wherein the triaxial micro-gyroscope, the triaxial accelerometer, the pressure sensor, the infrared image receiving device, the infrared signal receiving device, the battery device and the motor are electrically connected with the microprocessor; an input end of the infrared image receiving device is connected with an infrared ray transmitting device; the triaxial micro-gyroscope and the triaxial accelerometer are both electrically connected with the motor; an infrared remote controller comprises keys, an information processing module and an infrared signal transmitting device which are connected with one another in sequence; and the infrared signal transmitting device is wirelessly connected with the infrared signal receiving device of the pan-tilt machine box. Based on the triaxial micro-gyroscope, the triaxial accelerometer, the pressure sensor and an infrared identification tracking technology, the high-performance intelligent shooting pan-tilt disclosed by the invention can be used for automatically tracking a shot object and is excellent in performance and diversified in function.

The invention relates to a remote data transmission system of wireless sensor network through GPRS. The remote data transmission system comprises general nodes, sink nodes and a monitoring centre server terminal, wherein a GPRS module is added to the aggregation nodes in the wireless sensor network; the GPRS module supports TCP / IP protocol and can communicate with an Internet network through a mobile station so as to send data collected by the general nodes to the remote monitoring centre server in a mode of IP packet; and a monitoring centre can transmit control instructions to the aggregation nodes through a GPRS network and the Internet network, and then an aggregation node controller controls the working condition of the general nodes. The invention solves the problem of remote data transmission, realizes real-time control to all monitoring nodes in the wireless sensor network, reduces operation cost, and has wide application prospect in far-distance and large-area monitoring systems.

The invention relates to a method for growing large-size high-temperature oxide crystals by using a top-seeded temperature gradient method, which relates to a new process of crystal growth and comprises the following steps of: combining a Kyropoulos method, a Czochralski method (CZ), a heat exchange method (HEM), a temperature gradient technique (TGT) and a Bridgman-Stockbarge method together, creating a special high temperature vacuum crystal furnace with adjustable temperature gradient and temperature field center, and producing the large-size high temperature oxide crystals through charging, high vacuum pimping, material melting by temperature rise, crystal seed washing, real-time temperature field adjustment, seeding by CZ, multiple reducing processes, a shouldering process by CZ, an isodiametric process by the Kyropoulos method, heat exchange by HEM combined with isodiametric growth by a TGT technology (a diameter control technology is CZ weighting), ending and crucible separation by CZ and annealing. The method is also suitable for a high vacuum environment and an atmosphere protection environment. The method has the advantage that the lowest energy consumption and the lowest cost are utilized for producing multiple high-quality high-temperature oxide crystal material products.

The present invention discloses an electric power behavior control system based on image identification. The system comprises: an intelligent mobile terminal subsystem configured to collect and upload data information and video information of workers, working ranges and working devices in real time; a video intelligent analysis subsystem configured to employ the image identification technology to perform intelligent analysis and result feedback of videos and images of the working process key steps; and an information integration management subsystem configured to integrally manage and display the personnel, the devices and the flow information, provide data support for each link in the working process, perform real-time control of the working behavior and perform statistics analysis of the working analysis and give an evaluation result. The intelligent mobile terminal subsystem is connected with the information integration management subsystem through wireless communication, and the intelligent mobile terminal subsystem is connected with the video intelligent analysis subsystem. The electric power behavior control system based on the image identification realizes real-time control of the electric power behavior so as to effectively avoid the generation of various accidents.

The invention discloses an ultrasonic scanning real-time control method. The ultrasonic scanning real-time control method comprises: acquiring a plurality of ultrasonic images for a human chest continuously collected by an ultrasonic probe at specified coordinates; determining the integrity of each ultrasonic image, and storing at least three ultrasonic images of which the integrity meets the requirements; calculating a correlation coefficient between the stored ultrasonic images, and storing the ultrasonic image with the correlation coefficient higher than a first preset threshold as an imagesequence; calculating the sharpness of each ultrasonic image in the image sequence, and if the obtained sharpness is lower than a second preset threshold, adjusting the pose of the ultrasonic probe according to the specified coordinates, and reacquiring an ultrasonic image. Real-time control of the movement of the ultrasonic probe is realized by feedback of the ultrasonic image, thereby ensuringthat the ultrasonic image finally obtained by the ultrasonic probe in a specified area can clearly and completely display all pathological structures and meets the requirements of lesion analysis.