Multi-sample wheel control system and control method

Abstract

The present invention discloses a multi-sample wheel control system and control method. The system includes a pressure sensor, a translation module, a rotation module, a detection module, and a control module. First, the sample wheel is detected to see if it is at its initial zero position. Second, the sample holder is detected to see if it is empty. Then, the distance between the measuring port of a colorimeter and the sample surface is measured. Based on this distance, the sample wheel is controlled to move forward so that the sample is close to the measuring port and whether there is light leakage. The control module then activates the corresponding detection function module based on the user's needs. Finally, after all samples have been tested, the control module controls the sample wheel to move backward and then controls the sample wheel to rotate to the second sample. The above operations are repeated in sequence until all sample testing tasks are completed. The present invention greatly improves work efficiency, increases the accuracy of measurement data, and meets the demand for automation of the entire calibration device.

Description

Technical Field

[0001] The present invention relates to the technical field of optical metrology, and in particular to a multi-sample wheel control system and a control method. Background Art

[0002] There are three main methods for color measurement: visual inspection, photoelectric integration, and spectrophotometry. The visual method is the most traditional color measurement method. Specifically, a standard colorimetric observer visually inspects a product under specific lighting conditions and compares it to the CIE (International Commission on Illumination) standard chromaticity diagram to determine color parameters. Characteristics: The visual method cannot accurately identify subtle color differences, often leading to color misjudgment; color measurement is subjective; and measurement accuracy and efficiency are low. The photoelectric integration method simulates the tristimulus properties of the human eye, using the photoelectric integration effect to directly measure the tristimulus values of color. Characteristics: Photoelectric integration instruments can accurately measure the color difference between two color samples, but cannot precisely measure the reflectance spectrum of the color samples. Spectrophotometry measures the spectral power of the light reflected by the color sample. Based on this spectral measurement data, the tristimulus values of the object under various standard light sources and standard illumination are calculated, and various color parameters are then calculated. Features: Spectrophotometer can not only accurately measure color difference, but also measure the tristimulus values, chromaticity coordinates and reflectance spectrum of the color source, and is widely used.

[0003] Standard color palettes are measuring instruments used to characterize color. They can be used to calibrate colorimetric instruments, serve as a standard for visually evaluating color samples, and ensure proper color matching during the production of paints, plastics, glazed tiles, wallpaper, soft furnishings, and clothing. They can also be used to coordinate the colors of products across different industries. As a standard for transmitting values to colorimetric instruments, the accuracy of standard color palettes directly determines the accuracy and reliability of colorimetric instruments. Just as countless colors can be formed from the three primary colors, so too can the variety of colors in standard color palettes.

[0004] The sample chamber for traditional standard color plate calibration consists of a measuring port and a sample clamp. The sample is placed vertically on the measuring port and secured by the sample clamp. The sample clamp is spring-loaded, with one end fixed to the instrument and the other end movable vertically.

[0005] Traditional sample chambers have the following disadvantages: 1. Standard plates and samples need to be replaced multiple times, which is slow; 2. Fingerprints are easily left on the sample surface, affecting the accuracy of the measurement data; 3. The measurement hole cannot be guaranteed to be centered in the sample; 4. The sample must not be too large, too thick, or too heavy (prone to falling); 5. It cannot meet the automation requirements of the entire calibration device. Summary of the Invention

[0006] To address the above issues, the present invention aims to provide a multi-sample wheel control system and control method. This intelligent multi-sample wheel, based on modern sensor and automatic control technologies, improves work efficiency, enhances the accuracy of measurement data, and meets the requirements for automation of the entire calibration device. The technical solution is as follows:

[0007] A multi-sample wheel control system includes a pressure sensor, a translation module, a rotation module, a detection module and a control module;

[0008] The multi-sample wheel is a wheel-shaped component with multiple sample chambers evenly arranged on the outer edge of the wheel circumference. The pressure sensor is arranged in the sample chamber to detect whether a color sample to be tested is placed in the sample chamber;

[0009] The translation module is used to control the forward and backward movement of the sample wheel, and includes a laser rangefinder, a hydraulic device, and a slide mechanism. The laser rangefinder is installed near the measurement port of the colorimeter. When the sample chamber is not empty, it measures the distance between the measurement port of the colorimeter and the sample surface. This distance is the distance the sample wheel needs to move when the color sample to be measured is attached to the measurement port of the colorimeter. The hydraulic device is used to drive the sample wheel along the slide mechanism to move toward the measurement port of the colorimeter before the test begins, and to retract the sample wheel by the same distance after the test is completed.

[0010] The rotation module is used to complete zero position judgment, motor working state judgment, sample switching and return to zero position, and includes a rotary stepping motor, a U-shaped transmission type photoelectric sensor and a rotation angle measuring port; the rotary stepping motor is installed on the sample wheel to drive the sample wheel to rotate; the U-shaped transmission type photoelectric sensor is arranged on a bracket for installing the sample wheel, and three small holes located on the same circumference are opened at 3 o'clock, 9 o'clock and 12 o'clock on the wheel surface of the sample wheel as rotation angle measuring ports; when the sample wheel rotates to the position corresponding to the small hole of the transmission type photoelectric sensor, it receives the light signal and converts it into current and outputs it to the control module; when the small hole rotates to other positions, no signal is output; accordingly, before the detection, it is judged whether the sample wheel has returned to the initial zero position and whether the working state of the rotary stepping motor is normal; during the detection process, the sample wheel is controlled to rotate according to the sample wheel rotation angle determined by the arc length between the two adjacent sample chambers to complete the switching between the sample chambers; and after the detection is completed, the sample wheel is controlled to rotate counterclockwise to the initial zero position;

[0011] The detection module is used to call the corresponding program according to user needs to detect one or more parameters of the sample to be tested;

[0012] The control module is used to control each of the above modules to complete corresponding functions.

[0013] Furthermore, it also includes a monitoring module and an image processing module; the monitoring module takes a picture of the measuring port to monitor whether the color sample to be measured is closely aligned with the measuring port of the colorimetric measuring instrument;

[0014] The image processing module is used to analyze the pictures taken by the monitoring module and obtain the grayscale difference of the sampling points around the measurement port in the picture. When the grayscale difference exceeds the error range preset by the system, it is judged as light leakage from the measurement port, that is, the color sample to be measured is not closely fitted with the measurement port of the colorimeter, and feedback is sent to the user end.

[0015] A control method for a multi-sample wheel control system comprises the following steps:

[0016] Step 1: Start the pressure sensor installed in the sample chamber to detect whether the current sample rack is empty. If there is no sample, start the rotation module to control the sample wheel to rotate to the next sample chamber. If there is a sample, the control module starts the distance meter installed on the measurement port to measure the distance between the measurement port of the colorimeter and the sample surface. This distance is the distance the sample wheel needs to move;

[0017] Step 2: Based on the measured forward displacement, the sample wheel is controlled to move forward by the hydraulic device so that the color sample to be measured is close to the measuring port of the colorimeter;

[0018] Step 3: Perform measurements according to the pre-set detection procedures;

[0019] Step 4: After the measurement is completed, start the translation module to move the sample wheel back to its original position;

[0020] Step 5: Start the rotation module to control the sample wheel to rotate to the next sample chamber position, and return to step 2 until all color samples to be tested are tested;

[0021] Step 6: Send the measurement results to the user end.

[0022] Furthermore, the step 1 also includes a zero position judgment, specifically:

[0023] The sample wheel is controlled by a stepper motor to rotate clockwise. If the sample wheel rotates 90°, the rotation angle measurement port just rotates to the position of the photoelectric sensor. The photoelectric sensor should be able to receive the light signal and convert it into current output, and the sample wheel is at the initial zero position.

[0024] If the photoelectric sensor receives the light signal in advance, the sample wheel is not at the initial zero position; at this time, the sample wheel is controlled to stop and rotate 90° counterclockwise, and the stepper motor phase is reset to the initial value, and the sample wheel returns to the initial zero position;

[0025] If the photoelectric sensor still does not receive a light signal after the sample wheel rotates 90°, the sample wheel is not at the initial zero position; at this time, the sample wheel continues to rotate at a constant speed until the photoelectric sensor receives a light signal, and then the sample wheel is controlled to stop and rotate 90° counterclockwise, and the stepper motor phase is reset to the initial value, and the sample wheel returns to the initial zero position.

[0026] Furthermore, step 1 also includes judging the working status of the rotating stepper motor, specifically: judging whether the angle value corresponding to the number of rotation steps of the stepper motor is 90° when the photoelectric sensor receives the light signal twice in succession. If so, the rotating stepper motor is working normally, otherwise the result is fed back to the user end.

[0027] Furthermore, between step 2 and step 3, the monitoring module and the image processing module are also started, a picture of the measuring port is taken, and whether there is light leakage is analyzed according to the change of the gray value of the edge of the picture; if there is light leakage, the result is fed back to the user end.

[0028] Furthermore, in step 3, the control process of the hydraulic device is as follows: after the control module converts the translational displacement into a percentage of the cylinder stroke, the solenoid valve of the hydraulic rod is energized, the cylinder starts to work, and the micro-pulse displacement sensor installed in the cylinder sends an analog signal, which is converted into a digital signal by the D / A module and fed back to the control module. The control module compares this value with the above-calculated movement displacement. When the displacement is reached, the solenoid valve is de-energized and the cylinder stops.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention first detects whether the sample wheel is at the initial zero position, and secondly detects whether the sample rack is empty, thereby improving the degree of detection automation; then measures the distance between the measuring port of the colorimeter and the sample surface, and controls the sample wheel to move forward according to the distance so that the sample is close to the measuring port and determines whether there is light leakage, thereby ensuring the accuracy of the detected data; thirdly, the control module activates the corresponding detection function module according to the user's needs, and finally, after the sample detection is completed, the control module controls the sample wheel to move backward, and then controls the sample wheel to rotate to the second sample, and repeats the above operations in sequence until all sample detection tasks are completed, thereby greatly improving work efficiency, improving the accuracy of measurement data, and realizing the automation requirements of the entire calibration device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is the block diagram of the multi-sample wheel control system.

[0031] Figure 2 Schematic diagram of the sample wheel rotation angle measurement port.

[0032] Figure 3 This is a flow chart of the control method of the present invention. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, the multi-sample wheel control system of the present invention includes a control module, a monitoring module, a detection module, a self-test module, an image processing module, a communication module, a translation module, a rotation module, a pressure sensor, a distance measurement module, and a positioning module.

[0035] like Figure 2 As shown, the multi-sample wheel is a wheel-shaped component with multiple sample chambers evenly arranged on the outer edge of the wheel circumference. The pressure sensor is arranged in the sample chamber to detect whether a color sample to be tested is placed in the sample chamber.

[0036] The translation module of the present invention is used to control the forward and backward movement of the sample wheel, and includes a laser rangefinder, a hydraulic device, and a slide mechanism. The laser rangefinder is installed near the measurement port of the colorimeter. When the sample chamber is not empty, it measures the distance between the measurement port of the colorimeter and the sample surface. This distance is the distance the sample wheel needs to move when the color sample to be measured is attached to the measurement port of the colorimeter. The hydraulic device is used to drive the sample wheel along the slide mechanism to move toward the measurement port of the colorimeter before the start of the test, and to retract the sample wheel by the same distance after the test is completed.

[0037] The rotary module of the present invention is used to complete zero position judgment, motor working state judgment, sample switching and return to zero position, which includes a rotary stepping motor, a U-shaped transmission type photoelectric sensor and a rotation angle measurement port; the rotary stepping motor is installed on the sample wheel to drive the sample wheel to rotate; the U-shaped transmission type photoelectric sensor is set on the bracket for installing the sample wheel, and the wheel surface of the sample wheel is provided with three small holes located on the same circumference at 3 o'clock, 9 o'clock and 12 o'clock directions as the rotation angle measurement port. Figure 1 When the sample wheel rotates to the position corresponding to the aperture in the transmissive photoelectric sensor, it receives a light signal and converts it into a current output to the control module. When the aperture rotates to other positions, no signal is output. This information is used to determine whether the sample wheel has returned to its initial zero position before testing and whether the rotary stepper motor is operating normally. During testing, the sample wheel is controlled to rotate according to the sample wheel rotation angle determined by the arc length between two adjacent sample chambers to complete the switching between the sample chambers. After the test is completed, the sample wheel is controlled to rotate counterclockwise to its initial zero position.

[0038] The detection module of the present invention is used to call the corresponding program according to user needs to detect one or more parameters of the sample being tested. The control module is used to control the above modules to complete the corresponding functions.

[0039] Detection steps such as Figure 3 As shown, the details are as follows:

[0040] Step 1: The experimenter installs the samples to be tested on the sample rack one by one;

[0041] Step 2: The experimenter opens the control program and the system starts self-testing. The self-test items include: zero position determination, stepper motor phase initial position determination, hydraulic device initial position determination, and whether all rotation and forward movement operations are normal;

[0042] Step 3: The control module activates the pressure sensor installed in the sample chamber to detect whether the current sample rack is empty. If there is no sample, the control module activates the rotation module to control the sample wheel to rotate to the next sample chamber. If there is a sample, the control module activates the distance meter installed on the measurement port to measure the distance between the measurement port of the colorimeter and the sample surface. This distance is the forward displacement of the sample rack.

[0043] The presence of samples in the sample chamber is detected by a pressure sensor. Inside each sample chamber, a pressure sensor is mounted on the outer surface of the sample wheel. When the chamber is empty, no signal is output. When a sample is present, the pressure sensor receives the pressure signal and converts it into an electrical output. This module can determine the number of samples on the sample wheel and whether any have slipped.

[0044] Step 4: The control module controls the sample holder to move forward according to the calculated forward displacement, so that the sample holder is close to the sample measurement port;

[0045] The control module controls the forward movement of the sample wheel according to the forward displacement to avoid crushing the sample due to excessive forward movement or light leakage between the sample and the measuring port due to insufficient forward movement.

[0046] Step 5: The control module starts the monitoring module and the image processing module, takes a picture of the measuring port, and analyzes whether there is light leakage based on the change in the grayscale of the edge of the picture;

[0047] A monitoring module is used to monitor the tight fit between the sample and the measurement port. The monitoring module consists of a high-definition image acquisition camera and a fill light device placed inside the integrating sphere of the colorimetric measuring instrument. At the beginning of step 5, the control module turns on the fill light device and controls the camera to capture an image of the measurement port. The image processing module is grayscale analysis software. The control module uses the grayscale analysis software to analyze the images captured by the monitoring module. In the absence of light leakage, the grayscale values of the sampling points around the measurement port in the image should be within a small difference range, and the system will not issue any prompts. However, in the event of light leakage, the grayscale difference of the sampling points around the measurement port in the image will exceed the system's preset error range, and the system will pop up a light leakage prompt.

[0048] Step 6: The control module calls the detection program set in advance by the experimenter to perform measurement;

[0049] The detection module calls the corresponding program according to customer needs to detect one or more parameters of the sample to be tested. Before testing, the user needs to set the detection wavelength range, wavelength interval, slit width, scanning speed, light source selection and other parameters in the detection program according to the needs of the customer.

[0050] Step 7: After the measurement is completed, the control module starts the translation module to move backward.

[0051] The translation module controls the forward and backward movement of the sample wheel, which is divided into two actions: forward and backward movement. The translation module consists of a hydraulic system, a slide rail, and a laser rangefinder, which is installed near the colorimeter's measurement port. When the sample chamber is not empty, the distance between the colorimeter's measurement port and the sample surface is measured. This distance is the distance the sample wheel needs to move when the color sample to be tested is in contact with the colorimeter's measurement port. Before testing begins, the control module controls the hydraulic system to move the sample wheel and slide rail forward a certain distance, so that the sample surface to be tested is in contact with the measurement port, completing the forward movement. After the sample is tested, the control module controls the sample wheel to move backward by the same distance, completing the backward movement. The specific control process of the hydraulic device is as follows: after the control module converts the forward position into a percentage of the cylinder stroke, it controls the solenoid valve of the hydraulic rod to energize, the cylinder starts working, and the micro-pulse displacement sensor installed on the cylinder sends an analog signal. The D / A module converts it into a digital signal and feeds it back to the control module. The control module compares this value with the forward displacement calculated above. When the displacement is reached, the solenoid valve is de-energized and the cylinder stops.

[0052] Step 8: The control module starts the rotation module to control the sample rack to rotate to the next sample chamber position, and repeats the above steps from step 3 until all samples are tested.

[0053] The rotation of the sample wheel is controlled by a rotation module; the rotation module is composed of a rotation stepping motor, a U-shaped transmission photoelectric sensor, and a rotation angle measurement port.

[0054] The rotation of the entire sample wheel is controlled by a rotary motor mounted on the sample wheel bracket. This motor drives the sample wheel through a synchronous pulley and a reducer. The driver receives pulse signals from the computer, and the rotary motor converts these pulses into angular displacement. The rotation angle is the central angle of the circle centered on the sample wheel axis, with the distance between adjacent sample chambers as the arc length.

[0055] Step 9: The control module starts sending prompt information and measurement results to the user end through the communication module;

[0056] The self-test module is used to monitor the entire measurement process and analyze the cause of the failure based on the self-test results;

[0057] The communication module is used for information transmission between the computer terminal and the control module. If there is light leakage between the sample and the measuring port, a prompt message will be displayed on the computer terminal; the measurement process and measurement results will be displayed on the computer terminal; when a fault occurs, the self-test module will send an analysis report to the computer terminal through the communication module;

[0058] The rotary module has four major functions: zero position judgment, motor working status judgment, sample switching, and return to zero position.

[0059] Zero position judgment: that is, to check whether the sample holder is at the initial zero position during the initial self-test. There are three small holes at 3 o'clock, 9 o'clock and 12 o'clock on the inner circle of the sample wheel. Figure 2 As shown, a U-shaped transmissive photoelectric sensor is mounted on the sample wheel bracket. When the aperture rotates to the transmissive photoelectric sensor position, the sensor receives a light signal and converts it into a current output to the control module. When the aperture rotates to other positions, no signal is output. The zero position determination function is completed by the photoelectric sensor, the rotation angle measurement port, and the stepper motor. The control module controls the sample wheel to rotate clockwise via a stepper motor. If the sample wheel is at its initial zero position, the sample wheel rotates 90°, and the rotation angle measurement port also rotates to the position of the photoelectric sensor. The photoelectric sensor should be able to receive the light signal and convert it into a current output. If the photoelectric sensor receives the light signal in advance, it means that the sample wheel is not at the initial zero position. The control module controls the sample wheel to stop and rotate 90° counterclockwise, and resets the stepper motor phase to the initial value. At this time, the sample wheel returns to the initial zero position. If the sample wheel rotates 90° and the photoelectric sensor still does not receive the light signal, it means that the sample wheel is not at the initial zero position. The control module controls the sample wheel to continue rotating at a constant speed until the sensor receives the light signal. The control module controls the sample wheel to stop and rotate 90° counterclockwise, and resets the stepper motor phase to the initial value. At this time, the sample wheel returns to the initial zero position. Zero position judgment can solve the problem of the stepper motor phase not being able to reset to the initial value in the event of a sudden power outage.

[0060] Motor working status judgment: that is, to judge whether the rotating stepper motor is working normally. This function is completed by the photoelectric sensor and the rotation angle measurement port. When the photoelectric sensor receives the light signal twice in succession, the angle of rotation of the sample wheel should be exactly 90°. If the angle value corresponding to the number of rotation steps of the stepper motor is not 90°, the rotating stepper motor is not working properly and the system will issue a prompt.

[0061] Sample switching: This controls the sample rack to rotate from one sample chamber to the next. The angle of sample wheel rotation is determined by the arc length between two adjacent sample chambers.

[0062] Return to zero position: After all samples on the sample wheel have been measured, the control module controls the sample wheel to rotate counterclockwise to the initial zero position.

Claims

1. A multi-sample wheel control system, characterized in that: It includes a pressure sensor, a translation module, a rotation module, a detection module and a control module; The multi-sample wheel is a wheel-shaped component with multiple sample chambers evenly arranged on the outer edge of the wheel circumference. The pressure sensor is arranged in the sample chamber to detect whether a color sample to be tested is placed in the sample chamber; The translation module is used to control the forward and backward movement of the sample wheel, and includes a laser rangefinder, a hydraulic device, and a slide mechanism. The laser rangefinder is installed near the measurement port of the colorimeter. When the sample chamber is not empty, it measures the distance between the measurement port of the colorimeter and the sample surface. This distance is the distance the sample wheel needs to move when the color sample to be measured is attached to the measurement port of the colorimeter. The hydraulic device is used to drive the sample wheel along the slide mechanism to move toward the measurement port of the colorimeter before the test begins, and to retract the sample wheel by the same distance after the test is completed. The rotation module is used to complete zero position judgment, motor working state judgment, sample switching and return to zero position, and includes a rotary stepper motor, a U-shaped transmission type photoelectric sensor and a rotation angle measuring port; the rotary stepper motor is installed on the sample wheel to drive the sample wheel to rotate; the U-shaped transmission type photoelectric sensor is arranged on a bracket for installing the sample wheel, and three small holes located on the same circumference are opened on the wheel surface of the sample wheel at 3 o'clock, 9 o'clock and 12 o'clock as rotation angle measuring ports; when the sample wheel rotates to the position corresponding to the small hole of the transmission type photoelectric sensor, it receives the light signal and converts it into current and outputs it to the control module; when the small hole rotates to other positions, no signal is output; accordingly, before detection, it is judged whether the sample wheel has returned to the initial zero position and whether the working state of the rotary stepper motor is normal; during the detection process, the rotation of the sample wheel is controlled according to the rotation angle of the sample wheel determined by the arc length between two adjacent sample chambers to complete the switching between the sample chambers; After the test is completed, the sample wheel is controlled to rotate counterclockwise to the initial zero position; The detection module is used to call the corresponding program according to user needs to detect one or more parameters of the sample to be tested; The control module is used to control each of the above modules to complete corresponding functions.

2. The multi-sample wheel control system according to claim 1, characterized in that: It also includes a monitoring module and an image processing module; the monitoring module takes a picture of the measuring port to monitor whether the color sample to be measured is closely aligned with the measuring port of the colorimetric measuring instrument; The image processing module is used to analyze the pictures taken by the monitoring module and obtain the grayscale difference of the sampling points around the measurement port in the picture. When the grayscale difference exceeds the error range preset by the system, it is judged as light leakage from the measurement port, that is, the color sample to be measured is not closely fitted with the measurement port of the colorimeter, and feedback is sent to the user end.

3. A control method for a multi-sample wheel control system according to claim 1, characterized in that: The following steps are involved: Step 1: Start the pressure sensor installed in the sample chamber to detect whether the current sample rack is empty. If there is no sample, start the rotation module to control the sample wheel to rotate to the next sample chamber. If there is a sample, the control module starts the distance meter installed on the measurement port to measure the distance between the measurement port of the colorimeter and the sample surface. This distance is the distance the sample wheel needs to move; Step 2: Based on the measured forward displacement, the sample wheel is controlled to move forward by the hydraulic device so that the color sample to be measured is close to the measuring port of the colorimeter; Step 3: Perform measurements according to the pre-set detection procedures; Step 4: After the measurement is completed, start the translation module to move the sample wheel back to its original position; Step 5: Start the rotation module to control the sample wheel to rotate to the next sample chamber position, and return to step 2 until all color samples to be tested are tested; Step 6: Send the measurement results to the user end.

4. The control method according to claim 3, characterized in that: The step 1 also includes zero position judgment, specifically: The sample wheel is controlled by a stepper motor to rotate clockwise. If the sample wheel rotates 90°, the rotation angle measurement port just rotates to the position of the photoelectric sensor. The photoelectric sensor should be able to receive the light signal and convert it into current output, and the sample wheel is at the initial zero position. If the photoelectric sensor receives the light signal in advance, the sample wheel is not at the initial zero position; at this time, the sample wheel is controlled to stop and rotate 90° counterclockwise, and the stepper motor phase is reset to the initial value, and the sample wheel returns to the initial zero position; If the photoelectric sensor still does not receive a light signal after the sample wheel rotates 90°, the sample wheel is not at the initial zero position; at this time, the sample wheel continues to rotate at a constant speed until the photoelectric sensor receives a light signal, and then the sample wheel is controlled to stop and rotate 90° counterclockwise, and the stepper motor phase is reset to the initial value, and the sample wheel returns to the initial zero position.

5. The control method according to claim 3, characterized in that: Before step 1, the working status of the rotating stepper motor is also judged, specifically: when the photoelectric sensor receives the light signal twice in succession, the angle value corresponding to the number of rotation steps of the stepper motor is judged to be 90°. If so, the rotating stepper motor is working normally, otherwise the result is fed back to the user end.

6. The control method according to claim 3, characterized in that: The process between step 2 and step 3 also includes starting the monitoring module and the image processing module, taking a picture of the measuring port and analyzing whether there is light leakage based on the change of the grayscale value of the edge of the picture; if there is light leakage, the result is fed back to the user end.

7. The control method according to claim 3, characterized in that: In step 2, the control process of the hydraulic device is as follows: after the control module converts the translational displacement into a percentage of the cylinder stroke, it controls the solenoid valve of the hydraulic rod to energize, the cylinder starts to work, and the micro-pulse displacement sensor installed in the cylinder sends an analog signal. The D / A module converts the analog signal into a digital signal and feeds it back to the control module. The control module compares this value with the above-calculated movement displacement. When the displacement is reached, the solenoid valve is de-energized and the cylinder stops.

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