CN100520556C - CCD vidicon exposal time sequence controller for sampling welding image - Google Patents
CCD vidicon exposal time sequence controller for sampling welding image Download PDFInfo
- Publication number
- CN100520556C CN100520556C CN 200710065244 CN200710065244A CN100520556C CN 100520556 C CN100520556 C CN 100520556C CN 200710065244 CN200710065244 CN 200710065244 CN 200710065244 A CN200710065244 A CN 200710065244A CN 100520556 C CN100520556 C CN 100520556C
- Authority
- CN
- China
- Prior art keywords
- video camera
- ccd video
- welding
- module
- mechanical shutter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Studio Devices (AREA)
Abstract
The invention discloses a CCD video camera exposal time schedule controller for welding image acquisition which belongs to the jointing automation fields. The exposal time schedule controller is consisted of a CPLD logical control module respectively connected with a welding arc state detection module, a exposal parameter predetermined module, a CCD video camera exposal signal insulating conversion module, a mechanical shutter coil curl driving module and a electrical source converting module, wherein, the exposal time schedule controller is connected with a common industry CCD video camera. By use of the common industry CCD video camera-based image sensor developed by the invention, the interference of arc light, soot dust, spatter etc. can be effectively avoided, and the clear amplified welding tub zone image can be detected. The invention is fit for the technological process of CO2 short circuit transferring welding, pulse GTAW welding and pulse MIG welding, and so on.
Description
Skill wood field
The invention belongs to the Automation of Welding field, particularly a kind of ccd video camera exposure time series controller that is used for the welding image collection.
Background technology
At CO
2During short circuiting arc welding, pulse MIC welding, During Pulsed GTAW connect, for reduce arc light to greatest extent, splash, rugged surroundings such as flue dust disturb, fixed time (for short circuiting arc welding) that need be during short circuiting transfer or the relative fixed in welding background current period constantly (for the pulse current welding) detect welding pool area image clearly, the exposure time series control of general industry ccd video camera has been proposed very high requirement.A kind of classic method of control general industry ccd video camera exposure time series is to adopt electronic shutter, this method is the time shutter with the time between the exposure zero hour and this finish time, its shortcoming is that end exposure is constantly uncontrollable, in addition, exposure also can only preestablish the zero hour, and inconvenience is regulated at any time.
Another kind of existing method is to adopt special external trigger video camera, and this video camera can realize the exposing zero hour and end exposure freely controlled constantly, and shortcoming is to cost an arm and a leg, and is difficult to extensive popularization.Therefore can conveniently control the exposure zero hour of general industry ccd video camera and the sequential control circuit of the finish time has great importance in that exploitation is a kind of.
Cao Yipeng, hole literary virtue etc. (document [1]: Cao's one roc .CO2 short circuiting arc welding melting pool shape vision-based detection and Control Study [master thesis]. Beijing: the .2003 of Tsing-Hua University) at CO
2Short circuiting arc welding technology adopts discrete component design sequential control circuit, and control general industry ccd video camera is gathered the welding pool area image.
Chen Nian etc. (document [2]: Chen Nian. the research [master thesis] of the accurate GTAW weld joint tracking of rocket tube extension. Beijing: the .2004 of Tsing-Hua University) then adopt discrete component to design the sequential control circuit that connects technology at During Pulsed GTAW, detected the welding image of features such as comprising molten bath and tungsten electrode.
Above-mentioned two kinds of sequential control circuits all are at the specific weld method, and adopt discrete electronic devices and components to constitute, and its weak point is:
(1) bad adaptability: exposure time series is fixed, and can only can't adapt to the exposure time series requirement that detects welding image under the different welding techniques at single welding technology;
(2) poor stability: number of elements is many, the circuit complexity, and patchcord is many, is subjected to electromagnetic interference (EMI) and ambient temperature effect is big, and on-the-spot long-term working stability is poor;
(3) accessibility is poor: integrated level is low, and volume is big, causes the accessibility of whole sensor system poor.
Summary of the invention
The objective of the invention is weak point, propose a kind of ccd video camera exposure time series controller that welding image is gathered that is used at prior art.
The present invention adopts following technical scheme: a kind of ccd video camera exposure time series controller that is used for the welding image collection, it is characterized in that, the CPLD Logic control module connects the welding arc state detection module respectively, the exposure parameter preset module, ccd video camera exposure signal isolated variable module, mechanical shutter coil drive module and power conversion module, and the ccd video camera exposure signal isolated variable module of this exposure time series controller, the power conversion module is connected with outlet with the control signal interface of general industry ccd video camera respectively, one tunnel output OUT1 of mechanical shutter coil drive module, OUT2 is connected with the coil L1 of the mechanical shutter that is connected with the ccd video camera camera lens, another road output OUT3, OUT4 is connected with the coil L2 of the mechanical shutter that is connected with the ccd video camera camera lens.
Described CPLD Logic control module is used to realize the exposure time series logic; Described CPLD is a CPLD.
Described CPLD Logic control module adopts VHDL (Very High Speed Integrated Circuit (VHSIC) hardware description language) to describe the exposure time series logic of different welding technologys.
Described exposure parameter preset module adopts toggle switch setting stablizing delay time T
0With exposure delay time T
1
The chip for driving L298N of two coils of described mechanical shutter coil drive module is connected with L2 with two drive coil L1 of mechanical shutter respectively, wherein coil L1 is used to close mechanical shutter and guarantees that mechanical shutter is in closed condition, and coil L2 is used to open mechanical shutter and guarantees that mechanical shutter is in open mode.
The model of described CPLD is EPM570T100C5.
Beneficial effect of the present invention is that this time schedule controller only needs to control the photosensitive area electric charge clear signal SUB_B of general industry ccd video camera and the mechanical shutter in the optical system can be realized the flexible and controllable function of exposing, change little to ccd video camera, and cost is low, is easy to apply.Core technology is: (1) CPLD Logic control module-employing VHDL describes different exposure time series logics, and realizes by CPLD; (2) exposure parameter preset module-employing toggle switch is set and is stablized delay time T
0With exposure delay time T
1(3) mechanical shutter coil drive module-employing model is the chip drives of L298N, the coil L1 of one tunnel output OUT1, OUT2 and the mechanical shutter that is connected with the ccd video camera camera lens is connected, and the coil L2 of another road output OUT3, OUT4 and the mechanical shutter that is connected with the ccd video camera camera lens is connected; (4) the original photosensitive area charge signal SUB_A of ccd video camera exposure signal isolated variable module-employing comparer and high speed photo coupling control CCD chip becomes photosensitive area electric charge clear signal SUB_B; Adopt high speed photo coupling to isolate field sync signal V1, photosensitive area electric charge clear signal SUB_B and the image useful signal I_VALID of ccd video camera; (5) power conversion module-employing model is that the chip general+12V voltage transformation of LT1376-5 is+5V voltage; The employing model is that the chip general+5V voltage transformation of AS1117-3.3 is+3.3V voltage; The employing model is that the chip general+5V voltage transformation of MAX765 is-12V voltage.This time schedule controller can be used for the welding image vision-based detection occasion that various needs are controlled exposure flexibly, as at CO
2Obtain welding pool zone welding image in the processes such as short circuit transition welding, pulse MIC welding, During Pulsed GTAW.
Description of drawings
Fig. 1 is that the ccd video camera exposure time series controller that is used for the welding image collection is connected block diagram with the general industry ccd video camera.
Fig. 2 is the circuit theory diagrams of the mechanical shutter coil drive module of time schedule controller.
Fig. 3 is the exposure parameter preset module circuit theory diagrams of time schedule controller.
Fig. 4 is the circuit connection diagram of general industry ccd video camera and time schedule controller.
Fig. 5 is the circuit theory diagrams that produce photosensitive area electric charge clear signal SUB_B in the ccd video camera exposure signal isolated variable module of time schedule controller.
Produce the circuit theory diagrams of field synchronization positive pulse signal V1_IN in the ccd video camera exposure signal isolated variable module of Fig. 6 time schedule controller.
Fig. 7 is in the ccd video camera exposure signal isolated variable module of time schedule controller being isolated into image useful signal I_VALID the schematic block circuit diagram of I_Valid signal.
Fig. 8 is the circuit theory diagrams of the welding arc state detection module of time schedule controller.
Fig. 9 is the power conversion modular circuit schematic diagram of time schedule controller.
Figure 10 is general industry ccd video camera time shutter control principle figure.
Figure 11 realizes exposure control principle figure for time schedule controller control general industry ccd video camera.
Figure 12 is mechanical shutter control signal action principle figure.
Figure 13 is the synchro control logical flow chart at the design of CO2 gas short circuiting arc welding method.
Embodiment
The present invention proposes a kind of ccd video camera exposure time series controller that welding image is gathered that is used for.Further describe principle of work of the present invention below in conjunction with drawings and Examples.
Figure 1 shows that the ccd video camera exposure time series controller that is used for the welding image collection is connected block diagram with the general industry ccd video camera.In Fig. 1, the ccd video camera exposure time series controller that is used for the welding image collection is that CPLD Logic control module 6 connects welding arc state detection module 8, exposure parameter preset module 5, ccd video camera exposure signal isolated variable module 4, mechanical shutter coil drive module 7 and power conversion module 9 respectively.And ccd video camera exposure signal isolated variable module 4, the power conversion module 9 of this exposure time series controller 6 are connected with outlet with the control signal interface of general industry ccd video camera 3 respectively.The mechanical shutter coil drive module 7 chip for driving L298N by two coils of exposure time series controller constitute, in the circuit theory diagrams of the mechanical shutter coil drive module of time schedule controller as shown in Figure 2, the road coil L1 that exports OUT1, OUT2 and the mechanical shutter 2 that is connected with ccd video camera camera lens 1 that is produced by the L298N A channel is connected, and coil L1 is used to close mechanical shutter and guarantees that mechanical shutter is in closed condition; Be connected by another road output OUT3, the OUT4 of L298N B passage generation and the coil L2 of the mechanical shutter 2 that is connected with ccd video camera camera lens 1, coil L2 is used to open mechanical shutter and guarantees that mechanical shutter is in open mode.The control signal A_ENB of L298N, B_ENB, A_CTRLO, A_CTRL1, B_CTRLO and B_CTRL1 are connected with CPLD Logic control module 6.
Said exposure parameter preset module 5 adopts toggle switch to set and stablizes delay time T
0With exposure delay time T
1, the exposure parameter preset module circuit theory diagrams of time schedule controller as shown in Figure 3, CD[4:0 among the figure] and link to each other ED[4:0 with the IO mouth of CPLD respectively] link to each other with the I0 mouth of CPLD respectively.Wherein stable time-delay T0=CD[4:0] * K0, exposure time-delay T1=ED[4:0] * K1, the value of K0 and K1 is set in the program of CPLD, and its unit all is ms.
Above-mentioned CPLD is a CPLD; Selected model is EPM570T100C5.
Figure 4 shows that the circuit connection diagram of general industry ccd video camera and exposure time series controller.The signal of the 17th the pin output of the sequential chip for driving CXD1267AN of general industry ccd video camera is the original photosensitive area electric charge clear signal SUB_A of CCD chip, the signal of the 14th the pin output of CXD1267AN is field sync signal V1, SUB_A, V1 are connected with the exposure time series controller, input signal as time schedule controller, time schedule controller is according to the synchro control logic, control photosensitive area electric charge clear signal SUB_B, SUB_B remove circuit with the photosensitive area electric charge of CCD chip and are connected.Transformation process to the general industry ccd video camera is: at first disconnect SUB_A and be connected with the capacitor C 0 that the photosensitive area electric charge of CCD chip is removed in the circuit, and link to each other with CO with the SUB_B signal of time schedule controller output, secondly the original time shutter with the general industry ccd video camera is set at 10us.
Figure 5 shows that the circuit theory diagrams that produce photosensitive area electric charge clear signal SUB_B in the ccd video camera exposure signal isolated variable module of time schedule controller.The control end SUB_CTRL of high speed photo coupling 6N137 is connected to the CPLD Logic control module 6 of time schedule controller.SUB_B among the figure is the output terminal SUB_B of time schedule controller among Fig. 2.SUB_A among the figure is the input end SUB_A of time schedule controller among Fig. 2.The principle that photosensitive area electric charge clear signal SUB_B produces is: SUB_CTRL control high speed photo coupling 6N137, the output of 6N137 is connected to triode MMBT3904, signal is after oppositely amplifying, and the positive of device LM111 is imported as a comparison, and the reverse input of comparer is provided after dividing potential drop by SUB_A.The output terminal of comparer LM111 is right-after 12V_C is drop-down, as the SUB_B signal.
Produce in the circuit theory diagrams of field synchronization positive pulse signal V1_IN in the ccd video camera exposure signal isolated variable module of time schedule controller shown in Figure 6, the positive input signal V1 of diode 1N4148 is the field sync signal V1 among Fig. 2.The signal of the output terminal output of high speed photo coupling is field synchronization positive pulse signal V1_IN, is connected with CPLD Logic control module 6.The process of circuit working is that after field sync signal V1 isolated through diode 1N4148 forward, MMBT3904 oppositely amplified with triode, is isolated by high speed photo coupling 6N137, produces field synchronization positive pulse signal V1_IN.
In the ccd video camera exposure signal isolated variable module of time schedule controller shown in Figure 7 image useful signal I_VALID is isolated into the schematic block circuit diagram of I_Valid signal.Image useful signal I_VALID is connected with CPLD Logic control module 6, and the I_Valid signal is connected with other image capture devices as the output of time schedule controller, and wherein the high level of I_Valid represents that a detected welding image of interior exposure is effective.The process of circuit working is: signal I_VALID drives high speed photo coupling 6N137 by current-limiting resistance, the high speed photo coupling output terminal is connected with 5.0V by the 5.1K pull-up resistor, I_Valid=NOT (I_VALID) logically then, and I_Valid and I_VALID are isolated.
In the circuit theory diagrams of the welding arc state detection module of time schedule controller shown in Figure 8, the effect of diode 1N4148 is protection optocoupler 6N137, prevents that optocoupler is reversed puncture, and the effect of 3.3V stabilivolt is the electric current of restriction optocoupler luminotron.And the value of variable resistor R need be determined according to the amplitude of C_RED, wherein C_RED " " be WELD_N.When the peak value of C_RED was the peak value of the peak value of weldingvoltage or welding current, the high level that then identifies the signal PHOTO_N of conditions at the arc was represented the more weak stage of arc light in the welding process.PHOTO_N is connected with CPLD Logic control module 6.C_RED is connected with the equipment of detection conditions at the arc with WELD_N.
Figure 9 shows that the power conversion modular circuit schematic diagram of time schedule controller.The function that power converting circuit is mainly realized is: simulation 12V voltage (with "+12V_C " expression) is transformed to digital 12V voltage (with "+12.0V " expression), and implementation method is to isolate with magnetic bead; Numeral 12V voltage transformation is digital 5V voltage (with "+5.0V " expression), and the chip of employing is LT1376-5; Numeral 5V voltage transformation is digital 3.3V voltage (with "+3.3V " expression), and the chip of employing is AS1117-3.3, and digital 5V voltage transformation is simulation 5V voltage (with "+5.0V_C " expression), and implementation method is to isolate with magnetic bead; Simulation 5V voltage transformation is simulation-12V voltage (representing with-12V_C), and the chip of employing is MAX765.
General industry ccd video camera time shutter control principle figure shown in Figure 10, the positive pulse sign of field sync signal V1 is end, even beginning or end, the very beginning of field of idol field of field very.In a certain, electronic shutter is controlled exposure zero hour by the moment of last pulse of the original electric charge clear signal SUB_A of control CCD chip, and the moment control end exposure that the positive pulse by V1 arrives constantly.Because cycle of V1 is fixed, the zero hour and the time shutter coupling that therefore exposes can only be regulated one of them in the two, thereby needs can not be applied to the expose zero hour and the finish time occasion of control flexibly.
Time schedule controller control general industry ccd video camera shown in Figure 11 is realized exposure control principle figure, in the field with field synchronization positive pulse signal V1_IN sign, the original electric charge clear signal SUB_A of CCD chip removes CCD photosensitive area stored charge, after mechanical shutter 2 is opened fully, after the effective value of the signal PHOTO_N of the sign welding arc state variation that welding arc state detection module 8 detects arrives (rising edge), begin stable time-delay TO, exposure time-delay T1, this section period is for allowing shooting time, at this section after the period, electric charge clear signal SUB_B removes CCD photosensitive area stored charge, close mechanical shutter 2 and guarantee that mechanical shutter is in closed condition by mechanical shutter coil drive module 7 drive coil L1, if the effective value of PHOTO_N (high level) duration is greater than the shooting time shown in the figure, and at stable time-delay TO, in exposure time-delay T1 and the shutter close process, the high level of field synchronization positive pulse signal V1_IN does not occur, then take effectively, stable delay time wherein and exposure delay time are adjustable, thereby have realized that exposure is controlled the zero hour, time shutter is controlled, end exposure is constantly controlled.
Mechanical shutter control signal action principle figure shown in Figure 12, A_CTRL1=NOT (A_CTRLO)=B_CTRL1=NOT (B_CTRLO), B_ENB=NOT (A_ENB).When A_CTRLO is a high level, when A_ENB is high level, close mechanical shutter, behind the elapsed time T2, mechanical shutter is closed fully, and this moment, control signal was constant, guaranteed that mechanical shutter is in closed condition; When A_CTRLO is a low level, when A_ENB is low level, open mechanical shutter, behind the elapsed time T3, mechanical shutter is opened fully, and this moment, control signal was constant, kept mechanical shutter and was in open mode.A_CTRLO, A_CTRL1, B_CTRLO, B_CTRL1, A_ENB and B_ENB are provided by CPLD.
Figure 13 is the synchro control logical flow chart at the design of carbon dioxide short circuiting arc welding method.In the synchro control logical flow chart at the design of carbon dioxide short circuiting arc welding method shown in Figure 13, after the CCD field sync signal arrives, a beginning, carry out initialization, the original electric charge clear signal SUB_A of CCD chip removes CCD photosensitive area stored charge, open mechanical shutter (abbreviating " shutter " among the figure sometimes as), wait for the arrival of right moment for camera, remove the electric charge of the photosensitive area accumulation of CCD simultaneously, if mechanical shutter is opened fully, the permission shooting time arrives, stable time-delay T0, stop to remove photosensitive area electric charge accumulation, the effective value of the signal PHOTO_N of sign welding arc state variation is (as the arc light in the welding process of carbon dioxide short circuiting arc welding, voltage or current signal are judged the welding arc state) arrive, stablize time-delay and exposure time-delay according to the exposure parameter that the exposure parameter preset module is provided with, to the welding pool regional exposure, ccd video camera carries out the image information collection to the welding pool district.Close mechanical shutter then, cut off light path.In whole shooting process, all to detect the permission shooting time and whether finish.If allow shooting time not finish before mechanical shutter is closed fully, and the not end of this field time, think that then taking is effectively, send the image useful signal, preserve image after this end; If in shooting process, allow shooting time to finish or this field time end, think that then image is invalid image, reopen mechanical shutter, wait for the arrival of new right moment for camera,, begin the image detection in next then up to detecting effective image or this end.
This time schedule controller utilizes VHDL language to describe the exposure time series logic, and utilizes complex programmable logic device (CPLD) to realize the exposure time series logic, reaches the purpose of freely controlling the general industry ccd video camera exposure zero hour and the finish time.The welding image CCD vision sensor that utilizes the present invention to develop can effectively be avoided arc light, the flue dust in the arc welding process, interference such as splash, and obtains the welding pool area image of clear unanimity, is applicable to CO
2Multiple arc welding methods such as short circuit transition welding, GTAW weldering, MIG weldering.
Claims (5)
1. one kind is used for the ccd video camera exposure time series controller that welding image is gathered, it is characterized in that, the CPLD Logic control module connects the welding arc state detection module respectively, the exposure parameter preset module, ccd video camera exposure signal isolated variable module, mechanical shutter coil drive module and power conversion module, and the ccd video camera exposure signal isolated variable module of this exposure time series controller and the control signal interface of general industry ccd video camera are connected, the power conversion module is connected with outlet, one tunnel output OUT1 of mechanical shutter coil drive module, OUT2 is connected with the coil L1 of the mechanical shutter that is connected with the ccd video camera camera lens, another road output OUT3, OUT4 is connected with the coil L2 of the mechanical shutter that is connected with the ccd video camera camera lens.
2. according to the described ccd video camera exposure time series controller that is used for the welding image collection of claim 1, it is characterized in that described CPLD Logic control module adopts the VHDL Very High Speed Integrated Circuit (VHSIC) hardware description language to describe the exposure time series logic of different welding technologys.
3. according to the described ccd video camera exposure time series controller that is used for the welding image collection of claim 1, it is characterized in that described exposure parameter preset module adopts toggle switch setting stablizing delay time T
0With exposure delay time T
1
4. according to the described ccd video camera exposure time series controller that is used for the welding image collection of claim 1, it is characterized in that, the chip for driving I298N of two coils of described mechanical shutter coil drive module is connected with L2 with two drive coil L1 of mechanical shutter respectively, wherein coil L1 is used to close mechanical shutter and guarantees that mechanical shutter is in closed condition, and coil L2 is used to open mechanical shutter and guarantees that mechanical shutter is in open mode.
5. according to the described ccd video camera exposure time series controller that is used for the welding image collection of claim 1, it is characterized in that the model of described CPLD is EPM570T100C5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710065244 CN100520556C (en) | 2007-04-09 | 2007-04-09 | CCD vidicon exposal time sequence controller for sampling welding image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710065244 CN100520556C (en) | 2007-04-09 | 2007-04-09 | CCD vidicon exposal time sequence controller for sampling welding image |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101055403A CN101055403A (en) | 2007-10-17 |
| CN100520556C true CN100520556C (en) | 2009-07-29 |
Family
ID=38795303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710065244 Expired - Fee Related CN100520556C (en) | 2007-04-09 | 2007-04-09 | CCD vidicon exposal time sequence controller for sampling welding image |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100520556C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102244738B (en) * | 2010-05-13 | 2013-11-06 | 中国科学院西安光学精密机械研究所 | Electric control method and system for curtain type shutter |
| CN102377936B (en) * | 2010-08-25 | 2016-01-27 | 上海龙达胜宝利光电有限公司 | Starting-up circuit of digital hunting camera |
| CN102223482B (en) * | 2011-06-17 | 2013-04-17 | 中国科学院半导体研究所 | Jitter elimination method for moving target gating detection imaging based on CCD external trigger |
| CN102642068B (en) * | 2012-03-14 | 2014-07-09 | 桂林航天工业学院 | Current trigger control circuit of high-speed camera for electrical arc welding monitoring system |
| CN106505987A (en) * | 2016-11-07 | 2017-03-15 | 中国电子科技集团公司第四十四研究所 | It is applied to the signal processing circuit of high-speed photoelectric coupler outfan |
-
2007
- 2007-04-09 CN CN 200710065244 patent/CN100520556C/en not_active Expired - Fee Related
Non-Patent Citations (4)
| Title |
|---|
| CO2短路过渡焊接熔池图像传感器. 曹一鹏，陈强，孙振国.焊接学报，第25卷第2期. 2004 |
| CO2短路过渡焊接熔池图像传感器. 曹一鹏，陈强，孙振国.焊接学报，第25卷第2期. 2004 * |
| 高速CCD摄像机驱动时序发生器的设计及基于CPLD技术的实现. 王军波，孙振国，陈强，赵江滨.光学技术，第28卷第2期. 2002 |
| 高速CCD摄像机驱动时序发生器的设计及基于CPLD技术的实现. 王军波，孙振国，陈强，赵江滨.光学技术，第28卷第2期. 2002 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101055403A (en) | 2007-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100520556C (en) | CCD vidicon exposal time sequence controller for sampling welding image | |
| CN101867299B (en) | Circuit and method for switch power supply feedback voltage detection and sampling and holding | |
| CN101777848B (en) | Switch power supply and inductive current peak compensating device | |
| CN105048790B (en) | Power tube control system and the drive circuit for driving external power tube | |
| CA2233685A1 (en) | Display panel sustain circuit enabling precise control of energy recovery | |
| CN103252783B (en) | A kind of double-core two-freedom high-speed full-automatic soldering robot servo controller | |
| WO2017067116A1 (en) | Isolated synchronous rectifier control circuit, device using same, and control method thereof | |
| CN103529742A (en) | Remote power-failure restarting method and device | |
| CN106534713A (en) | Supplementary lighting source control system of image identification system | |
| CN103795259A (en) | Switching control method and control circuit and switching power supply with control circuit | |
| CN105136428A (en) | Motorized zoom lens service life detection jig control circuit and method | |
| WO2024077839A1 (en) | Fast-charge drive circuit and related product | |
| CN110137903B (en) | Power output interface implementation circuit with heterogeneous protection | |
| CN105487196A (en) | Drive control box for production line to check phase of zoom lens and control method thereof | |
| CN110737338A (en) | Holographic projection method and system for special effects to automatically follow roles | |
| CN206332756U (en) | A kind of supplementary lighting sources control system of image identification system | |
| CN203366075U (en) | Control device of wave soldering equipment | |
| CN204697177U (en) | A kind of automatic switching control circuit of multi-channel video monitor | |
| CN114847819A (en) | Obstacle avoidance method and system for indoor cleaning robot | |
| CN203397212U (en) | Track-following navigation device | |
| CN101950077B (en) | Remote laser night-viewing device | |
| CN203221511U (en) | Dual-core two-freedom-degree high-speed full-automatic tin soldering robot servo controller | |
| CN205571674U (en) | Soldering joint tracking vision sensory control system based on structured light | |
| CN111355405A (en) | Multi-channel motor real-time speed regulating and recording and playing system | |
| CN204913117U (en) | Automatic welding carriage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090729 Termination date: 20170409 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |