天气微服务架构图

智能指针的设计，主要为了解决野指针的问题(Smart pointer design, mainly in order to solve the problem of dangling pointers)

串行da模块的应用，和单片机通信，通过单片机控制da模块(Serial da module application, and single-chip communication, via da MCU control module)

单片机LCD显示，显示屏是12864，功能能实现。(Single-chip LCD display, the display is 12864, the function can be achieved.)

说明：  内有电路图和对应的程序，已经调试成功，能实现定时功能。(There are circuit diagrams and the corresponding procedures are debugging success, to achieve timing.)

说明：  ATK-HC05蓝牙串口模块的使用，实现蓝牙串口通信(Using ATK-HC05 Bluetooth Serial Port Module to Realize Bluetooth Serial Port Communication)

液晶240*128驱动 用的是PIC单片机 但是可以改 51单片机 里面驱动都一样 就是 拿过来就可以用 (LCD 240* 128 drive using a PIC microcontroller, but can be changed inside the microcomputer 51 is to take over the same driver can be used)

基于单目相机和激光测距仪, 文章提出从一幅图像中识别出非合作目标物体上的矩形面,并提取出 4 个顶点坐标的特征提取方法,为位姿的测量提供必要的信息 提出以激光点为参考, 距离激光点最近的 4 条边 界为矩形面边界的判定准则,并根据激光点到直线的垂足和边界端点约束排除干扰线段 该方法能有效地判 定出矩形面且顶点定位准确,在空间机器人视觉伺服控制半物理仿真系统上得到了验证。(An approach to identi fying the rectangular plane of the object w i thout markers and extracting i t s ape- xes which are needed for pose measurement from an image is proposed in this paper. A cri terion is put forw ard that the edges w hich have the minimum distances around the laser point are regarded as the edges of the rec- tangular plane, and the interferent ial lines are eliminated according to the pedal between the laser point and the edge and two endpoints of the edge. The validity of the method is verified by experiments performed on a sem- i physical simulation system for visua- l serving cont rol of space robot s.)

MCu based distance measurement from 20-80cm based on SHARP ir sensor

说明：  超声波测距电路图 以及超声波传感器驱动电路(Ultrasound)

PLC程序 施耐德PLC 通过CANOPEN控制3台伺服器(PLC Schneider PLC program control by CANOPEN 3 servers)