PLC control software is composed of multi-subprogram of traction mechanism, jack mechanism, circumrotating mechanism, radius-changing mechanism and touch panel.

其控制软件由行走机构、起升机构、旋转机构、变幅机构子程序和触摸屏监控子程序构成。

The experiment results demonstrate that the algorithm is robust to the various illumination, dynamic disturbance and self-circumrotating, and can be used for robot location.

实验结果表明，该方法对环境光照变化、动态干扰和自身旋转有较强的鲁棒性，并能很好地识别出路口，以实现定位。

The method based on workpiece surface images either cannot be used for online inspection because of the difficulty to obtain images in high speed circumrotating of workpieces.

基于工件表面图像的视觉监测方法，由于工件的高速旋转时，难以获取工件表面的清晰图像，也不宜用于切削过程监测。