Abstract: A surgical robot navigation and positioning system, and a measurement viewing angle multi-objective optimization method includes a surgical operation planning system, a control host for data processing and robot control, a series robot having any degree of freedom, a positioning sensor and its adaptive positioning tools (4), and an environmental perception sensor. The measurement viewing angle multi-objective optimization method comprises: obtaining information on and positions of all positioning tools (4) of each link in a surgery process, and establishing a multi-objective minimization problem based on a decision variable; establishing a three-dimensional Cartesian coordinate system for each positioning tool (4); defining a non-interference margin function between the positioning tools (4), and at least two objective functions of minimization optimization; and setting constraint conditions to minimize the at least two objective functions at the same time.

Abstract: An active navigation system of a surgery and a control method include: Step 1, measurement viewing angle multi-objective optimization: inputting position parameters of the positioning tools and setting other related parameters, and solving a set of optimal measurement viewing angles through multi-objective optimization; Step 2, a multi-objective decision of a pose of the robot: according to the set of optimal measurement viewing angles, recommending, to a user, an optimal pose scheme of the robot in each link of the surgery by using a multi-objective decision algorithm; or selecting the optimal pose scheme of the robot in each link of the surgery; and Step 3, planning and execution of a path of the robot: according to the selected optimal pose scheme of the robot in each link of the surgery, planning the path of the robot from the current pose to the optimal pose scheme.

Abstract: An indoor testing device for multiple rotor-containing flying objects including a main support having a plurality of linking members, a plurality of mechanical arms, a plurality of trays, and control units of the mechanical arms. The main support is disposed vertically. The mechanical arms are separately disposed on the linking members of the main support with different height. The trays are separately disposed on one end of the mechanical arms for receiving rotor-containing flying objects, and the control units are disposed on the mechanical arms and rotate therewith. The device can be used for the cooperation and coordination test of multiple rotor-containing flying objects and autonomous control experiments of a single rotor-containing flying object. The tests have high stimulation and improve the usability of the experimental results in the actual system.

Abstract: An indoor testing device for multiple rotor-containing flying objects including a main support having a plurality of linking members, a plurality of mechanical arms, a plurality of trays, and control units of the mechanical arms. The main support is disposed vertically. The mechanical arms are separately disposed on the linking members of the main support with different height. The trays are separately disposed on one end of the mechanical arms for receiving rotor-containing flying objects, and the control units are disposed on the mechanical arms and rotate therewith. The device can be used for the cooperation and coordination test of multiple rotor-containing flying objects and autonomous control experiments of a single rotor-containing flying object. The tests have high stimulation and improve the usability of the experimental results in the actual system.