101results about How to "Guaranteed work effect" patented technology

The embodiment of the present application provides a method and a device for generating an unmanned aerial vehicle route. The method comprises the following steps of: generating an initial route of anoperation area of the unmanned aerial vehicle; dividing the operation area into a two-dimensional grid; obtaining two-dimensional coordinate information and point position height information of eachintersection in the two-dimensional grid; determining three-dimensional coordinate information of the plurality of target waypoints corresponding to the plurality of waypoints on the initial route according to the two-dimensional coordinate information and the point position height information of each intersection in the two-dimensional grid; and generating a target route of the operation area according to the three-dimensional coordinate information of the plurality of target waypoints. According to the method and the device for generating an unmanned aerial vehicle route, in this embodiment,the elevation information of each waypoint in the operation area can be obtained in real time and accurately by obtaining the spatial characteristics of the ground terrain, and a target route parallel to the undulating terrain can be generated. When the unmanned aerial vehicle flies according to the target route, the flight altitude of the unmanned aerial vehicle can be quickly judged and adjusted to avoid flight accidents such as crash.

The invention discloses a self-adaption precise pesticide applying method of an unmanned aerial vehicle, and belongs to the technical field of agricultural plant protection mechanical automation. The method comprises the following steps that a GPS is started, the area to which pesticide is about to be applied is divided into one or more rectangular areas through the system, and the unmanned aerial vehicle track line is planned according to the four-point positions of the rectangular areas; parameter values of flying protection work are input into the system, and the parameter values comprise the operation area, average flight speed and the pesticide applying standard range [F1, F2]; a wireless sensor node is arranged in the spraying operation area; a central control node in communication with the wireless sensor node is mounted on the unmanned aerial vehicle; the unmanned aerial vehicle is started, and the unmanned aerial vehicle carries out pesticide applying when flying to the starting point position in the four points of the rectangular areas according to the planned track line. By means of the self-adaption precise pesticide applying method, the autonomous flight capacity of the plant protection unmanned aerial vehicle in precise pesticide applying operation is improved, the problem of uneven spraying caused by objective factors of the plant protection unmanned aerial vehicle is solved, and the operation effect and operation yield of the plant protection unmanned aerial vehicle are guaranteed.

The invention discloses a workpiece surface spraying device. The workpiece surface spraying device comprises a worktable, racks, a driving motor, a rotating seat, a supporting seat, a hydraulic cylinder, storage cylinders, lifting frames, a cross beam, a sliding rail, high-pressure spray heads, liquid transferring pipes, a groove, a sliding groove, lifting bases, brush heads, mounting frames, workpieces, a fixing frame, mounting frame bayonets, a fixing frame bayonet, mounting frame pressure heads, a fixing frame pressure head, a hydraulic rod, a movable connector, positioning holes, clampingrings and limiting pins. The workpiece surface spraying device is compact in structure, convenient to use and capable of conducting surface spraying operation on the multiple sleeve workpieces simultaneously, and the service life of the workpieces is prolonged; meanwhile, the surfaces of the workpieces can be subjected to impurity removing before being sprayed, so that the situation that the operation effect is affected by excessive impurities and dust is avoided, using is convenient, and the various using requirements in the spraying process of the workpieces are met; and the workpiece surface spraying device is used flexibly overall, uniform spraying is achieved, the working efficiency is high, high practicability is achieved, the operation effect is guaranteed, and using of manpower iseffectively reduced.

The invention provides an unmanned aerial vehicle cluster positioning method based on channel state information. The unmanned aerial vehicle cluster positioning method comprises the following steps that firstly, CSI signals corresponding to a reference point in a surrounding space area of a lead plane and a position information fingerprint database are established; and secondly, CSI signals corresponding to to-be-detected points of a wing plane are obtained, the obtained CSI signals corresponding to the to-be-detected point are matched with the fingerprint database established in the first step, and thus the position of the to-be-detected point is calculated. According to the unmanned aerial vehicle cluster positioning method, the channel state information is applied to the unmanned aerialvehicle cluster positioning environment for the first time, and the between-vehicle positioning precision and the anti-GPS interference ability of an unmanned aerial vehicle are improved; and meanwhile, through signal transmission between the lead plane and the wing plane, the corresponding channel state information is received for positioning, between-vehicle positioning can still be conducted when an unmanned aerial vehicle cluster operates in the harsh environment and GPS signals cannot be received, and the operation ability of the cluster is ensured.

The invention discloses a self-adaptive safe driving method and system for an unmanned sweeper on a bumpy road surface. According to the invention, a monocular camera, a binocular camera, an ultrasonic sensor, an IMU inertial navigation assembly and three vibration sensors are fused to identify a bumpy road section, the bumpy road section is graded by combining the walking limit and the vibrationcondition of a sweeper and the sweeping effect on the bumpy road surface, and for bumpy road surfaces with different bumpy grades, the sweeper is controlled to make a driving strategy of avoiding, decelerating or directly passing, so that the sweeper can adaptively adjust the driving strategy according to the bumpy grades, and the sweeping coverage and the operation effect of the sweeper are ensured to the maximum extent while the sweeper safely passes through the bumpy road sections.

The invention discloses a stirring device with a convenient-to replace stirring shaft. The stirring device comprises a supporting bottom plate, wherein a rotary base is fixedly mounted on the supporting bottom plate; a hydraulic cylinder is mounted on the rotary base; the hydraulic cylinder is movably connected with a first bracket and a second bracket through a jacking rod; the first bracket and the second bracket are arranged correspondingly; longitudinal sliding rails are arranged on the first bracket and the second bracket; hoisting sliding seats are mounted on the first bracket and the second bracket in a sliding manner through the longitudinal sliding rails; hoisting motors are mounted at the tops of the first bracket and the second bracket; output ends of the hoisting motors are fixedly connected with the hoisting sliding seats through lifting chains. The stirring device with the convenient-to replace stirring shaft is compact in structure and convenient to use; up-down movement of the brackets is realized through the hydraulic cylinder, and the stirring shaft is replaced in a working process according to actual conditions; the stirring device has high working efficiency and relatively high practicability, ensures the working effect and is adaptive to various different working modes; the stirring device is high in stability and high in precision, and the utilization of manpower is effectively reduced.

The invention discloses a high efficiency automatic wok, comprising an outer wok body, an inner wok body, ear plates, buffer springs, support seats, a base, a gas inlet, an air inlet pipe, a gas stovehead, a locating frame, a sliding rail, a sliding seat, a reciprocating motor, a rotary motor, a main shaft, a movable shaft ring, main stirring rods, a drive motor, a driving wheel, a driving belt,an eccentric wheel, connecting pieces, and the like. The high efficiency automatic wok is compact in structure, realizes a function of automatically stir-frying food, reduces the labor intensity of acook, and enables the food in the wok to be more evenly heated; a wok body is vibrated and swung, so that the speed of evenly heating the food in the wok body is accelerated, and more thorough stir-frying is realized; the phenomena that materials are stuck on the inner wall of the wok body and the food on the wok wall can not be fully stir-fried can be effectively avoided by means of a brush headwhile the stir-frying speed is accelerated; therefore, the food in the wok body is enabled to be more evenly stir-fried, the working time is effectively shortened, the working efficiency is increased,and the use of manpower is effectively reduced.

The invention discloses a movable stirring device used on a construction site. The movable stirring device used on the construction site comprises a base, idler wheels, a parking pin, a pushing handle, a first lifting support, a second lifting support, a first hydraulic cylinder, a load bearing base, a rotary motor, a rotary base, a supporting board, a movable shaft, a stirring barrel, a motor case, a second hydraulic cylinder, a spindle, a spiral stirring fan blade, a feed inlet, a discharge outlet, a stirring motor and a chute. The movable stirring device used on the construction site is compact in structure, the barrel is convenient to move, the height of the barrel is convenient to adjust, various use requirements are met, and the discharging direction of the discharge outlet of the barrel is adjusted by the rotary base, so that the discharging position can be accurately and conveniently adjusted during discharging; the barrel can be inclined at the same time, so that discharging is more convenient and rapider, multiple use requirements of concrete in the stirring process are met, the whole device is flexible to use, the working efficiency is high, high practicability is achieved, the operation effect is ensured, the device adapts to various different working modes, and labor use is effectively reduced.

The invention discloses a method for detonation fracture acidizing combined operation. The method comprises the steps of optimizing detonation fracture acidizing combined operation process parameters, performing operation preparation before detonation fracture and filling a pitshaft with liquid, testing stratum absorption amount before the detonation fracture, placing a detonation fracture operation tubular column to a predetermined operation depth, performing pressurization detonation of the tubular column, performing well killing operation, detonating the fracture operation tubular column, testing the stratum absorption amount after the detonation fracture, placing an acidizing operation tubular column, performing pumping injection acid liquid slug, lifting the acidizing operation tubular column, placing an electric pump production tubular column and performing electric pump liquid drainage and well opening alkalifying neutralization, placing an electric pump production Y tubular column without a Y tubular column, performing pumping injection of acid liquid slug, placing the Y tubular column, performing electric pump liquid drainage and well opening alkalifying neutralization and the like. The method has the advantages that detonation fracture and acidizing effects can be further enhanced, the acid liquid injection capability is enhanced, the acidizing radius is expanded, crack closure is further avoided, and a physical effect is enhanced; a detonation fracture effect can be enhanced, a follow-up acidizing step is selected flexibly, and the operation step is omitted while an operation effect can be guaranteed.

The invention relates to a sweeping control method and device of a visual robot, a chip and a sweeping robot, and belongs to the field of intelligent robots. The robot control method comprises the steps: starting a first image acquisition device and a second image acquisition device in the process that the robot sweeps an operation area; respectively acquiring a first image of the first image acquisition device and a second image acquired by the second image acquisition device; adopting an image recognition algorithm in the first image to recognize a to-be-swept garbage object in the image, acquiring texture information, shape information and size information of the garbage object, and generating a to-be-matched template; and controlling the robot to sweep the garbage object, after sweeping is completed, adopting an image matching algorithm to match the to-be-matched template with the object in the second image, and if matching succeeds, determining that the garbage object is in an unswept state. According to the scheme, the unswept garbage object can be swept multiple times, and the operation effect is guaranteed.

The invention discloses a vehicle frame and spraying rod double-leveling high-ground-gap electric plant protection machine based on vertical lifting. The machine comprises a vehicle frame capable of being leveled, an automatic leveling and spraying rod system, an operation and control table, a profiling pesticide box, and a storage battery used for providing electric energy to the whole plant protection machine; a vehicle frame plate is arranged on the vehicle frame; the operation and control table, the profiling pesticide box and the storage battery are sequentially installed on the vehicle frame plate; a range extender is further arranged on the vehicle frame; the vehicle frame comprises a frame body used for supporting the plant protection machine and four independently-driven walking leveling mechanisms which are fixedly arranged at the lower side of the frame body; the automatic leveling and spraying rod system comprises a spraying rod and spraying rod leveling devices; the spraying rod is of a three-section truss type structure; the middle section of the spraying rod is fixedly arranged at one end of the vehicle frame through a spraying rod mounting frame. The electric plantprotection machine has the advantages that the structure is simple, the machine body is light, the performance is stable, and zero emission is achieved, and a characteristic of double leveling comprising vehicle frame leveling and three-section type spraying rod deflection angle leveling is achieved, and high stability and good operation effect in a movement process of the plant protection machinecan be guaranteed.

The invention discloses a multi-purpose aircraft external store automatic mounting system and method, belonging to the technical field of automatic mounting. The system includes an image recognition module, a control solution module, a mechanical lifting arm execution unit, an integrated display control module and an external store transport vehicle. The method includes: at first, two frame of adjacent images collect by that camera in the image recognition module are processed differentially, and are transmitted to the position detection module for coordinate conversion, and the spatial relative position of the external store and the corresponding mount point under the wing are solved, and are transmitted to the control solution module as error control signals; and then, the relative position of the external store and the corresponding mounting point under the wing are converted to the coordinate system; the control solution module calculates the error to complete the control parametercalculation and generates the control signal to be transmitted to the mechanical lifting arm execution unit, and the mechanical lifting arm lifts the mounting platform away from the vehicle body to reach the target position and the target posture for operation. The invention effectively avoids the influence of environmental interference, improves the reliability and safety of the system, and greatly improves the intelligence and automation efficiency of the weapon equipment.

The invention discloses a clinical massaging device for a lower limb in a neurology department. The clinical massaging device for the lower limb comprises a nursing bed, horizontal adjustment units, asecond massaging unit, a telescopic mechanism, a mobile unit, an arc frame, a medicinal oil spraying unit, a lifting mechanism, a first massaging unit and an angle adjustment mechanism, wherein the horizontal adjustment units are symmetrically mounted on the front side and the rear side of the nursing bed; the end parts of the arc frame are connected with adjusting parts of the horizontal adjustment units; the mobile unit is mounted on the inner side of the arc frame; the lifting mechanism is mounted on a movable part of the mobile unit; the angle adjustment mechanism is mounted on the lifting end part of the lifting mechanism, so that the skin is prevented from being hurt by massaging due to over-drying skin; and through a cooperation effect of massaging and the medicinal oil, the treatment effect is improved, the degree of mechanisation is high, adjustment is convenient, the time and the labor are saved, the working ability is strong, and the clinical massaging device is convenientto clean and replace.

The invention discloses a rapid grinding device for hardware parts. The rapid grinding device comprises a supporting base, brackets, a first transverse sliding rail, a sliding block, a worktable, a second transverse sliding rail, a clamping frame, a rotating motor, a positioning frame, a stand column, a longitudinal sliding rail, a lifting sliding seat, a driving motor, a spindle box, a grinding joint, a fixed piece, a screw stepper motor, a screw, a sleeve and a connecting part. The rapid grinding device is compact in structure and convenient to use, and the screw is driven to move through the screw stepper motor, so that the sleeve is lifted, and thus the grinding joint is driven to move vertically to facilitate grinding operation; and meanwhile, workpieces are fixed and clamped throughthe clamping frame and the positioning frame, and then the workpieces are rotated through the rotating motor, so that the rotating directions of the workpieces and the rotating directions of the grinding joint are opposite, the grinding time is further reduced, the operational efficiency is improved, the high practicality is achieved, the operation effect is ensured, various different working modes are adapted, the high stability and high accuracy are achieved, and the use of manpower is effectively reduced.

The invention discloses a high-efficiency cement stirring device. The high-efficiency cement stirring device comprises a base, a stand column, longitudinal slide rails, a lifting sliding sleeve, connection pieces, a stirring motor, a main shaft box, a drive wheel, a driving belt, a driven wheel, a main shaft, a stirring blade, a cylinder, a movable shaft, a lifting connector, a hydraulic cylinder,positioning sleeves, limiting springs, supporting bases, a cylinder cover, a drive motor, a transmission wheel, an eccentric wheel, a belt and a positioning piece. When the high-efficiency cement stirring device is used for conducting stirring processing on cement, the cylinder is vibrated and shaken, the reaction rate of materials in the cylinder is accelerated, stirring processing is more thorough, while the reaction rate is accelerated, the phenomenon that the materials adhere to the inner wall of the inner wall of the stirring cylinder is effectively avoided, and therefore the internal capacity of the cylinder is kept, the unnecessary waste of the raw materials is avoided, the working time is effectively shortened, the working efficiency is improved, relatively-high practicality is improved, the operation effect is guaranteed, the high-efficiency cement stirring device adapts to multiple different working modes, and the labor using is effectively reduced.

Disclosed is a swathing method of a swather connected with a combine harvester in a hung mode.The swather connected with the combine harvester in the hung mode is adopted for swathing operation and comprises a vertical swather cutting table, an intermediate connecting mechanism, an integrated hydraulic system, an integrated controller, a combine harvester conveying mechanism, a first oil cylinder execution feedback device, a second oil cylinder execution feedback device, a first hydraulic control one-way valve, a controllable hydraulic pump, a solenoid reversing valve, a manual control reversing valve, a second hydraulic control valve, a first bracket of the cutting table, a second bracket of the cutting table, a rack, a power transmission mechanism, a tensioning mechanism and an auxiliary mechanism, wherein the power transmission mechanism, the tensioning mechanism and the auxiliary mechanism are installed on the rack; through mechanical-electric-hydraulic automation, the angle of the vertical swather is automatically adjusted along with the height of the cutting table, so that the cutting table keeps perpendicular or approximately perpendicular to the ground, the response is rapid, the operation is simple, and therefore the operation effect is ensured.

The embodiments of the present invention provide a flight control method for an unmanned aerial vehicle, a flight control device for an unmanned aerial vehicle and an unmanned aerial vehicle. The method includes the following steps that: the unmanned aerial vehicle autonomously flies along a preset flight track and performs plant protection operation; when receiving first remote control signals sent by a remote control device, the unmanned aerial vehicle generates the target flight speed of the unmanned aerial vehicle according to the first remote control signals; the unmanned aerial vehicle stops the plant protection operation, and flies away from the flight track according to the target flight speed; and when receiving second remote control signals sent by the remote control device, theunmanned aerial vehicle returns to the flight track. According to the flight control method and the flight control device of the invention, the remote control device is manually operated so as to perform auxiliary control on the flight operation of the unmanned aerial vehicle, so that the unmanned aerial vehicle can conveniently avoid obstacles temporarily appearing in the flight track, and timelyfly back to the flight track after avoiding the obstacles so as to continue to fly, and therefore, the flexibility of the work of the unmanned aerial vehicle is enhanced, the efficiency of the work of the unmanned aerial vehicle is improved, and the effect of the work is ensured.

The invention discloses an out-of-bound judgment method and system for a mobile robot. According to the invention, the global video image data of the working area is acquired through the image acquisition device arranged above the working area; By selecting and identifying pixel points in the image, especially by clicking or drawing the working area range of the automatic walking device in the image and automatically identifying the mobile robot in the image, automatic judgment on demarcation of the mobile robot is realized. Therefore, effective positioning of the mobile robot and constructionof a working area map can be automatically realized in an open environment, real-time out-of-bound judgment is realized based on the effective positioning and the construction of the working area map, and the operation efficiency and the operation safety of the mobile robot are ensured.

Disclosed is a cutting-platform vertical lift control method of a vertical cutter-rower. A cutting-platform vertical lifter of the vertical cutter-rower adopts vertical lift and comprises a vertical cutter-rower cutting table, an intermediate connecting mechanism, an integrated hydraulic system, an integrated controller, a combine harvester conveyor, a first cylinder execution feedback device, a second cylinder execution feedback device, a first liquid-control one-way valve, a controllable hydraulic pump, a magnetic reversing valve, a manual-control reversing valve, a second liquid-control one-way valve, a first cutting-platform support and a second cutting-platform support. Through electromechanical liquid automation, the cutting platform of the vertical cutter-rower can be automatically adjusted in angle to be kept vertical or close to vertical to the ground, swift response and convenience in operation are achieved, and operation effect is thereby guaranteed.

The invention provides an injection machine for trees. The injection machine comprises a medicine storage box needle head component, a medicine pump component, a pump medicine connecting piece, a medicine pump pressure cylinder, a medicine inlet connecting piece, a needle inlet pressure cylinder and a clamping device. According to the injection machine provided by the invention, through optimizeddesign of each structure, compressed air or hydraulic oil is used as power, and an air cylinder or a hydraulic cylinder is used as a power device, so that reliable positioning of the machine on a treetrunk, rapid and stable needle insertion, precise control of a medicine amount, and rapid and stable needle withdrawal are realized; various processes are completed by control of a computer, so thata degree of automation is high; the medicine storage box needle head component of the injection machine is provided with an orientation device, so that an installation direction of a needle head is guaranteed, the direction of the needle head during operation is guaranteed to be not changed, and the operation effect is ensured; and a pressure sensor and a position sensor of the medicine storage box needle head component of the injection machine are designed, so that change of injection pressure and a needle head position during operation are monitored in real time, an occurrence of abnormal phenomena is prevented and avoided, and accuracy and an intelligence level of the operation of the device are improved.

The invention provides a hydraulic system for an excavator and the excavator, and relates to the technical field of control over excavators. The hydraulic system comprises a remote control side, a communication unit, a control unit, a proportional electromagnetic valve and a hydraulic unit; the remote control side is used for generating a control signal; the communication unit is in wireless communication connection with the remote control side, and is used for obtaining the control signal and generating a control instruction according to the control signal; the control unit is in data connection with the communication unit and is used for obtaining the control instruction and generating a driving signal according to the control instruction; the proportional electromagnetic valve is in data connection with the control unit and is used for obtaining the driving signal; the hydraulic unit is in data connection with the proportional electromagnetic valve and is used for executing a corresponding motion according to the driving signal. According to the hydraulic system and the excavator, the flow and direction of the hydraulic system for the excavator can be remotely controlled in a control mode of electric signals; meanwhile, through the proportional electromagnetic valve, all movement units of the excavator can be refinedly controlled, and the production cost is reduced.

The invention relates to a windrower hooked to a combine-harvester. A header of the vertical windrower is connected with a conveying mechanism of the combine-harvester through a middle connection mechanism, an integrated hydraulic system and an integrated controller are arranged on one side of the conveying mechanism of the combine-harvester, one end of a first oil cylinder executive feedback device is arranged on the middle connection mechanism, and the other end of the first oil cylinder executive feedback device is arranged on the header of the vertical windrower; one end of a second oil cylinder executive feedback device is arranged on the conveying mechanism of the combine-harvester, and the other end of the second oil cylinder executive feedback device is arranged on the combine-harvester; the first oil cylinder executive feedback device is connected with a first hydraulic control one-way valve, the first hydraulic control one-way valve is connected with an electromagnetic directional valve, and the second oil cylinder executive feedback device is connected with a second hydraulic control one-way valve; the second hydraulic control one-way valve is connected with a manual control directional valve, the integrated controller is connected with the first oil cylinder executive feedback device and the second oil cylinder executive feedback device, and a power transmission mechanism, a tensioning mechanism and an auxiliary mechanism are arranged on a rack. The windrower hooked to the combine-harvester is easy to operate, neat and orderly in laying, good in operation quality and high in production efficiency.

The invention provides a large rice direct seeding operation unit control device and method based on a Beidou system. The device comprises a tractor body, an operation unit, a lifting oil cylinder and a leveling oil cylinder, wherein the tractor body is provided with a controller, a lifting valve set, a leveling valve set and a tilt angle sensor A for collecting attitude signals of the tractor body, the operation unit is provided with a tilt angle sensor B for collecting attitude signals of the operation unit and a floater sensor for collecting relative positions of the operation unit and the water surface, and the controller is used for receiving signals of the tilt angle sensor A, the tilt angle sensor B and the floater sensor, can control the leveling oil cylinder to act through the leveling valve set to achieve leveling control over the operation unit and can control the lifting oil cylinder to act through the lifting valve set to achieve he operation control of the operation unit close to the water surface. According to the device and the corresponding controllable method, the operation unit can be kept horizontal all the time in the operation process, meanwhile, the operation unit can be automatically attached to the water surface for operation, the operation quality is guaranteed, and the operation efficiency is improved.

The invention discloses a cleaning robot, the structure of which comprises a robot main body, an opening cover, an active cleaning brush, an access hole, a power button, a control button, a UV germicidal lamp, a roller, and a rotating brush, and the opening cover is movably connected to the upper end of the robot main body On the surface, the active cleaning brush is movably connected to the lower surface of the robot body, the access hole is embedded in the front surface of the robot body, the power button is connected to the upper surface of the robot body through a keyway, and the control button is electrically connected to the upper surface of the robot body. The germicidal lamp is embedded in the lower surface of the main body of the robot. The UV germicidal lamp is composed of a lamp holder, a metal connecting piece, a transparent shell, and a filament. Microorganisms and the like cannot be cleaned up, which ensures the working effect of the equipment and effectively improves the practical performance of the equipment.

The invention discloses an automatic calorimeter for caloric analysis of a sample, comprising an outer barrel, an inner barrel and an oxygen bomb; the oxygen bomb is disposed in the inner barrel which is arranged in the outer barrel, a water supply stirring mechanism is arranged outside the outer barrel for supplying water to the inner barrel and stirring, the water supply stirring mechanism comprises a water supply chamber and a magnetic stirring assembly, one end of the water supply chamber is provided with a water inlet for communication with an external water supply apparatus, and the other end of the water supply chamber is provided with a water outlet for communicating with the inner barrel to supply water; the magnetic stirring assembly comprises stirring blades arranged in the inner barrel, a magnetic transmission part arranged in the water supply chamber and a magnetic drive part arranged outside the water supply chamber, the magnetic drive part cooperates with the magnetic transmission part to drive the magnetic transmission part to rotate, and the magnetic transmission part cooperates with the stirring blades to drive the stirring blades to move in sync for stirring. The calorimeter of the invention has the advantages of simple and compact structure, good stirring effect, high volume fixing precision and high test and analysis precision.

The invention relates to a dedicated flight control system for a multi-rotor unmanned aerial vehicle. The system comprises a multi-rotor unmanned aerial on which a liquid spraying device is carried; and ground liquid supply equipment connected with the multi-rotor unmanned aerial vehicle through a transfusion hose and used for supplying liquid, required by the liquid spraying device in work, for the multi-rotor unmanned aerial vehicle in the work process of the multi-rotor unmanned aerial vehicle; the system further comprises ground power supply equipment connected with the multi-rotor unmanned aerial vehicle through a power supply line and used for supplying electric energy for the multi-rotor unmanned aerial vehicle in the work process of the multi-rotor unmanned aerial vehicle; the multi-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle comprehensive management module, a height control submodule, an airway navigation control submodule, and a spraying control submodule. The flight control for driving the multi-rotor unmanned aerial vehicle is realized, the plant protection work can be performed along a preset flight airway, the system can deal with various complex terrains, relieve the labor intensity of a remote operator, and avoid missing spraying or re-spraying of the pesticide.

The invention discloses a small-sized material carrying device. The small-sized material carrying device comprises a pedestal, rolling wheels, a sliding chute, a base plate, a lifting stand column, apaying-off roller, a first cross beam, a sliding rail, a first sliding block, a second cross beam, a second sliding block, a rocker arm, a limiting joint, a hook, a sleeve, an ejection piece, a pulley, a pull wire, a servo motor, an output shaft, a steering gear box, a rotating base, a first steering gear, a second steering gear, a screw rod, a positioning joint and a movable shaft sleeve. The small-sized material carrying device is compact in structure and convenient to use, multi-angle and multi-directional carrying operations can be executed, using is made convenient, various using requirements in the conveying process of materials are met, and the small-sized material carrying device is flexible to use on the whole, high in working efficiency and practicability and suitable for varioussorts of different working modes; and the operating effect is guaranteed and labor force is effectively reduced.

A quick blanking and drawing two-mode hydraulic machine comprises a rack. A sliding beam and a pressurization oil cylinder are installed on the rack. The pressurization oil cylinder is vertically installed on an upper beam in a sliding manner, wherein the upper beam is arranged at the top of the rack. The sliding beam is installed in a working cavity in a sliding manner, wherein the working cavity is arranged in the middle of the rack. A plunger rod of the pressurization oil cylinder is connected with the sliding beam. A locking mechanism is installed on the upper beam. A cylinder body of the pressurization oil cylinder is located in the locking mechanism. Stroke return oil cylinders are fixedly arranged on the upper beam. Piston rods of the stroke return oil cylinders are connected with the sliding beam. By the adoption of the quick blanking and drawing two-mode hydraulic machine, the blanking and drawing functions are achieved through hydraulic pressure, the dual purposes are achieved through one machine, equipment investment cost is reduced, and the space occupied by equipment can be saved as well. In the blanking process, the pressurization oil cylinder and the sliding beam fall synchronously, enough blanking inertia can be generated, oil is injected into the pressurization oil cylinder to apply force, and enough pressure can be output by the equipment in the blanking process; and in the oil injection and force applying processes of the pressurization oil cylinder, an oil cavity of the pressurization oil cylinder is basically free of air, the oil pressure in the oil cavity is large due to pumped hydraulic oil, pressure output in the blanking process is further guaranteed, and the blanking effect is guaranteed.

The invention discloses a constant-force self-adaption operation head device. The device comprises a connecting rod, a fixed frame and a movable frame; a working head is mounted on the movable frame;an elastic piece and a movable driving piece are arranged between the movable frame and the fixed frame; the elastic piece is used for driving the movable frame to approach a working surface; and themovable driving piece is used for driving the movable frame to move relative to the fixed frame. The working head is always pressed to the working surface under the effect of the elastic piece; when the working surface is higher in fluctuation to cause nonuniform elastic force of the elastic piece, that is, the bonding pretightening force between the working head and the working surface is changed, the position relation between the movable frame and the fixed frame is adjusted through the movable driving piece, so that the bonding pretightening force is kept relatively constant, the deviationor tight pressing phenomenon of the working head and the working surface is prevented, and the operation effect is guaranteed; and meanwhile, the leakage of sand, water, paint and rust is reduced, sothat the adaptability of such working heads as a sand blasting head, a water spraying head and a spraying head to an operation surface is improved.