103results about How to "Precise work" patented technology

The invention discloses an industrial robot control system. The industrial robot control system comprises a robot and a controller, wherein the robot and the controller are separated from each other; the robot comprises a main control module, a communication module and an execution module; the controller comprises an input unit, a transmission unit, a fault detection unit, a display unit, a storage unit, a main control unit and an intelligent planning unit. According to the industrial robot control system provided by the invention, a control mode is flexible, and the intelligent degree is high; an input mode comprises a key-press input mode, a handwriting input mode and a voice input mode; the fault detection unit can be used for detecting the performance and the state of the robot online, and the operation accuracy and the operation safety of the robot are ensured; the intelligent planning unit is used for applying an artificial intelligence technology to track planning of the robot, the working mode of a traditional industrial robot that the working is inflexible, the operation just can be carried out according to an established procedure, and a response to the change of an environment cannot be carried out can be changed, an optimal track can be autonomously planned, and the service life of the robot can be prolonged.

The invention relates to a mechatronics grab and relative control method. Said invention comprises: a detecting processor, a memory, a gate dog, a display screen, an acoustic alarm, an optical-electric separate circuit, a high-speed optical-electric separate circuit, a counter, a filter, and a communication circuit. Wherein, the detecting processor is connected to the memory, the gate dog, the display screen, the acoustic alarm, the counter, the filter, and the communication circuit; the optical-electric separate circuit is connected to the filter; the high-speed optical-electric separate circuit is connected to the counter; and it also comprises a motion controller, a moving arm incline sensor, a sharp rod incline sensor, and a hopper incline sensor, while their outputs are connected to the input of motion controller; and the motion controller via communication circuit is connected to the detecting processor. The invention can realize automatic grab control, with high accurate control, accurate positioning and lower energy-consumption.

The invention relates to a landscape plant sowing method based on an unmanned aerial vehicle (UAV). The method includes the steps of firstly, determining boundary data P1 of a pattern shape of a growing region where plants are to be grown; secondly, determining boundary data P2 of a to-be-grown plot region; thirdly, adjusting P1 so that P1 and P2 can match in terms of the geographic orientation and region size, and obtaining P3; fourthly, inputting working parameters of a UAV and regional boundary data P3, and obtaining an aerial sowing optimal path of the UAV and corresponding state information of each working unit of the UAV through an aerial sowing path planning algorithm; and fifthly, the UAV executing the autonomous aerial sowing operation according to the aerial sowing optimal path and the corresponding working unit state information. According to the invention, the mechanized automatic operation of large-area complex-model landscape plant growing is realized, the operation efficiency and quality are improved, the algorithm optimizes the row scheduling sequence of the operation of the UAV, the flight time of a non-effective operation period of time is reduced, and the shape of the sowing region is enabled to be more accurate and beautiful.

Vacuum adsorption seedling seedling precision seeder, including a conveying device (8) installed on the frame (2) driven by a geared motor (7), located above the conveying device and arranged in sequence from the input end to the output end of the conveying device The tray feeding device (1), covering soil flattening device (3), leveling device (4), pressure hole device (5), vacuum adsorption seeding device (6), in the pressure hole device (5) and vacuum adsorption sowing A synchronous transmission device (12) is connected between the devices (6), and horizontal push rods (10) are evenly distributed on the conveying surface of the conveying device. The invention can realize continuous and automatic completion of seeding and seedling raising work on the entire assembly line, improve seeding continuity and seeding efficiency, and realize seedling seeding seeding of various seed plug trays.

The invention discloses a greenhouse intelligent control system based on Internet of Things technology. The intelligent control system is characterized in that the intelligent control system comprises an intelligent controller unit, a wireless sensor monitoring unit, a cell phone terminal containing control and monitoring app units, and a cloud end server end. The intelligent controller unit obtains environment data for storage and processing from the wireless sensor monitoring unit, and sends the environment data to the cloud end server and / or the cell phone terminal. The cloud end server receives the environment data sent by the intelligent controller in real time and is used for transmitting control command and request configuration command of the control and monitoring app units or / and the intelligent controller. The control and monitoring app units can search the environment data and control the intelligent controller unit, thereby controlling an external agricultural device connected to the intelligent controller unit. According to the invention, state multiple kinds of device control strategies like real-time monitoring, cloud end data storage, real-time searching of data flows by users, remote / local manual control, intelligent timed control and state coordinated control can be achieved.

The invention provides a hand controller shared control method based on force fusion. The method includes the steps that first, a target object serves as guidance, an operator manipulates a hand controller by human hands to control a robot to move through intelligent decision of the operator; meanwhile, operation scene image data are acquired through a stereoscopic vision technology, a three-dimensional environment is reconstructed in real time, virtual guiding force for making the robot approach a target independently is constructed with the target object as the guidance, the hand controller is guided through the virtual force to control the robot to move, the operating force of the operator and the virtual guiding force of the target object are fused, the hand controller and motion of the robot are controlled through the fused force, and thus the robot can approach the target object under the joint action of machine intelligence and human intelligence, and the operation process is completed. Through the robot hand controller shared control method based on force fusion, human intelligence and machine intelligence can be effectively combined, and safe and fast operation is guaranteed.

The invention relates to a public toilet environmental sanitation intelligent operation and inspection management system. The management system comprises a plurality of identification boards, each of which comprises at least one built-in intelligent two-dimensional code or RFID electronic label; a management server; a plurality of intelligent terminals, which are communicated with the management server by a wireless network; a plurality of management terminals, which are used to access the management server by a browser. The management system is advantageous in that with help of Internet of Things, and by taking digital 3G as a transmission carrier, improving of working efficiency is facilitated in a scientific, streamlined, and automatic way, working quality of sanitation workers is improved, recording of workload and tracking of working business are realized quickly, accurately, and timely, and a problem of tedious daily maintenance working of various sanitation facilities in public toilets is solved; severe problems such as manual repair reporting, low efficiency in record checking, maintenance frequency recording, and maintenance result recording, large accuracy deviation, inconsistency between to-be-repaired positions and repaired positions are solved.

The invention discloses an accurate agricultural UAV control method for based on independent start / stop, according to requirements, of working units. The method comprises the following steps that 1) field block data and working parameters are input; 2) an initial value of a stepping angle of theta are set; 3) a working direction is determined, and a row center line is calculated; 4) unit center lines are obtained; 5) an initial path and a corresponding unit working state are solved; 6) a path which enables a minimal sum of the total traversal distance is solved, and stored as an optimal path in the working direction; 7) whether theta is lower than 180 degree is determined, if YES, one stepping angle is added to theta and the step 3) is returned to, and if NO, a next step is turned to; and 8) optimal paths corresponding to different values of theta are compared, the shortest optimal path is selected as a final work path, the final work path is stored corresponding to the unit working state, and flight control information of a UAV is obtained. Thus, the agricultural UAV is controlled accurately when the UAV works in the field, especially in an area near the boundary of a field, and the utilization rate of consumables as pesticides and fertilizers is improved.

The invention discloses an operating device for densely-installed valves. The problem that for dense valve tree using occasions, the operating space of an existing valve operating device is limited issolved. The operating device comprises a moving chassis, a multi-axis driving mechanism assembled on the moving chassis, and a self-limiting valve opening-closing device, and is characterized in thatthe self-limiting valve opening-closing device comprises a valve opening-closing transmission mechanism, a limiting compensator and a wrench which is of a clamping claw structure, the multi-axis driving mechanism is fixedly connected with a connection flange of the moving chassis through a base of a first RV speed reducer and orderly moves along with the moving chassis; and the valve opening-closing transmission mechanism composed of a telescopic rotation driving mechanism and a barrel body drives the wrench of the clamping claw structure through the limiting compensator, rotating is conducted while axial sliding is carried out, and valve opening, closing and adjusting are completed. The operating device is reasonable in structural design, safe, easy and convenient to operate, and quick and stable in operating, the operating enveloping space is not limited, manual valve operating can be effectively replaced, operating is more precise and reliable, and the operating efficiency is remarkably improved.

The invention belongs to the technical field of repair of a ballastless track of a high-speed railway, and aims to provide a renovating method for gaps and mud spillover between a CRTSI template type ballastless track base plate and the surface layer of a roadbed of a high-speed railway, which can fundamentally solve the problems of gaps and mud spillover and guarantee the operating stability and the operating safety of the ballastless track. Grouting holes are drilled in the base plate, grouting pipes are mounted, and high polymer materials are poured into the grouting pipes, so that accumulated water between the base plate and the surface layer of the roadbed is absorbed, besides, crevices between the base plate and the surface layer of the roadbed are tightly stuffed, and the effects are good; enclosing holes are formed in side seams on two sides of the base plate, grouting pipes are mounted, enclosing materials are poured into the enclosing holes through the grouting pipes, and a tight water-blocking heavy curtain is formed on a crushed stone layer of the roadbed, so that water in the roadbed is prevented from penetrating into a part between the base plate and the surface layer of the roadbed, and phenomena of the gaps and mud spillover are prevented from occurring once again. The operation is precise, practical and economic, repair of gap damage between the base plate and the surface layer of the roadbed can be completed through limited skylight time, and the ride comfort of a line is guaranteed.

The invention provides an unmanned plane cluster control system based on a bidirectional communication module and belongs to the technical field of unmanned plane. The bidirectional communication module is integrated in a flight control system, a host plane in a cluster is set, other planes are slave planes, a unique electronic identifier code is set for each unmanned plane, the host plane is operated by an operator, the cluster formation is selected, the target position of each slave plane is calculated through flight control of the host plane according to the real-time self position and therelative position of the slave planes in the formation, identifier codes and the control information are sent to each slave plane through a communication module broadcast mode, after the information is received by the slave planes, the information corresponding to the self identifier codes is selected, read and performed, the self state is fed back to the host plane through the same principle, after data integration by the host plane, the present real-time cluster state is displayed to the operator at the ground control end in a map mode. The system is advantaged in that single-operator unmanned plane cluster control is realized, flight safety and maneuverability are guaranteed through utilizing the host-slave plane mechanism, manpower cost is saved, and great application values are realized in the industrial production field.

The invention belongs to the technical field of industrial manufacturing, and discloses an intelligent manufacturing system and method based on an industrial robot. The intelligent manufacturing system comprises a machining module, a detecting module, a conveying module, an executing module, a controlling module, a displaying and monitoring module and the like. Rapid data exchange and process control are completed through the industrial Ethernet, automatic feeding and discharging and automatic detection of the machining size are achieved through vision, streamlined machining detection is achieved through the industrial robot, a basis is provided for the industrial robot to sense changes of the surrounding environment and adjust actions of the robot, the industrial robot can correctly complete tasks, and an external closed-loop control mechanism is provided. The detecting module in the intelligent manufacturing system further has the size measuring function, and the size of a machined product can be automatically measured according to settings; and compared with traditional manual quality detection, the industrial robot has great advantages, precise operation can be achieved under control of a computer, the automation degree is high, the manufacturing efficiency is high, and therefore the use value of the industrial robot is improved.

The invention discloses a molding position optional hydraulic horizontal forging machine control system. The control system comprises an operation box (100), a master control cabinet (200), a remote simulation module (300), a servo driver (400), a hydraulic module (500) and a communication module (600). The master control cabinet (200) is connected with the servo driver (400). The servo driver (400) is connected with the hydraulic module (500). The master control cabinet (200) controls the servo driver (400) to drive the hydraulic module (500) to do rectilinear motion and implement signal feedback according to an input signal so as to realize accurate control over a hydraulic horizontal forging machine. The invention further discloses a corresponding control method. The control system provided by the invention drives the hydraulic module to do rectilinear motion and signal feedback through the servo driver to achieve accurate control over the hydraulic horizontal forging machine. The control system greatly facilitates multi-position and multi-direction die forging on complex parts, is convenient to operate and high in process flexibility and improves the production efficiency.

The invention discloses an underwater building cleaning system. The underwater building cleaning system comprises a cleaning unit, a steel wire traction unit, a power fixing unit, an image collecting unit, a control unit and an upper computer unit; the upper computer unit is in dual-way communication connection with the control unit, the output end of the control unit is electrically connected with the input end of the steel wire traction unit and the input end of the power fixing unit, the image collecting unit is in double-way communication connection with the control unit, and the steel wire traction unit, the power fixing unit and the image collection unit are fixed to the cleaning unit. According to the underwater building cleaning system and method, automation of cleaning work is achieved, the more clear detection environment is provided for flaw detection and imaging of the underwater building, compared with traditional manual underwater operation, the system and method have the beneficial effects that efficiency is improved, the danger is reduced, and fouling agents hard to remove on a dam can be effectively cleared away.

The invention discloses a pipe end hydraulic forming device for an automobile pipe, and belongs to the field of automobile pipe machining equipment. The device comprises a hydraulic die and a clamping die which are arranged on a worktable. The hydraulic die comprises a die base, a die column and a hydraulic oil cylinder, the die column is axially and horizontally arranged on the die base in a sliding mode, and a piston rod of the hydraulic oil cylinder is connected with the die column. The clamping die comprises an upper die block, a lower die block and a clamping hydraulic oil cylinder, the upper die block is connected with a piston rod of the clamping hydraulic oil cylinder, the upper die block and the lower die block are provided with an upper clamping groove and a lower clamping groove respectively, and the upper clamping groove and the lower clamping groove correspond to a pipe to be machined in shape. An abutting die comprises a base and an abutting column installed in an installing hole of the base, and the abutting column sequentially comprises an abutting plate, a threaded column and a hand wheel. By means of the pipe end hydraulic forming device, the pipe can be reliably clamped, a die core and a die sleeve can be replaced conveniently, the application range is wide, continuous machining of the pipe end can be achieved, and production efficiency is improved.

The invention provides an agricultural apparatus for soil improvement, and belongs to the field of agricultural apparatuses. The apparatus comprises a frame provided with a sowing device, a connectingsupport is arranged at one side of the upper end of the frame, the sowing device is mounted at the middle position of the frame, the sowing device comprises a storage box, box supports, a dose assembly, a fixed tube, a universal joint, a nozzle connecting part, a nozzle and a nozzle cover, a front support wheel and a rear support wheel are respectively mounted at the front part and the rear partof the frame, first break shovels are mounted between the front support wheel and the sowing device and positioned in the frame, second break shovels are mounted between the sowing device and the rearsupport wheel and positioned in the frame, and a break shovel mounting cylinder is fixed at the bottom end of every break shovel support rack. The agricultural apparatus can complete the release of asoil conditioner while plowing soil in order to effectively improve soil, and does not need any power in the whole operation, so the apparatus is simple and efficient, and saves energy.

The invention provides a multi-oil-cylinder lifting and rotation integrated type ocean hydraulic workover rig. According to the workover rig, a sliding base module is installed on a guide tube frame platform, a blowout preventer unit is installed in the middle of a lower sliding base of the sliding base module, a vertical platform, a hydraulic power mechanism and a lifting module are installed on an upper sliding base of the sliding base module, an operation platform is installed on the upper portion of the lifting module, a tong rotating arm is connected with an installation support and the operation platform, a telescopic pull rod is connected with the upper sliding base and the operation platform, and the hydraulic power mechanism is connected with a main operation table, an auxiliary operation table and a blowout preventer driller console through pipelines and wires, wherein the main operation table, the auxiliary operation table and the blowout preventer driller console are on the operation platform. The multi-oil-cylinder lifting and rotation integrated type ocean hydraulic workover rig is suitable for the ocean engineering well workover and completion operation field, and with cooperation of a supporting platform, the multi-oil-cylinder lifting and rotation integrated type ocean hydraulic workover rig can provide underground operation services for production platform oil and gas wells under the circumstance that an ocean production platform is not provided with a workover rig module or after a supporting platform is in place, a rear cantilever beam is limited in travel and cannot cover an operating well set.

The invention relates to a linear extension type sucker gripper mechanism. The linear extension type sucker gripper mechanism consists of a gripper frame component, a gripper component and a power component, and is characterized in that four sucker baseplates of the gripper component are fixed on slide blocks of the gripper frame component; the middle sucker baseplate of the gripper component is fixed on a guide rail mounting plate of the gripper frame component; and the two ends of a cylinder of the power component are fixed on the sucker baseplates at the head and tail ends of the gripper component through connecting pieces. In the extending or shrinking process of sucker grippers, limiting magnets can respectively achieve a synchronous separation accelerating or buffer effect; and in the product grabbing and conveying process of the sucker grippers, if products are not grabbed or lost, an inductor on the mechanism can send a detecting signal to equipment to prompt need of a corresponding action in a next station. The linear extension type sucker gripper mechanism is reasonable in structure, excellent in industrial design, reliable in performance and convenient for operation.

The invention discloses a multi-function electric drill, which comprises an electric drill body, a drill chuck and a drill bit, wherein the top of the electric drill body is provided with a lighting lamp, and the drill bit can be dismantled; the drill chuck can also be detachably connected with a connecting piece; and a cutting disk with a center hole is sheathed onto the connecting piece. One end far away from the electric drill body of the connecting piece is provided with a circular baffle plate, and the diameter of the baffle plate is larger than the diameter of the center hole of the cutting disk. A light quantity sensor is arranged on the lighting lamp. One end near the drill chuck of the electric drill body is detachably connected with a cylindrical dust cover, and the dust cover can cover the drill chuck and the drill bit. After the structure is adopted, when the drill chuck is connected with the drill bit, the electric drill can be used as an electrical drilling machine. When the drill chuck is connected with the connecting piece and the cutting disc, the electric drill can be used as a cutting or milling machine. Thus, the multi-function electric drill has the advantages of one machine for multiple purposes, low cost, economy and convenience in installation and use. In addition, the lighting lamp arranged at the top of the electric drill body can be used in places with poor light for precise operation.

The invention provides a mobile terminal having a navigation assisted automatic driving system, and a control method. The mobile terminal comprises a human-computer interaction module, a data transceiving module and a first data storage module; the human-computer interaction module is used for human-computer interaction and sending a vehicle control instruction; the data transceiving module is used for data transmission of the vehicle control instruction; and the first data storage module is used for data storage. Compared with the solution in the existing market, the navigation assisted automatic driving system based on the mobile terminal in the invention has the advantages that: a mobile terminal module can be placed according to the requirement or held in the hand of a driver, and is not limited in a cab; the driver can get out of the cab, and pay attention to the planting situation around a tractor; noise pollution is reduced; unskilled labourer investment is reduced; and simultaneously, in case of emergency, navigation and the vehicle can be stopped through an emergency stop button of the mobile terminal module in the hand.

The improved composite lead-free gasoline consists of methanol, 90# gasoline, n-butanol, iospropanol, xylene, acetone and kernel additive. The kernel additive consists of zinc oxide, antioxidant, metal purifying agent, coloring agent and smoke-eliminating combustion promoter. The improved composite lead-free gasoline of the present invention has excellent evaporation property, anti-explosion property, good stability and anticorrosive property, and may be used through togecher with gasoline and ethanol gasoline in any ratio. The present invention also relates to the compounding process of the improved composite lead-free gasoline.

The invention discloses an upper crane part of a formwork grabbing and hoisting alignment machine. The upper crane part comprises a base, a big arm hinged to the base, a telescopic boom slidably connected with the big arm, a small arm and a rotating arm. The telescopic boom, the small arm and the rotating arm are sequentially connected end to end. The small arm and the rotating arm are connected through a rotating arm slewing bearing. The plane where the rotating arm slewing bearing is located is kept perpendicular to the plane formed by the small arm and the telescopic boom all the time. Graspers are arranged at the tail end of the rotating arm, and the rotating arm is connected with each grasper through a grasper slewing bearing. The included angle between the slewing center of each grasper and the rotating arm is zero. According to the upper crane part of the formwork grabbing and hoisting alignment machine, the machine has multiple purposes, the labor cost is lowered, work efficiency is improved, and work quality is improved.

The invention discloses a garbage sweeping system, sweeping equipment and a sweeping method. The system comprises an unmanned aerial vehicle monitoring module and a sweeping module. The unmanned aerial vehicle monitoring module comprises an unmanned aerial vehicle module, a radar monitoring module, an information collection module, a control module and a wireless charging module, and the unmannedaerial vehicle monitoring module is used for monitoring and positioning the road surface garbage condition, converting monitoring data into signals, transmitting the signals to the sweeping module andproviding an execution instruction for the sweeping module; the cleaning module comprises a receiving module, a processing module, a display module and an execution module; the sweeping module is used for receiving an instruction of the unmanned aerial vehicle monitoring module and analyzing according to the instruction so as to carry out visual operation on the whole sweeping operation process of the road surface; the intelligent sweeper is simple in structure, more accurate in operation and high in operation efficiency, the intelligent sweeping arm can be installed at the front end or the side face of a sweeper or sweeping equipment, 360-degree rotary telescopic operation is achieved, and adjustment is conducted according to the distance and direction between the position of garbage needing to be operated and a vehicle.

The invention discloses an automatic disassembling and assembling system for container lock knobs. The automatic disassembling and assembling system comprises a wharf operation system, a lock knob library control system, a lock knob frame, a lock knob transfer tool, a lock knob library, automatic disassembling and assembling channels, six-axis robots corresponding to the automatic disassembling and assembling channels, a robot control system, container truck alignment systems and lock knob taking and placing equipment. According to the automatic disassembling and assembling system, the six-axis robots can be used for simulating a human hand to dismount and transfer the lock knobs, communication between the wharf operation system and robot operation is realized through a modern communication technology, and an automatic transfer function of the lock knobs is formed by means of the lock knob library so that a robot cluster can automatically decompose an operation instruction into a robot coherent action under the production operation instruction, the lock dismounting and mounting and lock knob circulation process of people is simulated, and the automatic lock knob dismounting and mounting function of a wharf is achieved in a real sense.

The invention discloses a self-limiting valve opening and closing device, and solves the problem of a traditional mechanical transmission mechanism incapable of extending front and back and adjustingleft and right in the center line direction of a valve mandrel of a valve hand wheel in multi-valve use places. The self-limiting valve opening and closing device comprises a valve opening and closingtransmission mechanism, a limiting compensator and a spanner, wherein the valve opening and closing transmission mechanism consists of an extension driving mechanism, a rotary driving mechanism, anda cylinder supported between the extension driving mechanism and the rotary driving mechanism; under driving by an extension motor and a rotary motor, when a hollow spline shaft penetrating through atransmission shaft of a rotary RV speed reducer axially slides in the cylinder, the hollow spline shaft is synchronously rotated around a center line parallel to a rotary shaft; and the spanner with aclamping jaw structure is driven through the limiting compensator, and is rotated during axially sliding to finish opening, closing and adjustment of a valve. The self-limiting valve opening and closing device is simple in structure, reasonable in design, convenient to operate and stable in operation, can effectively replace manual adjustment of the valve, is precise, fast and safe in operation,and prominently improves the operation efficiency.

The invention relates to oyster mushroom fermentation material feeding and inoculating integrated synchronous equipment. The oyster mushroom fermentation material loading and inoculating integrated synchronous equipment comprises a control cabinet,a machine frame, a rotary disk device, a feeding device, an opening sealing device, an inoculating device and an out-of-bag device, wherein the rotary disk device, the feeding device, the opening sealing device, the inoculating device and the out-of-bag device are mounted on the machine frame; the rotary disk device comprises a rotary disk motor anda hollow rotary disk; the rotary disk motor is mounted on the machine frame, a driving pinion gear is connected to an output shaft of the rotary disk motor through a coupling, a driven bull gear is fixedly mounted on the inner circular ring of the hollow rotary disk, and the driving pinion gear is meshed with the driven bull gear; and four service positions are distributed on the excircle of the hollow rotary dish along the circumferential direction; a cylinder holding device is mounted at each service position, and the four service positions on the hollow rotary disk are in one-to-one correspondence to the feeding device, the opening sealing device, the inoculating device and the out-of-bag device.

The invention aims at disclosing a pressure sensor for measuring the height of the oil level in a turnout point machine and a manufacturing method of the pressure sensor. The pressure sensor comprises a casing, a pressure sensitive core body, a signal amplification circuit board and a compensation circuit board, wherein the surface of the casing is marked with scales, the pressure sensitive core body is arranged on a base cap, the base cap is fixedly arranged at the lower end of the casing, one end of the signal amplification circuit board is connected with the pressure sensitive core body, the other end of the signal amplification circuit board is connected with one end of the compensation circuit board, the upper end of the casing is provided with a connecting joint, and the other end of the compensation circuit board is connected with an external shielding wire at the connecting joint part. Compared with the prior art, the pressure sensor has the advantages that the on-line detection of the oil level of the turnout point machine is realized, the effect of simultaneously monitoring the oil pressure and the oil level height is realized, the pressure sensor is suitable for being used in the severe environment, the normal operation of the point machine is ensured, the operation safety of railways is guaranteed, and the goals of the pressure sensor are realized.

A pesticide / fertilizer applying device comprises a pesticide / fertilizer container, a pesticide / fertilizer conveying pump, a conveying pipe, a pesticide / fertilizer applying switch, a pesticide / fertilizer applying rod, a pesticide / fertilizer applying nozzle and a quantitative pesticide / fertilizer applying control circuit module, wherein the whole device is powered by a storage battery mounted at the bottom of a pesticide barrel; the quantitative pesticide / fertilizer applying control circuit module controls start, stop and rotating speed of a miniature diaphragm pump according to a preset work mode; a water pump is connected with the conveying pipe and the nozzle, and different spraying effects can be realized by replacing different nozzles so as to adapt to different spraying applications. With adoption of the pesticide / fertilizer applying device, application of rooting fertilizer water, a fertilizer solution, pesticide and a bud inhibitor can be integrated, the device is portable, simple and convenient to operate and use, adopts a digital intelligent control technology, can guarantee precise application of the fertilizer, the pesticide and the bud inhibitor, and realizes precision work; high benefits and low cost are realized, the labor intensity for manual work of fertilization and pesticide application can be reduced, the working efficiency is increased, the material and labor costs are reduced, and remarkable economic and social benefits are realized.

The invention provides a robot operation method and device based on ultrasonic waves, a chip and a robot, and belongs to the field of intelligent robots. The method comprises the following steps: whenthe robot works in a first space, the robot is controlled to emit ultrasonic waves in front of the working direction; when the number of the echo data of the ultrasonic waves is two, it is determinedthat a curtain-shaped object exists in front of the robot, and a second space exists in front of the curtain-shaped object; and the distance between the robot and the curtain-shaped object is determined according to the first echo data, when the distance between the robot and the curtain-shaped object is smaller than or equal to a preset distance, the robot is controlled to steer to avoid the curtain-shaped object until the robot avoids the curtain-shaped object, and after the robot avoids the curtain-shaped object, the robot travels to a second space to continue working according to the relative position information of the second space. According to the technical scheme, the robot can avoid the curtain.