543results about How to "Strong battery life" patented technology

The invention discloses a robot airship control system for overhead line inspection and a control method thereof. The control system comprises a on-board system and a ground-based system, wherein the on-board system has a structure that: a master controller DSP is connected with various sensors, a wireless communication module, a motor drive circuit, an image processor DSP and the like through analog-to-digital conversion ports, serial ports and other ports, and the image processor DSP is connected with an infrared CCD through an HPI port; the ground-based system has a structure that: an interface singlechip is connected with a ground PC, wireless communication equipment and a manual remote controller through serial ports, I / O and other ports; the on-board system and the ground-based system are communicated through an on-board wireless communication module and a ground-based wireless communication module; and a wireless camera transmits image information to the ground-based system through wireless video signals, and displays the image information on an image monitor. The robot airship control system for the overhead line inspection has three patterns, namely an infrared vision navigation pattern, a GPS navigation pattern and a manual remote control pattern, and has the advantages of high inspection efficiency, high cruisingability and high safety.

The invention relates to a cleaning robot.The cleaning robot comprises a primary robot body and at least one secondary robot body.The primary robot body carries the at least one secondary robot body, and is larger than the secondary robot body in size, and the primary robot body perceives the environment parameters of a target area; whether the primary robot body enters the target area or not is judged according to the environment parameters; if the primary robot body can not enter the target area, a first command is transmitted to the secondary robot body; the secondary robot body receives the first command; when the secondary robot body receives the first command, the secondary robot body is separated from the primary robot body and enters the target area to clean the target area.According to the embodiment in the technical scheme, the target area where the primary can not enter can be cleaned through the secondary robot body carried by the primary robot body; as the secondary robot body is small in size, the secondary robot body can smoothly enter the target area to conveniently complete cleaning work for the target area.

The present invention relates to a measurement investigation equipment for water surface and under water. Said measurement investigation equipment includes the following several portions: a boat body, in the rear portion of said boat body at least one group of propelling devices is set; at least one group of machine-mounted sensors, it includes boat body state sensor and exterior state sensor, they can be placed in the boat body interior or placed in the periphery of said boat body; a probe dipping device, it can be placed in the boat body interior or its exterior; a probe, it is connected with the probe dipping device; a control device, it is respectively connected with the described propelling device, probe dipping device, probe and machine-mounted sensors; and a remote control device, it is wirelessly connected with said control device.

The invention discloses portable equipment and an anti-lost and positioning method and system thereof. The method comprises the following steps: binding the portable equipment with monitoring equipment; establishing connection between the portable equipment and the monitoring equipment through short-distance wireless communication; judging whether or not the portable equipment is within the monitoring range of the monitoring equipment according to a short-distance wireless communication signal transmitted by the monitoring equipment; and if the portable equipment is within the monitoring range, not starting the positioning function or the remote wireless communication function of the portable equipment, otherwise starting the positioning function and the remote wireless communication function of the portable equipment, and acquiring the location information of the portable information and transmitting the acquired location information to the monitoring terminal according to a reported positioning parameter by a server. The portable equipment comprises a short-distance wireless communication module, a positioning parameter acquisition module and a remote wireless communication module. The system comprises the portable equipment, the server, the monitoring terminal and the monitoring equipment. Through adoption of the portable equipment and the anti-lost and positioning method and system thereof, the power consumption of the portable equipment is lowered, and the duration of the portable equipment is prolonged. Meanwhile, the constant remote wireless communication signal radiation of the portable equipment to a carrier is avoided.

A provided distribution line tour-inspection system based on GIS and GPS consists of a tour-inspection terminal and a background server, data is transmitted between the tour-inspection terminal and the background server through a front-end processor; the background server is provided with an tour-inspection task management module, a tour-inspection task query statistics module, an identification management module and a database module; and the tour-inspection terminal is provided with a GIS module, a GPS module, a tour-inspection image management module, a tour-inspection task operation module, a tour-inspection equipment query module, a defect information module and a scanning synchronization module. After a line patrol person arrives at a demanded inspection tour point, the tour-inspection terminal automatically records the geographical position information of the person and the current time. The line patrol person also can fill in inspection tour information on the tour-inspection terminal. Therefore, the working efficiency is improved while the cost is effectively reduced.

The invention relates to an intelligent patrol inspection robot and a patrol inspection method for an overhead transmission line. The intelligent patrol inspection robot of the invention has the following abnormal conditions: measuring the distance between a conductor and a peripheral tree, identifying the conductor broken strand, lightning strike point, self-explosion of an insulator, inclinationof a pole and tower, bird's nest and the like by means of images; The fault point can be located by GPS, and the distance can be located by the roller with high precision. Robot autonomous data processing and background auxiliary processing, human-machine interaction with the ground patrol personnel and intelligent overcoming obstacles in progress and other functions. The robot adopts remote wireless monitoring and control, can climb over obstacles independently and carry various detection equipment to complete the detection work. In power-saving mode, only one walking wheel can be used as adriving wheel to drive the robot to move, thus prolonging the endurance time. The robot of the invention integrates a plurality of technologies, thereby solving the bottleneck that the patrol robot has single function and is difficult to be applied to the actual detection, and deepening the application of the robot technology in the electric power patrol inspection work.

The invention relates to a pressure detection device and method based on a piezoresistive and piezoelectric flexible sensor combination. A piezoresistive sensor set is used for detecting the pressure distribution condition, the pressure distribution condition is transformed to digital signals through a data collecting and processing module, sent to a pressure calculation module through a wireless communication module, and carried out real-time display in a display module. Piezoelectric signals are used for judging whether is in a pressure changing state or not to switch the sleepy and activated states of a single chip computer; in the long time sleep state, a zero point of the piezoresistive sensor is corrected; in the activated state, pressure sensing signal frequency dynamic tracking is carried out, and when the pressure sensing signal frequency is in a high frequency response, piezoriesistive sensor signals can be modified through piezoelectric signals to improve the high frequency performance of the piezoriesistive sensor signals. The pressure detection device and method based on the piezoresistive and piezoelectric flexible sensor combination has the advantages of being low in power dissipation, strong in durability, good in dynamic performance, and capable of being applied to fields of wearable plantar pressure detection, artificial limb pressure detection and robot electronic skin.

The invention discloses a gliding machine dolphin. The gliding machine dolphin is composed of a head cabin module, a task cabin module, a pectoral fin cabin module, a control cabinet module, a waist joint cabin module and a tail joint cabin module. A pectoral fin driving mechanism, a water sucking-draining mechanism and a cabin body throwing carrying mechanism are arranged in the pectoral fin cabin module. A gravity center adjustment mechanism is arranged in the control cabin module. A yawing driving mechanism and a tail driving mechanism are arranged in the waist joint cabin module. A tail fin driving mechanism is arranged in the tail joint cabin module. According to the gliding machine dolphin, two joints at the tail are driven by the tail driving mechanism and the tail fin driving mechanism to vertically swing, and back-abdomen type propelling is achieved; the whole net buoyancy is adjusted through the water sucking-draining mechanism, and buoyancy driving propelling is achieved; the pitching angle and the roll angle during movement can be adjusted through a pectoral fin, and the yawing angle can be adjusted through a yawing driving mechanism. The gliding machine dolphin has the advantages of being high in speed, high in maneuverability and high in of underground gliding machine cruising at the same time; in addition, the modular design is adopted, and installation and assembling are easy.

The invention discloses a PH value monitoring wireless sensing network (WSN) node device for preventing secrete drainage of sewage and a monitoring method. The PH value monitoring WSN node device comprises a floating ball floating in water in a sealed manner and a square shell which is fixedly connected with the bottom of the floating ball and is immersed in the water, wherein an antenna bracket table and a communication antenna are fixedly arranged in an upper half ball cover; a charging interface and a power switch are arranged on the antenna bracket table; a circuit board is fixed at the bottom in a lower half ball cover; a water storehouse is arranged at the bottom in the square shell; a water feeding storehouse is arranged on one side of the upper part of the water storehouse; a magnet valve is arranged between the water feeding storehouse and the water storehouse; the lower end of a PH value sensor extends into and is suspended in the water feeding storehouse; an electromagnet bracket fixed on the inner wall of the square shell is arranged on the upper part in the square shell; an electromagnet is supported on the electromagnet bracket; the upper end of a spring is fixedly connected with the electromagnet bracket, and the lower end of the spring is connected with the magnet valve just under the electromagnet; and when the PH value of a target water domain reaches an abnormal alarm threshold value, the valve can automatically open and collect samples with low water quality.

The invention provides a tandem type oil-electric hybrid unmanned aerial vehicle. The oil-electric hybrid unmanned aerial vehicle comprises a vehicle body, a plurality of electric motors, a plurality of propellers, a fuel oil engine, an alternator, a rectifier, a battery, an accelerator servo and a control circuit, wherein the control circuit detects the electric quantity and charge-discharge status of the battery in real time and controls the rotating speed of the fuel oil engine in a closed manner, thereby controlling the electric quantity of the battery. The tandem type oil-electric hybrid unmanned aerial vehicle has high cruising ability, flies stably and can be applied to remote pipeline patrol and electric line patrol, small-scale express delivery, emergency and relief work which requires high-density takeoff and landing, large-area plant protection operation, long-time unmanned hang photographing, air surveillance, emergency locale information feedback and the like.

A speed change mechanism driven by an electric vehicle is provided with a gearbox body; a motor is arranged in the box body; an output shaft is driven by the gear shaft of the motor by a transmission mechanism; the output shaft drives the hub of the electric vehicle. The invention is characterized in that the transmission mechanism is that: the gear shaft of the motor drives a reduction gear set; the reduction gear set drives a switching shaft; one end of the switching shaft is provided with a friction switching gear; the other end of the switching shaft is provided with an overrunning switching gear; the overrunning switching shaft drives an overrunning clutch; the overrunning clutch is matched with the output shaft; a friction switching gear drives a multi-plate friction clutch; the multi-plate friction clutch is matched with the output shaft; one end of the friction clutch is provided with a switching device; the switching device is connected with a wire cable guy; the wire cable guy is connected with the handgrip of the electric vehicle. The technical scheme is safe and reliable to be used; the endurance capacity of the electric vehicle is strong; a battery and the motor are effectively protected; besides, the technical scheme has the advantages of stable shifting as well as convenient, flexible and reliable control.

The invention discloses a river way multi-sensor fusion upstream and downstream pollution early warning system and method. A river way part includes a water quality on-line monitoring buoy nodes deployed on multiple parts of the upstream and the downstream of a river way, and a shore part includes a wireless gateway and a cloud server. The water quality on-line monitoring buoy nodes are used for real-time collection, storage and transmission of water quality data; the system includes a water quality multi-sensor system, a water flow sensor, a real-time clock module, a microprocessor, a wireless communication module, an antenna, a storage module and a power source module. A river way multi-sensor data fusion analysis model is established by the cloud server, the multi-sensor data fusion method is used for analyzing whether the pollution exists in the river way, classifying pollutants and estimating the location of a pollution source, the upstream and downstream relations are combined for on-line monitoring and classified early warning on the river way water quality, whether the river way is invaded by the pollutants is judged, and the location of the pollution source is estimated. The system and the method perform on-line monitoring by multiple water quality parameters, and have the advantages of low energy consumption, high detection rate of the pollutants and wide applicationrange.

The invention relates to a self-cleaning intelligent mopping robot capable of automatically changing water, which consists of an electric motor, a driving gear, a transmission gear, a belt pulley, a sponge block, a water supply pipe, a water storage box, a one-way water valve and a universal roller. A floor is mopped by adopting the prior remote sensing control and artificial intelligent technology and simultaneously using the navigation of a sensor. An accessorial changing-washing machine consists of a changing-washing machine motor, a changing-washing machine driving gear, a changing-washing machine belt pulley, a changing-washing machine sponge block, a sewage sump, a drain pipe, a water inlet pipe, a changing-washing water supply pipe, a water filling conduit, a rack water pipe, a baffle plate and a water filling transmission gear, and has the functions of filling water for the mopping robot and cleaning the sponge block. The invention mainly provides a self-cleaning intelligent mopping robot capable of automatically changing water, which has novel design, convenient operation, strong practicability, loftier fashion, energy conservation and environmental protection. The mopping robot has the advantages that the motor outputs power to make the driving gear drive the transmission gear so as to drive the belt pulley, and the sponge block is vertically placed below the belt pulley and rotates around the body along with the belt pulley; the water storage box stably delivers clean water to the sponge block through the water supply pipe by adopting cotton thread; the mopping robot continually and efficiently mops the floor, can achieve automatic water change through switching and achieve self-cleaning, and overcomes the defects that a dead corner exists during manual mopping and the prior household robot cannot mop the floor; and the prior induction and artificial intelligent technology are adopted, if the mopping robot can be produced, the labor intensity of a.

The invention discloses a pair of Pancharatnam-Berry (PB) phase liquid crystal lens-based smart glasses, comprising a pair of glasses, PB phase liquid crystal lenses, a battery and a circuit driving device, wherein the PB phase liquid crystal lenses are embedded into lenses of the glasses or fit closely onto the lenses of the glasses; the circuit driving device and the battery are arranged in series on a handle of the glasses, and are connected in series with the PB phase liquid crystal lenses; and the display pixels of the smart glasses are formed by a single or more PB phase liquid crystal lenses, and an array of the pixels is driven directly by electricity or driven by a passive matrix or driven by an active matrix. According to the smart glasses disclosed by the invention, by virtue of manufacture and use of a liquid crystal PB phase lens array, on one hand, an artificial backlight source is not needed to realize a transparent display effect of switching between a blurred state and a clear state, the energy consumption is reduced, and a relatively strong endurance is achieved; and on the other hand, the operating voltage is relatively low, generally lower than 5V, so that the safety performance of head-mounted augmented reality is improved.

The invention provides an information preview method of flexible screen equipment, and the flexible screen equipment. The method comprises the steps that (S110) at least two sensors are disposed on relative positions of the flexible screen equipment, and bending direction information of the flexible screen equipment is acquired; (S120) when a judgment result indicates that the bending direction information is located in a preset direction, information of a to-be-displayed document in a display area will be extracted to generate a preview picture; and (S130) the size of the preview picture is adjusted according to the bending direction information, and a preview picture obtained after adjustment is displayed. According to the invention, the at least two sensors are disposed at relative positions of the flexible screen; with data collected by the at least two sensors, the bending direction information aiming at the flexible screen can be judged more effectively and accurately; and the preview picture can be adjusted according to the bending direction information, so a user's browsing habit of previewing information with the flexible screen equipment can be satisfied better.

The invention provides a wing wheel compound mobile flying amphibious robot device and belongs to the technical field of robots. The wing wheel compound mobile flying amphibious robot device comprises a turning motor, a supporting assembly, a rotor assembly, a wheel assembly and a turning frame. Through the device, the amphibious robot with road surface moving and in-air flying functions is obtained. Wheels and rotors of the device are of a compound structure, power input is independent, the structure is compact, and mutual interference is avoided, the land moving and in-air flying functions are achieved, moving and flying can be switched according to requirements, switching is easy and feasible, and controlling is easy. According to the device, turning of a plurality of wing wheel compound units is achieved through one turning motor, and stable road surface and air mode switching is achieved through cooperation of extending and retracting of a supporting frame; shells of the wheels are designed into rotor ducts, the energy utilization rate of flying is increased, the power consumption of long-distance moving or flying is small, and the endurance capacity is high; and the functions of hubs and reinforcing ribs are achieved through rotors for the shells of the wheels, the size is small, and moving and flying can be conducted in a small space.

The invention discloses an apparatus used for walking on quad bundled conductors. The apparatus comprises a walking device, a ground control processing system and a remote control processing system. In the invention, a wireless automatic control technology is adopted to remotely control the walking device to walk on the quad bundled conductors through the ground control processing system. The method for the walking device to span spacers is that: the walking device successively lifts walking components which correspond to walking arms and the three residual walking arms support the walking soas to span obstacles, such as spacers and the like. The apparatus and the method can be used for carrying inspection or can be used for deicing equipment to carry out continuous inspections or deicing work. Therefore, by using the invention, low efficiency of inspection or deicing and high risk caused by a manual mode can be overcome. Simultaneously, the apparatus of the invention has simple and reasonable structure, light weight and good endurance. The apparatus is convenient for carrying. Application of the apparatus has a great meaning for guaranteeing safety of power transmission lines and stabilizing operation.

The invention discloses a Bluetooth communication device which comprises a body and a Bluetooth headset. The body comprises a wearing body and a charging panel. The wearing body is provided with a containing groove, a positioning portion and a charging electrode. The containing groove is located in the outer periphery of the wearing body, the positioning portion and the charging electrode are arranged on the side wall of the containing groove, and the charging panel is arranged in the wearing body. The Bluetooth headset can be contained in the containing groove and comprises a bearing body, an ear plug and a microphone. The bearing body is provided with a matching portion and a contact electrode, the matching portion is matched with the positioning portion, and therefore the Bluetooth headset is detachably connected with the wearing body. The contact electrode is connected with the charging electrode in an abutting mode. The Bluetooth communication device is convenient to carry and long in running time.

The invention relates to a low-power-consumption intelligent cloud lock system easy to maintain, and an unlocking method and device thereof. According to the invention, through combination of a sensortechnology, a low-power-consumption Bluetooth technology, a low-power-consumption power supply management technology and a GPRS wireless communication technology, and usage of corresponding cooperative communication server software, background management center software and mobile APPs, the intelligent lock system is mounted in an environment with no power supply or difficulty in supplying of power to replace a traditional mechanical lock. Meanwhile, through low-power-consumption algorithm processing and additional arrangement of an activation button and an emergency charging interface, the intelligent cloud lock system provided by the invention has long battery life, improved usability, reduced difficulties and cost of later maintenance, and good application prospects.

The invention discloses a multifunctional electronic walking stick for a blind person. The multifunctional electronic walking stick for the blind person solves the problems that a conventional walking stick for the blind person has a single function and cannot serve every aspect of the life of the blind person very well. The multifunctional electronic walking stick for the blind person comprises a warning lamp, a remote-control unit, a voice module, a walking stick handle, a walking stick body, a GPS (global position system) positioning module, a master controller, a falling detection module, a GSM (global system for mobile communication) module, a power supply module, a vibration machine, an FM (frequency modulation) transmitting and receiving integrated module, a carbon monoxide sensor module, an infrared receiving head, ultrasonic modules and a photosensitive sensor, wherein the walking stick handle and the walking stick body are integrally formed; the GPS positioning module, the master controller, the falling detection module, the GSM module, the power supply module and the vibration machine are mounted in the walking stick body; a main body of the FM transmitting and receiving integrated module is located in the walking stick body, and a probe of the FM transmitting and receiving integrated module extends out of the walking stick body. With the adoption of the multifunctional electronic walking stick for the blind person, relatives of a user can be informed in time when the user falls down or has sudden accidents such as carbon monoxide poisoning and the like, and the life safety of the blind person can be guaranteed better.

The invention discloses a high ground clearance and variable wheel distance and axle distance type plant protection machine. The high ground clearance and variable wheel distance and axle distance type plant protection machine comprises an upper vehicle frame and a lower vehicle frame, wherein the upper vehicle frame and the lower vehicle frame are connected by a miniature rotary platform; a power system, a main variable-speed system, a hydraulic system, a driving operation system, a pesticide spraying and pollinating system, a fertilizer applying system, and the like are symmetrically arranged around a central rotary platform according to a gravity center balance ratio principle; the lower vehicle frame is mainly provided with four foldable and telescopic support legs, and the walking, steering, change of wheel distance and axle distance, adjusting of ground clearance and gravity center height, and other functions of the machine are realized by a corresponding wheel rim transmission system. The invention also discloses the wheel rim transmission system; by utilizing the mixed transmission type of universal transmission, chain wheel transmission and bevel gear transmission, the wheel distance and axle distance can be adjusted. The high ground clearance and variable wheel distance and axle distance type plant protection machine has the advantages that the structure is compact, the function is complete, the working is stable, the application range is wide, the cruising ability is strong, the operation is easy, and the operation efficiency is high. The wheel rim transmission system has the advantages that the stability and operability are good, the driving force is large, the effect of one machine with multiple functions is realized, and the requirement of whole machine is met.

The invention provides a water-air amphibious unmanned rescue platform which can sail on the water surface and can also fly in the air. Two sailing modes can be rapidly and freely switched, water surface sailing depends on two small water plane streamline ship bodies and marine propellers installed behind the ship bodies, and the propelling mode adopts double-propeller differential propelling; andfour four-rotor propellers and matched brushless motors are used for sailing in the air, and are fixed right over the rescue platform in a square shape. According to the invention, the remote rescuematerial throwing device provided by the invention adopts a simple and reliable door type structure, so autonomous tracking and autonomous obstacle avoidance functions can be realized. According to the unmanned rescue platform, the advantages of a small waterplane catamaran and a quadrotor unmanned aerial vehicle are combined, rapid crossing of a discontinuous water area can be achieved through the flight function of the unmanned rescue platform, the unmanned rescue platform can reach the water area without the launching condition of a conventional rescue ship in a flight mode, the environmental adaptability of the unmanned rescue platform is enhanced, and the working range of the unmanned rescue platform is enlarged.

The invention belongs to the field of power systems, and relates to a power transmission line laser external force damage prevention monitoring and early warning device. All-weather monitoring is performed in the region of frequent construction, high number of trees in the passage and frequent human and animal activities outside the power transmission line by using laser detection and the camera video transmission device based on the laser intelligent detection technology and the image monitoring technology through combination of the characteristics of the power transmission line, and the external damage hidden trouble can be warned in the early stage and discovered in time and eliminated so that the failure trip rate of the power transmission line can be reduced and the reliability of thepower transmission line can be enhanced. The actual demand of the present high voltage power transmission line and tower safety monitoring can be greatly met so that the power transmission line inspection efficiency can be effectively enhanced, and powerful guarantee can be provided for enhancing the modern management level of the high voltage power transmission line of the power industry.

The invention provides a sea-air-submersible integrated inspection system based on a small unmanned ship. The system comprises a mooring type unmanned aerial vehicle inspection system (1), a shipborneinspection system (2), an unmanned ship platform (4) and a mooring type underwater robot inspection system (5), the unmanned ship platform (4) comprises a fixed portal frame (4.2) and an unmanned ship body (4.19); the unmanned ship body (4.19) is in a wave-resistant catamaran shape. Wherein the mooring type unmanned aerial vehicle inspection system (1) comprises a multi-rotor unmanned aerial vehicle (1.1) and an unmanned aerial vehicle landing platform (1.4), and the mooring type underwater robot inspection system (5) comprises a remote control winch (5.1), an underwater GPS receiver array (5.4), an underwater inspection robot (5.7) and an underwater GPS positioner (5.8). The inspection system has the characteristics of powerful function, high efficiency, continuous operation, low inspection cost and the like, and can meet the requirements of rapidly increased wind power plant installed capacity and other large-scale ocean engineering equipment on inspection equipment.

The invention discloses a balancing vehicle system and a control method thereof. According to a difference equation model and a drift error model of attitude signals of the balancing vehicle system, astate equation of an extended Kalman filter and a mathematical model of a permanent magnet linear motor are established. A second-order dynamic Terminal sliding film is used to drive permanent magnetsynchronous motor. Particle Swarm Optimization (PSO) is used to optimize the parameters of tracking controller, synchronization controller, clearance elimination controller and switching function ina two-motor system. The invention realizes that the signal collected by the sensor of the balancing vehicle has large noise and zero drift error, and solves the problem of poor robustness and the problem that the Brush motor structure is complex, fault, maintenance workload, short life, commutation spark easy to produce electromagnetic interference, as well as in the balance of the car in the process of running jitter, deviation is too large, and low security.

The invention discloses an unmanned underwater vehicle based on gas jet steering. A gas jet system, a control system, a buoyancy control system and a power module are arranged in a vehicle housing; the gas jet system comprises a gas storage tank with a gas charging port, the gas storage tank penetrates through the vehicle housing by virtue of a gas transporting pipeline, and a nozzle for providing the vehicle with steering power is formed on the surface of the vehicle housing; the buoyancy control system comprises a water chamber with a water inlet pipe, wherein the water inlet pipe penetrates through the vehicle housing to form a water flow channel between the water chamber and the exterior of the vehicle housing; the control system comprises a gas valve for controlling the flow rate of a jet gas, a water valve for controlling water flow to go in and out, a sensor group for obtaining the operation data of the vehicle, and a control mainboard; the gas valve is arranged on the nozzle, the water valve is arranged on the water inlet pipe, and the sensor group, the gas valve and the water valve are all in signal connection with the control mainboard; the sensor group, the gas valve, the water valve and the control mainboard are all electrically connected with the power module.

The invention discloses a tunnel geological advanced prediction radar antenna adaptive position-adjusting device comprising an adaptive part and a motion part. The adaptive part is mainly used to automatically control the pressure between a radar antenna and a working face. The motion part is composed of a walking device and an elevator, and is mainly used to control up-and-down and left-and-right motion of the adaptive part. By adopting the device, the pressure between a radar antenna and the working face of a tunnel can be automatically kept at a stable value, and the pressure value neither changes because of the bumpy working face of the tunnel nor changes as the distance between a measuring vehicle and the working face of the tunnel changes. The radar antenna can move freely on the working face in the horizontal and vertical directions, and the whole area of the working face can be measured.

The invention provides a high-ground-clearance multifunctional plant protection machine. The high-ground-clearance multifunctional plant protection machine comprises a frame, a supporting leg which is mounted on the frame along the inclined direction of 45 degrees, and a walking system connected with the supporting leg, wherein the supporting leg comprises a double-parallelogram mechanism connected with the frame, a supporting box body hinged to the end part of the double-parallelogram mechanism, and a supporting stand column connected with the supporting box body; the supporting stand column is connected with the walking system; the double-parallelogram mechanism is driven by a hydraulic oil cylinder; when the oil cylinder is retracted, a connection end of the supporting box body of the double-parallelogram mechanism moves upwards; the whole supporting leg is retracted towards the frame along the inclined direction of 45 degrees; meanwhile, the wheel distance of the machine is reduced and the shaft distance is reduced; when the oil cylinder stretches, the connection end of the supporting box body of the double-parallelogram mechanism moves downwards; and when a rod part of the mechanism is prone to be a horizontal state, the oil cylinder stretches to the maximum position; and meanwhile, the wheel distance of the machine and the shaft distance are in a maximum-value state. The high-ground-clearance multifunctional plant protection machine has the advantages of compact structure, complete functions, stable working, wide applicable range, strong cruising ability, convenience in operation and high working efficiency.

The invention discloses a pipeline detection robot driven based on an electrokinetic material, which comprises a main body and a terminal, wherein the terminal interacts with the main body. The main body comprises a shell and a pipeline detection system, wherein the pipeline detection system is integrated on the shell. The pipeline detection system comprises a control module, a driving module, a channel self-correcting module, an obstacle avoidance module, a detection module and a positioning module. The driving module, the channel self-correcting module, the obstacle avoidance module, the detection module and the positioning module are respectively connected with the control module. The invention also discloses a pipeline detection system of the pipeline detection robot driven based on the electrokinetic material. The pipeline detection robot driven based on the electrokinetic material and the pipeline detection system thereof have the advantages of achieving detecting the pipe wall in a light, static or low-flow-rate liquid pipeline, and transmitting detected leakage point information and leakage point position information back to the terminal to provide operators for leakage point repair.

The invention discloses a ground-air amphibious quad-rotor unmanned aerial vehicle. The ground-air amphibious quad-rotor unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a control unit and a battery which are arranged in the vehicle body (1), the four corners of the vehicle body (1) are each connected with a vehicle arm (2), the tail ends of the four vehicle arms (2) are each connected with a mode switching mechanism, each mode switching mechanism is composed of a steering engine A (3), a steering engine base (4), a brushless motor (5), a stepped shaft (6), a propeller base (7), screw propellers (8), a one-way bearing (9) and a wheel (10), a small shaft of the stepped shaft (6) is provided with the one-way bearing (9), and the wheel (10) is rotatably installed on the one-way bearing (9). The ground-air amphibious quad-rotor unmanned aerial vehicle has the advantages of being long in endurance time, capable of achieving flexible motility and high obstacle crossing capability and moving speed while completing relatively fine operation and long in service life.