CN113100206B - Unmanned automatic medicine spraying vehicle and application method thereof - Google Patents
Unmanned automatic medicine spraying vehicle and application method thereof Download PDFInfo
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- CN113100206B CN113100206B CN202110381792.1A CN202110381792A CN113100206B CN 113100206 B CN113100206 B CN 113100206B CN 202110381792 A CN202110381792 A CN 202110381792A CN 113100206 B CN113100206 B CN 113100206B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an unmanned automatic medicine spraying vehicle which comprises a vehicle body, metal induction chains, a T-shaped rotating frame, metal induction chains, a controller and a vehicle driving device, wherein the front part of the vehicle body is provided with two driving wheels, the vehicle driving device is in driving connection with the driving wheels, an electric sprayer is arranged at the upper part of the vehicle body, the T-shaped rotating frame is rotatably arranged in the middle of the front end of the vehicle body, the two metal induction chains are symmetrically arranged at the left side and the right side of the T-shaped rotating frame respectively, the metal induction chains are paved on the ground in front of the vehicle body and pass through, and the metal induction chains and the vehicle driving device are respectively connected with the controller. Meanwhile, the invention also discloses a use method of the unmanned automatic medicine spraying vehicle. The invention realizes the direction guide of the driving of the vehicle by the metal sensing chain and the metal sensor, advances along the space between two rows of adjacent crops, and can automatically turn to the other two rows of adjacent crops and advances along the space between the crops to spray pesticide.
Description
Technical Field
The invention relates to the field of design and production of automatic driving vehicles, in particular to an unmanned automatic medicine spraying vehicle and a using method thereof.
Background
At present, although there is an organic pesticide planting mode in the market, the planting mode is usually poor in harvesting, so that many farmers are still used to spray pesticides, and spraying pesticides through unmanned aerial vehicles is a pesticide spraying mode in the prior art, but unmanned aerial vehicles can bear little pesticide amount and still require users to perform field operation, so that labor is consumed, and physical health of the users is adversely affected.
The unmanned automatic medicine spraying vehicle can automatically operate and walk a preset route in preset time, so that unmanned automatic medicine spraying can be realized, and the sensor of the unmanned automatic medicine spraying vehicle can advance along a hillside to constantly keep parallel to the hillside ground, so that the problem of lost route is avoided.
Disclosure of Invention
The invention discloses an unmanned automatic medicine spraying vehicle and a using method thereof, and mainly aims to overcome the defects and the shortcomings in the prior art.
The technical scheme adopted by the invention is as follows:
the utility model provides an unmanned automatic medicine spraying vehicle, includes a automobile body, metal induction chain, T style of calligraphy rotating turret, metal inductor, controller and vehicle drive arrangement, the front portion of automobile body is equipped with two drive wheels, vehicle drive arrangement with the drive wheel is connected in the drive, the upper portion of automobile body is provided with electric spraying machine, T style of calligraphy rotating turret rotationally installs the front end middle part of automobile body, metal inductor has two, installs respectively the symmetry is in the left and right sides of T style of calligraphy rotating turret, metal induction chain paves in the place ahead ground that the automobile body passed through, metal inductor is used for the sensing respectively metal induction chain, metal inductor and vehicle drive arrangement respectively with the controller is connected.
Still further, T style of calligraphy rotating turret includes vertical support body, horizontal support body, universal runner and a plurality of movable roller, the rear end of vertical support body through this universal runner with the automobile body is connected, horizontal support body is passed through universal runner installs the front end of vertical support body, movable roller cooperation is installed the both sides bottom of horizontal support body, two the metal inductor cooperation is installed respectively the left and right sides both ends of horizontal support body.
Further, the sensing distances of the two metal sensors are the same, and the distance between the installation positions of the two metal sensors is greater than twice the sensing distance of the metal sensors.
Still further, electronic sprayer includes spray bar, pump body and storage cartridge case, the pump body will liquid medicine in the storage cartridge case is carried in the spray bar and is output and spray, be provided with the atomising head on the spray bar.
Still further, the controller includes wire, two relays, control switch and power body, two the relays respectively with vehicle drive arrangement is connected, wire, relay, control switch and power body form the control circuit.
Still further, still be provided with the timer on the automobile body, the timer is used for controlling the operating time of electric spraying machine.
The application method of the unmanned automatic medicine spraying vehicle comprises the following specific steps of:
step one: paving a metal induction chain, and paving the strip-shaped metal induction chain on the ground where the unmanned automatic medicine spraying vehicle is to pass according to the actual ground condition;
step two: the automatic unmanned spraying vehicle controls the forward movement, a metal sensor on the vehicle controls the on and off of a vehicle driving device by sensing the position of a metal sensing chain, so that the automatic unmanned spraying vehicle takes the metal sensing chain as a center line direction, and the automatic unmanned spraying vehicle is guided to automatically move forward along the metal sensing chain;
step three: in the running process of the unmanned automatic medicine spraying vehicle, the timer starts to time and control the electric sprayer to work, the electric sprayer sprays pesticides until the spraying operation is stopped by the operation time regulated by the timer, and at the moment, the automatic medicine spraying operation of the unmanned automatic medicine spraying vehicle is completed.
Further, the implementation steps of the second step are as follows:
the metal inductors positioned at the two sides of the front end of the T-shaped rotating frame sense the metal induction chains,
when the metal sensors at the two sides do not sense metal sensing chain signals, the controller controls the vehicle driving devices on the two driving wheels of the vehicle to run simultaneously, and the vehicle continuously runs straight forward; when the metal sensor on the left side senses a metal sensing chain signal, the controller controls the driving device on the left side of the vehicle to stop driving, so that the vehicle body slowly rotates to the right side until the metal sensor on the left side cannot sense the metal sensing chain signal again, and then the controller controls the driving device on the left side of the vehicle to operate again;
when the metal sensor on the right side senses a metal sensing chain signal, the controller controls the vehicle driving device on the right side of the vehicle to stop driving, so that the vehicle body slowly rotates to the left side until the metal sensor on the right side cannot sense the metal sensing chain signal again, and at the moment, the controller controls the vehicle driving device on the right side of the vehicle to operate again.
As can be seen from the above description of the present invention, the present invention has the following advantages compared with the prior art:
1. the invention realizes the direction guidance of vehicle driving by the metal sensing chain and the metal sensor, so the setting of the vehicle driving route is quite simple, the unmanned automatic pesticide spraying vehicle can advance along the space between two rows of adjacent crops, and can automatically turn to the other two rows of adjacent crops and advance along the space between the crops to spray pesticide.
2. The metal sensor can rotate upwards, downwards, leftwards and rightwards along the gradient of the ground so as to constantly keep the parallel ground, can be suitable for uneven ground such as flat, convex, concave or inclined, and can not leak sensing signals beyond the sensing range of the metal sensor.
3. The metal induction chain is simple in arrangement structure, the metal induction chain is placed on the surface of the vegetable garden along the preset path of the unmanned automatic medicine spraying vehicle, the cost is quite low, the metal induction chain has high environmental tolerance and is not easily influenced by the outdoor environment, and therefore, after the metal induction chain is laid, the metal induction chain can be continuously recycled for years.
4. The invention has the timer, can set time, thus the unmanned automatic pesticide spraying vehicle can automatically run along the metal sensing chain and spray pesticide at preset time, thus, for example, the pesticide spraying once in ten days can be set, and farmers can spray pesticide without accompanying or operating the unmanned automatic pesticide spraying vehicle, thus, pesticide spraying operation can be carried out in noon, for example, the heatstroke of farmers can be avoided, and pesticide poisoning of farmers can be avoided.
Drawings
Fig. 1 is a schematic top view of the present invention.
FIG. 2 is a schematic top view of the present invention applied to a field where a metal induction chain has been laid.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a schematic side view of the present invention applied to a farmland in which metal induction chains have been laid.
FIG. 5 is a schematic side view of the present invention applied to a multi-ridge farmland in which metal induction chains have been laid.
Fig. 6 is a schematic view of the structure of the present invention applied to hillside fields.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 6, an unmanned automatic medicine spraying vehicle comprises a vehicle body 1, a metal induction chain 2, a T-shaped rotating frame 3, a metal inductor 4, a controller 5 and a vehicle driving device 6, wherein two driving wheels 7 are arranged at the front part of the vehicle body 1, the vehicle driving device 6 is in driving connection with the driving wheels 7, an electric sprayer 8 is arranged at the upper part of the vehicle body 1, the T-shaped rotating frame 3 is rotatably arranged at the middle part of the front end of the vehicle body 1, two metal inductors 4 are symmetrically arranged at the left side and the right side of the T-shaped rotating frame 3 respectively, the metal induction chain 2 is paved on the ground in front of the vehicle body 1 and passes through, the metal inductor 4 is used for sensing the metal induction chain 2 respectively, and the metal inductor 4 and the vehicle driving device 6 are connected with the controller 5 respectively.
Still further, the T-shaped rotating frame 3 includes a longitudinal frame 31, a transverse frame 32, a universal rotating wheel 33 and a plurality of movable rollers 34, the rear end of the longitudinal frame 31 is connected with the vehicle body 1 through the universal rotating wheel 33, the transverse frame 32 is mounted at the front end of the longitudinal frame 31 through the universal rotating wheel 33, the movable rollers 34 are mounted at the bottoms of two sides of the transverse frame 32 in a matching manner, and the two metal inductors 4 are mounted at the left and right ends of the transverse frame 32 in a matching manner.
Still further, the sensing distances of the two metal sensors 4 are the same, and the distance between the installation positions of the two metal sensors 4 is greater than twice the sensing distance of the metal sensors 4.
Still further, the electric sprayer 8 includes a spray bar 81, a pump 82 and a cartridge 83, the pump 82 delivers the liquid medicine in the cartridge 83 to the spray bar 81 and outputs the spray, and a spray head is provided on the spray bar 81.
Further, the controller 5 includes a wire, two relays 51, a control switch 52, and a power source 53, the two relays 51 are respectively connected to the vehicle driving device 6, and the wire, the relays 51, the control switch 52, and the power source 53 form a control circuit.
Further, a timer 9 is further disposed on the vehicle body 1, and the timer 9 is used for controlling the working time of the electric sprayer 8.
The application method of the unmanned automatic medicine spraying vehicle comprises the following specific steps of:
step one: paving a metal induction chain, and paving the strip-shaped metal induction chain on the ground where the unmanned automatic medicine spraying vehicle is to pass according to the actual ground condition;
step two: the automatic unmanned spraying vehicle controls the forward movement, a metal sensor on the vehicle controls the on and off of a vehicle driving device by sensing the position of a metal sensing chain, so that the automatic unmanned spraying vehicle takes the metal sensing chain as a center line direction, and the automatic unmanned spraying vehicle is guided to automatically move forward along the metal sensing chain;
step three: in the running process of the unmanned automatic medicine spraying vehicle, the timer starts to time and control the electric sprayer to work, the electric sprayer sprays pesticides until the spraying operation is stopped by the operation time regulated by the timer, and at the moment, the automatic medicine spraying operation of the unmanned automatic medicine spraying vehicle is completed.
Further, the implementation steps of the second step are as follows:
the metal inductors positioned at the two sides of the front end of the T-shaped rotating frame sense the metal induction chains,
when the metal sensors at the two sides do not sense metal sensing chain signals, the controller controls the vehicle driving devices on the two driving wheels of the vehicle to run simultaneously, and the vehicle continuously runs straight forward; when the metal sensor on the left side senses a metal sensing chain signal, the controller controls the driving device on the left side of the vehicle to stop driving, so that the vehicle body slowly rotates to the right side until the metal sensor on the left side cannot sense the metal sensing chain signal again, and then the controller controls the driving device on the left side of the vehicle to operate again;
when the metal sensor on the right side senses a metal sensing chain signal, the controller controls the vehicle driving device on the right side of the vehicle to stop driving, so that the vehicle body slowly rotates to the left side until the metal sensor on the right side cannot sense the metal sensing chain signal again, and at the moment, the controller controls the vehicle driving device on the right side of the vehicle to operate again.
As can be seen from the above description of the present invention, the present invention has the following advantages compared with the prior art:
1. the invention realizes the direction guidance of vehicle driving by the metal sensing chain and the metal sensor, so the setting of the vehicle driving route is quite simple, the unmanned automatic pesticide spraying vehicle can advance along the space between two rows of adjacent crops, and can automatically turn to the other two rows of adjacent crops and advance along the space between the crops to spray pesticide.
2. The metal sensor can rotate upwards, downwards, leftwards and rightwards along the gradient of the ground so as to constantly keep the parallel ground, can be suitable for uneven ground such as flat, convex, concave or inclined, and can not leak sensing signals beyond the sensing range of the metal sensor.
3. The metal induction chain is simple in arrangement structure, the metal induction chain is placed on the surface of the vegetable garden along the preset path of the unmanned automatic medicine spraying vehicle, the cost is quite low, the metal induction chain has high environmental tolerance and is not easily influenced by the outdoor environment, and therefore, after the metal induction chain is laid, the metal induction chain can be continuously recycled for years.
4. The invention has the timer, can set time, thus the unmanned automatic pesticide spraying vehicle can automatically run along the metal sensing chain and spray pesticide at preset time, thus, for example, the pesticide spraying once in ten days can be set, and farmers can spray pesticide without accompanying or operating the unmanned automatic pesticide spraying vehicle, thus, pesticide spraying operation can be carried out in noon, for example, the heatstroke of farmers can be avoided, and pesticide poisoning of farmers can be avoided.
The foregoing is merely illustrative of specific embodiments of the present invention, and the design concept of the present invention is not limited thereto, and any insubstantial modifications made by the present invention shall fall within the scope of the present invention.
Claims (5)
1. An unmanned automatic medicine spraying vehicle which is characterized in that: the electric spraying machine comprises a vehicle body, a metal induction chain, a T-shaped rotating frame, two metal inductors, a controller and a vehicle driving device, wherein the front part of the vehicle body is provided with two driving wheels, the vehicle driving device is in driving connection with the driving wheels, the upper part of the vehicle body is provided with the electric spraying machine, the T-shaped rotating frame is rotatably arranged in the middle of the front end of the vehicle body, the two metal inductors are symmetrically arranged on the left side and the right side of the T-shaped rotating frame respectively, the metal induction chain is paved on the ground in front of the vehicle body, the metal inductors are respectively used for sensing the metal induction chain, and the metal inductors and the vehicle driving device are respectively connected with the controller; the T-shaped rotating frame comprises a longitudinal frame body, a transverse frame body, a universal rotating wheel and a plurality of movable rollers, wherein the rear end of the longitudinal frame body is connected with the vehicle body through the universal rotating wheel, the transverse frame body is arranged at the front end of the longitudinal frame body through the universal rotating wheel, the movable rollers are matched and arranged at the bottoms of two sides of the transverse frame body, and the two metal inductors are respectively matched and arranged at the left end and the right end of the transverse frame body;
the application method of the unmanned automatic medicine spraying vehicle comprises the following specific steps of:
step one: paving a metal induction chain, and paving the strip-shaped metal induction chain on the ground where the unmanned automatic medicine spraying vehicle is to pass according to the actual ground condition;
step two: the automatic unmanned spraying vehicle controls the forward movement, a metal sensor on the vehicle controls the on and off of a vehicle driving device by sensing the position of a metal sensing chain, so that the automatic unmanned spraying vehicle takes the metal sensing chain as a center line direction, and the automatic unmanned spraying vehicle is guided to automatically move forward along the metal sensing chain;
step three: in the running process of the unmanned automatic medicine spraying vehicle, the timer starts to time and control the electric sprayer to work, the electric sprayer sprays pesticide until the spraying operation is stopped due to the operation time regulated by the timer, and at the moment, the automatic medicine spraying operation of the unmanned automatic medicine spraying vehicle is completed;
the specific implementation steps of the second step are as follows:
the metal inductors positioned at the two sides of the front end of the T-shaped rotating frame sense the metal induction chains,
when the metal sensors at the two sides do not sense metal sensing chain signals, the controller controls the vehicle driving devices on the two driving wheels of the vehicle to run simultaneously, and the vehicle continuously runs straight forward;
when the metal sensor on the left side senses a metal sensing chain signal, the controller controls the driving device on the left side of the vehicle to stop driving, so that the vehicle body slowly rotates to the right side until the metal sensor on the left side cannot sense the metal sensing chain signal again, and then the controller controls the driving device on the left side of the vehicle to operate again;
when the metal sensor on the right side senses a metal sensing chain signal, the controller controls the vehicle driving device on the right side of the vehicle to stop driving, so that the vehicle body slowly rotates to the left side until the metal sensor on the right side cannot sense the metal sensing chain signal again, and at the moment, the controller controls the vehicle driving device on the right side of the vehicle to operate again.
2. The unmanned automatic spraying vehicle of claim 1, wherein: the sensing distance of the two metal inductors is the same, and the distance between the mounting positions of the two metal inductors is more than twice the sensing distance of the metal inductors.
3. The unmanned automatic spraying vehicle of claim 1, wherein: the electric sprayer comprises a spray rod, a water pump body and a medicine storage cylinder, wherein the water pump body conveys medicine liquid in the medicine storage cylinder into the spray rod and outputs the medicine liquid to spray, and a spray head is arranged on the spray rod.
4. The unmanned automatic spraying vehicle of claim 1, wherein: the controller comprises a wire, two relays, a control switch and a power supply body, wherein the two relays are respectively connected with the vehicle driving device, and the wire, the relays, the control switch and the power supply body form a control circuit.
5. The unmanned automatic spraying vehicle of claim 1, wherein: the electric sprayer is characterized in that a timer is further arranged on the vehicle body and used for controlling the working time of the electric sprayer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110381792.1A CN113100206B (en) | 2021-04-09 | 2021-04-09 | Unmanned automatic medicine spraying vehicle and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110381792.1A CN113100206B (en) | 2021-04-09 | 2021-04-09 | Unmanned automatic medicine spraying vehicle and application method thereof |
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| CN113100206A CN113100206A (en) | 2021-07-13 |
| CN113100206B true CN113100206B (en) | 2023-05-09 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0201720B1 (en) * | 1985-04-15 | 1990-09-05 | Heckler & Koch GmbH | Transport system |
| CN104365576A (en) * | 2014-11-19 | 2015-02-25 | 合肥多加农业科技有限公司 | Horizontally-moving type pesticide spraying plant protection trolley |
| CN106070145A (en) * | 2016-06-15 | 2016-11-09 | 山东源泉机械有限公司 | A kind of self-propelled air-feeding atomizing sprayer for orchard |
| CN109526915A (en) * | 2017-09-22 | 2019-03-29 | 江苏华夏知识产权服务有限公司 | One kind wirelessly automatically controlling unmanned pesticide spray truck |
| CN207836609U (en) * | 2018-02-07 | 2018-09-11 | 深圳市名高科技有限公司 | A kind of unmanned pesticide applicator of rail self-propelled |
| CN211220776U (en) * | 2019-09-24 | 2020-08-11 | 上汽大众汽车有限公司 | Pedestrian protection marking device and vehicle marking system based on arm |
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