CN103056056A - Intelligent tracking pesticide spraying vehicle - Google Patents

Abstract

An intelligent tracking medicine spraying vehicle comprises a vehicle body and a control system arranged on the vehicle body, a power unit 1, a walking device and a medicine spraying device, and the control system is respectively connected with the power unit 1, the running gear and the medicine spraying system, and the The power device I is connected with the running device; the vehicle body is also provided with a tracking device, a concentration detection device and a power device II, and the power device II is connected with the tracking device and the concentration detection device respectively; The tracking device controls the walking device, and the control system is connected with the spraying device through the concentration detection device; the tracking device is an infrared sensor capable of color recognition, and the concentration detection device is a liquid medicine concentration sensor capable of concentration recognition. The invention realizes the tracking of the medicine spraying vehicle and the real-time control of the spraying of the medicine liquid, and is small in size, suitable for dangerous indoor places, thereby reducing the possibility of poisoning caused by the traditional way of spraying medicine, and saving the labor cost.

Description

Intelligent tracking spraying vehicle

technical field

The invention relates to a spraying device, in particular to an intelligent spraying vehicle, which can replace manual detection and spraying of liquid medicine in dangerous places.

Background technique

In dangerous places such as infectious diseases and radiology departments in hospitals, disinfection operations are often required. At present, the disinfection operations in these dangerous places are usually carried out by medical staff carrying mechanical sprayers and wearing protective measures for manual disinfection. This backward spraying method not only has problems such as low work efficiency and difficulty in ensuring the uniformity of spraying, but also has high risks, and the life safety of operators cannot be effectively guaranteed.

Existing spraying vehicles include multifunctional spraying water vehicles for landscaping and spraying vehicles for farmland. The former has the advantages of high range, high efficiency, and good maneuverability. The spray device it is equipped with can move up and down, left and right, and the atomization distance can reach up to 50 meters. It is not only suitable for tree pest control operations, but also for spraying chemical weeding. Urban sanitation and epidemic prevention work. The latter effectively solves the efficiency of pesticide spraying in farmland. However, neither of these two kinds of spraying vehicles can be used in dangerous places such as the infectious department and radiology department of the hospital. Manipulation cannot avoid damage to the operator's body.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides an intelligent tracking spray vehicle, which is small in size and suitable for indoor use; moreover, it can follow the track laid in advance, and pass Detect the concentration of the liquid medicine in the air for automatic spraying.

The technical scheme of the present invention is: a kind of intelligent tracking medicine spraying vehicle, comprises vehicle body and the control system that is arranged on vehicle body, power unit 1, running gear and medicine spraying device, described control system is connected with power unit 1, running gear respectively It is connected with the spraying system, and the power device I is connected with the walking device; the vehicle body is also provided with a tracking device, a concentration detection device and a power device II, and the power device II is connected with the tracking device and the concentration detection device respectively The control system controls the walking device through the tracking device, and the control system is connected with the spraying device through the concentration detection device; the tracking device is an infrared sensor capable of color recognition, and the concentration detection device is capable of performing concentration detection. The identified liquid concentration sensor.

Preferably, the control system is an MSP430 single-chip microcomputer; the spraying device includes a water pump, a liquid medicine storage device and a liquid medicine spraying device, and the liquid medicine storage device communicates with the liquid medicine spraying device through a liquid medicine delivery pipeline, The MSP430 single-chip microcomputer controls the opening and closing of the liquid medicine spraying device through a water pump.

Preferably, the control system also includes a display screen and a control keyboard; the spraying device also includes a bracket, and the liquid medicine spraying device is connected to the liquid medicine delivery pipeline through the support; the liquid medicine storage device is provided with Handle for easy access.

Preferably, the power device I is a DC motor, the power device II is a battery, the running device is wheels arranged on both sides of the vehicle body, and the DC motor is connected to the wheels through gear meshing.

Preferably, the control system is an ultra-low power consumption single-chip microcomputer MSP430F149, and the driving circuit of the spraying vehicle adopts an L298N drive axle.

The working principle of the present invention: ① Pre-set the walking route of the spraying vehicle in the place where the spraying is required. The color of the walking route is different from that of the ground of the spraying place, so as to facilitate the automatic identification of the walking route by the infrared sensor. The signal is transmitted to the control system, so as to realize the walking of the spraying vehicle along the set route. ② Through the display screen and the control keyboard, set the concentration threshold of the liquid medicine in the air where spraying is required, and monitor the concentration of the liquid medicine in the air in real time through the liquid medicine concentration detection device. When the concentration of the medicine solution in the air is lower than the set threshold , the control system starts the water pump, and the spraying device sprays; when the concentration of the liquid medicine in the air is higher than the set threshold, the control system turns off the water pump, and the spraying device stops spraying.

The beneficial effects of the present invention are:

(1) In the present invention, an infrared sensor as a tracking device and a liquid medicine concentration sensor as a concentration detection device are arranged on the vehicle body; the infrared sensor transmits a signal to the control device by identifying a preset walking route, and then passes The control device realizes the tracking of the medicine spraying vehicle; the liquid medicine concentration sensor realizes the real-time monitoring of the medicine liquid concentration in the air in the place, and realizes the precise control of the medicine liquid spraying by turning on and off the water pump through the control device. real-time control;

(2) The present invention realizes accurate tracking, intelligent detection and automatic spraying of spraying vehicles under unmanned driving conditions, thereby reducing the possibility of poisoning caused by traditional spraying methods and saving labor costs;

(3) The present invention is small in size, suitable for dangerous indoor places, and makes up for the problem caused by the large volume of the spraying vehicle in the prior art.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

An intelligent tracking medicine spraying vehicle comprises a vehicle body 1 and a control system arranged on the vehicle body 1, a power unit 1, a walking device and a medicine spraying device, and the control system is respectively connected with the power unit 1, the running gear and the medicine spraying system , the power unit 1 is connected with the running gear. The vehicle body 1 is also provided with a tracking device, a concentration detection device and a power device II, and the power device II is connected with the tracking device and the concentration detection device respectively; the control system controls the walking device through the tracking device, and the control The system is connected with the spraying device through the concentration detection device.

The control system is an ultra-low-power single-chip MSP430F149 provided with a display screen 10 and a control keyboard 11, the power unit I is a DC motor 3, the power unit II is a battery 13, and the running device is arranged on the vehicle body 1 For the wheels 2 on both sides, the DC motor 3 is connected to the wheels 2 through gear meshing. The driving circuit of the spraying vehicle adopts L298N drive axle, the driving current is large, and the wheels 2 are driven by the DC motor 3, so as to achieve the purpose of advancing, turning and retreating of the spraying vehicle. The spraying device includes a water pump 7, a liquid medicine storage device 9 and a liquid medicine spraying device 5, the liquid medicine storage device 9 communicates with the liquid medicine spraying device 5 through a liquid medicine delivery pipeline 15, and the MSP430 single-chip microcomputer 12 passes through The water pump 7 controls the opening and closing of the liquid medicine spraying device 5 . The medicine spraying device also includes a support 4 through which the liquid medicine spraying device 5 is connected to the liquid medicine delivery pipeline 15; the liquid medicine storage device 9 is provided with a handle 8 for easy access. The tracking device is an infrared sensor 6 capable of color recognition, which senses the set walking route through emitted and received light, and sends electrical signals to the single-chip microcomputer control system 12 for processing. Described concentration detecting device is the liquid medicine concentration sensor 14 that can carry out concentration identification, and described liquid medicine concentration sensor 14 sends the liquid medicine concentration signal of detection back to MSP430 single-chip microcomputer control system 12, and realizes the water pump by MSP430 single-chip microcomputer control system 12. Open and close, so as to realize the spraying and stopping of the liquid medicine. The control keyboard 11 and the display screen 10 are convenient for the operator to set the concentration threshold of the air-collected medicinal solution and the spraying interval time. The composition of the display screen 10 can also display the concentration of the medicinal solution in the air and the set threshold value of the medicinal solution concentration in real time.

During work, the operator lays a black trajectory line with a width of about 1 cm on the ground, and enters the liquid medicine concentration threshold and spraying interval through the control keyboard 11. After the MSP430 single-chip microcomputer control system 12 processes the signal sent back by the infrared sensor 6, The vehicle body 1 is driven by the DC motor 3 to realize the tracking of the whole system. Simultaneously, the MSP430 single-chip microcomputer control system 12 controls the medicinal liquid concentration sensor 14 to detect the medicinal liquid concentration in the air in real time, and the electrical signal is sent back to the single-chip microcomputer control system 12 for processing, and compared with the predetermined medicinal liquid concentration threshold, when the medicinal liquid in the air When the liquid concentration is lower than the set liquid medicine concentration threshold, the MSP430 single-chip microcomputer control system 12 controls the relay, connects the water pump 7 to spray medicine; when the liquid medicine concentration in the air is higher than the set medicine liquid concentration threshold, the MSP430 single-chip microcomputer controls System 12 controls relay to close water pump 7 and stops spraying. When the intelligent tracking medicine spraying vehicle detects that the concentration of the medicine solution in all areas of the track is greater than the set medicine concentration threshold, stop spraying; the MSP430 single-chip microcomputer control system 12 controls the medicine spraying vehicle to continue walking, and after a spraying interval, The system re-tests and determines whether to spray according to the test results.

Claims (5)

1. Intelligent tracking pesticide spray truck, comprise vehicle body (1) and be arranged on control system, power set I, running gear and chemical spraying device on the vehicle body (1), described control system links to each other with power set I, running gear and spray medicine system respectively, described power set I links to each other with running gear, it is characterized in that: also be provided with tracking device, concentration detection apparatus and power set II on the described vehicle body (1), described power set II links to each other with tracking device, concentration detection apparatus respectively; Described control system is controlled running gear by tracking device, and described control system links to each other with chemical spraying device by concentration detection apparatus; Described tracking device is for carrying out the infrared sensor (6) of color identification, and described concentration detection apparatus is for carrying out the liquor strength sensor (14) of concentration identification.

2. a kind of Intelligent tracking pesticide spray truck according to claim 1, it is characterized in that: described control system is MSP430 single-chip microcomputer (12); Described chemical spraying device comprises water pump (7), liquid medicine storage device (9) and medicine liquid spray device (5), described liquid medicine storage device (9) is connected with medicine liquid spray device (5) by liquid transfer pipeline (15), and described MSP430 single-chip microcomputer (12) is by the opening and closing of water pump (7) control liquid medicine jet pressure device (5).

3. a kind of Intelligent tracking pesticide spray truck according to claim 2, it is characterized in that: described control system also comprises display screen (10) and supervisory keyboard (11); Described chemical spraying device also comprises support (4), and described medicine liquid spray device (5) links to each other with liquid transfer pipeline (15) by support (4); Described liquid medicine storage device (9) is provided with the handle (8) that conveniently picks and places.

4. a kind of Intelligent tracking pesticide spray truck according to claim 1, it is characterized in that: described power set I is direct current generator (3), described power set II is battery (13), described running gear is for being arranged on the wheel (2) of vehicle body (1) both sides, and described direct current generator (3) links to each other by the gear engagement with wheel (2).

5. the described a kind of Intelligent tracking pesticide spray truck of any one according to claim 1-4, it is characterized in that: described control system is super low power consuming single chip processor MSP430F149, the drive circuit of described pesticide spray truck adopts the L298N drive axle.

Images