CN104604832A

CN104604832A - Self-walking pesticide spraying trolley

Info

Publication number: CN104604832A
Application number: CN201510032888.1A
Authority: CN
Inventors: 潘大丰; 高天佑; 武兰生; 杨方; 赵慧芳; 曹孟梁
Original assignee: AGRICULTURAL SCIENCE AND TECHNOLOGY INFORMATION INSTITUTE OF SHANXI ACADEMY OF AGRICULTURAL SCIENCES
Current assignee: AGRICULTURAL SCIENCE AND TECHNOLOGY INFORMATION INSTITUTE OF SHANXI ACADEMY OF AGRICULTURAL SCIENCES
Priority date: 2015-01-22
Filing date: 2015-01-22
Publication date: 2015-05-13
Anticipated expiration: 2035-01-22
Also published as: CN104604832B

Abstract

The invention discloses a self-walking pesticide spraying trolley which aims at solving the technical problems that as for existing greenhouse pesticide spraying work, the labor intensity is high, time and labor are wasted, the pesticide spraying effect is instable, the requirement for an operator is high, and the body of the operator is injured to a certain degree when toxic pesticide is sprayed. According to the technical scheme, the self-walking pesticide spraying trolley comprises a pesticide spraying system, a trolley control cabinet and a trolley body; the trolley body comprises a handle, a trolley plate, a pesticide spraying support, a guide wheel, wheels, axle fixing frames, axles, a motor, a transmission, a clutch, a transmission fixing frame, small chain wheels, chains, a large chain wheel and a transmission shaft. The trolley control cabinet comprises a trolley controller, four button switches, two selective switches, four relays, eight diodes, a storage battery, a 48-V-to-24-V converter, a direct-current and alternating-current inverter and a remote control receiver. The self-walking pesticide spraying trolley has the advantages of being low in cost, free of watching, efficient, safe, wide in application range and high in adaptability.

Description

A kind of from walking spray medicine dolly

Technical field

The invention belongs to greenhouse spray medicine equipment technical field, be specifically related to a kind of from walking spray medicine dolly.

Background technology

Hothouse production is a kind of labor-intensive industry, the hot and humid environment in greenhouse, and frequently large intensity, work for a long time, making to be engaged in the labourer that agriculture in greenhouse produces needs to pay more work.Present stage is exist in a large number or traditional green house in China, the less investment of this green house infrastructure, but it manages a large amount of dependence people, along with the development of society and the raising of people's living standard, increasing peasant starts to manage more green house, this just needs the equipment introducing some automations in traditional green house, but some existing automation equipment front capital have high input, take effect slow, safeguard that input is many, and control mode is complicated.

Greenhouse spray medicine is the routine work that traditional chamber operation often needs to carry out, its labour intensity is high, waste time and energy, and traditional spray medicine equipment needs manually to operate constantly, the effect of spray medicine is also the experience depending on operator, especially, when some toxic medicaments are shone in spray, certain injury can be caused to the health of operator.

Summary of the invention

The object of the invention is to solve that the labour intensity that the operation of existing greenhouse spray medicine exists is high, the effect of spraying pesticide instability that wastes time and energy, to operator require high and some toxic medicaments are shone in spray time can cause the technical problem of certain injury to the health of operator, provide a kind of from walking spray medicine dolly.

For solving the problems of the technologies described above, the technical solution used in the present invention is:

A kind of from walking spray medicine dolly, it comprises spray medicine system (1), dolly control cabinet (2) and dolly (3), it is characterized in that:

Described dolly (3) comprises hand (301), sweep (302), spray medicine support (303), guiding wheel (304), wheel (305), wheel shaft holder (306), wheel shaft (307), motor (308), speed changer (309), clutch (310), drive fixed mount (311), minor sprocket (312), chain (313), Dalian wheel (314) and power transmission shaft (315), hand is located at the stiff end of (301) in the middle part of sweep (302) upper surface left end, one end of spray medicine support (303) is located at sweep (302) upper surface left side central portion, wheel (305) is located at the two ends of wheel shaft (307), wheel shaft (307) is located at the left and right sides of sweep (302) lower surface respectively by pair of axle spindles fixed mount (306) and free to rotate, power transmission shaft (315) is located at the side, middle part of sweep (302) lower surface by a pair drive fixed mount (311) and free to rotate, power transmission shaft (315) one end is stretched out drive fixed mount (311) and is connected with the clutch plate (310-8) of clutch (310), motor (308) to be located in the middle part of sweep (302) lower surface and to be connected with the power shaft of speed changer (309), the output shaft of speed changer (309) is connected with the driving disc spacing pressing (310-7) of clutch (310), power transmission shaft (315) is provided with at least 1 minor sprocket (312), at least 1 wheel shaft (307) is provided with Dalian wheel (314), minor sprocket (312) is connected by chain (313) with Dalian wheel (314), guiding wheel (304) is located at sweep (302) both sides below,

Dolly control cabinet (2) is located at the right side of sweep (302) upper surface;

Spray medicine system (1) comprises chemical spraying device (101) and chemical tank (102), chemical tank (102) is located on sweep (302), and chemical spraying device (101) is located at the other end of spray medicine support (303).

Described clutch (310) comprises handle (310-1), brace (310-2), spring (310-3), card (310-4), control lever (310-5), pusher dog (310-6), driving disc spacing pressing (310-7) and clutch plate (310-8), control lever (310-5) is located in the upper slide opening arranged of drive fixed mount (311), one end of control lever (310-5) is connected with brace (310-2), the other end of control lever (310-5) is provided with pusher dog (310-6), the U-lag of pusher dog (310-6) is sleeved on clutch plate (310-8), spring (310-3) is located at control lever (310-5) and goes up and be positioned between brace (310-2) and drive fixed mount (311), the upper end of card (310-4) by pin-hinges on drive fixed mount (311), the stiff end of handle (310-1) connects with the middle part of brace (310-2).

Described dolly control cabinet (2) comprises 1 agv controller (201), 4 press buttones (S1～S4), 2 selector switch (K1, K2), 4 relays (J1～J4), 8 diodes (D3～D10), 1 storage battery (203), a 48V-24V converter (202), 1 dc-to-ac inverter (204) and a receiver of remote-control sytem (205), one end of described first press button (S1), one end of second press button (S2), one end of 3rd press button (S3), one end of 4th press button (S4), the middle end points of the first selector switch (K1) and the middle end points of the second selector switch (K2) all 11 pin with 25 pin data-interfaces (JP2) on agv controller (201) be connected, the other end of the first press button (S1) is connected with 5 pin of 25 pin data-interfaces (JP2) on agv controller (201), the other end of the second press button (S2) is connected with 6 pin of 25 pin data-interfaces (JP2) on agv controller (201), the other end of the 3rd press button (S3) is connected with 7 pin of 25 pin data-interfaces (JP2) on agv controller (201), the other end of the 4th press button (S4) is connected with 8 pin of 25 pin data-interfaces (JP2) on agv controller (201), first end points of the first selector switch (K1) is connected with 9 pin of 25 pin data-interfaces (JP2) on agv controller (201), first end points of the second selector switch (K2) is connected with 10 pin of 25 pin data-interfaces (JP2) on agv controller (201), the positive pole of the 7th diode (D7) is connected with first output (I) of receiver of remote-control sytem (205), the negative pole of the 7th diode (D7) is connected with the other end of the first press button (S1), the positive pole of the 8th diode (D8) is connected with second output (II) of receiver of remote-control sytem (205), the negative pole of the 8th diode (D8) is connected with the other end of the second press button (S2), the positive pole of the 9th diode (D9) is connected with the 3rd output (III) of receiver of remote-control sytem (205), the negative pole of the 9th diode (D8) is connected with the other end of the 3rd press button (S3), the positive pole of the tenth diode (D10) is connected with the 4th output (IV) of receiver of remote-control sytem (205), the negative pole of the tenth diode (D10) is connected with the other end of the 4th press button (S4), 6th diode (D6) and the 4th relay (J4) are in parallel, the positive pole of the 6th diode (D6) is connected with 15 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 6th diode (D6) is connected with the positive pole of storage battery (203), one end (J4.2) of 4th relay (J4) contact is connected with the positive pole of storage battery (203), 3rd diode (D3) and the first relay (J1) are in parallel, the positive pole of the 3rd diode (D3) is connected with 12 pin of 25 pin data-interfaces (JP2) on agv controller (201),The negative pole of the 3rd diode (D3) is connected with the positive pole of storage battery (203), one end of first normally opened contact (J1-2) of the first relay (J1) is connected with the negative pole of storage battery (203), the other end of first normally opened contact (J1-2) of the first relay (J1) is connected with the second input (b) of motor (308), one end of second normally opened contact (J1-3) of the first relay (J1) is connected with the contact (J4.1) of the 4th relay (J4), the other end of second normally opened contact (J1-3) of the first relay (J1) is connected with the first input end (a) of motor (308) by the normally-closed contact (J2-1) of the second relay (J2), 4th diode (D4) and the second relay (J2) are in parallel, the positive pole of the 4th diode (D4) is connected with 13 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 4th diode (D4) is connected with the positive pole of storage battery (203), one end of first normally opened contact (J2-2) of the second relay (J2) is connected with the negative pole of storage battery (203), the other end of first normally opened contact (J2-2) of the second relay (J2) is connected with the first input end (a) of motor (308), one end of second normally opened contact (J2-3) of the second relay (J2) is connected with the contact (J4.1) of the 4th relay (J4), the other end of second normally opened contact (J2-3) of the second relay (J2) is connected with the second input (b) of motor (308) by the normally-closed contact (J1-1) of the first relay (J1), 5th diode (D5) and the 3rd relay (J3) are in parallel, the positive pole of the 5th diode (D5) is connected with 14 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 5th diode (D5) is connected with the positive pole of storage battery (203), the contact (J3.1) of the 3rd relay (J3) is connected with the contact (J4.1) of the 4th relay (J4), the contact (J3.2) of the 3rd relay (J3) is connected with the positive pole of dc-to-ac inverter (204), the negative pole of dc-to-ac inverter (204) is connected with the negative pole of storage battery (203), the positive input pole (1) of 48V-24V converter (202) is connected with the positive pole of storage battery (203), the negative input pole (2) of 48V-24V converter (202) is connected with the negative pole of storage battery (203), the positive output pole (3) of 48V-24V converter (202) is connected with 24 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative output pole (4) of 48V-24V converter (202) is connected with 25 pin of 25 pin data-interfaces (JP2) on agv controller (201), the minus earth of storage battery (203).

Described agv controller (201) comprises microcontroller circuit, serial communication circuit, speed detect circuit, amplifying circuit, 6 switching value input circuits, 4 switching value output circuits, modulation circuit, power circuit and 25 pin data-interfaces (JP2);

Described microcontroller circuit is by a crystal oscillator (X1), a microprocessor chip (IC1), a under-voltage detection chip (IC2), 6 pin data-interfaces (JP0), a light emitting diode (LED1), 13 electric capacity (C1 ~ C13) and 9 resistance (R1 ~ R9) compositions, the XCLKS of microprocessor chip (IC1), MODB, MODA and TEST pin is respectively through the first resistance (R1), second resistance (R2), 3rd resistance (R3) and the 4th resistance (R4) ground connection, the VSS1 of microprocessor chip (IC1), VSSX, VSSPLL, VSSR and VSS2 pin ground connection, the VREGEN pin of microprocessor chip (IC1) connects 5V power supply, the minus earth of the 7th electric capacity (C7), the positive pole of the 7th electric capacity (C7) connects the VDDX pin of 5V power supply and microprocessor chip (IC1), VDD1 and the VDD2 pin of microprocessor chip (IC1) is respectively through the first electric capacity (C1) and the 4th electric capacity (C4) ground connection, the minus earth of the second electric capacity (C2) and the 3rd electric capacity (C3) rear second electric capacity (C2) in parallel, the positive pole of the second electric capacity (C2) connects the VDDR pin of 5V power supply and microprocessor chip (IC1), one end ground connection after 5th electric capacity (C5) and the 6th electric capacity (C6) parallel connection, another termination 5V power supply after 5th electric capacity (C5) and the 6th electric capacity (C6) parallel connection, the VDDA pin of microprocessor chip (IC1) and VRH pin, 2 pin ground connection of 6 pin data-interfaces (JP0), 1 pin of 6 pin data-interfaces (JP0) connects the MODC pin of microprocessor chip (IC1) and connects 5V power supply through the 6th resistance (R6), 4 pin of 6 pin data-interfaces (JP0) connect the RESET pin of microprocessor chip (IC1) and connect 5V power supply through the 7th resistance (R7), 4 pin ground connection of under-voltage detection chip (IC2), 1 pin of under-voltage detection chip (IC2) connects 4 pin of 6 pin data-interfaces (JP0), one end ground connection of the 8th electric capacity (C8), 2 pin of the under-voltage detection chip of another termination (IC2) of the 8th electric capacity (C8) and 5V power supply, one end ground connection of the 9th electric capacity (C9), one end of another termination the tenth electric capacity (C10) of the 9th electric capacity (C9), one end of the 11 electric capacity (C11) and the VDDPLL pin of microprocessor chip (IC1), the other end of one termination the tenth electric capacity (C10) of the 8th resistance (R8), the other end of another termination the 11 electric capacity (C11) of the 8th resistance (R8) and the XFC pin of microprocessor chip (IC1), 9th resistance (R9) is connected with the EXTAL pin of microprocessor chip (IC1) with the one end after crystal oscillator (X1) parallel connection, 9th resistance (R9) is connected with the XTAL pin of microprocessor chip (IC1) with the other end after crystal oscillator (X1) parallel connection, one end of one termination the 12 electric capacity (C12) of crystal oscillator (X1), one end of another termination the 13 electric capacity (C13) of crystal oscillator (X1), the other end of the 12 electric capacity (C12) and the other end ground connection of the 13 electric capacity (C13), the negative pole of light emitting diode (LED1) is connected with the R/W pin of microprocessor chip (IC1), the positive pole of light emitting diode (LED1) is connected with one end of the 5th resistance (R5), another termination 5V power supply of the 5th resistance (R5),

Described serial communication circuit is by single supply electrical level transferring chip (IC4), 9 pin data-interfaces (JP1) and 5 electric capacity (C14 ~ C18) compositions, the T1IN pin of single supply electrical level transferring chip (IC4) connects the TXD0 pin of microprocessor chip (IC1), the R1OUT pin of single supply electrical level transferring chip (IC4) connects the RXD0 pin of microprocessor chip (IC1), the C1-pin of C1+ pin order power level conversion chip (IC4) after the 17 electric capacity (C17) of single supply electrical level transferring chip (IC4), the C2+ pin of single supply electrical level transferring chip (IC4) is through the C2-pin of the 18 electric capacity (C18) order power level conversion chip (IC4), the GND pin ground connection of single supply electrical level transferring chip (IC4), V-pin ground connection after the 16 electric capacity (C16) of single supply electrical level transferring chip (IC4), the T1OUT pin of single supply electrical level transferring chip (IC4) connects 2 pin of 9 pin data-interfaces (JP1), the R1IN pin of single supply electrical level transferring chip (IC4) connects 3 pin of data-interface (JP1), one end ground connection of the 15 electric capacity (C15), another termination 5V power supply of 15 electric capacity (C15), one end of 14 electric capacity (C14) and the VCC pin of single supply electrical level transferring chip (IC4), the V+ pin of other end order power level conversion chip (IC4) of the 14 electric capacity (C14), 5 pin ground connection of 9 pin data-interfaces (JP1),

Described speed detect circuit is by sensor interface chip (IC3), 7 resistance (R10 ~ R16) and 6 electric capacity (C19 ~ C24) compositions, 15 resistance (R15) and the parallel connection of the 23 electric capacity (C23), 12 resistance (R12) and the parallel connection of the 21 electric capacity (C21), the IN pin of sensor interface chip (IC3) connects one end of the 13 resistance (R13), one end of another termination the 14 resistance (R14) of 13 resistance (R13) and one end of the 22 electric capacity (C22), one end of another termination the 15 resistance (R15) of the 14 resistance (R14) and 1 pin of 25 pin data-interfaces (JP2), the other end ground connection of the 22 electric capacity (C22), the other end ground connection of the 15 resistance (R15) and 2 pin of 25 pin data-interfaces (JP2), the PDC pin of sensor interface chip (IC3) is through the 12 resistance (R12) ground connection, three NC pin of sensor interface chip (IC3) and GND pin ground connection, the OUT pin of sensor interface chip (IC3) connects one end of the 16 resistance (R16) and the PT0 pin of microprocessor chip (IC1), the other end ground connection of the 16 resistance (R16), the VCC pin of sensor interface chip (IC3) connects 5V power supply, 19 electric capacity (C19) and the parallel connection of the 24 electric capacity (C24), the positive pole of the 19 electric capacity (C19) connects 5V power supply, the minus earth of the 19 electric capacity (C19), the TAJ pin of sensor interface chip (IC3) connects 5V power supply through the tenth resistance (R10), the NC of sensor interface chip (IC3), TPIN and MS pin ground connection, one termination 5V power supply of the 11 resistance (R11), the RCT pin of another termination sensor interface chip (IC3) of the 11 resistance (R11) and one end of the 20 electric capacity (C20), the other end ground connection of the 20 electric capacity (C20),

Described amplifying circuit is by operational amplifier (OP2), 7 resistance (R17 ~ R23) and 4 electric capacity (C25 ~ C28) compositions, 28 electric capacity (C28) and the parallel connection of the 17 resistance (R17), the output of one termination second operational amplifier (OP2) of the 28 electric capacity (C28), the inverting input of another termination second operational amplifier (OP2) of the 28 electric capacity (C28), the positive supply termination 5V power supply of the second operational amplifier (OP2), the negative power end ground connection of the second operational amplifier (OP2), the output of the second operational amplifier (OP2) connects the AN6 pin of microprocessor chip (IC1) through the 18 resistance (R18), the inverting input of the second operational amplifier (OP2) connects 5V power supply through the 19 resistance (R19), inverting input ground connection after the 20 resistance (R20) of the second operational amplifier (OP2), the in-phase input end of the second operational amplifier (OP2) connects one end of the 21 resistance (R21) and one end of the 25 electric capacity (C25), one end of another termination the 22 resistance (R22) of 21 resistance (R21) and one end of the 26 electric capacity (C26), one end of another termination the 23 resistance (R23) of the 22 resistance (R22), one end of 27 electric capacity (C27) and 3 pin of 25 pin data-interfaces (JP2), the other end of the 25 electric capacity (C25), the other end of the 26 electric capacity (C26) and the other end of the 27 electric capacity (C27) are all connected with 4 pin of 25 pin data-interfaces (JP2) and ground wire,

Described switching value input circuit has six, each switching value input circuit is by 2 electric capacity (C29, C30), 2 resistance (R24, R25) and 1 Zener diode (ZD1) composition, 30 electric capacity (C30) and the parallel connection of the 25 resistance (R25), one end ground connection of the 25 resistance (R25), a pin of another termination 25 pin data-interface (JP2) of the 25 resistance (R25), one end of 29 electric capacity (C29) and one end of the 24 resistance (R24), the other end body contact body of the 29 electric capacity (C29), be connected with the A/D pin of microprocessor chip (IC1) again after the other end of the 24 resistance (R24) is connected with the negative pole of the first Zener diode (ZD1), the plus earth of the first Zener diode (ZD1), the other end of six the 25 resistance (R25) in described 6 switching value input circuits connects 5,6,7,8,9 and 10 pin of 25 pin data-interfaces (JP2) respectively, and the other end of six the 24 resistance (R24) in 6 switching value input circuits is connected with A0/D0, A1/D1, A2/D2, A3/D3, A4/D4 and A5/D5 pin of microprocessor chip (IC1) respectively,

11 pin of described 25 pin data-interfaces (JP2) meet power supply VB;

Described switching value output circuit has four, each switching value output circuit is by 1 FET (FET1), 1 photoelectrical coupler (N1), 1 electric capacity (C31) and 3 resistance (R26 ~ R28) compositions, the drain electrode of the first FET (FET1) connects 1 pin of 25 pin data-interfaces (JP2) and one end of the 31 electric capacity (C31), the grid of the first FET (FET1) connects the colelctor electrode of the first photoelectrical coupler (N1), one end of 26 resistance (R26) is connected with the colelctor electrode of the first photoelectrical coupler (N1) with one end of the 27 resistance (R27), the other end of the 31 electric capacity (C31), the other end of the 26 resistance (R26), the source electrode of the first FET (FET1) and the equal ground connection of emitter stage of the first photoelectrical coupler (N1), another termination 12V power supply of 27 resistance (R27), the anode of the first photoelectrical coupler (N1) connects 5V power supply through the 28 resistance (R28), the negative electrode of the first photoelectrical coupler (N1) connects the PM pin of microprocessor chip (IC1), the drain electrode of four the first FETs (FET1) in described 4 switching value output circuits is connected with 12,13,14 and 15 pin of 25 pin data-interfaces (JP2) respectively, and the negative electrode of four the first photoelectrical couplers (N1) in 4 switching value output circuits is connected with PM0, PM1, PM2 and PM3 pin of microprocessor chip (IC1) respectively,

Described modulation circuit comprises 1 modulation input circuit, 4 modification output circuits and 1 feedback circuit;

Modulation input circuit is by 1 photoelectrical coupler (N2), 1 Zener diode (ZD2), 1 FET (FET2) and 3 resistance (R29 ~ R31) compositions, the anode of the second photoelectrical coupler (N2) connects 5V power supply through the 29 resistance (R29), the negative electrode of the second photoelectrical coupler (N2) connects the PWM7 pin of microprocessor chip (IC1), the colelctor electrode of the second photoelectrical coupler (N2) connects one end of the 30 resistance (R30) and one end of the 31 resistance (R31), the positive pole of another termination second Zener diode (ZD2) of the 31 resistance (R31) and the grid of the second FET (FET2), the other end of the 30 resistance (R30), the negative pole of the second Zener diode (ZD2) and the source electrode of the second FET (FET2) all connect 12V power supply, the drain electrode of the second FET (FET2) connects 16 of 25 pin data-interfaces (JP2), 18, 20 and 22 pin,

Described modification output circuit has four, each modification output circuit is by 1 photoelectrical coupler (N3), 1 FET (FET3) and 3 resistance (R32 ~ R34) compositions, the drain electrode of the 3rd FET (FET3) connects 1 pin of 25 pin data-interfaces (JP2), the grid of the 3rd FET (FET3) connects the colelctor electrode of the 3rd photoelectrical coupler (N3) and one end of the 34 resistance (R34), the colelctor electrode of the 3rd photoelectrical coupler (N3) connects 12V power supply through the 33 resistance (R33), the grounded emitter of the 3rd photoelectrical coupler (N3), the anode of the 3rd photoelectrical coupler (N3) connects 5V power supply through the 32 resistance (R32), the negative electrode of the 3rd photoelectrical coupler (N3) connects the PWM pin of microprocessor chip (IC1), the other end of the 34 resistance (R34) and the source electrode of the 3rd FET (FET3) connect the G end of the 41 resistance (R41), the drain electrode of four the 3rd FET FET3 in described four modification output circuits is connected with 17,19,21 and 23 pin of 25 pin data-interface JP2 respectively, the negative electrode of four the 3rd photoelectrical coupler N3 in described four modification output circuits is connected with PWM1, PWM2, PWM3 and PWM4 pin of microprocessor chip IC1 respectively,

Feedback circuit is by 1 operational amplifier (PO1), 7 resistance (R35 ~ R41) and 4 electric capacity (C32 ~ C35) compositions, the G end of one termination the 41 resistance (R41) of the 37 resistance (R37), the other end ground connection of the 41 resistance (R41), the in-phase input end of another termination first operational amplifier (PO1) of the 37 resistance (R37), one end of 35 resistance (R35) and one end of the 33 electric capacity (C33), the other end of the 35 resistance (R35), one end of 36 resistance (R36), the positive power source terminal of the first operational amplifier (PO1) and a termination 5V power supply of the 32 electric capacity (C32), one end of another termination the 38 resistance (R38) of the 36 resistance (R36), one end of 34 electric capacity (C34) and the inverting input of the first operational amplifier (PO1), the other end of the 32 electric capacity (C32), the other end of the 33 electric capacity (C33), the other end of the 34 electric capacity (C34), the other end of the 38 resistance (R38) and the equal ground connection of negative power end of the first operational amplifier (PO1), the inverting input of termination first operational amplifier (PO1) after the 35 electric capacity (C35) and the 39 resistance (R39) parallel connection, the output of another termination first operational amplifier (PO1) after the 35 electric capacity (C35) and the 39 resistance (R39) parallel connection, the output of the first operational amplifier (PO1) connects the AN7 pin of microprocessor chip (IC1) through the 40 resistance (R40),

Described power circuit is made up of 9 electric capacity (C36 ~ C44), 1 switching power supply regulator (U1), 1 Xiao Jite diode (SBD), 2 diodes (D1, D2) and 2 inductance (L1, L2), the positive pole of the 36 electric capacity (C36) and the 37 electric capacity (C37) rear 37 electric capacity (C37) in parallel connects the minus earth of one end of 5V power supply and the second inductance (L2), the 36 electric capacity (C36) and the 37 electric capacity (C37) rear 37 electric capacity (C37) in parallel, another termination 5V power supply of second inductance (L2), after 38 electric capacity (C38), the 39 electric capacity (C39) and the 40 electric capacity (C40) are in parallel, the positive pole of the 40 electric capacity (C40) connects one end of 5V power supply and the first inductance (L1), the minus earth of the 40 electric capacity (C40) after the 38 electric capacity (C38), the 39 electric capacity (C39) and the 40 electric capacity (C40) are in parallel, the OUTPUT pin of another termination switching power supply regulator (U1) of the first inductance (L1), the FB pin of switching power supply regulator (U1) connects 5V power supply, the negative pole of Xiao Jite diode (SBD) connects the OUTPUT pin of switching power supply regulator (U1), the plus earth of Xiao Jite diode (SBD), the positive pole of the 41 electric capacity (C41) and the 42 electric capacity (C42) rear 42 electric capacity (C42) in parallel connects 12V power supply, + VIN the pin of switching power supply regulator (U1), the negative pole of the first diode (D1) and the negative pole of the second diode (D2), the minus earth of the 41 electric capacity (C41) and the 42 electric capacity (C42) rear 42 electric capacity (C42) in parallel, the positive pole of the first diode (D1) meets power supply VB, one end of 43 electric capacity (C43) and 24 pin of 25 pin data-interfaces (JP2), the other end of the 43 electric capacity (C43) picks one end of shell and the 44 electric capacity (C44), the GND pin of switching power supply regulator (U1), the equal ground connection of positive pole of ON/OFF pin and the second diode (D2), the other end ground connection of the 44 electric capacity (C44) and 25 pin of 25 pin data-interfaces (JP2).

Owing to present invention employs technique scheme, solve that the labour intensity that the spray medicine operation of existing greenhouse exists is high, the effect of spraying pesticide instability that wastes time and energy, operator is required high, and the technical problem of certain injury during some toxic medicaments of spray solarization, can be caused to the health of operator, compared with background technology, the present invention have with low cost, without the need on duty, highly effective and safe, be widely used, adaptable advantage.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the upward view of Fig. 1;

Fig. 4 is the structural representation of dolly control cabinet of the present invention;

Fig. 5 is the microcontroller circuit circuit diagram of agv controller of the present invention;

Fig. 6 is the serial communication circuit circuit diagram of agv controller of the present invention;

Fig. 7 is the speed detect circuit circuit diagram of agv controller of the present invention;

Fig. 8 is the amplifying circuit circuit diagram of agv controller of the present invention;

Fig. 9 is the switching value input circuit circuit diagram of agv controller of the present invention;

Figure 10 is 25 pin data-interface schematic diagrames of agv controller of the present invention;

Figure 11 is the switching value output circuit circuit diagram of agv controller of the present invention;

Figure 12 is the modulation input circuit circuit diagram of the modulation circuit of agv controller of the present invention;

Figure 13 is the modification output circuit circuit diagram of the modulation circuit of agv controller of the present invention;

Figure 14 is the feedback circuit circuit diagram of the modulation circuit of agv controller of the present invention;

Figure 15 is the power circuit circuit diagram of agv controller of the present invention;

In figure: 1---spray medicine system, 2---dolly control cabinet, 3---dolly, 4---travel switch, 101---chemical spraying device 102---chemical tank, 201---agv controller, 202---48V-24V converter, 203---storage battery, 204---dc-to-ac inverter, 205---receiver of remote-control sytem, 301---hand handle, 302---sweep, 303---spray medicine support, 304---guiding wheel, 305---wheel, 306---wheel shaft holder, 307---wheel shaft, 308---motor, 309---speed changer, 310---clutch, 311---drive fixed mount, 312---minor sprocket, 313---chain, 314---Dalian is taken turns, 315---power transmission shaft, 310-1---handle, 310-2---brace, 310-3---spring, 310-4---card, 310-5---control lever, 310-6---pusher dog, 310-7---driving disc spacing pressing, 310-8---clutch plate.

Embodiment

Below in conjunction with drawings and Examples, the present invention is elaborated:

As shown in FIG. 1 to 3, the one in the present embodiment is from walking spray medicine dolly, and it comprises spray medicine system 1, dolly control cabinet 2 and dolly 3, wherein:

Described dolly 3 comprises hand 301, sweep 302, spray medicine support 303, guiding wheel 304, wheel 305, wheel shaft holder 306, wheel shaft 307, motor 308, speed changer 309, clutch 310, drive fixed mount 311, minor sprocket 312, chain 313, Dalian wheel 314 and power transmission shaft 315, hand is located at the stiff end of 301 in the middle part of sweep 302 upper surface left end, one end of spray medicine support 303 is located at sweep 302 upper surface left side central portion, wheel 305 is located at the two ends of wheel shaft 307, wheel shaft 307 is located at the left and right sides of sweep 302 lower surface respectively by pair of axle spindles fixed mount 306 and free to rotate, power transmission shaft 315 is located at the side, middle part of sweep 302 lower surface by a pair drive fixed mount 311 and free to rotate, power transmission shaft 315 one end is stretched out drive fixed mount 311 and is connected with the clutch plate 310-8 of clutch 310, motor 308 to be located in the middle part of sweep 302 lower surface and to be connected with the power shaft of speed changer 309, the output shaft of speed changer 309 is connected with the driving disc spacing pressing 310-7 of clutch 310, power transmission shaft 315 is provided with at least 1 minor sprocket 312, at least 1 wheel shaft 307 is provided with Dalian wheel 314, minor sprocket 312 is connected by chain 313 with Dalian wheel 314, guiding wheel 304 is located at sweep 302 both sides below,

Dolly control cabinet 2 is located at the right side of sweep 302 upper surface;

Spray medicine system 1 comprises chemical spraying device 101 and chemical tank 102, and chemical tank 102 is located on sweep 302, and chemical spraying device 101 is located at the other end of spray medicine support 303.

Described clutch 310 comprises handle 310-1, brace 310-2, spring 310-3, card 310-4, control lever 310-5, pusher dog 310-6, driving disc spacing pressing 310-7 and clutch plate 310-8, control lever 310-5 is located in the slide opening of setting on drive fixed mount 311, one end of control lever 310-5 is connected with brace 310-2, the other end of control lever 310-5 is provided with pusher dog 310-6, the U-lag of pusher dog 310-6 is sleeved on clutch plate 310-8, spring 310-3 to be located on control lever 310-5 and between brace 310-2 and drive fixed mount 311, the upper end of card 310-4 by pin-hinges on drive fixed mount 311, the stiff end of handle 310-1 connects with the middle part of brace 310-2.

Described also comprises travel switch 4 from walking spray medicine dolly, and described travel switch 4 is located at the centre that sweep 302 lower surface is provided with guiding wheel 304 side, and travel switch 4 and dolly control cabinet 2 are electrically connected.Described also comprises dolly Digiplex from walking spray medicine dolly.

As shown in Figure 4, described dolly control cabinet 2 comprises 1 agv controller 201, 4 press button S1 ~ S4, 2 selector switch K1, K2, 4 relay J 1 ~ J4, 8 diode D3 ~ D10, 1 storage battery 203, a 48V-24V converter 202, 1 dc-to-ac inverter 204 and a receiver of remote-control sytem 205, one end of described first press button S1, one end of second press button S2, one end of 3rd press button S3, one end of 4th press button S4, the middle end points of the first selector switch K1 and the middle end points of the second selector switch K2 are all connected with 11 pin of 25 pin data-interface JP2 on agv controller 201, the other end of the first press button S1 is connected with 5 pin of 25 pin data-interface JP2 on agv controller 201, the other end of the second press button S2 is connected with 6 pin of 25 pin data-interface JP2 on agv controller 201, the other end of the 3rd press button S3 is connected with 7 pin of 25 pin data-interface JP2 on agv controller 201, the other end of the 4th press button S4 is connected with 8 pin of 25 pin data-interface JP2 on agv controller 201, first end points of the first selector switch K1 is connected with 9 pin of 25 pin data-interface JP2 on agv controller 201, first end points of the second selector switch K2 is connected with 10 pin of 25 pin data-interface JP2 on agv controller 201, the positive pole of the 7th diode D7 is connected with the first output I of receiver of remote-control sytem 205, the negative pole of the 7th diode D7 is connected with the other end of the first press button S1, the positive pole of the 8th diode D8 is connected with the second output II of receiver of remote-control sytem 205, the negative pole of the 8th diode D8 is connected with the other end of the second press button S2, the positive pole of the 9th diode D9 is connected with the 3rd output III of receiver of remote-control sytem 205, the negative pole of the 9th diode D8 is connected with the other end of the 3rd press button S3, the positive pole of the tenth diode D10 is connected with the 4th output IV of receiver of remote-control sytem 205, the negative pole of the tenth diode D10 is connected with the other end of the 4th press button S4, 6th diode D6 and the parallel connection of the 4th relay J 4, the positive pole of the 6th diode D6 is connected with 15 pin of 25 pin data-interface JP2 on agv controller 201, the negative pole of the 6th diode D6 is connected with the positive pole of storage battery 203, one end J4.2 of the 4th relay J 4 contact is connected with the positive pole of storage battery 203, 3rd diode D3 and the parallel connection of the first relay J 1, the positive pole of the 3rd diode D3 is connected with 12 pin of 25 pin data-interface JP2 on agv controller 201, the negative pole of the 3rd diode D3 is connected with the positive pole of storage battery 203, one end of first normally opened contact J1-2 of the first relay J 1 is connected with the negative pole of storage battery 203, the other end of the first normally opened contact J1-2 of the first relay J 1 is connected with the second input b of motor 308, one end of second normally opened contact J1-3 of the first relay J 1 is connected with the contact J4.1 of the 4th relay J 4, the other end of the second normally opened contact J1-3 of the first relay J 1 is connected with the first input end a of motor 308 by the normally-closed contact J2-1 of the second relay J 2, 4th diode D4 and the parallel connection of the second relay J 2, the positive pole of the 4th diode D4 is connected with 13 pin of 25 pin data-interface JP2 on agv controller 201, the negative pole of the 4th diode D4 is connected with the positive pole of storage battery 203, one end of first normally opened contact J2-2 of the second relay J 2 is connected with the negative pole of storage battery 203, the other end of the first normally opened contact J2-2 of the second relay J 2 is connected with the first input end a of motor 308, one end of second normally opened contact J2-3 of the second relay J 2 is connected with the contact J4.1 of the 4th relay J 4, the other end of the second normally opened contact J2-3 of the second relay J 2 is connected with the second input b of motor 308 by the normally-closed contact J1-1 of the first relay J 1, 5th diode D5 and the parallel connection of the 3rd relay J 3, the positive pole of the 5th diode D5 is connected with 14 pin of 25 pin data-interface JP2 on agv controller 201, the negative pole of the 5th diode D5 is connected with the positive pole of storage battery 203, the contact J3.1 of the 3rd relay J 3 is connected with the contact J4.1 of the 4th relay J 4, the contact J3.2 of the 3rd relay J 3 is connected with the positive pole of dc-to-ac inverter 204, the negative pole of dc-to-ac inverter 204 is connected with the negative pole of storage battery 203, output and the chemical spraying device 101 of dc-to-ac inverter 204 are electrically connected, the positive input pole 1 of 48V-24V converter 202 is connected with the positive pole of storage battery 203, the negative input pole 2 of 48V-24V converter 202 is connected with the negative pole of storage battery 203, the positive output pole 3 of 48V-24V converter 202 is connected with 24 pin of 25 pin data-interface JP2 on agv controller 201, the negative output pole 4 of 48V-24V converter 202 is connected with 25 pin of 25 pin data-interface JP2 on agv controller 201, the minus earth of storage battery 203.

Described agv controller 201 comprises microcontroller circuit, serial communication circuit, speed detect circuit, amplifying circuit, 6 switching value input circuits, 4 switching value output circuits, modulation circuit, power circuit and 25 pin data-interface JP2;

As shown in Figure 5, described microcontroller circuit is by a crystal oscillator X1, microprocessor chip (MC9S12DG128-80) IC1, under-voltage detection chip (MC33064P-5R2) IC2, 6 pin data-interface JP0, a LED 1, 13 electric capacity C1 ~ C13 and 9 resistance R1 ~ R9 form, the XCLKS of microprocessor chip IC1, MODB, MODA and TEST pin is respectively through the first resistance R1, second resistance R2, 3rd resistance R3 and the 4th resistance R4 ground connection, the VSS1 of microprocessor chip IC1, VSSX, VSSPLL, VSSR and VSS2 pin ground connection, the VREGEN pin of microprocessor chip IC1 connects 5V power supply, the minus earth of the 7th electric capacity C7, the positive pole of the 7th electric capacity C7 connects the VDDX pin of 5V power supply and microprocessor chip IC1, VDD1 and the VDD2 pin of microprocessor chip IC1 is respectively through the first electric capacity C1 and the 4th electric capacity C4 ground connection, the minus earth of the second electric capacity C2 after second electric capacity C2 and the 3rd electric capacity C3 parallel connection, the positive pole of the second electric capacity C2 connects the VDDR pin of 5V power supply and microprocessor chip IC1, one end ground connection after 5th electric capacity C5 and the 6th electric capacity C6 parallel connection, another termination 5V power supply after 5th electric capacity C5 and the 6th electric capacity C6 parallel connection, the VDDA pin of microprocessor chip IC1 and VRH pin, the 2 pin ground connection of 6 pin data-interface JP0, 1 pin of 6 pin data-interface JP0 connects the MODC pin of microprocessor chip IC1 and connects 5V power supply through the 6th resistance R6, 4 pin of 6 pin data-interface JP0 connect the RESET pin of microprocessor chip IC1 and connect 5V power supply through the 7th resistance R7, the 4 pin ground connection of under-voltage detection chip IC2, 1 pin of under-voltage detection chip IC2 connects 4 pin of 6 pin data-interface JP0, one end ground connection of the 8th electric capacity C8, 2 pin of the under-voltage detection chip IC2 of another termination of the 8th electric capacity C8 and 5V power supply, one end ground connection of the 9th electric capacity C9, one end of another termination the tenth electric capacity C10 of the 9th electric capacity C9, one end of the 11 electric capacity C11 and the VDDPLL pin of microprocessor chip IC1, the other end of one termination the tenth electric capacity C10 of the 8th resistance R8, the other end of another termination the 11 electric capacity C11 of the 8th resistance R8 and the XFC pin of microprocessor chip IC1, 9th resistance R9 is connected with the EXTAL pin of microprocessor chip IC1 with the one end after crystal oscillator X1 parallel connection, 9th resistance R9 is connected with the XTAL pin of microprocessor chip IC1 with the other end after crystal oscillator X1 parallel connection, one end of one termination the 12 electric capacity C12 of crystal oscillator X1, one end of another termination the 13 electric capacity C13 of crystal oscillator X1, the other end of the 12 electric capacity C12 and the other end ground connection of the 13 electric capacity C13, the negative pole of LED 1 is connected with the R/W pin of microprocessor chip IC1, and the positive pole of LED 1 is connected with one end of the 5th resistance R5, another termination 5V power supply of the 5th resistance R5,

As shown in Figure 6, described serial communication circuit is by single supply electrical level transferring chip (MAX232) IC4, 9 pin data-interface JP1 and 5 electric capacity C14 ~ C18 forms, the T1IN pin of single supply electrical level transferring chip IC4 connects the TXD0 pin of microprocessor chip IC1, the R1OUT pin of single supply electrical level transferring chip IC4 connects the RXD0 pin of microprocessor chip IC1, the C1-pin of C1+ pin order power level conversion chip IC4 after the 17 electric capacity C17 of single supply electrical level transferring chip IC4, the C2+ pin of single supply electrical level transferring chip IC4 is through the C2-pin of the 18 electric capacity C18 order power level conversion chip IC4, the GND pin ground connection of single supply electrical level transferring chip IC4, V-pin ground connection after the 16 electric capacity C16 of single supply electrical level transferring chip IC4, the T1OUT pin of single supply electrical level transferring chip IC4 connects 2 pin of 9 pin data-interface JP1, the R1IN pin of single supply electrical level transferring chip IC4 connects 3 pin of data-interface JP1, one end ground connection of the 15 electric capacity C15, another termination 5V power supply of 15 electric capacity C15, one end of 14 electric capacity C14 and the VCC pin of single supply electrical level transferring chip IC4, the V+ pin of the other end order power level conversion chip IC4 of the 14 electric capacity C14, the 5 pin ground connection of 9 pin data-interface JP1,

As shown in Figure 7, described speed detect circuit is by sensor interface chip (LM1815M) IC3, 7 resistance R10 ~ R16 and 6 electric capacity C19 ~ C24 form, 15 resistance R15 and the 23 electric capacity C23 is in parallel, 12 resistance R12 and the 21 electric capacity C21 is in parallel, the IN pin of sensor interface chip IC 3 connects one end of the 13 resistance R13, one end of another termination the 14 resistance R14 of 13 resistance R13 and one end of the 22 electric capacity C22, one end of another termination the 15 resistance R15 of 14 resistance R14 and 1 pin of 25 pin data-interface JP2, the other end ground connection of the 22 electric capacity C22, the other end ground connection of the 15 resistance R15 and 2 pin of 25 pin data-interface JP2, the PDC pin of sensor interface chip IC 3 is through the 12 resistance R12 ground connection, three NC pin of sensor interface chip IC 3 and GND pin ground connection, the OUT pin of sensor interface chip IC 3 connects one end of the 16 resistance R16 and the PT0 pin of microprocessor chip IC1, the other end ground connection of the 16 resistance R16, the VCC pin of sensor interface chip IC 3 connects 5V power supply, 19 electric capacity C19 and the 24 electric capacity C24 is in parallel, the positive pole of the 19 electric capacity C19 connects 5V power supply, the minus earth of the 19 electric capacity C19, the TAJ pin of sensor interface chip IC 3 connects 5V power supply through the tenth resistance R10, the NC of sensor interface chip IC 3, TPIN and MS pin ground connection, the one termination 5V power supply of the 11 resistance R11, the RCT pin of another termination sensor interface chip IC 3 of the 11 resistance R11 and one end of the 20 electric capacity C20, the other end ground connection of the 20 electric capacity C20,

As shown in Figure 8, described amplifying circuit is by operational amplifier (LM6132) OP2, 7 resistance R17 ~ R23 and 4 electric capacity C25 ~ C28 form, 28 electric capacity C28 and the 17 resistance R17 is in parallel, the output of the one termination second operational amplifier OP2 of the 28 electric capacity C28, the inverting input of another termination second operational amplifier OP2 of the 28 electric capacity C28, the positive supply termination 5V power supply of the second operational amplifier OP2, the negative power end ground connection of the second operational amplifier OP2, the output of the second operational amplifier OP2 connects the AN6 pin of microprocessor chip IC1 through the 18 resistance R18, the inverting input of the second operational amplifier OP2 connects 5V power supply through the 19 resistance R19, inverting input ground connection after the 20 resistance R20 of the second operational amplifier OP2, the in-phase input end of the second operational amplifier OP2 connects one end of the 21 resistance R21 and one end of the 25 electric capacity C25, one end of another termination the 22 resistance R22 of 21 resistance R21 and one end of the 26 electric capacity C26, one end of another termination the 23 resistance R23 of the 22 resistance R22, one end of 27 electric capacity C27 and 3 pin of 25 pin data-interface JP2, the other end of the 25 electric capacity C25, the other end of the 26 electric capacity C26 and the other end of the 27 electric capacity C27 all with 4 pin and ground wire of 25 pin data-interface JP2 are connected,

As shown in Figure 9, described switching value input circuit has six, each switching value input circuit is by 2 electric capacity C29, C30, 2 resistance R24, R25 and 1 Zener diode ZD1 forms, 30 electric capacity C30 and the 25 resistance R25 is in parallel, one end ground connection of the 25 resistance R25, a pin of another termination 25 pin data-interface JP2 of the 25 resistance R25, one end of 29 electric capacity C29 and one end of the 24 resistance R24, the other end body contact body of the 29 electric capacity C29, be connected with the A/D pin of microprocessor chip IC1 again after the other end of the 24 resistance R24 is connected with the negative pole of the first Zener diode ZD1, the plus earth of the first Zener diode ZD1, the other end of six the 25 resistance R25 in described 6 switching value input circuits connects 5,6,7,8,9 and 10 pin of 25 pin data-interface JP2 respectively, and the other end of six the 24 resistance R24 in 6 switching value input circuits is connected with A0/D0, A1/D1, A2/D2, A3/D3, A4/D4 and A5/D5 pin of microprocessor chip IC1 respectively,

As shown in Figure 10,11 pin of described 25 pin data-interface JP2 meet power supply VB;

As shown in figure 11, described switching value output circuit has four, each switching value output circuit is by 1 FET (NTD18N06L) FET1, 1 photoelectrical coupler (TLP521-4) N1, 1 electric capacity C31 and 3 resistance R26 ~ R28 forms, the drain electrode of the first FET FET1 connects 1 pin of 25 pin data-interface JP2 and one end of the 31 electric capacity C31, the grid of the first FET FET1 connects the colelctor electrode of the first photoelectrical coupler N1, one end of 26 resistance R26 is connected with the colelctor electrode of the first photoelectrical coupler N1 with one end of the 27 resistance R27, the other end of the 31 electric capacity C31, the other end of the 26 resistance R26, the source electrode of the first FET FET1 and the equal ground connection of emitter stage of the first photoelectrical coupler N1, another termination 12V power supply of 27 resistance R27, the anode of the first photoelectrical coupler N1 connects 5V power supply through the 28 resistance R28, the negative electrode of the first photoelectrical coupler N1 connects the PM pin of microprocessor chip IC1, the drain electrode of four the first FET FET1 in described 4 switching value output circuits is connected with 12,13,14 and 15 pin of 25 pin data-interface JP2 respectively, and the negative electrode of four the first photoelectrical coupler N1 in 4 switching value output circuits is connected with PM0, PM1, PM2 and PM3 pin of microprocessor chip IC1 respectively,

As shown in figure 12, modulation input circuit is by 1 photoelectrical coupler (TLP521-4) N2, 1 Zener diode ZD2, 1 FET (NTD25P03L) FET2 and 3 resistance R29 ~ R31 forms, the anode of the second photoelectrical coupler N2 connects 5V power supply through the 29 resistance R29, the negative electrode of the second photoelectrical coupler N2 connects the PWM7 pin of microprocessor chip IC1, the colelctor electrode of the second photoelectrical coupler N2 connects one end of the 30 resistance R30 and one end of the 31 resistance R31, the positive pole of another termination second Zener diode ZD2 of the 31 resistance R31 and the grid of the second FET FET2, the other end of the 30 resistance R30, the negative pole of the second Zener diode ZD2 and the source electrode of the second FET FET2 all connect 12V power supply, the drain electrode of the second FET FET2 connects 16 of 25 pin data-interface JP2, 18, 20 and 22 pin,

As shown in figure 13, described modification output circuit has four, each modification output circuit is by 1 photoelectrical coupler (TLP521-4) N3, 1 FET (NTD18N06L) FET3 and 3 resistance R32 ~ R34 forms, the drain electrode of the 3rd FET FET3 connects 1 pin of 25 pin data-interface JP2, the grid of the 3rd FET FET3 connects the colelctor electrode of the 3rd photoelectrical coupler N3 and one end of the 34 resistance R34, the colelctor electrode of the 3rd photoelectrical coupler N3 connects 12V power supply through the 33 resistance R33, the grounded emitter of the 3rd photoelectrical coupler N3, the anode of the 3rd photoelectrical coupler N3 connects 5V power supply through the 32 resistance R32, the negative electrode of the 3rd photoelectrical coupler N3 connects the PWM pin of microprocessor chip IC1, the other end of the 34 resistance R34 and the source electrode of the 3rd FET FET3 connect the G end of the 41 resistance R41, the drain electrode of four the 3rd FET FET3 in described four modification output circuits is connected with 17,19,21 and 23 pin of 25 pin data-interface JP2 respectively, the negative electrode of four the 3rd photoelectrical coupler N3 in described four modification output circuits is connected with PWM1, PWM2, PWM3 and PWM4 pin of microprocessor chip IC1 respectively,

As shown in figure 14, feedback circuit is by 1 operational amplifier (LM6132) PO1, 7 resistance R35 ~ R41 and 4 electric capacity C32 ~ C35 form, the G end of one termination the 41 resistance R41 of the 37 resistance R37, the other end ground connection of the 41 resistance R41, the in-phase input end of another termination first operational amplifier PO1 of the 37 resistance R37, one end of 35 resistance R35 and one end of the 33 electric capacity C33, the other end of the 35 resistance R35, one end of 36 resistance R36, the positive power source terminal of the first operational amplifier PO1 and a termination 5V power supply of the 32 electric capacity C32, one end of another termination the 38 resistance R38 of the 36 resistance R36, one end of 34 electric capacity C34 and the inverting input of the first operational amplifier PO1, the other end of the 32 electric capacity C32, the other end of the 33 electric capacity C33, the other end of the 34 electric capacity C34, the other end of the 38 resistance R38 and the equal ground connection of negative power end of the first operational amplifier PO1, the inverting input of the termination first operational amplifier PO1 after the 35 electric capacity C35 and the 39 resistance R39 parallel connection, the output of another termination first operational amplifier PO1 after the 35 electric capacity C35 and the 39 resistance R39 parallel connection, the output of the first operational amplifier PO1 connects the AN7 pin of microprocessor chip IC1 through the 40 resistance R40,

As shown in figure 15, described power circuit is made up of 9 electric capacity C36 ~ C44,1 switching power supply regulator (LM2576S-5) U1,1 Xiao Jite diode SBD, 2 diodes D1, D2 and 2 inductance L 1, L2, after 36 electric capacity C36 and the 37 electric capacity C37 parallel connection, the positive pole of the 37 electric capacity C37 connects one end of 5V power supply and the second inductance L 2, the minus earth of the 37 electric capacity C37 after the 36 electric capacity C36 and the 37 electric capacity C37 parallel connection, another termination 5V power supply of second inductance L 2, after 38 electric capacity C38, the 39 electric capacity C39 and the 40 electric capacity C40 parallel connection, the positive pole of the 40 electric capacity C40 connects one end of 5V power supply and the first inductance L 1, the minus earth of the 40 electric capacity C40 after the 38 electric capacity C38, the 39 electric capacity C39 and the 40 electric capacity C40 parallel connection, the OUTPUT pin of another termination switching power supply regulator U1 of the first inductance L 1, the FB pin of switching power supply regulator U1 connects 5V power supply, and the negative pole of Xiao Jite diode SBD connects the OUTPUT pin of switching power supply regulator U1, the plus earth of Xiao Jite diode SBD, after 41 electric capacity C41 and the 42 electric capacity C42 parallel connection, the positive pole of the 42 electric capacity C42 connects 12V power supply, + VIN the pin of switching power supply regulator U1, the negative pole of the first diode D1 and the negative pole of the second diode D2, the minus earth of the 42 electric capacity C42 after 41 electric capacity C41 and the 42 electric capacity C42 parallel connection, the positive pole of the first diode D1 meets power supply VB, one end of 43 electric capacity C43 and 24 pin of 25 pin data-interface JP2, the other end of the 43 electric capacity C43 picks one end of shell and the 44 electric capacity C44, the GND pin of switching power supply regulator U1, the equal ground connection of positive pole of ON/OFF pin and the second diode D2, the other end ground connection of the 44 electric capacity C44 and 25 pin of 25 pin data-interface JP2.

Claims

1., from a walking spray medicine dolly, it comprises spray medicine system (1), dolly control cabinet (2) and dolly (3), it is characterized in that:

2. according to claim 1 from walking spray medicine dolly, it is characterized in that: described clutch (310) comprises handle (310-1), brace (310-2), spring (310-3), card (310-4), control lever (310-5), pusher dog (310-6), driving disc spacing pressing (310-7) and clutch plate (310-8), control lever (310-5) is located in the upper slide opening arranged of drive fixed mount (311), one end of control lever (310-5) is connected with brace (310-2), the other end of control lever (310-5) is provided with pusher dog (310-6), the U-lag of pusher dog (310-6) is sleeved on clutch plate (310-8), spring (310-3) is located at control lever (310-5) and goes up and be positioned between brace (310-2) and drive fixed mount (311), the upper end of card (310-4) by pin-hinges on drive fixed mount (311), the stiff end of handle (310-1) connects with the middle part of brace (310-2).

3. according to claim 1 from walking spray medicine dolly, it is characterized in that: described dolly control cabinet (2) comprises 1 agv controller (201), 4 press buttones (S1～S4), 2 selector switch (K1, K2), 4 relays (J1～J4), 8 diodes (D3～D10), 1 storage battery (203), a 48V-24V converter (202), 1 dc-to-ac inverter (204) and a receiver of remote-control sytem (205), one end of described first press button (S1), one end of second press button (S2), one end of 3rd press button (S3), one end of 4th press button (S4), the middle end points of the first selector switch (K1) and the middle end points of the second selector switch (K2) all 11 pin with 25 pin data-interfaces (JP2) on agv controller (201) be connected, the other end of the first press button (S1) is connected with 5 pin of 25 pin data-interfaces (JP2) on agv controller (201), the other end of the second press button (S2) is connected with 6 pin of 25 pin data-interfaces (JP2) on agv controller (201), the other end of the 3rd press button (S3) is connected with 7 pin of 25 pin data-interfaces (JP2) on agv controller (201), the other end of the 4th press button (S4) is connected with 8 pin of 25 pin data-interfaces (JP2) on agv controller (201), first end points of the first selector switch (K1) is connected with 9 pin of 25 pin data-interfaces (JP2) on agv controller (201), first end points of the second selector switch (K2) is connected with 10 pin of 25 pin data-interfaces (JP2) on agv controller (201), the positive pole of the 7th diode (D7) is connected with first output (I) of receiver of remote-control sytem (205), the negative pole of the 7th diode (D7) is connected with the other end of the first press button (S1), the positive pole of the 8th diode (D8) is connected with second output (II) of receiver of remote-control sytem (205), the negative pole of the 8th diode (D8) is connected with the other end of the second press button (S2), the positive pole of the 9th diode (D9) is connected with the 3rd output (III) of receiver of remote-control sytem (205), the negative pole of the 9th diode (D8) is connected with the other end of the 3rd press button (S3), the positive pole of the tenth diode (D10) is connected with the 4th output (IV) of receiver of remote-control sytem (205), the negative pole of the tenth diode (D10) is connected with the other end of the 4th press button (S4), 6th diode (D6) and the 4th relay (J4) are in parallel, the positive pole of the 6th diode (D6) is connected with 15 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 6th diode (D6) is connected with the positive pole of storage battery (203), one end (J4.2) of 4th relay (J4) contact is connected with the positive pole of storage battery (203), 3rd diode (D3) and the first relay (J1) are in parallel,The positive pole of the 3rd diode (D3) is connected with 12 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 3rd diode (D3) is connected with the positive pole of storage battery (203), one end of first normally opened contact (J1-2) of the first relay (J1) is connected with the negative pole of storage battery (203), the other end of first normally opened contact (J1-2) of the first relay (J1) is connected with the second input (b) of motor (308), one end of second normally opened contact (J1-3) of the first relay (J1) is connected with the contact (J4.1) of the 4th relay (J4), the other end of second normally opened contact (J1-3) of the first relay (J1) is connected with the first input end (a) of motor (308) by the normally-closed contact (J2-1) of the second relay (J2), 4th diode (D4) and the second relay (J2) are in parallel, the positive pole of the 4th diode (D4) is connected with 13 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 4th diode (D4) is connected with the positive pole of storage battery (203), one end of first normally opened contact (J2-2) of the second relay (J2) is connected with the negative pole of storage battery (203), the other end of first normally opened contact (J2-2) of the second relay (J2) is connected with the first input end (a) of motor (308), one end of second normally opened contact (J2-3) of the second relay (J2) is connected with the contact (J4.1) of the 4th relay (J4), the other end of second normally opened contact (J2-3) of the second relay (J2) is connected with the second input (b) of motor (308) by the normally-closed contact (J1-1) of the first relay (J1), 5th diode (D5) and the 3rd relay (J3) are in parallel, the positive pole of the 5th diode (D5) is connected with 14 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative pole of the 5th diode (D5) is connected with the positive pole of storage battery (203), the contact (J3.1) of the 3rd relay (J3) is connected with the contact (J4.1) of the 4th relay (J4), the contact (J3.2) of the 3rd relay (J3) is connected with the positive pole of dc-to-ac inverter (204), the negative pole of dc-to-ac inverter (204) is connected with the negative pole of storage battery (203), the positive input pole (1) of 48V-24V converter (202) is connected with the positive pole of storage battery (203), the negative input pole (2) of 48V-24V converter (202) is connected with the negative pole of storage battery (203), the positive output pole (3) of 48V-24V converter (202) is connected with 24 pin of 25 pin data-interfaces (JP2) on agv controller (201), the negative output pole (4) of 48V-24V converter (202) is connected with 25 pin of 25 pin data-interfaces (JP2) on agv controller (201), the minus earth of storage battery (203).

4. according to claim 3 from walking spray medicine dolly, it is characterized in that: described agv controller (201) comprises microcontroller circuit, serial communication circuit, speed detect circuit, amplifying circuit, 6 switching value input circuits, 4 switching value output circuits, modulation circuit, power circuit and 25 pin data-interfaces (JP2);

Described amplifying circuit is by operational amplifier (OP2), 7 resistance (R17 ~ R23) and 4 electric capacity (C25 ~ C28) compositions, 28 electric capacity (C28) and the parallel connection of the 17 resistance (R17), the output of one termination second operational amplifier (OP2) of the 28 electric capacity (C28), the inverting input of another termination second operational amplifier (OP2) of the 28 electric capacity (C28), the positive supply termination 5V power supply of the second operational amplifier (OP2), the negative power end ground connection of the second operational amplifier (OP2), the output of the second operational amplifier (OP2) connects the AN6 pin of microprocessor chip (IC1) through the 18 resistance (R18), the inverting input of the second operational amplifier (OP2) connects 5V power supply through the 19 resistance (R19), inverting input ground connection after the 20 resistance (R20) of the second operational amplifier (OP2), the in-phase input end of the second operational amplifier (OP2) connects one end of the 21 resistance (R21) and one end of the 25 electric capacity (C25), one end of another termination the 22 resistance (R22) of 21 resistance (R21) and one end of the 26 electric capacity (C26), one end of another termination the 23 resistance (R23) of the 22 resistance (R22), one end of 27 electric capacity (C27) and 3 pin of 25 pin data-interfaces (JP2), the other end of the 25 electric capacity (C25), the other end of the 26 electric capacity (C26) all with 4 pin and ground wire of 25 pin data-interfaces (JP2) is connected with the other end of the 27 electric capacity (C27),

11 pin of described 25 pin data-interfaces (JP2) meet power supply VB;