CN105475260A - Electric four-wheel-driven intelligent sprayer - Google Patents

Electric four-wheel-driven intelligent sprayer Download PDF

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Publication number
CN105475260A
CN105475260A CN201610016202.4A CN201610016202A CN105475260A CN 105475260 A CN105475260 A CN 105475260A CN 201610016202 A CN201610016202 A CN 201610016202A CN 105475260 A CN105475260 A CN 105475260A
Authority
CN
China
Prior art keywords
wheel
electric
chassis
electric motor
steelframe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610016202.4A
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Chinese (zh)
Inventor
张鹏
陈黎卿
郑泉
曹恺
林建飞
郑爽
万玲
谭雨点
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Anhui Agricultural University AHAU
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Anhui Agricultural University AHAU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Agricultural University AHAU filed Critical Anhui Agricultural University AHAU
Priority to CN201610016202.4A priority Critical patent/CN105475260A/en
Publication of CN105475260A publication Critical patent/CN105475260A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025Mechanical sprayers
    • A01M7/0032Pressure sprayers
    • A01M7/0042Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01MCATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089Regulating or controlling systems

Abstract

The invention provides an electric four-wheel-driven intelligent sprayer. The electric four-wheel-driven intelligent sprayer comprises a chassis steel frame, a spray device, electric wheels, a power supply and an intelligent control system, wherein the electric wheels are installed on the lower portion of the chassis steel frame, the spray device and the intelligent control system are installed on the chassis steel frame, the power supply is electrically connected with the electric wheels, the intelligent control system and the spray device, and the intelligent control system is connected with control systems of the spray device and the electric wheels through data signal lines. The intelligent control system comprises an ultrasonic sensor module, a vehicle-mounted controller, a drive controller and a handheld monitoring box, wherein the ultrasonic sensor module is installed at the front end of the chassis steel frame, the vehicle-mounted controller and the drive controller are installed on the upper surface of the chassis steel frame, and the handheld monitoring box is externally arranged and controls an electric four-wheel-driven chassis to achieve the functions of walking, stopping and the like through wireless signals. Intelligent drive of the sprayer is achieved; automation and precision can be achieved, and meanwhile environmental pollution is greatly reduced.

Description

A kind of smart spraying machine of electric four-wheeled driving
Technical field
The present invention relates to agricultural mechanical field, particularly relate to a kind of smart spraying machine of electric four-wheeled driving.
Background technology
The 1950's, China studies and has promoted knapsack sprayer, but when relying on artificial spraying's agricultural chemicals, because the drift of medicine droplet and hot environment easily cause the accidents such as the poisoning heatstroke of personnel; And operating efficiency is low, drug resource is easily caused to waste and cause environmental pollution.Therefore, along with the continuous progress of modern science and technology, China develops relevant self-action minitype motivation sprayer, replaces people to complete warm work.Current self-propelled sprayer is also in the primary stage of development, there is drawback: need two motors to complete driving and turning function, cause the problems such as existing agricultural operation vehicle chassis manipulation underaction bigger than normal.
Summary of the invention
The object of the invention is in order to overcome weak point of the prior art, to provide a kind of smart spraying machine of electric four-wheeled driving, achieving electronization, automation, the effect that navigability can be stronger.Agricultural operation machinery gasifying device can be met to the requirement of power chassis, more full-automatic intelligent.
The smart spraying machine of a kind of electric four-wheeled driving that the present invention proposes, comprising: chassis steelframe, sprayer unit, Electric Motor Wheel, power supply, intelligence control system; Described Electric Motor Wheel is arranged on steelframe bottom, chassis; Sprayer unit and intelligence control system are arranged on the steelframe of chassis; Power supply is electrically connected with Electric Motor Wheel, intelligence control system and sprayer unit respectively; Intelligence control system is connected with the control system of sprayer unit and Electric Motor Wheel respectively by data signal line;
Described Electric Motor Wheel is four independent Electric Motor Wheel controlled, and each Electric Motor Wheel independently arranges driving governor; Four self-contained power wheels are arranged on steelframe both sides, chassis;
Described sprayer unit, comprises explosive box, two medicine spraying tubes, two shower nozzles, air compressor; Oblique cutting is in the both sides of explosive box respectively for two medicine spraying tubes, and shower nozzle is arranged on the port of export of two medicine spraying tubes, and air compressor is arranged near explosive box, and air compressor is connected into explosive box by appendix, provides source of the gas power;
Described intelligence control system, comprises ultrasonic sensor modules, Vehicle Controller, driving governor, hand-held monitoring case; Described ultrasonic sensor modules is ultrasonic sensor, is arranged on the front end of chassis steelframe; Vehicle Controller and driving governor are arranged on the upper surface of chassis steelframe, and hand-held monitoring case is external; By transmission of wireless signals control instruction between hand-held monitoring case and Vehicle Controller, by operating the corresponding button on hand-held monitoring box, controlling electric four-wheel drive chassis and realizing the functions such as walking, stopping; Vehicle Controller is connected by data signal line with the driving governor of ultrasonic sensor modules and Electric Motor Wheel; Vehicle Controller receives the signal by sensor passes, after analyzing and processing, control instruction is reached the driving governor of each wheel; Driving governor receives the control instruction of Vehicle Controller, after treated and conversion by Signal transmissions to Electric Motor Wheel, realize driving the intellectuality of sprayer.
Preferably, described power supply is solar powered module, comprises solar panels and accumulator; Solar panels are arranged on the front end of chassis steelframe upper surface, and accumulator is arranged on the bottom of chassis steelframe; Accumulator one end is connected with solar panels by electric wire, and the other end is electrically connected with four Electric Motor Wheel by driving governor.
Preferably, accumulator is 48V50Ah battery pack.Accumulator is connected with air compressor, for the work of air compressor provides motive power.Adopt 48V50Ah battery pack, there is no oil consumption, lightweight, volume is little, zero noise and energy-saving and environmental protecting.
Preferably, described Electric Motor Wheel comprises driving wheel, wheel hub motor, wheel shaft, wheel carrier, biased steering spindle, hydro-pneumatic spring, driving wheel is connected with wheel carrier by wheel shaft, wheel carrier is connected with biased steering spindle and is installed to steelframe both sides, chassis, wheel hub motor is arranged in wheel shaft, hydro-pneumatic spring upper end is arranged on the steelframe of chassis, and lower end is arranged on wheel carrier.
Preferably, wheel hub motor is brushless DC hub motor.Adopt brushless DC hub motor, efficiency and power density all compared with high, lightweight, volume is little, structure is simple, speed-regulating range width, Driving Torque are relatively large, and cost is low.
Preferably, described ultrasonic sensor modules comprises three ultrasonic range finders and four ultrasonic velocity meters, and three ultrasonic range finders are installed on the wheel shaft outside the front end of chassis steelframe and two front Electric Motor Wheel respectively; Four ultrasonic velocity meters are arranged on the wheel shaft of four self-contained power wheel inner sides respectively.
The smart spraying machine of a kind of electric four-wheeled driving in the present invention, by power supply, particularly solar powered, do not need to use oil as the energy, thus decrease the pollution to environment; And electric four-wheel drive chassis portion can realize, and radius of turn is little, motion effect more flexibly; And realized the navigability of the direction Distance geometry speed of intelligent walking by ultrasonic sensor and controller, thus liquid is sprayed to region to be painted accurately.Therefore, compared with existing plant protection spraying machine tool, its automation, intellectuality, precision, greatly limit reduces environmental pollution simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of the smart spraying machine of the electric four-wheeled driving of the present invention.
Fig. 2 is the schematic front view of the smart spraying machine of the electric four-wheeled driving of the present invention.
Fig. 3 is the schematic side view of the smart spraying machine of the electric four-wheeled driving of the present invention.
Fig. 4 is the automatically controlled sketch of the smart spraying machine of the electric four-wheeled driving of the present invention.
Fig. 5 is the control sketch of the Electric Motor Wheel of the smart spraying machine of electric four-wheeled driving.
Wherein: 1 is solar powered module; 11 is solar panels; 12 is accumulator; 2 is chassis steelframe; 3 is Electric Motor Wheel; 31 is driving wheel; 32 is wheel hub motor; 33 is wheel shaft; 34 is wheel carrier; 35 is biased steering spindle; 36 hydro-pneumatic springs; 4 is sprayer unit; 41 is explosive box; 42 is medicine spraying tube; 43 is shower nozzle; 44 is air compressor; 51 is ultrasonic sensor modules; 511 is ultrasonic range finder; 512 is ultrasonic velocity meter; 52 is Vehicle Controller; 53 is driving governor.
Embodiment
Below in conjunction with specific embodiment, the invention will be further described:
As shown in Figure 1, the smart spraying machine of a kind of electric four-wheeled driving that the present invention proposes, comprising: chassis steelframe, sprayer unit, Electric Motor Wheel, power supply, intelligence control system;
Use power supply to be solar powered module 1, comprise solar panels 11 and accumulator 12; Solar panels 11 are arranged on the front end of chassis steelframe 2 upper surface, and accumulator 12 is arranged on the bottom of chassis steelframe 2; Accumulator 12 one end is connected with solar panels 11 by electric wire, and the other end is electrically connected with four Electric Motor Wheel 3 by driving governor 53; Accumulator is 48V50Ah battery pack.Accumulator is connected with air compressor, for the work of air compressor provides motive power.Adopt 48V50Ah battery pack, there is no oil consumption, lightweight, volume is little, zero noise and energy-saving and environmental protecting;
Four self-contained power wheels 3 are arranged on chassis steelframe 2 bottom, install at four angle balance apportions of chassis steelframe 2 bottom; Four self-contained power wheels 3 comprise driving wheel 31, wheel hub motor 32, wheel shaft 33, wheel carrier 34, biased steering spindle 35, hydro-pneumatic spring 36, driving wheel 31 is connected with wheel carrier 34 by wheel shaft 33, wheel carrier 34 is connected with biased steering spindle 35 and is installed to chassis steelframe 2 two side, wheel hub motor 32 is arranged in wheel shaft 33, hydro-pneumatic spring upper end is arranged on chassis steelframe 2, and lower end is arranged on wheel carrier 34;
Sprayer unit 4 is arranged on chassis steelframe 2 upper surface, and sprayer unit comprises explosive box 41; Two medicine spraying tubes 42; Two shower nozzles 43; Air compressor 44; Oblique cutting is in the both sides of explosive box 41 respectively for two medicine spraying tubes 42, and shower nozzle 43 is arranged on two medicine spraying tube 42 ports of export, and air compressor 44 is arranged near explosive box, and air compressor 44 is connected into explosive box 42 by appendix, provides source of the gas power;
Ultrasonic sensor is arranged on the front end of chassis steelframe 2, Vehicle Controller 52 and driving governor 53 are arranged on the upper surface of chassis steelframe 2, and hand-held monitoring case is external; By transmission of wireless signals control instruction between hand-held monitoring case and Vehicle Controller 52, by operating the corresponding button on hand-held monitoring box, controlling electric four-wheel drive chassis and realizing the functions such as walking, stopping; Vehicle Controller 52 is connected by data signal line with the driving governor 53 of ultrasonic sensor modules 51 and Electric Motor Wheel; Vehicle Controller receives the signal by sensor passes, after analyzing and processing, control instruction is reached the driving governor of each wheel; Driving governor receives the control instruction of Vehicle Controller, after treated and conversion by Signal transmissions to Electric Motor Wheel, realize driving the intellectuality of sprayer;
Sprayer of the present invention in use, hand-held monitoring case 54 handles chassis walking, stopping etc. by Vehicle Controller 52, Vehicle Controller 52 receives the ultrasonic ranging signal at chassis steelframe 2 front end and two ends, left and right and takes turns from each the ultrasonic tachometer signal sent, and then control instruction is sent to each driving governor 53 of taking turns and carries out the speed governing of each Electric Motor Wheel 3 by producing hall signal;
In order to reach the better result of use to sprayer of the present invention, described ultrasonic sensor modules comprises three ultrasonic range finders and four ultrasonic velocity meters, and three ultrasonic range finders are installed on the wheel shaft outside the front end of chassis steelframe and two front Electric Motor Wheel respectively; Four ultrasonic velocity meters are arranged on the wheel shaft of four self-contained power wheel inner sides respectively.
The wheel shaft of chassis steelframe 2 front end, two front Electric Motor Wheel outer ends installs ultrasonic range finder 511 respectively, the range information that Vehicle Controller 52 is used for the ultrasonic range finder 511 on the wheel shaft of two front Electric Motor Wheel outer ends to detect both sides crops processes, and the distance of the right and left is set to the same; According to the speed that the ultrasonic velocity meter 512 be arranged on the wheel shaft of four self-contained power wheel inner sides feeds back, and carry out regulation speed by driving governor 53, crops, slow down in intensive place, reaches the effect of many sprayings.Sprayer of the present invention is quick effectively, practicality is high, has wide market application foreground and economic worth.
Sprayer of the present invention, compared with existing equipment for plant protection, is powered by solar powered module 1 pair of electric four-wheel drive chassis, does not need to use oil as the energy, thus decreases the pollution to environment; And electric four-wheel drive chassis portion can achieve electronization, automation, the effect that navigability can be stronger; And realized the navigability of the direction Distance geometry speed of intelligent walking by ultrasonic sensor 51 and controller, thus liquid is sprayed to region to be painted accurately.Therefore, compared with existing plant protection spraying machine tool, its automation, intellectuality, precision, greatly limit reduces environmental pollution simultaneously, has good market prospects and promotional value.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.

Claims (6)

1. a smart spraying machine for electric four-wheeled driving, is characterized in that, comprising: power supply, chassis steelframe, sprayer unit, Electric Motor Wheel, intelligence control system; Described Electric Motor Wheel is arranged on steelframe bottom, chassis; Sprayer unit and intelligence control system are arranged on chassis steelframe upper surface; Power supply is electrically connected with Electric Motor Wheel, intelligence control system and sprayer unit respectively; Intelligence control system is connected with the control system of sprayer unit and Electric Motor Wheel respectively by data signal line;
Described Electric Motor Wheel is four independent Electric Motor Wheel controlled, and each Electric Motor Wheel independently arranges driving governor;
Described sprayer unit, comprises explosive box, two medicine spraying tubes, two shower nozzles, air compressor; Oblique cutting is in the both sides of explosive box respectively for two medicine spraying tubes, and shower nozzle is arranged on the port of export of two medicine spraying tubes, and air compressor is arranged near explosive box, and air compressor is connected into explosive box by appendix, provides source of the gas power;
Described intelligence control system, comprises ultrasonic sensor modules, Vehicle Controller, driving governor, hand-held monitoring case; Described ultrasonic sensor modules is ultrasonic sensor, is arranged on the front end of chassis steelframe; Vehicle Controller and driving governor are arranged on the upper surface of chassis steelframe, and hand-held monitoring case is external; Transmission of wireless signals is passed through between hand-held monitoring case and Vehicle Controller; Vehicle Controller is connected by data signal line with the driving governor of ultrasonic sensor modules and Electric Motor Wheel.
2. the smart spraying machine of electric four-wheeled driving according to claim 1, is characterized in that: described power supply is solar powered module, comprises solar panels and accumulator; Solar panels are arranged on the front end of chassis steelframe upper surface, and accumulator is arranged on the bottom of chassis steelframe; Accumulator one end is connected with solar panels by electric wire, and the other end is electrically connected with four Electric Motor Wheel by driving governor.
3. the smart spraying machine of electric four-wheeled driving according to claim 1, it is characterized in that: described Electric Motor Wheel comprises driving wheel, wheel hub motor, wheel shaft, wheel carrier, biased steering spindle, hydro-pneumatic spring, driving wheel is connected with wheel carrier by wheel shaft, wheel carrier is connected with biased steering spindle and is installed to steelframe both sides, chassis, wheel hub motor is arranged in wheel shaft, hydro-pneumatic spring upper end is arranged on the steelframe of chassis, and lower end is arranged on wheel carrier.
4. the smart spraying machine of electric four-wheeled driving according to claim 3, is characterized in that: described wheel hub motor is brushless DC hub motor.
5. the smart spraying machine of electric four-wheeled driving according to claim 1, it is characterized in that: described ultrasonic sensor modules comprises three ultrasonic range finders and four ultrasonic velocity meters, three ultrasonic range finders are installed on the wheel shaft outside the front end of chassis steelframe and two front Electric Motor Wheel respectively; Four ultrasonic velocity meters are arranged on the wheel shaft of four self-contained power wheel inner sides respectively.
6. the smart spraying machine of electric four-wheeled driving according to claim 2, is characterized in that: accumulator is 48V50Ah battery pack.
CN201610016202.4A 2016-01-07 2016-01-07 Electric four-wheel-driven intelligent sprayer Pending CN105475260A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201610016202.4A CN105475260A (en) 2016-01-07 2016-01-07 Electric four-wheel-driven intelligent sprayer

Publications (1)

Publication Number Publication Date
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106324693A (en) * 2016-08-30 2017-01-11 北京华力兴科技发展有限责任公司 Automatic-walking type container/vehicle inspection device
CN106353830A (en) * 2016-08-30 2017-01-25 北京华力兴科技发展有限责任公司 Drive system for self-walking vehicle carrying and container/vehicle inspection device
CN106614474A (en) * 2016-11-17 2017-05-10 江苏大学 Self-steering mechanism about the multiple land gap in the field
WO2018090492A1 (en) * 2016-11-17 2018-05-24 江苏大学 Self-steering intelligent sprayer with multiple ground clearances and control method therefor
WO2018090649A1 (en) * 2016-11-17 2018-05-24 江苏大学 Multi-ground-clearance self-steering mechanism
CN113693052A (en) * 2021-10-28 2021-11-26 四川省烟草公司宜宾市公司 Automatic large-range pesticide application spraying device and application

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CN103324197A (en) * 2013-06-26 2013-09-25 西安电子科技大学 Voice-control multi-functional intelligent service robot
CN203692279U (en) * 2014-03-03 2014-07-09 山东农业大学 Boom sprayer accurate targeting device based on difference structure
CN103963889A (en) * 2014-05-23 2014-08-06 湖南丰茂植保机械有限公司 Automatic spraying vehicle
CN204713834U (en) * 2015-03-30 2015-10-21 济南大学 A kind of intelligent garbage collecting cart
CN204904089U (en) * 2015-07-29 2015-12-23 福建农林大学 Intelligent vehicle is rescued to barrier more
CN205357879U (en) * 2016-01-07 2016-07-06 安徽农业大学 Electronic four wheel drive's intelligent sprayer

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Publication number Priority date Publication date Assignee Title
CN103324197A (en) * 2013-06-26 2013-09-25 西安电子科技大学 Voice-control multi-functional intelligent service robot
CN203692279U (en) * 2014-03-03 2014-07-09 山东农业大学 Boom sprayer accurate targeting device based on difference structure
CN103963889A (en) * 2014-05-23 2014-08-06 湖南丰茂植保机械有限公司 Automatic spraying vehicle
CN204713834U (en) * 2015-03-30 2015-10-21 济南大学 A kind of intelligent garbage collecting cart
CN204904089U (en) * 2015-07-29 2015-12-23 福建农林大学 Intelligent vehicle is rescued to barrier more
CN205357879U (en) * 2016-01-07 2016-07-06 安徽农业大学 Electronic four wheel drive's intelligent sprayer

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106324693A (en) * 2016-08-30 2017-01-11 北京华力兴科技发展有限责任公司 Automatic-walking type container/vehicle inspection device
CN106353830A (en) * 2016-08-30 2017-01-25 北京华力兴科技发展有限责任公司 Drive system for self-walking vehicle carrying and container/vehicle inspection device
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CN106614474A (en) * 2016-11-17 2017-05-10 江苏大学 Self-steering mechanism about the multiple land gap in the field
WO2018090492A1 (en) * 2016-11-17 2018-05-24 江苏大学 Self-steering intelligent sprayer with multiple ground clearances and control method therefor
WO2018090649A1 (en) * 2016-11-17 2018-05-24 江苏大学 Multi-ground-clearance self-steering mechanism
GB2571670A (en) * 2016-11-17 2019-09-04 Univ Jiangsu Multi-ground-clearance self-steering mechanism
GB2571670B (en) * 2016-11-17 2022-04-13 Univ Jiangsu Multi-ground-clearance self-steering mechanism
CN113693052A (en) * 2021-10-28 2021-11-26 四川省烟草公司宜宾市公司 Automatic large-range pesticide application spraying device and application
CN113693052B (en) * 2021-10-28 2021-12-28 四川省烟草公司宜宾市公司 Automatic large-range pesticide application spraying device and application

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Application publication date: 20160413