CN106143673A - A kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof - Google Patents
A kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof Download PDFInfo
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- CN106143673A CN106143673A CN201510199657.XA CN201510199657A CN106143673A CN 106143673 A CN106143673 A CN 106143673A CN 201510199657 A CN201510199657 A CN 201510199657A CN 106143673 A CN106143673 A CN 106143673A
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Abstract
The invention discloses a kind of intelligent distant control 4 wheel driven equipment for plant protection; relate to agricultural machinery technological field; including: vehicle frame, wheel, spraying system, control system and battery; also include driving motor, wheel stand, pump motor; described driving motor can be without being brushed with tooth motor or built-in motor; being arranged on wheel or on wheel stand, control system is connected with driving motor and pump motor；Described battery includes dynamo battery and pump battery, and dynamo battery is arranged on wheel stand or on vehicle frame, drives motor to power for giving, and pump battery is arranged on vehicle frame, for powering to pump motor.The rotating speed of described each wheel is controlled to drive motor to be controlled by drive motor controller respectively, it is achieved starts to walk, keep straight on, turn to, stop.The present invention can be not only used for equipment for plant protection, can be applicable to the farming operations such as fertilising, sowing, applied range of the present invention simultaneously, reduces agriculture production cost, improves efficiency, additional income.
Description
Technical field
The present invention relates to agricultural machinery technological field, be specifically related to a kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof.
Background technology
At present, agricultural plant protection machinery is generally driven by people, and vehicle body is heavier, and supporting drivewheel is wider, and it has problems with: first, and vehicle body is heavier, and crop field is poor by property；Secondly, people driving, not only increase weight, people can be damaged by the pesticide used toward contact.Hefei is added agricultural science and technology company limited and is disclosed a kind of paddy field plant protection robot (patent No. CN201420462253.6) and a kind of novel agricultural plant protection car (patent No. CN201420480907.8), both technical products are all remote controls, ratio is lighter, it is good that property is passed through in field, also people will not be damaged, but they there is a problem in that in actual applications: one, they all use common wheel hub motor as driving motor, but the torsion of common wheel hub motor is inadequate, it is difficult to operate in muddy or scraggly farmland, it is difficult to drive plant protection car to move ahead smoothly；Two, they are required for transfer, steering mechanism is driven by steering-engine or steer motor, such complicated structure, and steering wheel or the motor torsion of configuration are the most little on the machine of legerity type, and need the biggest torsion to drive in muddy or scraggly farmland and turn to, overload operation, easily makes steering wheel or motor break down；3rd, control method is complicated, drive part to be controlled, steering-engine to be controlled (or motor) and brake gear.Accordingly, it would be desirable to a kind of torsion is simple compared with big, light structure, control, field is by good, the remote-controlled intelligent equipment for plant protection of highly effective and safe of property and control method thereof.
Summary of the invention
Invention to solve the technical problem that and to be to provide a kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof that can significantly decrease the complexity of equipment for plant protection, reduction manufacturing cost, raising passability and operability and be simultaneously available for the farming operations such as fertilising, sowing.
For solving the problems referred to above; the technical solution used in the present invention is: a kind of intelligent distant control 4 wheel driven equipment for plant protection; including: vehicle frame, wheel, spraying system, control system and battery; also include driving motor, wheel stand; described driving motor can be without being brushed with tooth motor or built-in motor; may be installed on wheel or on wheel stand or on vehicle frame, wheel is arranged on bottom of frame；Described spraying system includes that pump motor, spraying system are contained on vehicle frame；Control system is connected with driving motor and pump motor；Described battery includes dynamo battery and pump battery, and dynamo battery is arranged on wheel stand or on vehicle frame, drives motor to power for giving, and pump battery is arranged on vehicle frame, for powering to pump motor.
Further, described wheel includes the near front wheel, left rear wheel, off-front wheel, off hind wheel, and each wheel is independently driven by the driving motor installed on it.
Further, described wheel, including the near front wheel, left rear wheel, off-front wheel, off hind wheel, all use narrow wheel, the wide 1-7cm of wheel, make plant protection appearance of vehicle easily pass through between crop.
Further, described wheel, including the near front wheel, left rear wheel, off-front wheel, off hind wheel, it is equipped with tooth or Anti-skid structure, it is ensured that wheel is non-slip idle running when running in field.
Further, described vehicle frame is made by the alloy material that carbon fibre material or density are less, significantly alleviates tare.
Further, described control system includes remote-control signal transmitter, remote signal receiver and master controller, and remote signal receiver is connected with master controller, and master controller is connected without the pump motor being brushed with tooth motor and spraying system with each respectively.
Further, described spraying system, including medicine-chest, pump, tube for transfusion, shower nozzle, spray boom, spray boom support, medicine-chest, pump and spray boom support are all arranged on vehicle frame, pump is connected with shower nozzle by tube for transfusion, and cartridge nozzle is on spray boom, and spray boom is arranged on vehicle frame by spray boom support.
A kind of intelligent distant control 4 wheel driven equipment for plant protection control method; described intelligent distant control 4 wheel driven equipment for plant protection includes: vehicle frame, wheel, spraying system, control system and battery; wheel is arranged on bottom of frame; wheel includes the near front wheel, left rear wheel, off-front wheel, off hind wheel, and each wheel is independently driven by driving motor；Spraying system is contained on vehicle frame；Control system includes remote-control signal transmitter, remote signal receiver and master controller, and remote signal receiver is connected with master controller, and master controller is connected with each pump motor driving motor and spraying system respectively；Described battery includes dynamo battery and pump battery, and dynamo battery is arranged on wheel stand or on vehicle frame, and for giving without driving motor to power, pump battery is arranged on vehicle frame, for powering to pump；
Electronic compass that described master controller by main control chip and is connected respectively with main control chip, drive motor controller, pump controller form, described driving motor controller drives motor to be connected with each respectively, and described pump controller is connected with each pump respectively；
Described master controller connects, for receiving, CRANK PULSES and the spray amount signal that remote controller is sent, and converses each vehicle wheel rotational speed, turns to and the discharge rate of each pump, is allowed to keep coordinating；
The rotating speed of described each wheel is controlled to drive motor to be controlled by drive motor controller respectively, it is achieved starts to walk, keep straight on, turn to, stop.
Further, following steps are specifically included:
(1) according to starting mode, straight-going mode, pattern, stop mode are turned to, remote-control signal transmitter sends corresponding signal to signal receiver, after signal receiver receives corresponding signal, pass to main control chip, main control chip converses tach signal and the turn signal of each wheel, pass to drive motor controller, drive each to drive motor to realize rotational speed regulation and course changing control.
(2) when the velocity of displacement of four-wheel is identical, plant protection car is kept straight on；When left side wheel is slow and right side wheels is fast, plant protection car is turned left；When right side wheels is slow and left side wheel is fast, plant protection car is turned right.
(3) under straight-going mode, electronic compass participates in direction and corrects, when there is skew in direction, electronic compass automatically detects skew, can signal to main control chip, main control chip converses tach signal and the turn signal of each wheel, passes to drive motor controller, control the rotating speed of each wheel, thus realize intelligent automatic control and keep straight on.Under turning to pattern, electronic compass is not involved in direction and corrects.
(4) displacement difference of the right and left wheel is the biggest, and the angle turned to is the biggest, and the amplitude turned to is the least, otherwise, the velocity difference of displacement of the right and left wheel is the least, and the angle turned to is the least, and the amplitude turned to is the biggest.(5) stopping of plant protection car can by the phase line of short circuit motor or give motor reverse current realize, when remote-control signal transmitter sends slowly stopping or quickly stops signal, after signal receiver receives corresponding signal, pass to main control chip, main control chip converses each corresponding stopping signal and passes to drive motor controller, drives each to drive motor to realize slowly stopping or quickly stopping.
The present invention compared with prior art, has the advantage that and effect:
1, the present invention uses drone compared to the most manned agricultural plant protection vehicle, the present invention, makes people away from the injury of pesticide, improves safety, also mitigate the overall weight of plant protection car simultaneously, reduce energy consumption, also reduces manufacturing cost.
2, the present invention uses and drives without being brushed with tooth motor or built-in motor, and is controlled the starting of vehicle by control system, kept straight on, turn to, stop, and decreases actuating device, transfer and brake gear, simplify structure, alleviate weight, reduce operation easier, reduce cost.
3, in the present invention, plant protection car uses carbon fiber or the less material of density, greatly reduces tare, improve plant protection car in crop field by property, reduce the equipment for plant protection injury to crop, beneficially agricultural production increasing both production and income.
4, in the present invention, plant protection car uses and narrow takes turns, substantially increase plant protection car in crop field by property, promote popularization and the realization of application, beneficially Agricultural Production Full Mechanization of agricultural plant protection machinery.
5, the present invention can be applicable to the farming operations such as fertilising, sowing, applied range simultaneously, reduces agriculture production cost, improves efficiency, additional income.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment of the present invention one.
Fig. 2 is the left view of embodiment of the present invention one.
Fig. 3 is the top view of embodiment of the present invention one.
Fig. 4 is embodiment of the present invention two type of drive figure.
Fig. 5 is embodiment of the present invention three type of drive figure.
Fig. 6 is the control method schematic diagram of the present invention.
In figure: 1-vehicle frame；2-wheel stand, 3-the near front wheel；4-off-front wheel；5-left rear wheel；6-off hind wheel；7-dynamo battery；8-pump battery；9-medicine-chest；10-pump；11-spray boom support；12-nozzle；13-spray boom；14-tube for transfusion；15-built-in motor；16-built-in motor controller；17-master controller；18-minor sprocket；19-chain；The big sprocket wheel of 20-；21-travelling gear；22-power transmission shaft；23-transmission conical tooth；The driven conical tooth of 24-；25-is without being brushed with tooth motor.
Detailed description of the invention
Below in conjunction with the accompanying drawings and the present invention is described in further details by embodiment, but the present invention is not only limited to this.
Embodiment one
As shown in Figure 1, Figure 2, Figure 3 shows, this embodiment uses and is driven without being brushed with tooth motor 25.Wheel stand 2 is arranged on the lower section of vehicle frame 1；The near front wheel 3, off-front wheel 4, left rear wheel 5, off hind wheel 6 are separately mounted on respective wheel stand 2；It is separately mounted on four wheels of the near front wheel 3, off-front wheel 4, left rear wheel 5, off hind wheel 6 without being brushed with tooth motor 25；Dynamo battery 7 is separately mounted on four wheel stands 2, and dynamo battery 7 is brushed with tooth motor 25 with the nothing on four wheels respectively by wire and is connected, for the operating offer power without being brushed with tooth motor 25；Pump battery 8, medicine-chest 9, pump 10, spray boom support 11, master controller 17 are all arranged on the top of vehicle frame 1；Pump battery 8 is connected with pump 10 by wire；Spray boom support 11 is arranged on the rear of vehicle frame 1；Spray boom 13 is arranged on spray boom support 11；Nozzle 12 is distributed on spray boom 13；Nozzle 12 is connected with pump 10 by tube for transfusion 14；Master controller 17 is brushed with tooth motor 25 with nothing respectively by data wire and pump 10 is connected.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6, the concrete control method of the present invention, during operation, operator's hand-held remote controller, when providing enabling signal, after master controller 14 receives signal, control four nothings and be brushed with the power on of tooth motor 25, start without being brushed with tooth motor 25.When providing craspedodrome signal, drive the near front wheel 3, off-front wheel 4, left rear wheel 5, off hind wheel 6 to move forward without being brushed with tooth motor 25 simultaneously.When providing reversing button signal, drive the near front wheel 3, off-front wheel 4, left rear wheel 5, off hind wheel 6 to invert forward without being brushed with tooth motor 25 simultaneously, thus realize reversing.When providing left rotaring signal, after master controller 17 receives signal, the speed controlling the near front wheel 3 and left rear wheel 5 is faster than off-front wheel 4 and the speed of off hind wheel 6, it is achieved left steering.When the right-hand rotation button pressed on telecontrol panel, after master controller 17 receives signal, the speed controlling off-front wheel 4 and off hind wheel 6 is faster than the near front wheel 3 and the speed of left rear wheel 5, it is achieved right turn.When providing spraying signal, after master controller 17 receives signal, start pump 10 and carry out spraying operation.When providing stop sign, after master controller 17 receives signal, control the phase line without being brushed with tooth motor 25 short circuit motor or to motor reverse current so that it is out of service, and then machine stop motion.
Embodiment two
As shown in Figure 4, being in place of distinguishing with embodiment one, type of drive uses built-in motor 15 to be driven, and drive mechanism uses chain 19 to drive vehicle wheel rotation.Each built-in motor 15 be furnished with one with built-in motor driver 16 and both be connected with wire, be both arranged on the motor mount in the middle part of each wheel stand 2；Minor sprocket 18 is fixed in the rotary shaft of built-in motor 15, and big sprocket wheel 20 is connected with each drivewheel by axle, and minor sprocket 18 is connected with big sprocket wheel 20 chain 19；Each built-in motor 15 is equipped with one piece of individual motor battery 17, on the vehicle frame 1 of the surface that dynamo battery 17 is arranged on each wheel stand 2.
When built-in motor 15 rotates, driving chain 19 to move by minor sprocket 18, chain 19 drives big sprocket wheel 20 to rotate, and big sprocket wheel 20 drives each wheel to operate.Other detailed description of the invention is with reference to embodiment one.
Embodiment three
As it is shown in figure 5, the difference of this embodiment is that, the chain drive of embodiment two is somebody's turn to do as shaft transmission.Uni-drive gear box is fixed on front-wheel support 2, built-in motor 15 is fixed on uni-drive gear box, first gear of travelling gear 21 is fixed in the rotary shaft of built-in motor motor 15, fixed power transmission shaft 22 on the gear of travelling gear 21 least significant end, power transmission shaft 22 is through front-wheel support 2, the fixed transmission in bottom conical tooth 23, driven conical tooth 24 is arranged on each wheel by rotary shaft, engages with transmission conical tooth 23.
When built-in motor 15 rotates, driving power transmission shaft 22 to rotate by travelling gear 21, when power transmission shaft 22 rotates, the transmission conical tooth 23 of bottom drives driven conical tooth 24 to rotate, thus drives vehicle wheel rotation.Other detailed description of the invention is with reference to embodiment one and embodiment two.
Above-described embodiment is the present invention preferably embodiment; but the present invention is also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify; all should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (9)
1. an intelligent distant control 4 wheel driven equipment for plant protection; including: vehicle frame, wheel, spraying system, control system and battery; it is characterized in that; also include driving motor, wheel stand; described driving motor can be without being brushed with tooth motor or built-in motor; described driving motor is arranged on wheel or on wheel stand or on vehicle frame, wheel is arranged on bottom of frame；Described spraying system includes that pump motor, spraying system are contained on vehicle frame；Control system is connected with driving motor and pump motor；Described battery includes dynamo battery and pump battery, and dynamo battery is arranged on wheel stand or on vehicle frame, drives motor to power for giving, and pump battery is arranged on vehicle frame, for powering to pump motor.
A kind of intelligent distant control 4 wheel driven equipment for plant protection, it is characterised in that described wheel includes the near front wheel, left rear wheel, off-front wheel, off hind wheel, and each wheel is independently driven by the driving motor installed on it.
The most according to claim 1, a kind of intelligent distant control 4 wheel driven equipment for plant protection, it is characterised in that described wheel, including the near front wheel, left rear wheel, off-front wheel, off hind wheel, all use narrow wheel, and the wide 1-7cm of wheel makes plant protection appearance of vehicle easily pass through between crop.
The most according to claim 1, a kind of intelligent distant control 4 wheel driven equipment for plant protection, it is characterised in that described wheel, including the near front wheel, left rear wheel, off-front wheel, off hind wheel, be equipped with tooth or Anti-skid structure, it is ensured that wheel is non-slip idle running when running in field.
A kind of intelligent distant control 4 wheel driven equipment for plant protection, it is characterised in that described vehicle frame is made by the alloy material that carbon fibre material or density are less, significantly alleviates tare.
A kind of intelligent distant control 4 wheel driven equipment for plant protection; it is characterized in that; described control system includes remote-control signal transmitter, remote signal receiver and master controller; remote signal receiver is connected with master controller, and master controller is connected with each pump motor driving motor and spraying system respectively.
A kind of intelligent distant control 4 wheel driven equipment for plant protection; it is characterized in that; described spraying system; including medicine-chest, pump, tube for transfusion, shower nozzle, spray boom, spray boom support; medicine-chest, pump and spray boom support are all arranged on vehicle frame; pump is connected with shower nozzle by tube for transfusion, and cartridge nozzle is on spray boom, and spray boom is arranged on vehicle frame by spray boom support.
8. an intelligent distant control 4 wheel driven equipment for plant protection control method; it is characterized in that; described intelligent distant control 4 wheel driven equipment for plant protection includes: vehicle frame, wheel, spraying system, control system and battery; wheel is arranged on bottom of frame; wheel includes the near front wheel, left rear wheel, off-front wheel, off hind wheel, and each wheel is independently driven by driving motor；Spraying system is contained on vehicle frame；Control system includes remote-control signal transmitter, remote signal receiver and master controller, and remote signal receiver is connected with master controller, and master controller is connected with each pump motor driving motor and spraying system respectively；Described battery includes dynamo battery and pump battery, and dynamo battery is arranged on wheel stand or on vehicle frame, drives motor to power for giving, and pump battery is arranged on vehicle frame, for powering to pump；
Electronic compass that described master controller by main control chip and is connected respectively with main control chip, drive motor controller, pump controller form, and described drive motor controller drives motor to be connected with each respectively, and described pump controller is connected with each pump respectively；
Described master controller connects, for receiving, CRANK PULSES and the spray amount signal that remote controller is sent, and converses each vehicle wheel rotational speed, turns to and the discharge rate of each pump, is allowed to keep coordinating；
The rotating speed of described each wheel is controlled to drive motor to be controlled by drive motor controller respectively, it is achieved starts to walk, keep straight on, turn to, stop.
A kind of intelligent distant control 4 wheel driven equipment for plant protection control method, it is characterised in that specifically include following steps:
(1) according to starting mode, straight-going mode, pattern, stop mode are turned to, remote-control signal transmitter sends corresponding signal to signal receiver, after signal receiver receives corresponding signal, pass to main control chip, main control chip converses tach signal and the turn signal of each wheel, pass to drive motor controller, drive each to drive motor to realize rotational speed regulation and course changing control；
(2) when the velocity of displacement of four-wheel is identical, plant protection car is kept straight on；When left side wheel is slow and right side wheels is fast, plant protection car is turned left；When right side wheels is slow and left side wheel is fast, plant protection car is turned right；
(3) under straight-going mode, electronic compass participates in direction and corrects, when direction occurs skew, electronic compass automatically detects skew, can signal to main control chip, main control chip converses tach signal and the turn signal of each wheel, pass to drive motor controller, control the rotating speed of each wheel, thus realize intelligent automatic control and keep straight on, under turning to pattern, electronic compass is not involved in direction and corrects；
(4) displacement difference of the right and left wheel is the biggest, and the angle turned to is the biggest, and the amplitude turned to is the least, otherwise, the velocity difference of displacement of the right and left wheel is the least, and the angle turned to is the least, and the amplitude turned to is the biggest；
(5) stopping of plant protection car can by the phase line of short circuit motor or give motor reverse current realize, when remote-control signal transmitter sends slowly stopping or quickly stops signal, after signal receiver receives corresponding signal, pass to main control chip, main control chip converses each corresponding stopping signal and passes to drive motor controller, drives each to drive motor to realize slowly stopping or quickly stopping.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510199657.XA CN106143673A (en) | 2015-04-25 | 2015-04-25 | A kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof |
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| CN201510199657.XA CN106143673A (en) | 2015-04-25 | 2015-04-25 | A kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof |
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Cited By (4)
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| CN108849804A (en) * | 2017-05-12 | 2018-11-23 | 山东交通学院 | A kind of automatic plant protection device in orchard based on electric vehicle chassis |
| CN109497026A (en) * | 2019-01-03 | 2019-03-22 | 郭召气 | A kind of four unmanned liquid-spraying-carts of driving of remote control |
| CN111002841A (en) * | 2019-11-20 | 2020-04-14 | 徐工集团工程机械股份有限公司 | Vehicle driving control system and method based on real-time working condition |
| CN113786094A (en) * | 2021-08-22 | 2021-12-14 | 陆小媚 | Buffet meal delivery robot |
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