CN107410255A - A kind of long-distance intelligent control pesticide-spraying cart - Google Patents
A kind of long-distance intelligent control pesticide-spraying cart Download PDFInfo
- Publication number
- CN107410255A CN107410255A CN201710306165.5A CN201710306165A CN107410255A CN 107410255 A CN107410255 A CN 107410255A CN 201710306165 A CN201710306165 A CN 201710306165A CN 107410255 A CN107410255 A CN 107410255A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- car body
- flusher
- long
- liquid medicine
- 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
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
Abstract
The present invention relates to agricultural machinery technological field, and in particular to a kind of long-distance intelligent control pesticide-spraying cart.Sprinkling wagon is made up of car body, electromagnetic guide line and remote operation control room.It is accumulator jar that camera, video transmission antenna, liquid medicine case, number are provided with car body and passes reception antenna, mechanical arm, flusher, electric control system and position sensor and electromagnetic sensor, car body power resources；Liquid level sensor is installed in liquid medicine case, spray pressure pump is installed outside liquid medicine case；Mechanical arm top is provided with flange, and flusher is arranged on flange；Mechanical arm has 3 frees degree, i.e., mechanical arm integrally swings, mechanical arm principal arm lifts, the 360 degree of rotations of mechanical arm top flange, to adjust the various postures of flusher；Electromagnetic guide wire loop is laid in subsurface around crops.Long-distance intelligent control pesticide-spraying cart has two kinds of steer modes of long-distance video steer mode and autonomous tracking spray modes.
Description
Technical field
The present invention relates to agricultural machinery technological field, and in particular to a kind of long-distance intelligent control pesticide-spraying cart.
Background technology
At present, the spraying operation of crops agricultural chemicals, mainly there are artificial sprinkling, the sprinkling of live manual operation machinery and unmanned plane
Sprinkling.Artificial sprinkling, speed is slow, efficiency is low, and agricultural chemicals is known from experience to people produces injury.Live manual operation machinery sprinkling, though efficiency
So increase, but still have injury problem of the agricultural chemicals to human body.Unmanned plane sprays, and speed is fast, efficiency high and sprayed
Journey Pesticides will not produce injury to human body, but unmanned plane sprinkling still has some problems, as endurance is poor, drugloading rate
It is few, the sprinkling on Large Area of Crops surface can only be directed to, for as grape class orchard, it is necessary to be sprayed upwards from the root of crops
The effect of unmanned plane sprinkling cannot be played well.
The content of the invention
The purpose of the present invention aims to provide a kind of long-distance intelligent control pesticide-spraying cart, to solve crops in background technology
Deficiency in pesticide spraying operation.
To achieve the above object, the present invention uses following technological means：A kind of long-distance intelligent control pesticide-spraying cart, by car
Body, electromagnetic guide line and remote operation control room composition.
Camera, video transmission antenna, liquid medicine case, number are installed on car body and pass reception antenna, mechanical arm, sprinkling dress
Put, electric control system and position sensor and electromagnetic sensor, car body power resources are accumulator jar.
The position sensor is arranged on front and rear car body, mechanical arm top and flusher；Electromagnetic sensor is set
In car body front end.
The liquid medicine case is arranged in the middle part of car body, and liquid level sensor is provided with liquid medicine case, spray is provided with outside liquid medicine case
Compression pump is spilt, spray pressure pump is connected by pipeline with liquid medicine case and flusher.
The mechanical arm top is provided with flange, and flusher is arranged on flange.Mechanical arm has 3 frees degree, i.e., mechanical
Arm integrally swings, mechanical arm principal arm lifts, the 360 degree of rotations of mechanical arm top flange, to adjust the various appearances of flusher
State.
Electric control system includes CPU, electromagnetic guide signal processing circuit, mechanical arm system, high/low speed
Position sensor, orientation angle detection, liquid level sensor, camera control module, flusher control module, back axle gear-box
High/low speed switching mechanism, steering wheel drive module, main motor driving and wireless data transmission module.
Remote operation control room is made up of video monitor and report control platform.
Electromagnetic guide wire loop is laid in subsurface around crops, and electromagnetic guide line is provided with signal generator.
Long-distance intelligent control pesticide-spraying cart has the two kinds of manipulations of long-distance video steer mode and autonomous tracking spray modes
Pattern.
Long-distance video steer mode：The real time video signals of car body collection in worksite are transmitted into remotely through wireless image transmission module
Operational control room monitors live sprinkling situation for operating personnel；The various operational orders that remote operation control room is sent are by wireless
Digital transmission module is transferred to the receiving module for spraying live car body, controls executing agency to complete corresponding action after decoded.Tool
Body acts for the advance of car body, retrogressing, acceleration, deceleration, turning, stopping and the various sprinklings of mechanical arm.
Autonomous tracking spray modes：Autonomous tracking spray modes using electromagnetic wire guiding, image recognition, position sensor and
Electromagnetic sensor realizes car body self poisoning.The electromagnetic wire and image recognition and electromagnetic sensor are mainly used to control
The trend of car body, position sensor are mainly used to avoidance and detection mechanical arm and the distance between flusher and crops.
Using long-distance intelligent control pesticide-spraying cart, cost of labor and labor intensity are reduced, improves pesticide spraying effect
Rate, solves harm of the agricultural chemicals to spraying operation personnel.
Brief description of the drawings
Fig. 1 is overall structure diagram.
Fig. 2 is remote operation control room schematic diagram.
Fig. 3 is electromagnetic guide line arrangement schematic diagram.
Fig. 4 is electric control system schematic diagram.
Figure number explanation：1-car body；2-camera；3-video transmission antenna；4-liquid medicine case；5-number biography connects
Receive antenna；6-mechanical arm；7-flusher；8-electric control system；9-electromagnetic guide line.
Embodiment
Below in conjunction with accompanying drawing, as embodiment, technical scheme is further illustrated.A kind of long-distance intelligent control pesticide spraying
Car, it is made up of car body 1, electromagnetic guide line 9 and remote operation control room.
Camera 2, video transmission antenna 3, liquid medicine case 4, number are installed on car body 1 and pass reception antenna 5, mechanical arm 6, spray
Device 7, electric control system 8 and position sensor and electromagnetic sensor are spilt, the power resources of car body 1 are accumulator jar.Che Ben
The control core of body 1 is a piece of MC56F84789 32 DSC chips, and is equipped with the sensor installed on car body 1 and execution
Mechanism is controlled to car body 1.
The position sensor is arranged on front and rear car body 1, the top of mechanical arm 6 and flusher 7；Electromagnetic sensor is set
Put in the front end of car body 1.
The liquid medicine case 4 is arranged on the middle part of car body 1, and liquid level sensor is provided with liquid medicine case 4, is installed outside liquid medicine case 4
There is spray pressure pump, spray pressure pump is connected by pipeline with liquid medicine case 4 and flusher 7.
The top of mechanical arm 6 is provided with flange, and flusher 7 is arranged on flange.Mechanical arm 6 has 3 frees degree, i.e. machine
The entirety of tool arm 6 swings, the principal arm of mechanical arm 6 lifts, 6 top flange of mechanical arm, 360 degree of rotations, to adjust flusher 7
Various postures.Mechanical arm 6 uses double mechanical arms, to improve spraying operation efficiency.
Electric control system 8 includes CPU, electromagnetic guide signal processing circuit, mechanical arm system, high/low speed
Position sensor, orientation angle detection, liquid level sensor, camera control module, flusher control module, back axle gear-box
High/low speed switching mechanism, steering wheel drive module, main motor driving and wireless data transmission module.
CPU uses a model MC56F84789 of En Zhi Pus company production 32 DSC chips as core
The heart forms.
Electromagnetic guide signal processing circuit：Electromagnetic sensor is used to detect the signal of electromagnetic guide line 9, and car body 1 deviates electricity
Magnetic guide line 9 will cause electromagnetic sensor signal intensity.Signal driven after central processing unit for processing steering wheel module and
Steering wheel mechanical structure drives steered wheel rotation respective angles, so that car body 1 is advanced along electromagnetic guide line 9 all the time.
Mechanical arm system：The joint motor of mechanical arm 6 uses brush direct current motor, and joint rotation angle and movement position are adopted
Use position sensor.CPU constantly detects each joint position posture by each position sensor, and combines sprinkling dress
Put the position sensor installed on 7 and detect relative position signal with crops, output pwm signal to each joint motor H bridges
Drive circuit, the various postures and spray angle of control machinery arm 6, so as to obtain preferable spray effect.Mechanical arm 6 lifts electricity
Machine driving is made up of L298N, reality of the CPU by the instantaneous value that position sensor is passed back to the lifting position of mechanical arm 6
When detect and control.The top flange of mechanical arm 6 is controlled by a brushed DC reducing motor, adjustable with the rotation of flange
The sprinkling direction of whole flusher 7.The flange motor detects the real-time current of motor by ACS712 current detectings chip, electricity
Stream signal feeds back to CPU, and current limliting and protection are carried out to motor.
High/low speed position sensor is controlled by a proximity switch, using closed type proximity switch.Work as CPU
Give motor one low speed signal, motor will be protruding, thus away from proximity switch, is stopped to certain position；Work as center
Signal of the processing unit to one high speed of motor, motor will be reclaimed inwardly, thus close to proximity switch, reach certain position
Close to proximity switch, proximity switch can disconnect, and motor is also just out of service.
Orientation angle detection is made up of a rotary slide rheostat, the rotary shaft of slide rheostat and turning for deflecting roller
To axle by gear drive, during steering axes, slide rheostat and then rotates, and then the resistance of slide rheostat produces change
Change, the resistance of this change is sent into CPU and is handled to obtain current reality by CPU translation interface
The deflection angle value on border, the deviation of directivity that the direction set-point or electromagnetic guide sensor then sent with remote control end detects
Value is compared, and produces error signal, then by CPU pid control algorithm, export and carried out to direction executing agency
Turn to, thus just complete the detection and control in direction.
Liquid level sensor uses float type liquid level sensor, and liquid level sensor carries out real-time to the dose of the inside of liquid medicine case 4
Detect and be converted to current signal and be transmitted to CPU, so as to monitor the residual drug of liquid medicine case 4 in real time.
Camera control module is received simultaneously by the rocking bar signal of camera 2 that wireless data transmission module transmits through wireless receiving module
It is transmitted to CPU to be decoded, solves the action signal of camera 2 up and down and be transferred to head, so as to controls shooting
The rotation up and down of first 2 head.
Flusher control module is received simultaneously by the sprinkling control signal that wireless data transmission module transmits through wireless receiving module
It is transmitted to CPU to be decoded, solves sprinkling control signal and be transferred to spray pressure pump, so as to control spray pressure pump
Startup and stopping.
Back axle gear-box high/low speed switching mechanism promotes gearshift pull bar to carry out high/low speed conversion using a push-rod electric machine.
Steering wheel drive module uses stepper motor and ball screw, and the rotary motion of stepper motor is converted into screw mandrel
Linear motion, screw mandrel is connected with deflecting roller rocking arm, so as to drive steered wheel rotation.
Main motor drives：Gas pedal connects a potentiometer, and during pedal is operated, potentiometer follows pedal
Rotation changes its resistance, is changed through remote-transmitter end Chip Microcomputer A/D and transformation result is sent to car body by digital transmission module,
CPU exports the pwm signal of different duty according to the AD conversion value received, by pulse amplifier amplification simultaneously
Smothing filtering obtains 0V to 3.3V direct current signal, the signal is added into main motor controller throttle input, so as to control
The rotating speed of main motor processed.
Wireless data transmission system is by 1 433MHZ wireless data communication module and a STC15W408AS SCM system group
Into.SCM system is encoded into instruction data flow one by one after handling various control signals caused by actuation means
And car body 1 is transmitted into by wireless data communication module and antenna.After car body 1 receives data, frame is single to logarithm according to this
Position extraction, and processing identification is carried out to data, produce corresponding control signal and complete corresponding action to executing agency.
Electromagnetic guide line 9 is embedded in 6-15 centimetres of subsurface around crops, and electromagnetic guide line 9 is provided with signal
Device.
Remote operation control room is made up of video monitor and report control platform.Report control platform is by 1 433MHZ wireless data
Communication module and a STC15W408AS SCM systems composition, SCM system are believed various controls caused by actuation means
Instruction data flow one by one is encoded into after number being handled and car sheet is transmitted into by wireless data communication module and antenna
Body 1.
Long-distance intelligent control pesticide-spraying cart has the two kinds of manipulations of long-distance video steer mode and autonomous tracking spray modes
Pattern.The direction control signal that steering wheel transmits through wireless data transmission module in direction controlling has priority, i.e. car body 1 exists
When electromagnetic guide 9 Automatic Track Finding of line, if receiving steering wheel control signal, direction controlling will be weighed and transfer to steering wheel control,
It so can in case of emergency carry out manual intervention.
Long-distance video steer mode：The real time video signals of the collection in worksite of car body 1 are transmitted into far through wireless image transmission module
Journey operational control room monitors live sprinkling situation for operating personnel；The various operational orders that remote operation control room is sent pass through nothing
Line number transmission module is transferred to the receiving module for spraying live car body 1, controls executing agency to complete corresponding action after decoded.
Specially advance, retrogressing, acceleration, deceleration, turning, stopping and the various sprinklings of mechanical arm 6 action of car body 1.
Autonomous tracking spray modes：Autonomous tracking spray modes using electromagnetic wire guiding, image recognition, position sensor and
Electromagnetic sensor realizes the self poisoning of car body 1.The electromagnetic wire, image recognition and electromagnetic sensor are mainly used to control car
The trend of body 1, position sensor are mainly used to avoidance and detection mechanical arm 6 and the distance between flusher 7 and crops.
Claims (3)
- A kind of 1. long-distance intelligent control pesticide-spraying cart, by car body（1）, electromagnetic guide line（9）With remote operation control room group Into remote operation control room is made up of video monitor and report control platform, car body（1）Power resources are accumulator jar, its feature It is：Car body（1）On camera is installed（2）, video transmission antenna（3）, liquid medicine case（4）, number pass reception antenna（5）, machine Tool arm（6）, flusher（7）, electric control system（8）With position sensor and electromagnetic sensor；The liquid medicine case（4）Liquid level sensor, liquid medicine case are inside installed（4）Spray pressure pump is installed outside, spray pressure pump leads to Piping and liquid medicine case（4）And flusher（7）Connection；The mechanical arm（6）Top is provided with flange, flusher（7）On flange, mechanical arm（6）There are 3 frees degree, i.e., Mechanical arm（6）Entirety swings, mechanical arm（6）Principal arm lifting, mechanical arm（6）The 360 degree of rotations of top flange；The electromagnetic guide line（9）6-15 centimetres of subsurface is embedded in around crops；The electric control system（8）Comprising CPU, electromagnetic guide signal processing circuit, mechanical arm system, high/low Fast position sensor, orientation angle detection, liquid level sensor, camera control module, flusher control module, rear axle gear Case high/low speed switching mechanism, steering wheel drive module, main motor driving and wireless data transmission module；The position sensor is arranged on car body（1）Front and rear, mechanical arm（6）Top and flusher（7）On；Electromagnetic sensor It is arranged on car body（1）Front end.
- 2. long-distance intelligent control pesticide-spraying cart according to claim 1, it is characterised in that：Long-distance intelligent control pesticide spraying Car has two kinds of steer modes of long-distance video steer mode and autonomous tracking spray modes.
- 3. long-distance intelligent control pesticide-spraying cart according to claim 2, it is characterised in that：Steering wheel passes through in direction controlling The direction control signal of wireless data transmission module transmission has priority, i.e. car body（1）In electromagnetic guide line（9）Automatic Track Finding When, if receiving steering wheel control signal, direction controlling will be weighed and transfer to steering wheel control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306165.5A CN107410255A (en) | 2017-05-04 | 2017-05-04 | A kind of long-distance intelligent control pesticide-spraying cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710306165.5A CN107410255A (en) | 2017-05-04 | 2017-05-04 | A kind of long-distance intelligent control pesticide-spraying cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107410255A true CN107410255A (en) | 2017-12-01 |
Family
ID=60425405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710306165.5A Pending CN107410255A (en) | 2017-05-04 | 2017-05-04 | A kind of long-distance intelligent control pesticide-spraying cart |
Country Status (1)
| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303963A (en) * | 2018-04-04 | 2018-07-20 | 湖南丰茂植保机械有限公司 | A kind of Intelligent unattended driving equipment for plant protection earth station system |
| CN109074038A (en) * | 2017-12-29 | 2018-12-21 | 深圳市大疆创新科技有限公司 | agricultural machine control method, device and agricultural machine |
| CN109601511A (en) * | 2018-12-21 | 2019-04-12 | 甘肃农业大学 | A kind of automatic spray running gear |
| CN111376285A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Dexterous hand |
| CN111657251A (en) * | 2020-06-16 | 2020-09-15 | 广东后海控股股份有限公司 | But remote control's agricultural plant protection equipment |
| CN114275163A (en) * | 2022-01-13 | 2022-04-05 | 江西裕丰智能农业科技有限公司 | Folding arm module, spraying equipment and driving method |
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| CN114275163A (en) * | 2022-01-13 | 2022-04-05 | 江西裕丰智能农业科技有限公司 | Folding arm module, spraying equipment and driving method |
| CN114275163B (en) * | 2022-01-13 | 2023-07-14 | 江西裕丰智能农业科技有限公司 | Folding arm module, spraying device and driving method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171201 |