CN109566583A - Pure electric vehicle based on machine vision ground gap adjustable flow spraying machine - Google Patents
Pure electric vehicle based on machine vision ground gap adjustable flow spraying machine Download PDFInfo
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- CN109566583A CN109566583A CN201811525732.7A CN201811525732A CN109566583A CN 109566583 A CN109566583 A CN 109566583A CN 201811525732 A CN201811525732 A CN 201811525732A CN 109566583 A CN109566583 A CN 109566583A
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- 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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- 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 plant protection field of mechanical technique, with providing a kind of pure electric vehicle based on machine vision gap adjustable flow spraying machine, comprising: running gear, support device, sighting device, main control unit and variable chemical spraying device；The support device is liftably installed on the running gear, the sighting device and the variable chemical spraying device are mounted in the support device, the sighting device, the running gear and the variable chemical spraying device are connect with the main control unit, the main control unit receives and processes the information that the sighting device is sent, it generates different control instructions and is respectively sent to the running gear and the variable chemical spraying device, the running gear and the variable chemical spraying device are based respectively on the control instruction and are acted accordingly.The pure electric vehicle based on machine vision gap adjustable flow spraying machine identification in fields it is strong, practical value is high, low manufacture cost, application easy to spread.
Description
Technical field
The present invention relates to agricultural plant protection field of mechanical technique, a kind of more particularly to pure electric vehicle based on machine vision gap
Adjustable flow spraying machine.
Background technique
Diseases and pests of agronomic crop is the important biomolecule disaster for influencing agricultural production, according to statistics, because of prevention and control of plant diseases, pest control deficiency, China
Cereal crops production loss caused by annual is up to 10% or more；Pesticide control, mechanical application are the main means of the prevention and control of plant diseases, pest control,
However, in the equipment for plant protection in China manually and equipment of small motor spraying machine ownership is up to 98.60%, Agent spraying machine and pesticide at present
China is caused to be up to 1300~16,000,000 hm by the cultivated area of pollution by pesticides using the serious backwardness of technology2, quality of agricultural product
Decline, operation yield and quality are difficult to be protected, and water and soil resources seriously pollute.
In recent years, the research of vehicular accuracy pesticide applying technology and equipment achieves huge progress, and effectively controlling pesticide makes
Dosage simultaneously reduces pesticide residue, but for rice and high stalk seeding corn and other crops, vehicular application equipment is difficult to enter operation,
The prevention and control of plant diseases, pest control is still difficult.Therefore, high-clearance spray function efficiently solves long-stalked crops application hardly possible, prevention and control of plant diseases, pest control effect
Difference, the problems such as pesticide utilization rate is low.
Currently, high-clearance spraying machine, which mostly uses, promotes spray boom truss also or using the vertical of hydraulic-driven adjustment driver's cabin
Lifting sprays requirement with adapt to different height crop, however, spraying machine driver's cabin weight is big, whole center of gravity is higher, severe road
Condition passability is poor, and in hydraulic-driven, the pressure loss is big, and spraying machine power effective rate of utilization is low, and Hydraulic Elements and pipeline are easily let out
Dew, motion-affecting stationarity and correctness, and cause environmental pollution etc..
The inconsistency being distributed on field crops according to pest and disease damage, it is by obtaining agriculture that the variable of pesticide, which sprays operation,
The otherness information of field pest and disease damage carries out variable spray according to the concrete condition of different zones, to improve pesticide utilization rate, drop
Low operating cost mitigates environmental pollution.Currently, the variable spray based on global positioning system (GPS) and GIS-Geographic Information System (GIS)
Apply, need to carry out the production of farm work prescription map before spraying operation, due to space and time difference, accuracy that variable sprays compared with
Difference；And it commonly also cannot achieve according to speed of travel progress variable spray and sprayed on demand according to crop growth situation.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of pure electric vehicle based on machine vision gap adjustable flow spraying machine, it is intended to extremely
One of technical problems existing in the prior art or related technologies are solved less.
(2) technical solution
A kind of in order to solve the above technical problem, the present invention provides pure electric vehicle based on machine vision gap adjustable flow
Spraying machine, comprising: running gear, support device, sighting device, main control unit and variable chemical spraying device；The support device
It is liftably installed on the running gear, the sighting device and the variable chemical spraying device are mounted on the support dress
It sets, the sighting device, the running gear and the variable chemical spraying device are connect with the main control unit, the master
Control unit receives and processes the information that the sighting device is sent, and generates different control instructions and is respectively sent to the walking
Device and the variable chemical spraying device, the running gear and the variable chemical spraying device are based respectively on the control instruction and carry out
Corresponding movement.
Wherein, the running gear includes pilot unit and driving unit；The driving unit include hub motor and
Driving wheel；The pilot unit includes directive wheel, guide gear, guiding power part and guiding bearings, the guiding tooth
Wheel is engaged with the guiding bearings, and the guiding power part is for driving the guide gear rotation so that the guiding tooth
Wheel is circumferentially rotated around the guiding bearings, and the guiding bearings drive the directive wheel to turn to；The hub motor and institute
Guiding power part is stated to connect with the main control unit.
Wherein, it is provided with lifting unit between the support device and the running gear, passes through the lifting unit
Movement is to control the relative distance between the support device and the running gear, and the lifting unit and the master control list
Member connection.
Wherein, scissor-type link mechanism, the scissor-type are additionally provided between the support device and the running gear
Link mechanism includes the first group of connecting rod and second group of connecting rod being staggered, and one end of first group of connecting rod and the walking fill
Slidable connection is set, the other end of first group of connecting rod is connect by hinge with the support device；Second group of connecting rod
One end connect with the running gear by hinge, the other end of second group of connecting rod slidably connects with the support device
It connects.
Wherein, the sighting device includes image acquisition unit and ultrasonic sensor；Described image acquiring unit and institute
It states ultrasonic sensor to connect with the main control unit, the image and the supersonic sensing that described image acquiring unit obtains
The distance signal transmission of device detection is to the main control unit, so that the main control unit carries out image procossing and data analysis.
Wherein, the variable chemical spraying device includes diaphragm pump, overflow valve, PWM controller, pressure sensor, flow sensing
Device and spray unit；
The liquid feeding end of the diaphragm pump is connected with medicine-chest, and the outlet end of the diaphragm pump is connected with the spray unit,
The spray unit includes multiple spray heads, is connected with the stream between the outlet end of the diaphragm pump and the spray unit in turn
Quantity sensor and the pressure sensor；
The overflow valve is mounted in the bypass for being connected to the outlet end of the medicine-chest and the diaphragm pump；The PWM control
Device is connect with the main control unit, and the PWM controller acts on the diaphragm pump, and the PWM controller passes through output pulse width
Adjustable square-wave signal controls the diaphragm pump direct current generator turn-on and turn-off time, to change the average electricity in diaphragm pump both ends
Pressure, adjusts the flow of the spray head.
Wherein, the variable chemical spraying device further includes electric pushrod and spray boom, and multiple spray heads are installed in described
On spray boom, the spray boom and the support device are hinged, and the motion end of the electric pushrod is connect with the spray boom, described electronic
The fixing end of push rod is connect with the support device.
Wherein, the spray boom telescopic structure, the spray boom include outer bar and are set in inside outer bar, and can be relatively outer
The flexible interior bar that bar stretches back and forth, the flexible interior bar and the outer bar junction are provided with positioning and locking part, by described fixed
Position locking part can make the flexible interior bar for stretching out certain length and the outer bar be fixed to each other locking.
Wherein, the quantity of the spray boom is two, and two spray booms are symmetrically mounted on the two sides of the support device.
(3) beneficial effect
Compared with prior art, the invention has the following advantages that
A kind of pure electric vehicle based on machine vision provided by the invention ground gap adjustable flow spraying machine, passes through sighting device
The growing state of field crops and disease and insect information are shot into image, remote transmission to main control unit, main control unit will acquire
The image arrived is from multidimensional color notation conversion space to one-dimensional gray space, then by the gray value of the pixel of one-dimensional gray space image
It is set as 0 or 255, so that image is showed obvious black and white effect, finally extracts image filtering；Main control unit control walking dress
The corresponding movement of progress is set to reach specified spray position, the sighting device can also real-time detection plant height, master control list
Member obtains plant height information, and support device is adjusted to reasonably spray height according to plant height information, main control unit control
Variable chemical spraying device variable spray.The pure electric vehicle based on machine vision gap adjustable flow spray machine by detection crop
Height and identification crop disease and insect and its severity, realize that variable sprays, improve pesticide utilization rate, reduce environmental pollution；Field
Between it is adaptable, practical value is high, and low manufacture cost is easy to widely promote and apply.
Detailed description of the invention
Fig. 1 for a kind of pure electric vehicle based on machine vision of the embodiment of the present invention gap adjustable flow spraying machine axis survey
Figure；
The side view of Fig. 2 for a kind of pure electric vehicle based on machine vision of the embodiment of the present invention gap adjustable flow spraying machine
Figure；
In figure: 1- medicine-chest；2- electric pushrod；3- lifting unit；4- chassis of vehicle body；5- ultrasonic sensor；6- driving wheel；
7- wheel hub；8- directive wheel；9- guide gear；10- is oriented to power part；11- scissor-type link mechanism；12- main control unit；13-
Image acquisition unit；14- variable chemical spraying device；15- spray head；16- spray boom；17- support device.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instance
For illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected or can communicate each other；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
The structure of Fig. 1 for a kind of pure electric vehicle based on machine vision of the embodiment of the present invention gap adjustable flow spraying machine is shown
It is intended to, as shown in Figure 1, gap adjustable flow spraying machine includes: running gear, support dress with being somebody's turn to do the pure electric vehicle based on machine vision
Set 17, sighting device, main control unit 12 and variable chemical spraying device 14；Support device 17 is liftably installed on running gear
On, sighting device and variable chemical spraying device are mounted in support device 17, sighting device, running gear and variable spray dress
It sets 14 to connect with main control unit 12, main control unit 12 receives and processes the information of sighting device transmission, generates different control
Running gear and variable chemical spraying device 14 are instructed and are respectively sent to, running gear and variable chemical spraying device 14 are based respectively on control
Instruction is acted accordingly.
It should be noted that gap adjustable flow spray machine passes through sighting device with being somebody's turn to do the pure electric vehicle based on machine vision
By the growing state of field crops and disease and insect information shooting at image, remote transmission to main control unit 12, main control unit 12 will
The image got is from multidimensional color notation conversion space to one-dimensional gray space, then by the ash of the pixel of one-dimensional gray space image
Angle value is set as 0 or 255, so that image is showed obvious black and white effect, finally extracts image filtering；Main control unit control row
Walking apparatus carries out corresponding movement to reach specified spray position, the sighting device can also real-time detection plant height, it is main
It controls unit 12 and obtains plant height information, support device 17 is adjusted to reasonably spray height, master control according to plant height information
Unit controls 14 variable of variable chemical spraying device spray.The pure electric vehicle based on machine vision gap adjustable flow spray machine it is logical
Detection plant height and identification crop disease and insect and its severity are crossed, realizes that variable sprays, improves pesticide utilization rate, reduce ring
Border pollution etc.；Identification in fields is strong, and practical value is high, low manufacture cost, application easy to spread.
Further, running gear includes pilot unit and driving unit；Pilot unit can provide steering driving force, real
It turns now to, driving unit can provide the hoofing part power of driving wheel, realize walking.Driving unit includes hub motor and driving
Wheel 6；Hub motor torque response is fast, and it is simple and reliable for structure, lifting capacity is high.Pilot unit includes directive wheel 8, guide gear
9, it is oriented to power part 10 and guiding bearings, guide gear 9 is engaged with guiding bearings, guiding power part is for driving
Guide gear 9 rotates so that guiding bearings are circumferentially rotated around guide gear 9, and guiding bearings drive directive wheel 8 to turn to；Wheel hub
Motor and guiding power part are connect with main control unit 12.
In the present embodiment, running gear further includes chassis of vehicle body 4, and there are two driving wheels 6 and two to lead for the dress of chassis of vehicle body 4
To wheel 8.Two driving wheels 6 are symmetrically mounted on the two sides of chassis of vehicle body 4, and two driving wheels 6 are separately mounted to two wheel hubs 7
On, wheel hub is by In-wheel motor driving, and the hub motor receives the instruction of the transmission of main control unit 12, and is moved accordingly
Make.Guiding power part 10 is directive wheel driving motor, and guide gear 9 is mounted on the output shaft of directive wheel driving motor, is led to
Crossing directive wheel driving motor drives guide gear 9 to be rotated, and guide gear 9 drives the guiding bearings engaged around guiding
Gear 9 circumferentially rotates, and then directive wheel is driven to be moved.Wherein, directive wheel is mounted on guide wheel bracket, guiding bearings
It is connect with guide wheel bracket.Also, directive wheel driving motor receives the instruction of the transmission of main control unit 12, and is moved accordingly
Make.
Further, it is provided with lifting unit 3 between support device 17 and running gear, passes through the movement of lifting unit 3
To control the relative distance between support device 17 and running gear, and lifting unit 3 is connect with main control unit 12.
Wherein, lifting unit 3 is lifting electric putter, and the motor of lifting electric putter receives the finger of the transmission of main control unit 12
It enables, and is acted accordingly.Lifting electric putter wherein provides support force simultaneously for support device 17 and changes support dress
Set the effect of 17 height.4 lifting electric putters are installed in the present embodiment, the fixing end of electric pushrod is installed on car body bottom
On disk 4, the motion end of electric pushrod is installed in support device 17.Support device 17 and chassis of vehicle body 4 are arranged in parallel.
The side view of Fig. 2 for a kind of pure electric vehicle based on machine vision of the embodiment of the present invention gap adjustable flow spraying machine
Figure, as shown in Fig. 2, scissor-type link mechanism 11 is additionally provided between support device 17 and chassis of vehicle body 4, scissor-type link mechanism
11 first group of connecting rod and second group of connecting rod including being staggered, one end of first group of connecting rod and 4 slidable connection of chassis of vehicle body,
The other end of first group of connecting rod is connect by hinge with support device 17；One end of second group of connecting rod passes through hinge and chassis of vehicle body
4 connections, the other end and 17 slidable connection of support device of second group of connecting rod.
In the present embodiment, first group of connecting rod and second group of connecting rod are hinged, what first group of connecting rod and second group of connecting rod were constituted
Scissor-type mechanism 11 is used to strengthen the connective stability between support device 17 and chassis of vehicle body 4, and scissor-type mechanism 11 can be
Support device 17 provides support force.
Further, sighting device includes image acquisition unit 13 and ultrasonic sensor 5；Image acquisition unit 13 and super
Sonic sensor 5 is connect with main control unit 12, image acquisition unit 13 obtain image and ultrasonic sensor 5 detect away from
It is transmitted to main control unit 12 from signal, so that main control unit 12 carries out image procossing and data analysis.
In the present embodiment, image acquisition unit 13 is video camera, installs three in the front position of support device 17 and takes the photograph
Camera, and the camera of video camera and 17 place plane of support device are at 45 °, video camera is by the image clapped and supersonic sensing
The distance signal that device 5 detects is transmitted to main control unit 12, so that main control unit 12 carries out image procossing and data analysis.
Further, variable chemical spraying device 14 includes diaphragm pump, overflow valve, PWM controller, and pressure sensor, flow pass
Sensor and spray unit；
The liquid feeding end of diaphragm pump is connected with medicine-chest, and the outlet end of diaphragm pump is connected with spray unit, and spray unit includes
Multiple spray heads are connected with flow sensor and pressure sensor in turn between the outlet end and spray unit of diaphragm pump；
Overflow valve is mounted in the bypass of the outlet end of connection medicine-chest and diaphragm pump；PWM controller and main control unit 12 connect
It connects, receives the instruction that main control unit is sent, PWM controller acts on diaphragm pump, and PWM controller passes through the adjustable side of output pulse width
The wave signal control diaphragm pump direct current generator turn-on and turn-off time adjusts spray head to change diaphragm pump both ends average voltage
Flow.When PWM controller pulse width variations, system pressure and flow change, and pass through flow sensor and pressure sensor
It is detected.
Further, variable chemical spraying device 14 further includes electric pushrod 2 and spray boom 16, and multiple spray heads 15 are installed in spray
On bar 16, spray boom 16 and support device 17 are hinged, and the motion end of electric pushrod 2 is connect with spray boom 16, the fixing end of electric pushrod 2
It is connect with support device 17.The length of spray boom 16 can be designed according to actual needs, be not specifically limited in the present embodiment.
In the present embodiment, electric pushrod 2 can make spray boom 16 be arranged vertically or be arranged in parallel with support device 17.
Ultrasonic sensor is mounted on spray boom 16.
Further, 16 telescopic structure of spray boom, spray boom 16 include outer bar and are set in inside outer bar, and can be relatively outer
The flexible interior bar that bar stretches back and forth, flexible interior bar and outer bar junction are provided with positioning and locking part, which can make to stretch
The flexible interior bar Yu outer bar of certain length are fixed to each other locking out.
Wherein, the quantity of spray boom 16 is two, and two spray booms are symmetrically mounted on the two sides of support device 17.Spray boom 16 can be with
For rectangular shaft, multiple spray heads are provided in rectangular shaft, multiple spray heads are arranged in rectangular shaft along rectangular shaft equal spacing in length direction.
Pure electric vehicle provided in an embodiment of the present invention based on machine vision gap adjustable flow spray machine, pass through camera shooting
Machine is by the growing state of field crops and disease and insect information shooting at image, and remote transmission to main control unit, main control unit will figure
Picture is set as 0 from multidimensional color notation conversion space to one-dimensional gray space, then by the gray value of the pixel of one-dimensional gray space image
Either 255, so that image is showed obvious black and white effect, finally extracts image filtering to control the spray of spray unit variable
Medicine；Ultrasonic sensor real-time detection plant height, main control unit acquires plant height information in real time, to control lifting electric
Push rod is in vertical motion so that support device, which reaches, reasonably sprays height, and the control of main control unit output switching signal is electronic
The movement of push rod, thus stretching, extension or contraction spray boom；Main control unit wireless control hub motor realizes driving wheel walking, same with this
When main control unit control directive wheel driving motor, realize directive wheel guiding walking.
Pure electric vehicle provided in an embodiment of the present invention based on machine vision gap adjustable flow spray machine, can be according to not
It is gone up and down with plant height, and by detection plant height and identification crop disease and insect and its severity, utilizes pulsewidth tune
Technology processed realizes that variable sprays, and improves pesticide utilization rate, reduces environmental pollution etc.；Identification in fields is strong, and practical value is high, production
It is at low cost, it is easy to widely promote and apply.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of pure electric vehicle based on machine vision ground gap adjustable flow spraying machine characterized by comprising running gear,
Support device, sighting device, main control unit and variable chemical spraying device；The support device is liftably installed on the walking
On device, the sighting device and the variable chemical spraying device are mounted in the support device, the sighting device, described
Running gear and the variable chemical spraying device are connect with the main control unit, and the main control unit receives and processes the view
Feel the information that device is sent, generate different control instructions and is respectively sent to the running gear and variable spray dress
It sets, the running gear and the variable chemical spraying device are based respectively on the control instruction and are acted accordingly.
2. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as described in claim 1, which is characterized in that institute
Stating running gear includes pilot unit and driving unit；The driving unit includes hub motor and driving wheel；The guiding
Unit includes directive wheel, guide gear, guiding power part and guiding bearings, the guide gear and the guided bearing
Part engagement, the guiding power part is for driving the guide gear to rotate so that the guide gear is around the guided bearing
Part circumferentially rotates, and the guiding bearings drive the directive wheel to turn to；The hub motor and the guiding power part are equal
It is connect with the main control unit.
3. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as described in claim 1, which is characterized in that institute
It states and is provided with lifting unit between support device and the running gear, the branch is controlled by the movement of the lifting unit
Relative distance between support arrangement and the running gear, and the lifting unit is connect with the main control unit.
4. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as claimed in claim 3, which is characterized in that institute
It states and is additionally provided with scissor-type link mechanism between support device and the running gear, the scissor-type link mechanism includes staggeredly
The first group of connecting rod and second group of connecting rod being arranged, one end of first group of connecting rod and the running gear slidable connection, institute
The other end for stating first group of connecting rod is connect by hinge with the support device；One end of second group of connecting rod by hinge with
The running gear connection, the other end of second group of connecting rod and the support device slidable connection.
5. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as described in claim 1, which is characterized in that institute
Stating sighting device includes image acquisition unit and ultrasonic sensor；Described image acquiring unit and the ultrasonic sensor are equal
It is connect with the main control unit, the distance signal of image and ultrasonic sensor detection that described image acquiring unit obtains
It is transmitted to the main control unit, so that the main control unit carries out image procossing and data analysis.
6. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as described in claim 1, which is characterized in that institute
Stating variable chemical spraying device includes diaphragm pump, overflow valve, PWM controller, pressure sensor, flow sensor and spray unit；
The liquid feeding end of the diaphragm pump is connected with medicine-chest, and the outlet end of the diaphragm pump is connected with the spray unit, described
Spray unit includes multiple spray heads, is connected with the flow between the outlet end of the diaphragm pump and the spray unit in turn and passes
Sensor and the pressure sensor；
The overflow valve is mounted in the bypass for being connected to the outlet end of the medicine-chest and the diaphragm pump；The PWM controller with
The main control unit connection, the PWM controller act on the diaphragm pump, and the PWM controller is adjustable by output pulse width
Square-wave signal control diaphragm pump direct current generator turn-on and turn-off time, to change diaphragm pump both ends average voltage, adjust
Save the flow of the spray head.
7. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as claimed in claim 6, which is characterized in that institute
Stating variable chemical spraying device further includes electric pushrod and spray boom, and multiple spray heads are installed on the spray boom, the spray boom
Hinged with the support device, the motion end of the electric pushrod is connect with the spray boom, the fixing end of the electric pushrod with
The support device connection.
8. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as claimed in claim 7, which is characterized in that institute
Spray boom telescopic structure is stated, the spray boom includes outer bar and is set in inside outer bar, and can be stretched with respect to what outer bar was stretched back and forth
Contracting interior bar, the flexible interior bar and the outer bar junction are provided with positioning and locking part, by the positioning and locking part, can make to stretch
The flexible interior bar Yu the outer bar of certain length are fixed to each other locking out.
9. the ground of the pure electric vehicle based on machine vision gap adjustable flow spraying machine as claimed in claim 7, which is characterized in that institute
The quantity for stating spray boom is two, and two spray booms are symmetrically mounted on the two sides of the support device.
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| CN110663338A (en) * | 2019-10-31 | 2020-01-10 | 西北农林科技大学 | Movable type sprinkling machine combined nozzle based on momentum moment principle |
| CN114431211A (en) * | 2021-09-17 | 2022-05-06 | 吉林省农业机械研究院 | Variable-quantity pesticide application system and device |
| CN114747555A (en) * | 2022-03-10 | 2022-07-15 | 南京农业大学 | Automatic navigation pesticide application system and method for greenhouse solanaceous vegetables |
| CN115486356A (en) * | 2022-11-02 | 2022-12-20 | 四川吉利学院 | Tobacco seedling watering machine based on machine vision |
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Application publication date: 20190405 |