CN109601511B - Automatic spout medicine running gear - Google Patents
Automatic spout medicine running gear Download PDFInfo
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- CN109601511B CN109601511B CN201811569978.4A CN201811569978A CN109601511B CN 109601511 B CN109601511 B CN 109601511B CN 201811569978 A CN201811569978 A CN 201811569978A CN 109601511 B CN109601511 B CN 109601511B
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/10—Devices for affording protection against animals, birds or other pests
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- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention relates to an automatic pesticide spraying walking device, aiming at pesticide spraying operation of crops in a greenhouse, the influence in front of the walking of a vehicle body is obtained in real time based on a tripod head camera (9), synchronous rotation control and differential rotation control are carried out on two front driving wheels (13) in the vehicle body according to the influence, the running of the vehicle body in all directions is realized, the position of the crop to be sprayed is obtained through the tripod head camera (9), the pesticide spraying of the crop is realized through an electric pump (7) through a hose (3) in combination with the control of a mechanical arm (8), and pesticide spraying of the crop is realized through a sprayer (4).
Description
Technical Field
The invention relates to an automatic pesticide spraying walking device, and belongs to the technical field of plant protection.
Background
In the existing agricultural production process, the process of spraying pesticide is an indispensable operation. At the present stage, manual small-area spraying or large-area spraying by using an unmanned aerial vehicle is mainly applied. Both modes of spraying have major drawbacks: firstly, the safety of a pesticide sprayer is difficult to guarantee by manual spraying, the spraying operation is greatly influenced by weather, and the operation cannot be carried out in windy weather. If the spraying is carried out in a large area by manpower, a large amount of manpower resources are consumed, which is a waste of the manpower resources. Secondly, use unmanned aerial vehicle to spray can not carry out accurate operation, do not have pertinence. The waste of the medicines and the huge damage to the ecological environment are caused; therefore, the existing spraying mode has the defects.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic pesticide spraying walking device which can operate in a greenhouse, can identify the plant diseases and insect pests of the greenhouse, automatically spray pesticide and solve the problem that the conventional original pesticide spraying mode consumes manpower resources.
The invention adopts the following technical scheme for solving the technical problems: the invention designs an automatic pesticide spraying walking device which comprises a vehicle body, a box body, a pesticide liquid box, a hose, a spray head, a control module, a power supply, an electric pump, a mechanical arm and two pan-tilt cameras, wherein the power supply, the electric pump, the mechanical arm and the two pan-tilt cameras are respectively connected with the control module; the power supply supplies power to the electric pump, the mechanical arm and the two pan-tilt cameras through the control module respectively;
the vehicle body comprises two connecting rods, two telescopic rods, four sleeves, two front driving wheels, two driven wheels, two flat plates and two groups of electric driving devices; the two connecting rods are equal in length, the specifications of the two telescopic rods are the same, the two connecting rods are parallel to each other, the two telescopic rods are parallel to each other, and the two connecting rods and the two telescopic rods are coplanar to form a rectangular frame; the four sleeves are positioned on the same side of the rectangular frame, the four sleeves are respectively in one-to-one correspondence with four vertexes of the rectangular frame, one end of each sleeve is fixedly butted with the vertex of the rectangular frame, and each sleeve is perpendicular to the surface of the rectangular frame; the lengths of the sleeves at the two ends of the connecting rod are equal to each other; the two telescopic rods have the same structure, and are both of a multi-section sleeve structure; the length of the two flat plates is matched with that of the connecting rod, the surface of each flat plate is rectangular, two ends of one flat plate are fixedly arranged on the two telescopic rods respectively, the tops of the outer walls of the tail end sleeves in the same direction are arranged on the two telescopic rods, and the long edges of the surfaces of the flat plates are parallel to the connecting rod; two ends of the other flat plate are respectively and fixedly arranged on the two telescopic rods and the top of the outer wall of the tail end sleeve in the same direction, and the long edge of the surface of the flat plate is parallel to the connecting rod; the driven wheels are movably butted with the end parts, far away from the telescopic rod, of the sleeves connected with the two ends of one telescopic rod respectively, and the driven wheels are universal wheels; the sleeve connected with the two ends of the other telescopic rod and the end part far away from the telescopic rod are respectively and movably butted with a front driving wheel, the front driving wheel is not a universal wheel, and the surface of the front driving wheel is parallel to the vertical surface of the connecting rod;
the two groups of electric driving devices are respectively in one-to-one correspondence with the two front driving wheels, and respectively comprise a motor driving module, a roller driving motor, a transmission rod and two groups of bevel gears; in each group of electric driving devices, a motor driving module and a roller driving motor are connected with each other and fixedly arranged on the upper surface of a flat plate beside the corresponding front driving wheel, a transmission rod is movably arranged in a sleeve connected with the corresponding front driving wheel, two ends of the transmission rod are respectively positioned at the outer sides of two ends of the sleeve, the straight line of the driving rod of the roller driving motor is vertical to the straight line of the transmission rod, the end part of the driving rod of the roller driving motor is in butt joint with the end part of the transmission rod facing one side of the transmission rod through one group of conical gears, the transmission rod rotates along with the rotation of the driving rod of the roller driving motor under the linkage of the conical gears, the straight line of the transmission rod is vertical to the straight line of the central axis of the corresponding front driving wheel, the end part of the other side of the transmission rod is in butt joint with one side surface of the corresponding front driving wheel through the other group of conical gears, the front driving wheel is under the linkage of the conical gears, the front driving wheel, Rotating along with the rotation of the transmission rod;
the connecting line between the parts of the two groups of electric driving devices respectively positioned on the upper surfaces of the corresponding flat plates is parallel to the straight line where the telescopic rods are positioned; the motor driving modules in each group of electric driving devices are respectively connected with the control module;
the box body is fixedly arranged on the upper surfaces of the two flat plates, the lower surface of the box body is provided with a groove corresponding to the whole area of the connecting line of the upper surfaces of the flat plates in the two groups of electric driving devices, and the groove covers the whole area of the connecting line of the upper surfaces of the corresponding flat plates in the two groups of electric driving devices; along with the synchronous extension or synchronous shortening of the two telescopic rods, the two flat plates are far away or close to each other, and meanwhile, the parts of the two groups of electric driving devices, which are positioned on the upper surfaces of the corresponding flat plates, are far away or close to each other in the grooves on the lower surface of the box body; the top of the box body is open, the box body cover is detachably covered on the open opening at the top of the box body and corresponds to the size of the open opening at the top, the liquid medicine box is fixedly arranged in the box body, the liquid injection opening is arranged at the top of the liquid medicine box, the open opening at the top of the box body is arranged on the basis of the box body cover, a through hole penetrating through the upper surface and the lower surface of the box body cover is arranged at the position, corresponding to the liquid injection opening at the top of the liquid medicine box, of the surface of the box body cover in the vertical direction, the liquid injection opening at the top of the liquid medicine box is butted with one end of a pipeline, the other end of the pipeline vertically penetrates through the through hole on the surface of the box body cover, and the liquid medicine box cover is detachably covered at the other end of the pipeline;
the base of the mechanical arm is fixedly hoisted on the lower surface of the box body and corresponds to the edge position of one side of the two front driving wheels, and the tripod head seats of the two tripod head cameras are fixedly hoisted on the lower surface of the box body and the positions of the two sides of the base of the mechanical arm; the spray head is arranged at the front end of the mechanical arm; control module, power, electric pump are fixed respectively and set up inside the box, and the input of bottom delivery outlet through the pipeline butt joint electric pump of spray tank, the input of hose butt joint shower nozzle is passed through to the output of electric pump.
As a preferred technical scheme of the invention: the device also comprises a driving motor, a gear bar and a rhombic frame structure; four sides of the rhombic frame structure are movably butted with each other, the four sides of the rhombic frame structure are coplanar, one vertex of the rhombic frame structure is butted with the midpoint of the telescopic rod between the two front driving wheels, a diagonal line passing through the vertex on the rhombic frame structure is vertical to a straight line where the telescopic rod between the two front driving wheels is positioned, the gear strip is fixedly arranged on the upper surface of the other vertex on the diagonal line, the insection of the gear strip is upward, the straight line where the gear strip is positioned is collinear with the diagonal line, and meanwhile vertexes on two sides of the diagonal line on the rhombic frame structure are butted with the side wall of the connecting rod facing the gear strip respectively;
the overlooking structure of the box body is n-shaped, the inner area of the box body is arranged along each side of the n-shaped box body and projects along the vertical downward direction, the gear strip is positioned in the area between two side edges of the n-shaped box body, the driving motor is connected with the control module, the driving motor is fixedly arranged in the box body corresponding to the region of one side edge of the n-shaped side edge, the end part of the rotating shaft of the driving motor penetrates through the inner side surface of the n-shaped side edge in the box body, and is positioned between two sides of the n-shaped box body, the end part of the rotating shaft of the driving motor is butted with the gear, the tooth lines of the gear are meshed with the tooth lines on the surface of the gear strip, the gear strip moves back and forth along the horizontal straight line direction which is vertical to the telescopic rod between the two front driving wheels along with the driving of the driving motor to the gear, and the gear belt drives the vertex of the rhombic frame structure to move, and the two connecting rods of the vehicle body are close to or far away from each other based on the two telescopic rods of the vehicle body.
As a preferred technical scheme of the invention: still include micro-transformer and electric needle, micro-transformer fixed set up in inside the box, the electric needle is fixed set up in on the shower nozzle, and the front end of electric needle with the shower nozzle bump the mouth syntropy, micro-transformer's output is through wire and the butt joint of end of electric needle.
As a preferred technical scheme of the invention: the liquid level sensor is fixedly arranged in the liquid medicine tank, and the output end of the liquid level sensor is in butt joint with the control module through a lead.
As a preferred technical scheme of the invention: and each cradle head camera is a cradle head infrared camera.
Compared with the prior art, the automatic pesticide spraying walking device adopting the technical scheme has the following technical effects:
(1) the designed automatic pesticide spraying walking device disclosed by the invention is used for pesticide spraying operation on crops in a greenhouse, the influence in front of the walking of a vehicle body is obtained in real time based on the cloud deck camera, synchronous rotation control and differential rotation control are carried out on two front driving wheels in the vehicle body, the walking of the vehicle body in all directions is realized, the position of the crop to be sprayed is obtained through the cloud deck camera, and pesticide spraying on the crops is realized through an electric pump and a hose by combining the control of a mechanical arm and a sprayer through an electric pump, so that the automatic walking and automatic pesticide spraying operation is realized, the problem that the existing original pesticide spraying mode consumes manpower resources is solved, and the pesticide spraying working efficiency is greatly improved;
(2) in the designed automatic pesticide spraying walking device, a movable deformation type diamond-shaped frame structure is further introduced aiming at the vehicle body structure based on the design of a telescopic rod in the vehicle body, and a gear driving mechanism can flexibly realize the adjustment of the vehicle body width under the control of a driving motor;
(3) in the designed automatic pesticide spraying walking device, a micro transformer and an electric needle are further introduced, electric energy is transmitted to the electric needle through the micro transformer on the basis of the image capture of a holder camera and the control application of a mechanical arm, and physical deinsectization is realized through the discharge at the front end of the electric needle on the basis of the position of a crop, so that the work efficiency of crop maintenance is further improved;
(4) in the automatic pesticide spraying walking device designed by the invention, the application liquid level sensor is arranged in the pesticide liquid box, so that the liquid level of pesticide liquid in the pesticide liquid box can be obtained in real time and is timely uploaded to the control module, and the control module coordinates the whole pesticide spraying operation of crops according to the liquid level; and aiming at each cloud platform camera, the cloud platform infrared camera is further applied, so that the method can be effectively suitable for image capture in a low-brightness illumination environment, and the work efficiency of image acquisition can be effectively improved.
Drawings
FIG. 1 is a side view of an automatic pesticide spraying traveling device designed according to the present invention;
FIG. 2 is a top view of the automatic pesticide spraying traveling device designed according to the present invention;
FIG. 3 is a schematic top view of the vehicle body of the present design;
FIG. 4 is a side view of the body width control of the design of the present invention.
The automatic liquid medicine spraying device comprises a box body 1, a liquid medicine box 2, a hose 3, a spray head 4, a control module 5, a power supply 6, an electric pump 7, a mechanical arm 8, a tripod head camera 9, a connecting rod 10, a telescopic rod 11, a sleeve 12, a front driving wheel 13, a driven wheel 14, a flat plate 15, a motor driving module 16, a roller driving motor 17, a liquid medicine box cover 18, a driving motor 19, a gear 20, a gear 21, a gear strip 22, a diamond-shaped frame structure 23, a liquid level sensor 24 and a groove.
Detailed Description
The following description will explain embodiments of the present invention in further detail with reference to the accompanying drawings.
The invention designs an automatic medicine spraying walking device, which in practical application, as shown in figure 1, specifically comprises a vehicle body, a box body 1, a liquid medicine box 2, a hose 3, a spray head 4, a gear 20, a gear bar 21, a diamond-shaped frame structure 22, an electric needle, a control module 5, a power supply 6, an electric pump 7, a mechanical arm 8, a driving motor 19, a micro-transformer, a liquid level sensor 23 and two pan-tilt infrared cameras, wherein the power supply 6, the electric pump 7, the mechanical arm 8, the driving motor 19, the micro-transformer, the liquid level sensor 23 and the two pan-tilt infrared cameras are respectively connected with the control module 5; the power supply 6 supplies power to the electric pump 7, the mechanical arm 8, the driving motor 19, the micro-transformer, the liquid level sensor 23 and the two tripod head infrared cameras through the control module 5.
As shown in fig. 3, the vehicle body comprises two connecting rods 10, two telescopic rods 11, four sleeves 12, two front driving wheels 13, two driven wheels 14, two flat plates 15 and two groups of electric driving devices; the two connecting rods 10 are equal in length, the two telescopic rods 11 are identical in specification, the two connecting rods 10 are parallel to each other, the two telescopic rods 11 are parallel to each other, and the two connecting rods 10 and the two telescopic rods 11 are coplanar to form a rectangular frame; the four sleeves 12 are positioned on the same side of the rectangular frame, the four sleeves 12 are respectively in one-to-one correspondence with four vertexes of the rectangular frame, one end of each sleeve 12 is fixedly butted with the vertex of the rectangular frame, and each sleeve 12 is perpendicular to the surface of the rectangular frame; the lengths of the sleeves 12 at both ends of the connecting rod 10 are equal to each other; the two telescopic rods 11 have the same structure, and the telescopic rods 11 are both of a multi-section sleeve structure; the length of the two flat plates 15 is matched with that of the connecting rod 10, the surface of each flat plate 15 is rectangular, two ends of one flat plate 15 are respectively and fixedly arranged on the top of the outer wall of the tail end sleeve in the same direction on the two telescopic rods 11, and the long edge of the surface of the flat plate 15 is parallel to the connecting rod 10; two ends of the other flat plate 15 are respectively and fixedly arranged on the two telescopic rods 11 and the tops of the outer walls of the tail end sleeves in the same direction, and the long edge of the surface of the flat plate 15 is parallel to the connecting rod 10; the driven wheels 14 are movably butted with the end parts, far away from the telescopic rod 11, of the sleeve 12 connected with the two ends of one telescopic rod 11 respectively, and the driven wheels 14 are universal wheels; the sleeve 12 connected with the two ends of the other telescopic rod 11 and the end part far away from the telescopic rod 11 are respectively and movably connected with a front driving wheel 13, the front driving wheel 13 is not a universal wheel, and the surface of the front driving wheel 13 is parallel to the vertical surface of the connecting rod 10.
The two groups of electric driving devices are respectively in one-to-one correspondence with the two front driving wheels 13, and respectively comprise a motor driving module 16, a roller driving motor 17, a transmission rod and two groups of bevel gears; in each group of electric driving devices, a motor driving module 16 and a roller driving motor 17 are connected with each other and fixedly arranged on the upper surface of a flat plate 15 beside a corresponding front driving wheel 13, a transmission rod is movably arranged in a sleeve 12 connected with the corresponding front driving wheel 13, two ends of the transmission rod are respectively positioned at the outer sides of two ends of the sleeve 12, a straight line where a driving rod of the roller driving motor 17 is positioned is vertical to a straight line where the transmission rod is positioned, the end part of the driving rod of the roller driving motor 17 is connected with the end part of the transmission rod facing one side of the transmission rod through one group of conical gears, the transmission rod rotates along with the rotation of the driving rod of the roller driving motor 17 under the linkage of the connected conical gears, the straight line where the transmission rod is positioned is vertical to the straight line where the central axis of the corresponding front driving wheel 13 is positioned, the end part of the other side, the front driving wheel 13 rotates along with the rotation of the transmission rod under the linkage of the connected bevel gear.
The connecting line between the parts of the two groups of electric driving devices respectively positioned on the upper surfaces of the corresponding flat plates 15 is parallel to the straight line where the telescopic rods 11 are positioned; the motor drive modules 16 of the individual groups of electric drives are each connected to the control module 5.
The box body 1 is fixedly arranged on the upper surfaces of the two flat plates 15, the lower surface of the box body 1 is provided with a groove 24 corresponding to the integral area of the two groups of electric driving devices, which is positioned on the partial connecting line of the upper surfaces of the flat plates 15, and the groove 24 is covered on the integral area of the two groups of electric driving devices, which is positioned on the partial connecting line of the upper surfaces of the flat plates 15; with the synchronous extension or synchronous shortening of the two telescopic rods 11, the two flat plates 15 are far away or close to each other, and meanwhile, the parts of the two sets of electric driving devices, which are positioned on the upper surfaces of the corresponding flat plates 15, are far away or close to each other in the grooves 24 on the lower surface of the box body 1; open at 1 top of box, and open mouth detachable cover in 1 top of box establishes, the corresponding box lid of open mouth size in top, liquid medicine case 2 is fixed to be set up in 1 inside of box, level sensor 23 is fixed to be set up in liquid medicine case 2, 2 tops of liquid medicine case set up annotates the liquid mouth, and locate the open mouth in 1 top of box based on the box lid, the box lid surface annotates the corresponding position of liquid mouth with 2 tops of liquid medicine case in vertical direction, the through-hole below it is run through in the setting, the one of them one end of liquid medicine case 2 tops notes liquid mouth butt joint pipeline, the vertical through-hole that passes box lid surface of the other end of this pipeline, liquid medicine case lid 18 is established to the other end detachable cover of this pipeline.
As shown in fig. 3, four sides of the diamond-shaped frame structure 22 are movably butted with each other, the four sides of the diamond-shaped frame structure 22 are coplanar, one vertex of the diamond-shaped frame structure 22 is butted with a midpoint of the telescopic rod 11 between the two front driving wheels 13, a diagonal line of the diamond-shaped frame structure 22 passing through the vertex is perpendicular to a straight line of the telescopic rod 11 between the two front driving wheels 13, the gear strip 21 is fixedly arranged on the upper surface of the other vertex on the diagonal line, the insection of the gear strip 21 is upward, the straight line of the gear strip 21 is collinear with the diagonal line, and vertices of the diamond-shaped frame structure 22 on two sides of the diagonal line are butted with the facing side walls of the connecting rod 10.
As shown in fig. 2 and 4, the top view structure of the box 1 is n-shaped, the inner area of the box 1 is arranged along each side of the n-shape, the projection along the vertical downward direction, the gear rack 21 is arranged in the area between the two sides of the n-shape of the box 1, the driving motor 19 is connected with the control module 5, the driving motor 19 is fixedly arranged in the area corresponding to one side of the n-shape of the box 1, the end of the rotating shaft of the driving motor 19 passes through the inner side of the n-shape side of the box 1 and is arranged between the two sides of the n-shape of the box 1, the end of the rotating shaft of the driving motor 19 is connected with the gear 20, the insection of the gear 20 is occluded with the insection on the surface of the gear rack 21, the gear rack 21 moves back and forth along the horizontal straight line direction perpendicular to the two front driving wheels 13 along with the driving of the driving motor 19 to the gear 20, and the gear rack 21 drives the top point of the rhombic frame structure 22 arranged thereon to move, based on two telescopic links 11 of the automobile body, the approaching or separating between two connecting rods 10 of the automobile body is realized.
The base of the mechanical arm 8 is fixedly hoisted on the lower surface of the box body 1 and corresponds to the edge position of one side of the two front driving wheels 13, and the holder seats of the two holder infrared cameras are fixedly hoisted on the lower surface of the box body 1 and the positions of the two sides of the base of the mechanical arm 8; as shown in fig. 2, the shower head 4 is provided on the front end of the robot arm 8; control module 5, power 6, electric pump 7 are fixed respectively and set up in 1 insides of box, and the input of electric pump 7 is docked through the pipeline to the bottom delivery outlet of liquid medicine case 2, and the input of shower nozzle 4 is docked through hose 3 to the output of electric pump 7.
Micro transformer fixed set up in inside 1 of box, the electricity needle fixed set up in on the shower nozzle 4, and the front end of electricity needle with the shower nozzle 4 bump the mouth syntropy, micro transformer's output is through the wire and the butt joint of the end of electricity needle.
Above-mentioned technical scheme designs automatic spout medicine running gear, spout the medicine operation to the inside crop of big-arch shelter, acquire the influence in automobile body walking the place ahead in real time based on cloud platform camera 9, and carry out synchronous rotation control to two front driving wheels 13 in the automobile body in view of the above, and differential rotation control, realize advancing of automobile body all directions, acquire the position of waiting to spout the medicine crop through cloud platform camera 9 simultaneously, and combine the control to arm 8, through electric pump 7 through hose 3, use shower nozzle 4 to realize spouting the medicine to the crop, so realize automatic walking, and spout the medicine operation automatically, the current original medicine mode of spouting of having solved consumes the manpower resources problem, the work efficiency who spouts the medicine has been improved greatly.
Meanwhile, a series of optimal schemes are further designed, based on the design of a telescopic rod 11 in the vehicle body, a movable deformation type diamond-shaped frame structure 22 is further introduced for the vehicle body structure, and a gear driving mechanism can flexibly realize the adjustment of the vehicle body width under the control of a driving motor 19; a micro transformer and an electric needle are further introduced, based on image capture of a holder camera 9 and control application of a mechanical arm 8, on the basis of obtaining the position of the crop, electric energy is transmitted to the electric needle through the micro transformer, physical deinsectization is realized through discharge at the front end of the electric needle, and the work efficiency of crop maintenance is further improved; the application liquid level sensor 23 is arranged in the liquid medicine box 2, so that the liquid level of liquid medicine in the liquid medicine box 2 can be acquired in real time and is uploaded to the control module 5 in time, and the control module 5 coordinates the whole crop pesticide spraying operation accordingly; and aiming at each pan-tilt camera 9, a pan-tilt infrared camera is further applied, so that the method can be effectively suitable for image capture in a low-brightness illumination environment, and can effectively improve the work efficiency of image acquisition.
The designed automatic pesticide spraying walking device is applied to actual work, pesticide liquid is filled into the pesticide liquid box 2 through a pipeline covered by the pesticide liquid box cover 18, two pan-tilt infrared cameras capture images in front of a vehicle body in real time under the control of the control module 5 and are analyzed by the control module 5, the control module 5 judges a front advancing route based on the real-time images in front of the vehicle body, control instructions are respectively sent to the corresponding roller driving motors 17 through the motor driving modules 16 in the electric driving devices respectively, the roller driving motors 17 are controlled to work, rotation control of the corresponding front driving wheels 13 is realized, and advancing of the vehicle body in all directions is realized through synchronous rotation control and differential rotation control of the two front driving wheels 13.
When the vehicle body moves forward, the control module 5 captures crops to be sprayed by the pan-tilt infrared camera, the control module 5 controls the mechanical arm 8 to move, the spray head 4 points to the crops to be sprayed, the control module 5 controls the electric pump 7 to work next, liquid medicine in the liquid medicine tank 2 is extracted and is sprayed out from the spray head 4 through the hose 3, and the spraying operation of the crops to be sprayed is realized; meanwhile, if the control module 5 finds that the surface of the crop has the insect pest through the pan-tilt infrared camera, the control module 5 controls the mechanical arm 8 to work to drive the electric needle arranged at the front end of the mechanical arm 8 to point to the insect pest, and then the control module 5 controls the electric needle to discharge through the micro transformer to finish the insect pest killing operation.
In the whole crop maintenance process, the liquid level sensor arranged in the liquid medicine box 2 works in real time to acquire the liquid level height of the liquid medicine in the liquid medicine box 2 in real time and send the liquid level height to the control module 5 in real time, and the control module 5 judges whether to give an alarm or not according to the liquid level height received in real time.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (3)
1. The utility model provides an automatic spout medicine running gear which characterized in that: the device comprises a vehicle body, a box body (1), a liquid medicine box (2), a hose (3), a spray head (4), a control module (5), a power supply (6), an electric pump (7), a mechanical arm (8), two pan-tilt cameras (9), a micro transformer, an electric needle and a liquid level sensor (23), wherein the power supply (6), the electric pump (7), the mechanical arm (8), the two pan-tilt cameras and the liquid level sensor are respectively connected with the control module (5); the power supply (6) supplies power to the electric pump (7), the mechanical arm (8) and the two tripod head cameras (9) through the control module (5);
the electric driving device comprises a vehicle body, a driving device and a driving device, wherein the vehicle body comprises two connecting rods (10), two telescopic rods (11), four sleeves (12), two front driving wheels (13), two driven wheels (14), two flat plates (15) and two groups of electric driving devices; the lengths of the two connecting rods (10) are equal, the specifications of the two telescopic rods (11) are the same, the two connecting rods (10) are parallel to each other, the two telescopic rods (11) are parallel to each other, and the two connecting rods (10) and the two telescopic rods (11) are coplanar to form a rectangular frame; the four sleeves (12) are positioned on the same side of the rectangular frame, the four sleeves (12) are respectively in one-to-one correspondence with four vertexes of the rectangular frame, one end of each sleeve (12) is fixedly butted with the vertex of the rectangular frame, and each sleeve (12) is perpendicular to the surface of the rectangular frame; the lengths of the sleeves (12) at the two ends of the connecting rod (10) are equal to each other; the two telescopic rods (11) have the same structure, and the telescopic rods (11) are both of a multi-section sleeve structure; the lengths of the two flat plates (15) are both adapted to the length of the connecting rod (10), the surfaces of the flat plates (15) are rectangular, two ends of one flat plate (15) are respectively and fixedly arranged on the tops of the outer walls of the tail ends of the two telescopic rods (11) in the same direction, and the long edges of the surfaces of the flat plates (15) are parallel to the connecting rod (10); two ends of the other flat plate (15) are respectively and fixedly arranged at the tops of the outer walls of the other ends of the two telescopic rods (11) in the same direction, and the long edge of the surface of the flat plate (15) is parallel to the connecting rod (10); the driven wheel (14) is movably butted with the end part of the sleeve (12) connected with the two ends of one telescopic rod (11) and far away from the telescopic rod (11) respectively, and the driven wheel (14) is a universal wheel; the end parts of the sleeve (12) connected with the two ends of the other telescopic rod (11) and far away from the telescopic rod (11) are movably butted with a front driving wheel (13) respectively, the front driving wheel (13) is not a universal wheel, and the surface of the front driving wheel (13) is parallel to the vertical surface of the connecting rod (10);
the two groups of electric driving devices are respectively in one-to-one correspondence with the two front driving wheels (13), and respectively comprise a motor driving module (16), a roller driving motor (17), a transmission rod and two groups of bevel gears; in each group of electric driving devices, a motor driving module (16) is connected with a roller driving motor (17) and is fixedly arranged on the upper surface of a flat plate (15) beside the corresponding front driving wheel (13), a transmission rod is movably arranged in a sleeve (12) connected with the corresponding front driving wheel (13), two ends of the transmission rod are respectively positioned at the outer sides of two ends of the sleeve (12), a straight line where a driving rod of the roller driving motor (17) is positioned is vertical to a straight line where the transmission rod is positioned, the end part of the driving rod of the roller driving motor (17) is in butt joint with the end part of one side of the transmission rod, facing to the end part, of the transmission rod, the transmission rod rotates along with the rotation of the driving rod of the roller driving motor (17) under the linkage of the connected conical gears, the straight line where the transmission rod is positioned is vertical to the straight line where the central axis of the corresponding front driving wheel (13), and the end part of the other side of the transmission rod is in butt joint with one side surface of the corresponding front driving wheel (13), The front driving wheel (13) rotates along with the rotation of the transmission rod under the linkage of the connected conical gears through the butt joint of the other group of conical gears;
the connecting line between the parts of the two groups of electric driving devices respectively positioned on the upper surfaces of the corresponding flat plates (15) is parallel to the straight line where the telescopic rods (11) are positioned; the motor driving module (16) in each group of electric driving devices is respectively connected with the control module (5);
the box body (1) is arranged on the upper surfaces of the two flat plates (15), a groove (24) is arranged on the lower surface of the box body (1) corresponding to the whole area of the two groups of electric driving devices, which is positioned on the partial connecting line of the upper surfaces of the flat plates (15), and the groove (24) is covered on the whole area of the two groups of electric driving devices, which is positioned on the partial connecting line of the upper surfaces of the flat plates (15); along with the synchronous extension or synchronous shortening of the two telescopic rods (11), the two flat plates (15) are far away or close to each other, and meanwhile, the parts of the two groups of electric driving devices, which are positioned on the upper surfaces of the corresponding flat plates (15), are far away or close to each other in the grooves (24) on the lower surface of the box body (1); the top of the box body (1) is open, the box body (1) is provided with a separable cover with an open top, and the box body cover corresponds to the size of the open top, the liquid medicine box (2) is fixedly arranged in the box body (1), the top of the liquid medicine box (2) is provided with a liquid injection port, the box body (1) is provided with an open top based on the box body cover, the surface of the box body cover is provided with a through hole penetrating through the upper surface and the lower surface of the box body at a position corresponding to the liquid injection port at the top of the liquid medicine box (2) in the vertical direction, the liquid injection port at the top of the liquid medicine box (2) is butted with one end of a pipeline, the other end of the pipeline vertically penetrates through the through hole on the surface of the box body cover, and the other end of the pipeline is provided with a liquid medicine box cover (18) in a separable cover;
the base of the mechanical arm (8) is fixedly hoisted on the lower surface of the box body (1) and corresponds to the edge position of one side of the two front driving wheels (13), and the holder seats of the two holder cameras (9) are fixedly hoisted on the lower surface of the box body (1) and the positions of the two sides of the base of the mechanical arm (8); the spray head (4) is arranged on the front end of the mechanical arm (8); the control module (5), the power supply (6) and the electric pump (7) are respectively and fixedly arranged in the box body (1), an output port at the bottom of the liquid medicine box (2) is in butt joint with an input end of the electric pump (7) through a pipeline, and an output end of the electric pump (7) is in butt joint with an input end of the spray head (4) through the hose (3);
the micro transformer is fixedly arranged in the box body (1), the electric needle is fixedly arranged on the spray head (4), the front end of the electric needle is in the same direction with a nozzle of the spray head (4), and the output end of the micro transformer is butted with the tail end of the electric needle through a lead; the liquid level sensor (23) is fixedly arranged in the liquid medicine box (2), and the output end of the liquid level sensor (23) is in butt joint with the control module (5) through a lead.
2. The automatic pesticide spraying walking device according to claim 1, characterized in that: the device also comprises a driving motor (19), a gear (20), a gear bar (21) and a rhombic frame structure (22); four sides of the rhombic frame structure (22) are movably butted with each other, the four sides of the rhombic frame structure (22) are coplanar, one vertex of the rhombic frame structure (22) is butted with the midpoint of the telescopic rod (11) between the two front driving wheels (13), a diagonal line passing through the vertex on the rhombic frame structure (22) is perpendicular to a straight line of the telescopic rod (11) between the two front driving wheels (13), the gear strip (21) is fixedly arranged on the upper surface of the other vertex on the diagonal line, the insection of the gear strip (21) is upward, the straight line of the gear strip (21) is collinear with the diagonal line, and the vertexes on two sides of the diagonal line on the rhombic frame structure (22) are butted with the side wall of the connecting rod (10) facing the vertex;
the overlooking structure of the box body (1) is n-shaped, the inner area of the box body (1) is arranged along each n-shaped side and projects along the vertical downward direction, the gear strip (21) is positioned in the area between the two n-shaped side edges of the box body (1), the driving motor (19) is connected with the control module (5), the driving motor (19) is fixedly arranged in the area corresponding to one n-shaped side edge in the box body (1), the end part of the rotating shaft of the driving motor (19) penetrates through the inner side surface of the n-shaped side edge in the box body (1) and is positioned between the two n-shaped side edges of the box body (1), the end part of the rotating shaft of the driving motor (19) is butted with the gear (20), the insection of the gear (20) is occluded with the insection on the surface of the gear strip (21), the gear strip (21) is driven by the driving motor (19) to the gear (20) and moves back and forth along the horizontal straight line direction vertical to the telescopic rod (11) between the two front driving wheels (13), and the gear strip (21) drives the top point of the rhombic frame structure (22) to move, and the two connecting rods (10) of the vehicle body are close to or far away from each other based on the two telescopic rods (11) of the vehicle body.
3. The automatic pesticide spraying walking device according to claim 1, characterized in that: and each cradle head camera (9) is a cradle head infrared camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569978.4A CN109601511B (en) | 2018-12-21 | 2018-12-21 | Automatic spout medicine running gear |
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| CN201811569978.4A CN109601511B (en) | 2018-12-21 | 2018-12-21 | Automatic spout medicine running gear |
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| CN109601511A CN109601511A (en) | 2019-04-12 |
| CN109601511B true CN109601511B (en) | 2021-07-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114025607B (en) * | 2019-05-08 | 2024-01-12 | 拜耳公司 | Unmanned aerial vehicle |
| CN110959510A (en) * | 2019-12-03 | 2020-04-07 | 江苏盈孚环境科技有限公司 | Potted plant watering equipment suitable for family environment |
| CN112088863A (en) * | 2020-10-30 | 2020-12-18 | 济南大学 | Plant protection machine is with spouting medicine device |
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