CN110326605A - A kind of agricultural unmanned vehicle - Google Patents
A kind of agricultural unmanned vehicle Download PDFInfo
- Publication number
- CN110326605A CN110326605A CN201910775667.1A CN201910775667A CN110326605A CN 110326605 A CN110326605 A CN 110326605A CN 201910775667 A CN201910775667 A CN 201910775667A CN 110326605 A CN110326605 A CN 110326605A
- Authority
- CN
- China
- Prior art keywords
- spray head
- unmanned vehicle
- connect
- crossbeam
- car body
- 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
Links
- 239000007921 spray Substances 0.000 claims abstract description 195
- 230000001681 protective effect Effects 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 abstract description 45
- 239000012530 fluid Substances 0.000 abstract description 37
- 238000012271 agricultural production Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 26
- 238000010586 diagram Methods 0.000 description 10
- 238000005452 bending Methods 0.000 description 9
- 239000000575 pesticide Substances 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 239000003814 drug Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000000465 moulding Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000000889 atomisation Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 239000011133 lead Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000010992 reflux Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
-
- 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
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Water Supply & Treatment (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of agriculture unmanned vehicles, are related to field of agricultural production technologies.The agricultural unmanned vehicle includes car body, camera, sprinkling control module and flusher.Camera is installed on car body, and it is connect with sprinkling control module, camera is for shooting ground target object image, flusher includes medicine-chest and spray head, medicine-chest is installed on car body, and is connect with spray head, and spray head is installed on car body, and connect with sprinkling control module, sprinkling control module is used to control spray head according to ground target object image and turn on or off.Compared with prior art, agricultural unmanned vehicle provided by the invention is due to using the camera being installed on car body and the sprinkling control module connecting with spray head, so can be turned on or off according to ground target object image real-time control spray head, accurately to carry out spraying operation to object, accuracy is high, the dosage for saving medical fluid, reduces cost.
Description
Technical field
The present invention relates to field of agricultural production technologies, in particular to a kind of agriculture unmanned vehicle.
Background technique
In agricultural production, it sprays insecticide to plant or water is essential link, and the mode sprayed is divided into people
Work spray pattern and mechanical spray pattern.Wherein, the artificial spray pattern amount of labour is big, and low efficiency is only suitable for small-scale plantation
Ground uses；Mechanical spray pattern carries spray appliance usually using tractor and is sprayed, and this mode needs more professional
Personnel operate, and human cost is high.In order to reduce human cost, many planting sites are all sprayed using unmanned formula machinery now
Operation is spilt, spray appliance is carried usually using unmanned vehicle or unmanned plane and is sprayed, this mode efficiency is higher, but sprays
Position cannot be precisely controlled, will cause the waste of pesticide or water, lead to increased costs.
In view of this, design and manufacture a kind of agriculture unmanned vehicle that can precisely spray especially seems in agricultural production
It is particularly important.
Summary of the invention
The purpose of the present invention is to provide a kind of agriculture unmanned vehicles, accurately can carry out spraying operation to object, quasi-
Exactness is high, saves the dosage of pesticide or water, reduces cost.
The present invention is that it is realized by adopting the following technical scheme.
A kind of agricultural unmanned vehicle, including car body, camera, sprinkling control module and flusher, camera are installed on vehicle
It on body, and is connect with sprinkling control module, for camera for shooting ground target object image, flusher includes medicine-chest and spray
Head, medicine-chest are installed on car body, and are connect with spray head, and spray head is installed on car body, and are connect with sprinkling control module, sprinkling control
Molding block is used to control spray head according to ground target object image and turn on or off.
Further, the quantity of spray head is multiple, and multiple spray heads are arranged at intervals on car body.The line direction of multiple spray heads
It is vertically arranged with the direction of travel of car body, so that multiple spray heads can cover a biggish range, agriculture unmanned vehicle can be
Spraying operation is selectively carried out to entire coverage area during traveling, to improve spraying efficiency, saves time cost.
Further, sprinkling control module includes image processing unit and control unit, camera and image processing unit
Connection, image processing unit is handled for object image on a surface target, and marks ground target object position, image
Processing unit is connect with control unit, and control unit is connect with spray head, and control unit is in place with ground target object institute for controlling
Corresponding spray head is set to open.So that spray head sprays medical fluid in the position for having object outward, stop in the position of not object
Only sprinkling outward, saves the dosage of medical fluid, reduces cost.
Further, flusher further includes air compressor machine, air accumulator and jet assembly, and spray head is suction type spray head, pneumatics
Machine and air accumulator are mounted on car body, and air compressor machine is connect by air accumulator with jet assembly, jet assembly respectively with multiple sprays
Head connection.Air compressor machine is input and stored in air accumulator after capable of compressing air, and air accumulator, which can input high pressure gas, to be sprayed
In pneumatic module, and each spray head is inputted by jet assembly, to supply to spray head, which, which can apply medical fluid, is pressed
Power sprays again after enabling spray head in spraying operation by medical liquid atomizing, and the medical fluid after atomization can equably be sprayed onto mesh
It marks on object, to improve spray effect, expands spraying range, save the materials cost of medical fluid.
Further, jet assembly includes cylinder manifold and multiple solenoid valves, and cylinder manifold offers interconnected air inlet
With multiple gas outlets, air inlet is connected to air accumulator, and multiple solenoid valves are fixedly installed on cylinder manifold, each gas outlet and one
A solenoid valve connection, each solenoid valve are connect with a spray head.High pressure gas in air accumulator can enter remittance by air inlet
Flowing plate, and solenoid valve is entered by gas outlet, solenoid valve can turn on or off under the control of sprinkling control module, so that
High pressure gas enters spray head or stops entering spray head, to realize the control to spray head air inlet.
Further, flusher further includes conveyance conduit, and conveyance conduit includes interconnected main pipeline and multiple
One end of pipeline, main pipeline is connect with medicine-chest, and the other end is connect with multiple branch pipe(tube)s respectively, and each branch pipe(tube) and a spray head connect
It connects.Medical fluid respectively enters multiple branch pipe(tube)s by main pipeline in medicine-chest, and enters each spray head by each branch pipe(tube), with to spray
Head feed flow, sprays medical fluid convenient for spray head outward.
Further, camera is set to the front end of car body, and camera is used to shoot the ground target being located in front of car body
Object image.The front end that camera is mounted on car body advantageously reduces the mounting height of camera, improves effective shooting of camera
Range, and can be avoided other component and block.
Further, car body includes crossbeam, mounting rack and multiple walking components, and mounting rack is fixedly connected with crossbeam, and is set
It is placed in the rear end of crossbeam, multiple walking components are mounted on crossbeam, and spray head is installed on mounting rack.Spray head can be in car body
Rear carries out spraying operation to object, multiple walking component collective effects, can be realized the advance of car body, retrogressing, left-hand rotation and
It turns right, to improve the flexibility of agriculture unmanned vehicle movement.
Further, walking component includes wheel arm, wheel and motor, and one end of wheel arm is fixedly connected with crossbeam, the other end
It is connect with wheel, motor is installed in wheel arm, and is connect with wheel, and wheel can be rotated relative to wheel arm.Wheel can be to wheel
Arm is supported, to be supported to crossbeam, motor is able to drive wheel rotation, to realize agriculture unmanned vehicle relative to ground
The movement in face.
Further, agriculture unmanned vehicle further includes motor control module, and encoder, motor control module are provided in motor
It is connect respectively with multiple encoders, to control the revolving speed of each motor.To realize the independent control of each wheel rotor speed, individually close
The obstacle climbing ability of agriculture unmanned vehicle can be improved and ability of getting rid of poverty in the revolving speed of ring control wheel, to guarantee that agriculture unmanned vehicle is protected
Travel condition is held, spraying efficiency is improved.
Further, agriculture unmanned vehicle further includes protective housing, and protective housing is fixedly installed on crossbeam, sprinkling control module and
Motor control module is integrally disposed in protective housing.Protective housing can protect each functional module, prevent outside water or
Person's dust, which enters, impacts the operation of each functional module, and multiple functional modules are integrated in a protective housing, only
It needs to make the protective housing water proof and dust proof processing, convenient for operation, saves cost.
Further, medicine-chest is fixedly installed on crossbeam, the axis of the position of medicine-chest and the wheel close to mounting rack side
The position of projection on crossbeam is corresponding.Since medicine-chest is filled after medical fluid than heavier, medicine-chest is arranged close to install
Above the axis of the wheel of frame side, to improve close to the wheel of mounting rack side and the adhesive force on ground, guarantee agricultural nobody
The motion stabilization of vehicle is reliable.
Further, the quantity of component of walking is four, and crossbeam is relatively set with first side and second side, two wheels
Arm is arranged at intervals at first side, other two wheel arm is arranged at intervals at second side.It is set to two wheel arm of first side
It protrudes from first side and is extended to the ground, to protect to first side, prevent foreign object from hitting to first side generation
It hits；Two wheel arm for being set to second side protrude from second side and are extended to the ground, to protect to second side
Shield prevents foreign object from generating shock to second side.
Further, agriculture unmanned vehicle further includes two batteries and two battery holders, and each battery is connected to pluggablely
In one battery holder, two wheel arm for being set to first side combine to form the first guard space with crossbeam, are set to second side
Two wheel arm in face combine to form the second guard space with crossbeam, and a battery holder is fixedly installed on crossbeam, and are set to
In one guard space, another battery holder is fixedly installed on crossbeam, and is set in the second guard space.It is set to the first side
Two wheel arm in face can protect the battery holder, prevent a battery holder from being hit during spraying operation by foreign object
It arrives；Two wheel arm for being set to second side can protect the battery holder, prevent another battery holder in spraying operation
During bumped against by foreign object.
Further, agriculture unmanned vehicle further includes RTK antenna and communication module, and RTK antenna is installed on car body, and with it is logical
Believe module connection, RTK antenna with base station communication for connecting.In order to plan and detect the driving path of agriculture unmanned vehicle,
So that agriculture unmanned vehicle is advanced along preset path.
Agricultural unmanned vehicle provided by the invention has the advantages that
Agricultural unmanned vehicle provided by the invention, camera can shoot ground environment, obtain ground target object figure
Picture, and the ground target object image is sent to sprinkling control module, sprinkling control module can be according to ground target object image
Judge whether the sprinkling position of spray head has object, when judging that spraying position has object, sprays control module control
Spray head processed is opened, and when judging that spraying position does not have object, sprinkling control module control spray head is closed.With the prior art
It compares, agricultural unmanned vehicle provided by the invention is due to using the camera being installed on car body and the sprinkling connecting with spray head
Control module, so can be turned on or off according to ground target object image real-time control spray head, accurately to object
Spraying operation is carried out, accuracy is high, saves the dosage of pesticide or water, reduces cost.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram at the first visual angle of agriculture unmanned vehicle that first embodiment of the invention provides；
Fig. 2 is the structural schematic diagram at the second visual angle of agriculture unmanned vehicle that first embodiment of the invention provides；
Fig. 3 is the structural schematic diagram at the agriculture unmanned vehicle third visual angle that first embodiment of the invention provides；
Fig. 4 is the structure composition block diagram for the agriculture unmanned vehicle that first embodiment of the invention provides；
The structural schematic diagram at one visual angle of flusher in the agriculture unmanned vehicle that Fig. 5 provides for first embodiment of the invention；
The structural representation at another visual angle of flusher in the agriculture unmanned vehicle that Fig. 6 provides for first embodiment of the invention
Figure；
Fig. 7 is the structural schematic diagram of jet assembly in Fig. 5；
The structure composition block diagram of control module is sprayed in the agriculture unmanned vehicle that Fig. 8 provides for first embodiment of the invention；
Fig. 9 is the structural schematic diagram at the 4th visual angle of agriculture unmanned vehicle that first embodiment of the invention provides；
Figure 10 is the explosive view of walking component in Fig. 9；
Figure 11 is the structural schematic diagram of first connecting rod in Fig. 9；
The structural schematic diagram of flusher in the agriculture unmanned vehicle that Figure 12 provides for second embodiment of the invention.
Icon: 100- agricultural unmanned vehicle；110- car body；111- crossbeam；1111- first side；1112- second side；
The first guard space of 1113-；The second guard space of 1114-；112- mounting rack；1121- first connecting rod；1122- second connecting rod；
1123- mounting rod；The first bending part of 1124-；The second bending part of 1125-；113- walking component；1131- wheel arm；1132- wheel；
1133- motor；120- camera；130- sprays control module；131- image processing unit；132- control unit；140- sprinkling
Device；141- medicine-chest；142- conveyance conduit；1421- main pipeline；1422- branch pipe(tube)；1423- check valve；1424- liquid stream on-off
Valve；143- spray head；144- air compressor machine；145- air accumulator；146- jet assembly；1461- cylinder manifold；1462- solenoid valve；1463-
Air inlet；The gas outlet 1464-；147- water pump；150- motor control module；160- protective housing；170-RTK antenna；180- communication
Module；190- power module；200- battery；210- battery holder；211- connection frame；212- ontologies；213- accommodates cavity.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that the instructions such as term "inner", "outside", "upper", "lower", "horizontal"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.This
Outside, term " first ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment can be combined with each other.
First embodiment
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are please referred to, the embodiment of the invention provides a kind of agriculture unmanned vehicles 100, for plantation
The crops on ground carry out the sprinkling of pesticide or water.It accurately can carry out spraying operation to object, and accuracy is high, saves
The dosage of pesticide or water, reduces cost.In the present embodiment, object is crops, and agriculture unmanned vehicle 100 can be to plantation
Crops in ground carry out spraying operation, promote crop growth.
Agriculture unmanned vehicle 100 includes car body 110, camera 120, sprinkling control module 130, flusher 140, motor control
Molding block 150, protective housing 160, RTK antenna 170, communication module 180, power module 190, battery 200 and battery holder 210.Its
In, camera 120, flusher 140, protective housing 160, RTK antenna 170 and battery holder 210 are mounted on car body 110,
Distributing position is rationally reliable, can be improved the balance quality of car body 110, so that car body 110 is more stable during traveling；Spray
It is integrally disposed in protective housing 160 to spill control module 130, motor control module 150, communication module 180 and power module 190,
Protective housing 160 can protect each functional module, prevent outside water or dust from entering the fortune to each functional module
Row impacts, and multiple functional modules are integrated in a protective housing 160, it is only necessary to which it is anti-to do waterproof to the protective housing 160
Dirt processing saves cost convenient for operation.
Specifically, camera 120 is connect with sprinkling control module 130, and sprinkling control module 130 and flusher 140 connect
It connects, sprinkling control module 130 can shoot obtained image according to camera 120 and control flusher 140, to realize
Accurate spraying operation；Motor control module 150 is connect with car body 110, motor control module 150 can control car body 110 advance,
It retreats, turn left or turns right, convenient for carrying out spraying operation to the object in preset path；Communication module 180 and RTK antenna
170 connections, RTK antenna 170 with base station communication for connecting, with the position of real-time detection car body 110, convenient for control car body 110
It is maintained in preset path and advances；Power module 190 is connect with battery holder 210, and battery 200 can be set to battery with vertically plugging
In seat 210, battery 200 is powered by battery holder 210 to power module 190, is powered convenient for power module 190 to vehicle.
It is worth noting that, camera 120 is connect with sprinkling control module 130, camera 120 is for shooting ground target
Object image, and ground target object image is sent to sprinkling control module 130.It sprays control module 130 and flusher 140 connects
It connects, sprinkling control module 130 is used to control the starting of flusher 140 or pause according to ground target object image, with selectivity
Ground-to-ground face carries out spraying operation, is sprayed in the position for having object, stops sprinkling in the position of not object, thus
The dosage for saving pesticide or water, reduces cost.
In the present embodiment, camera 120 is set to the front end of car body 110, and camera 120 is tilted to the direction close to ground
Setting, camera 120 are used to shoot the ground target object image for being located at 110 front of car body, and camera 120 is mounted on car body 110
Front end advantageously reduce the mounting height of camera 120, improve effective coverage of camera 120, and can be avoided
Other component blocks.Specifically, camera 120 is binocular camera, and binocular camera can pass through the parallaxometer of two images
It calculates to determine distance, to further improve the precision of spraying operation.
Incorporated by reference to referring to figure 5 and figure 6, flusher 140 includes medicine-chest 141, conveyance conduit 142, spray head 143, air compressor machine
144, air accumulator 145 and jet assembly 146.Medicine-chest 141 is installed on car body 110, and passes through conveyance conduit 142 and spray head 143
It connects, pesticide can be contained in medicine-chest 141, water can also be contained, to convey pesticide or water to spray head 143, to realize not
Pesticide or water are referred to as medical fluid hereinafter for the ease of statement with the spraying operation of scene.Spray head 143 is installed on car body 110
On, and connect with sprinkling control module 130, sprinkling control module 130 is used to control spray head 143 according to ground target object image and beat
On or off is closed, to realize the unlatching or stopping of spraying function.
It should be noted that the quantity of spray head 143 be it is multiple, multiple spray heads 143 are arranged at intervals on car body 110.Specifically
Ground, the line direction of multiple spray heads 143 and the direction of travel of car body 110 are vertically arranged, so that multiple spray heads 143 can cover one
A biggish range, agriculture unmanned vehicle 100 can selectively carry out sprinkling work to entire coverage area during traveling
Industry saves time cost to improve spraying efficiency.In the present embodiment, the quantity of spray head 143 is four, and four spray heads 143 are spaced
It is set on car body, it is not limited to this, in other embodiments, the quantity of spray head 143 can be six, or eight
It is a, the quantity of spray head 143 is not especially limited.
Conveyance conduit 142 includes interconnected main pipeline 1421 and multiple branch pipe(tube)s 1422.One end of main pipeline 1421
It being connect with medicine-chest 141, the other end is connect with multiple branch pipe(tube)s 1422 respectively, and each branch pipe(tube) 1422 is connect with a spray head 143,
Medical fluid respectively enters multiple branch pipe(tube)s 1422 by main pipeline 1421 in medicine-chest 141, and is entered respectively by each branch pipe(tube) 1422
A spray head 143, to spray medical fluid outward convenient for spray head 143 to 143 feed flow of spray head.It is not limited to this, in other embodiments
In, conveyance conduit 142 can not also include main pipeline 1421, and multiple branch pipe(tube)s 1422 are directly connect with medicine-chest 141 at this time, medicine
Medical fluid in case 141 can be separately input in each spray head 143 by each branch pipe(tube) 1422, equally can be realized to spray head
The function of 143 feed flows.
Specifically, a check valve 1423 and a liquid stream on-off valve 1424 are provided in each branch pipe(tube) 1422, it is single
To valve 1423 for guaranteeing that medical fluid is merely able to flow to spray head 143 along branch pipe(tube) 1422 in medicine-chest 141, prevents the medicine in spray head 143
Liquid reflux.Multiple liquid stream on-off valves 1424 are connect with sprinkling control module 130, and liquid stream on-off valve 1424 can be controlled in sprinkling
It is turned on or off under the control of module 130, so that the medical fluid in medicine-chest 141 enters spray head 143 or stops entering spray head
143, to realize the control to 143 feed liquor of spray head.In the present embodiment, the quantity and the quantity phase of spray head 143 of branch pipe(tube) 1422
It together, and is four, therefore, the quantity of check valve 1423 and liquid stream on-off valve 1424 is also four, each branch pipe(tube) 1422
It is connect with a spray head 143.
In the present embodiment, spray head 143 is suction type spray head, which when in use, both needs to input medicine into it
Liquid, and need to be passed through high pressure gas into it, medical fluid is inhaled into spray head 143 under the suction function that high pressure gas generates, in turn
It is sprayed outward after being atomized by high pressure gas.Air compressor machine 144 and air accumulator 145 are mounted on car body 110, and air compressor machine 144 passes through
Air accumulator 145 is connect with jet assembly 146, and air compressor machine 144 is input and stored in air accumulator 145 after capable of compressing air,
Jet assembly 146 is connect with multiple spray heads 143 respectively.Air accumulator 145 can input high pressure gas in jet assembly 146, and
Each spray head 143 is inputted by jet assembly 146, to supply to spray head 143, which can apply pressure to medical fluid,
It is sprayed again after enabling spray head 143 in spraying operation by medical liquid atomizing, the medical fluid after atomization can equably be sprayed onto mesh
It marks on object, to improve spray effect, expands spraying range, save the materials cost of medical fluid.
It should be noted that air compressor machine 144 is air compressor, air compressor machine 144 is a kind of setting for compressed gas
It is standby, mainly for generation of high pressure gas.In the present embodiment, air compressor machine 144 is connect with air accumulator 145, what air compressor machine 144 generated
High pressure gas storage is stored in air accumulator 145, is exported with passing through jet assembly 146 when need to use to spray head 143.
Fig. 7 is please referred to, specifically, jet assembly 146 includes cylinder manifold 1461 and multiple solenoid valves 1462.Cylinder manifold 1461
Interconnected air inlet 1463 and multiple gas outlets 1464 are offered, air inlet 1463 is connected to air accumulator 145, multiple electromagnetism
Valve 1462 is fixedly installed on cylinder manifold 1461, and each gas outlet 1464 is connected to a solenoid valve 1462, each solenoid valve
1462 connect with a spray head 143.High pressure gas in air accumulator 145 can enter cylinder manifold 1461 by air inlet 1463,
And solenoid valve 1462 is entered by gas outlet 1464.Multiple solenoid valves 1462 are connect with sprinkling control module 130, solenoid valve
1462 can turn on or off under the control of sprinkling control module 130, so that high pressure gas enters spray head 143 or stops
Into spray head 143, to realize the control to 143 air inlet of spray head.
It should be noted that needing air inlet simultaneously and feed liquor that can realize spray since spray head 143 is suction type spray head
Function is spilt, so in the present embodiment, the control by sprinkling control module 130 to liquid stream on-off valve 1424 and solenoid valve 1462
System is to turn on or off spray head 143.Each spray head 143 is connect with a branch pipe(tube) 1422 and a solenoid valve 1462 respectively,
A liquid stream on-off valve 1424 is provided in each branch pipe(tube) 1422, when needing to control some spray head 143 opening, it is only necessary to control
The corresponding liquid stream on-off valve 1424 of spray head 143 and solenoid valve 1462 is made to open, branch pipe(tube) 1422 is to 143 feed flow of spray head at this time,
Solenoid valve 1462 is supplied to spray head 143, to realize the spraying operation of spray head 143.
Please refer to Fig. 8, specifically, sprinkling control module 130 respectively with multiple liquid stream on-off valves 1424 and multiple solenoid valves
1462 connection so that 143 corresponding liquid stream on-off valves 1424 of each spray head it is synchronous with a solenoid valve 1462 open or
It closes, i.e., the liquid stream on-off valve in the solenoid valve 1462 being connect with spray head 143 and the branch pipe(tube) 1422 being connect with spray head 143
1424 synchronize and turn on or off, and are input to high pressure gas and medical fluid in spray head 143 simultaneously with realizing, and spray for spray head 143
Function out.
When sprinkling control module 130 judges that there is object in some position, the control of sprinkling control module 130 and the position phase
Corresponding spray head 143 is opened, i.e., the liquid stream on-off valve 1424 in the branch pipe(tube) 1422 that is connect with the spray head 143 of control and with the spray
The solenoid valves 1462 of first 143 connection are synchronous to be opened so that medical fluid is atomized under the action of high pressure gas, and from the spray head 143 to
Outer ejection carries out spraying operation to object.When sprinkling control module 130 judges that some position does not have object, sprinkling control
Molding block 130 controls spray head 143 corresponding with the position and closes, i.e., in the branch pipe(tube) 1422 that control is connect with the spray head 143
Liquid stream on-off valve 1424 and 1462 close synchronously of solenoid valve that is connect with the spray head 143 so that medical fluid is no longer from the spray head 143
It sprays outward, saves the dosage of medical fluid.
Spraying control module 130 includes image processing unit 131 and control unit 132.Camera 120 and image procossing list
Member 131 connects, and ground target object image is sent to image procossing list for shooting ground target object image by camera 120
Member 131, image processing unit 131 is handled for object image on a surface target, and marks ground target object position.
Image processing unit 131 is connect with control unit 132, and control unit 132 is connect with spray head 143, and image processing unit 131 is used for
Ground target object position is sent to control unit 132, control unit 132 is for controlling and ground target object position
Corresponding spray head 143 is opened, and carries out spraying operation with the object to ground.
Specifically, due to the quantity of spray head 143 be it is multiple, the region that multiple spray heads 143 cover is wider, in the overlay area
It is interior, it is more likely that some position occur object, and in addition some position does not have the case where object, in this case, figure
As object image is handled processing unit 131 on a surface target, and mark one or more position where wherein object
It sets.Control unit 132 can control one or more spray head 143 corresponding with the position for having object and open, and control
One or more spray head 143 corresponding with the position of not object is closed, to save the dosage of medical fluid.
Incorporated by reference to referring to Fig. 9, Figure 10 and Figure 11, car body 110 includes crossbeam 111, mounting rack 112 and multiple walking components
113.Mounting rack 112 is fixedly connected with crossbeam 111, and is set to the rear end of crossbeam 111, and spray head 143 is installed on mounting rack 112
On, spray head 143 can carry out spraying operation to object at the rear of car body 110.Camera 120 is opposite with mounting rack 112 to be set
It sets, camera 120 is installed on the front end of crossbeam 111, and is located at the middle part of crossbeam 111.It advances forward in agriculture unmanned vehicle 100
In the process, ground target object image of the camera 120 in front of the shooting of the front end of crossbeam 111, spray head 143 is after crossbeam 111
End carries out spraying operation to object.Multiple walking components 113 are mounted on crossbeam 111, and multiple walking components 113 are made jointly
With can be realized advance, retrogressing, left-hand rotation and the right-hand rotation of car body 110, to improve the flexibility that agriculture unmanned vehicle 100 moves.
Component 113 of walking includes wheel arm 1131, wheel 1132 and motor 1133.One end of wheel arm 1131 and crossbeam 111 are solid
Fixed connection, the other end are connect with wheel 1132, and wheel 1132 can be supported wheel arm 1131, to carry out to crossbeam 111
Support.Motor 1133 is installed in wheel arm 1131, and is connect with wheel 1132, and wheel 1132 can be 1131 turns relative to wheel arm
Dynamic, motor 1133 is able to drive the rotation of wheel 1132, to realize movement of the agriculture unmanned vehicle 100 relative to ground.
It should be noted that be provided with encoder (not shown) in motor 1133, motor control module 150 respectively with it is multiple
Encoder connection, to control the revolving speed of each motor 1133, to realize the independent control of each 1132 revolving speed of wheel.Due to
When farmland operation, road surface is more complicated, and the obstacle detouring of agriculture unmanned vehicle 100 can be improved in the revolving speed of independent closed-loop control wheel 1132
Ability and ability of getting rid of poverty improve spraying efficiency to guarantee that agriculture unmanned vehicle 100 keeps travel condition.
In the present embodiment, the quantity of walking component 113 is four, and agriculture unmanned vehicle 100 is four-wheel driving type.Crossbeam 111
It is relatively set with first side 1111 and second side 1112, two wheel arm 1131 are arranged at intervals at first side 1111, and
It protrudes from first side 1111 and is extended to the ground, be set to two wheel arm 1131 and crossbeam 111 of first side 1111
Combination forms the first guard space 1113；Other two wheel arm 1131 is arranged at intervals at second side 1112, and protrudes from
Two side faces 1112 are simultaneously extended to the ground, and two wheel arm 1131 for being set to second side 1112 combine formation with crossbeam 111
Second guard space 1114.
The quantity of battery 200 and battery holder 210 is two, and each battery 200 is connected to a battery holder pluggablely
In 210, two battery holders 210 are connect with power module 190, to be powered by power module 190 to vehicle.Wherein, one
Battery holder 210 is fixedly installed on crossbeam 111, and is set in the first guard space 1113, and first side 1111 is set to
Two wheel arm 1131 can protect the battery holder 210, prevent battery holder 210 from being hit during spraying operation by foreign object
It arrives；Another battery holder 210 is fixedly installed on crossbeam 111, and is set in the second guard space 1114, and second side is set to
Two wheel arm 1131 in face 1112 can protect the battery holder 210, prevent battery holder 210 during spraying operation
It is bumped against by foreign object.
Specifically, battery holder 210 includes connection frame 211 and seat ontology 212.Accommodating cavity is provided in connection frame 211
213, seat ontology 212 is set in accommodating cavity 213, and is fixedly connected with frame 211 is connect, and connection frame 211 can be to seat ontology
212 are supported and limit, the anti-abjection of stopping seat ontology 212 accommodating cavity 213.Connection frame 211 is fixedly connected on first side
1111 perhaps second side 1112 connect frame 211 be set in the first guard space 1113 or the second guard space 1114.Electricity
Pond 200 is connected to pluggablely in ontology 212, and seat ontology 212 is connect with power module 190, and battery 200 can pass through seat sheet
Body 212 is powered to power module 190.
In the present embodiment, medicine-chest 141 is fixedly installed on crossbeam 111, the position of medicine-chest 141 and close mounting rack 112 1
The position of projection of the axis of the wheel 1132 of side on crossbeam 111 is corresponding.It is two groups that four wheels 1132, which are divided to, two groups of wheels
Son 1132 is respectively front wheels and rear wheels, two 1132 coaxial spaceds of wheel setting of front wheels, two wheels of rear wheels
The setting of 1132 coaxial spaceds.Mounting rack 112 is installed on the rear end of crossbeam 111, so the wheel 1132 close to 112 side of mounting rack
Medicine-chest 141 is mounted on rear-wheel since medicine-chest 141 is filled after medical fluid than heavier by as two wheels 1132 of rear wheels
Above the common axis of two wheels 1132 of group, to improve the adhesive force of two wheels 1132 and ground of rear wheels, guarantee agricultural
The motion stabilization of unmanned vehicle 100 is reliable.
Mounting rack 112 includes first connecting rod 1121, second connecting rod 1122 and mounting rod 1123.First connecting rod 1121 and second
The setting of 1122 parallel interval of connecting rod, one end of first connecting rod 1121 are fixedly connected with crossbeam 111, and the other end and mounting rod 1123 are solid
Fixed connection, one end of second connecting rod 1122 are fixedly connected with crossbeam 111, and the other end is fixedly connected with mounting rod 1123, mounting rod
1123 axial direction is vertical with the extending direction of crossbeam 111, i.e. the direction of travel of the axial direction of mounting rod 1123 and agriculture unmanned vehicle 100
Vertically.Four spray heads 143 are arranged at intervals on mounting rod 1123, wherein the position of first spray head 143 and first connecting rod 1121
Position it is corresponding, the position of second spray head 143 is corresponding with the position of second connecting rod 1122, third spray head 143 and
Four spray heads 143 are relatively arranged on the both ends of mounting rod 1123.
It is worth noting that, first connecting rod 1121 and second connecting rod 1122 are in bending-like.First connecting rod 1121 is including being in
The first bending part 1124 and the second bending part 1125 of angle setting, crossbeam 111 pass through the first bending part 1124 and the second bending
Portion 1125 is fixedly connected, and the second bending part 1125 is fixedly connected with mounting rod 1123, specifically, the first bending part 1124 relative to
Ground inclination setting, the second bending part 1125 are vertically arranged, so that mounting rod 1123 is in close to the position on ground, and and ground
Interval setting.In addition, the specific structure of second connecting rod 1122 is identical as the specific structure of first connecting rod 1121, it is no longer superfluous herein
It states.1122 collective effect of first connecting rod 1121 and second connecting rod, mounting rod 1123 is fixed in the horizontal direction, so as to be mounted on
Four spray heads 143 on mounting rod 1123 are all on horizontal plane, convenient for carrying out equably spraying operation to object.
In the present embodiment, four spray heads 143 are arranged at equal intervals, and the range that each spray head 143 can spray is all the same, and four
Spray head 143 can cover all areas in agriculture 100 travelling route of unmanned vehicle, in agriculture 100 travelling route of unmanned vehicle
Object carry out spraying operation.
Please continue to refer to Fig. 1 and Fig. 4, in the present embodiment, RTK antenna 170 is installed on car body 110, and and communication module
180 connections, RTK antenna 170 with base station communication for connecting, in order to plan and detect the traveling road of agriculture unmanned vehicle 100
Diameter, so that agriculture unmanned vehicle 100 is advanced along preset path.Communication module 180 was connect with motor control module 150, when RTK days
When line 170 detects that agriculture unmanned vehicle 100 deviates preset path, communication module 180 sends signal to motor control module 150,
Motor control module 150 precisely rapidly adjusts agriculture by accurately controlling the revolving speed of some or certain several wheels 1132
The driving path of industry unmanned vehicle 100, is returned in preset path.
It should be noted that RTK is real-time dynamic carrier phase difference technology, RTK antenna 170 is to be used in the technology
Transmit the antenna of signal of communication.In the present embodiment, the quantity of RTK antenna 170 is two, and two RTK antennas 170 are arranged at intervals on
On car body 110, to improve the accuracy detected to agriculture 100 driving path of unmanned vehicle.
It is worth noting that, in vehicle layout, camera 120, RTK antenna 170, protective housing 160, air accumulator 145, electricity
Stall 210, air compressor machine 144 and medicine-chest 141 are fixedly installed on crossbeam 111, and two wheel arm 1131 are fixedly connected on crossbeam 111
First side 1111 on, other two wheel arm 1131 is fixedly connected in the second side 1112 of crossbeam 111, and connection frame is fixed
It is connected to the rear end of crossbeam 111.Wherein, camera 120 is set to the front end of crossbeam 111, protective housing 160, air accumulator 145,
Air compressor machine 144 and medicine-chest 141 are mounted on the top of crossbeam 111, and successively arrange along the direction of the front end of crossbeam 111 to rear end
Cloth, two RTK antennas 170 are mounted on the top of crossbeam 111, and the two sides of protective housing 160 are arranged in, two battery holders 210
Opposite to be installed in first side 1111 and second side 1112, a battery holder 210 is set between two wheel arm 1131, separately
One battery holder 210 is set between other two wheel arm 1131, is conveniently replaceable battery 200.
When agriculture unmanned vehicle 100 needs to carry out spraying operation to the crops of planting site, first to agriculture unmanned vehicle 100
Driving path planned that obtain preset path, subsequent motor control module 150 controls motor 1133 and drives 1132 turns of wheel
Dynamic, so that agriculture unmanned vehicle 100 is advanced along preset path, during agriculture unmanned vehicle 100 is advanced, camera 120 is to preceding
Square ground environment carries out captured in real-time, obtains ground target object image, and the ground target object image is sent to image procossing
Unit 131.
Specifically, image processing unit 131 object image can be handled on a surface target, if judging ground target object
There is no object in image, then control unit 132 controls whole liquid stream on-off valve 1424 and solenoid valve 1462 and is turned off, at this time
Agriculture unmanned vehicle 100 is without spraying operation；If judging there is object, image processing unit in ground target object image
131 mark ground target object position, and ground target object position is sent to control unit 132, control unit
132, which can control spray head 143 corresponding with ground target object position, opens, that is, controls the electricity connecting with the spray head 143
Magnet valve 1462 is opened, and the liquid stream on-off valve 1424 controlled in the branch pipe(tube) 1422 connecting with the spray head 143 is opened, so that spray
First 143 can carry out spraying operation to the object on ground.
Agricultural unmanned vehicle 100 provided in an embodiment of the present invention, camera 120 can shoot ground environment, obtain
Ground target object image, and the ground target object image is sent to sprinkling control module 130, sprinkling control module 130 can
Judge whether the sprinkling position of spray head 143 has object according to ground target object image, when judge spray position have mesh
When marking object, sprinkling control module 130 controls spray head 143 and opens, when judging that spraying position does not have object, sprinkling control
Module 130 controls spray head 143 and closes.Compared with prior art, agriculture unmanned vehicle 100 provided by the invention is due to using installation
In the camera 120 on car body 110 and the sprinkling control module 130 being connect with spray head 143, so can be according to ground target
Object image real-time control spray head 143 turns on or off, and accurately to carry out spraying operation to object, accuracy is high, saves
The dosage of medical fluid, reduces cost.
Second embodiment
Figure 12 is please referred to, the embodiment of the invention provides a kind of agriculture unmanned vehicles 100, compared with first embodiment, this reality
The difference for applying example is that the structure of flusher 140 is different.
In the present embodiment, flusher 140 includes medicine-chest 141, water pump 147, conveyance conduit 142 and spray head 143.Medicine-chest
141 are installed on car body 110, and are connect by conveyance conduit 142 with spray head 143, and water pump 147 is installed in conveyance conduit 142,
Extracting the medical fluid in medicine-chest 141 to spray head 143, and sprayed outward for spray head 143.Specifically, spray head 143 is common liq
Spray head, the shape of similar shower, medical fluid in medicine-chest 141 under the action of water pump 147 generates negative pressure by conveyance conduit 142 into
Enter spray head 143, and sprayed outward by spray head 143, equally can be realized the spraying function of agriculture unmanned vehicle 100.
It is worth noting that, the quantity of spray head 143 be it is multiple, multiple spray heads 143 are arranged at intervals on car body 110.Specifically
Ground, the line direction of multiple spray heads 143 and the direction of travel of car body 110 are vertically arranged, so that multiple spray heads 143 can cover one
A biggish range, agriculture unmanned vehicle 100 can selectively carry out sprinkling work to entire coverage area during traveling
Industry saves time cost to improve spraying efficiency.
Conveyance conduit 142 includes interconnected main pipeline 1421 and multiple branch pipe(tube)s 1422.One end of main pipeline 1421
It being connect with medicine-chest 141, the other end is connect with multiple branch pipe(tube)s 1422 respectively, and each branch pipe(tube) 1422 is connect with a spray head 143,
Medical fluid respectively enters multiple branch pipe(tube)s 1422 by main pipeline 1421 in medicine-chest 141, and is entered respectively by each branch pipe(tube) 1422
A spray head 143, to spray medical fluid outward convenient for spray head 143 to 143 feed flow of spray head.
Specifically, the quantity of water pump 147 is multiple, and each water pump 147 is installed in a branch pipe(tube) 1422, negative to utilize
Pressure extracts the medical fluid in medicine-chest 141 to multiple branch pipe(tube)s 1422 by main pipeline 1421, and multiple water pumps 147 are controlled with sprinkling
Molding block 130 connects, and water pump 147 can turn on or off under the control of sprinkling control module 130.Also, each branch pipe
A liquid stream on-off valve 1424 is provided in road 1422, liquid stream on-off valve 1424 is set between water pump 147 and spray head 143,
Multiple liquid stream on-off valves 1424 are connect with sprinkling control module 130, and liquid stream on-off valve 1424 can be in sprinkling control module 130
Control under turn on or off so that the medical fluid in medicine-chest 141 by branch pipe(tube) 1422 enter spray head 143 or stop enter
Spray head 143.
It should be noted that water pump 147 in each branch pipe(tube) 1422 opening synchronous with liquid stream on-off valve 1424 or
It closes, is extracted the medical fluid in medicine-chest 141 to spray head 143 by main pipeline 1421 and branch pipe(tube) 1422 with realizing, and for spray head
143 functions of spraying.When sprinkling control module 130 judges that there is object in some position, sprinkling control module 130 controls and should
The corresponding spray head 143 in position is opened, that is, the water pump 147 and liquid stream controlled in the branch pipe(tube) 1422 connecting with the spray head 143 leads to
Disconnected valve 1424 is synchronous to be opened, so that medical fluid sprays outward from the spray head 143, carries out spraying operation to object.When sprinkling controls
When module 130 judges that some position does not have object, sprinkling control module 130 controls spray head 143 corresponding with the position and closes
It closes, that is, controls 1424 close synchronously of water pump 147 and liquid stream on-off valve in the branch pipe(tube) 1422 connecting with the spray head 143, so that
Medical fluid is no longer sprayed from the spray head 143 outward, saves the dosage of medical fluid.
Agricultural unmanned vehicle 100 provided in an embodiment of the present invention, the negative pressure generated using water pump 147 is by the medicine in medicine-chest 141
Liquid extraction, and sprayed outward from spray head 143, it occupies little space, so that 100 lightweight of agriculture unmanned vehicle, and being capable of base area
Area Objects object image real-time control spray head 143 turns on or off, accurately to carry out spraying operation, accuracy to object
Height saves the dosage of medical fluid, reduces cost.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of agricultural unmanned vehicle, which is characterized in that described to take the photograph including car body, camera, sprinkling control module and flusher
It as head is installed on the car body, and is connect with the sprinkling control module, the camera is for shooting ground target object figure
Picture, the flusher include medicine-chest and spray head, and the medicine-chest is installed on the car body, and is connect with the spray head, described
Spray head is installed on the car body, and is connect with the sprinkling control module, and the sprinkling control module is used for according to describedly
Area Objects object image controls the spray head and turns on or off.
2. agricultural unmanned vehicle according to claim 1, which is characterized in that the quantity of the spray head be it is multiple, it is multiple described
Spray head is arranged at intervals on the car body.
3. agricultural unmanned vehicle according to claim 2, which is characterized in that the sprinkling control module includes image procossing list
Member and control unit, the camera are connect with described image processing unit, and described image processing unit is used for the ground
Target object image is handled, and marks ground target object position, described image processing unit and described control unit
Connection, described control unit are connect with the spray head, and described control unit is opposite with ground target object position for controlling
The spray head answered is opened.
4. agricultural unmanned vehicle according to claim 2, which is characterized in that the flusher further includes air compressor machine, gas storage
Tank and jet assembly, the spray head are suction type spray head, and the air compressor machine and the air accumulator are mounted on the car body, institute
It states air compressor machine and is connect by the air accumulator with the jet assembly, the jet assembly is connect with multiple spray heads respectively.
5. agricultural unmanned vehicle according to claim 4, which is characterized in that the jet assembly includes cylinder manifold and multiple electricity
Magnet valve, the cylinder manifold offer interconnected air inlet and multiple gas outlets, and the air inlet is connected to the air accumulator,
Multiple solenoid valves are fixedly installed on the cylinder manifold, and each gas outlet is connected to a solenoid valve, often
A solenoid valve is connect with a spray head.
6. agricultural unmanned vehicle according to claim 2, which is characterized in that the flusher further includes conveyance conduit, institute
Stating conveyance conduit includes interconnected main pipeline and multiple branch pipe(tube)s, and one end of the main pipeline is connect with the medicine-chest, separately
One end is connect with multiple branch pipe(tube)s respectively, and each branch pipe(tube) is connect with a spray head.
7. agricultural unmanned vehicle according to claim 1, which is characterized in that before the camera is set to the car body
End, the camera are used to shoot the ground target object image being located in front of the car body.
8. agricultural unmanned vehicle according to claim 1, which is characterized in that the car body includes crossbeam, mounting rack and multiple
Walking component, the mounting rack is fixedly connected with the crossbeam, and is set to the rear end of the crossbeam, multiple walking components
It is mounted on the crossbeam, the spray head is installed on the mounting rack.
9. agricultural unmanned vehicle according to claim 8, which is characterized in that the walking component includes wheel arm, wheel and electricity
Machine, one end of the wheel arm are fixedly connected with the crossbeam, and the other end is connect with the wheel, and the motor is installed on the wheel
It on arm, and is connect with the wheel, the wheel can be rotated relative to the wheel arm.
10. agricultural unmanned vehicle according to claim 9, which is characterized in that the agricultural unmanned vehicle further includes motor control
Module is provided with encoder in the motor, and the motor control module is connect with multiple encoders respectively, each to control
The revolving speed of a motor.
11. agricultural unmanned vehicle according to claim 10, which is characterized in that the agricultural unmanned vehicle further includes protective housing,
The protective housing is fixedly installed on the crossbeam, and the sprinkling control module and the motor control module are integrally disposed in institute
It states in protective housing.
12. agricultural unmanned vehicle according to claim 9, which is characterized in that the medicine-chest is fixedly installed on the crossbeam,
The position phase of the position of the medicine-chest and projection of the axis on the crossbeam of the wheel close to the mounting rack side
It is corresponding.
13. agricultural unmanned vehicle according to claim 9, which is characterized in that the quantity of the walking component is four, described
Crossbeam is relatively set with first side and second side, and two wheel arm are arranged at intervals at the first side, other two
The wheel arm is arranged at intervals at the second side.
14. agricultural unmanned vehicle according to claim 13, which is characterized in that the agricultural unmanned vehicle further includes two batteries
With two battery holders, each battery is connected to pluggablely in the battery holder, is set to the first side
Two wheel arm combine to form the first guard space with the crossbeam, be set to two wheel arm of the second side with
The crossbeam combines to form the second guard space, and a battery holder is fixedly installed on the crossbeam, and is set to described
In first guard space, another described battery holder is fixedly installed on the crossbeam, and is set to second guard space
It is interior.
15. it is according to claim 1 agricultural unmanned vehicle, which is characterized in that it is described agricultural unmanned vehicle further include RTK antenna and
Communication module, the RTK antenna is installed on the car body, and is connect with the communication module, and the RTK antenna is used for and base
It stands communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775667.1A CN110326605A (en) | 2019-08-21 | 2019-08-21 | A kind of agricultural unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910775667.1A CN110326605A (en) | 2019-08-21 | 2019-08-21 | A kind of agricultural unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110326605A true CN110326605A (en) | 2019-10-15 |
Family
ID=68150119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910775667.1A Pending CN110326605A (en) | 2019-08-21 | 2019-08-21 | A kind of agricultural unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110326605A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328018A (en) * | 2020-02-27 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle, unmanned vehicle operation system and unmanned vehicle operation method |
| CN111357530A (en) * | 2020-04-23 | 2020-07-03 | 浙江九竹新材料科技有限公司 | Trackless movable intelligent flower box |
| CN111744690A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Spraying operation control method, device, carrier and storage medium |
| CN111758699A (en) * | 2019-12-19 | 2020-10-13 | 广州极飞科技有限公司 | Carrier spraying operation control method, spraying device, carrier and system |
| GR1009982B (en) * | 2020-04-26 | 2021-04-22 | Παντελεημων Κωνσταντινου Κελεσης | Electronic spayer for linear cultivations |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101961003A (en) * | 2010-08-10 | 2011-02-02 | 江苏大学 | Precise targeted spraying and weeding device |
| KR101460991B1 (en) * | 2014-07-22 | 2014-11-21 | (주)선영시스텍 | Versatile vehicle used for prevention of breeding and extermination |
| CN107581175A (en) * | 2017-08-14 | 2018-01-16 | 西北农林科技大学 | A kind of intelligent precision spraying locomotive |
| CN107983557A (en) * | 2017-12-15 | 2018-05-04 | 吕艳双 | A kind of dot matrix is green to plant spray equipment and method |
| CN109691428A (en) * | 2017-10-23 | 2019-04-30 | 西北农林科技大学 | A kind of pesticide air-assisted spraying equipment of fruit tree low in |
| CN210642121U (en) * | 2019-08-21 | 2020-06-02 | 广州极飞科技有限公司 | Agricultural unmanned vehicle |
-
2019
- 2019-08-21 CN CN201910775667.1A patent/CN110326605A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101961003A (en) * | 2010-08-10 | 2011-02-02 | 江苏大学 | Precise targeted spraying and weeding device |
| KR101460991B1 (en) * | 2014-07-22 | 2014-11-21 | (주)선영시스텍 | Versatile vehicle used for prevention of breeding and extermination |
| CN107581175A (en) * | 2017-08-14 | 2018-01-16 | 西北农林科技大学 | A kind of intelligent precision spraying locomotive |
| CN109691428A (en) * | 2017-10-23 | 2019-04-30 | 西北农林科技大学 | A kind of pesticide air-assisted spraying equipment of fruit tree low in |
| CN107983557A (en) * | 2017-12-15 | 2018-05-04 | 吕艳双 | A kind of dot matrix is green to plant spray equipment and method |
| CN210642121U (en) * | 2019-08-21 | 2020-06-02 | 广州极飞科技有限公司 | Agricultural unmanned vehicle |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111758699A (en) * | 2019-12-19 | 2020-10-13 | 广州极飞科技有限公司 | Carrier spraying operation control method, spraying device, carrier and system |
| CN111758699B (en) * | 2019-12-19 | 2022-05-10 | 广州极飞科技股份有限公司 | Carrier spraying operation control method, spraying device, carrier and system |
| CN111328018A (en) * | 2020-02-27 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle, unmanned vehicle operation system and unmanned vehicle operation method |
| CN111357530A (en) * | 2020-04-23 | 2020-07-03 | 浙江九竹新材料科技有限公司 | Trackless movable intelligent flower box |
| GR1009982B (en) * | 2020-04-26 | 2021-04-22 | Παντελεημων Κωνσταντινου Κελεσης | Electronic spayer for linear cultivations |
| CN111744690A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Spraying operation control method, device, carrier and storage medium |
| CN111744690B (en) * | 2020-05-29 | 2022-06-21 | 广州极飞科技股份有限公司 | Spraying operation control method, device, carrier and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110326605A (en) | A kind of agricultural unmanned vehicle | |
| AU2021290406B2 (en) | Automatic target recognition and dispensing system | |
| CN104604831B (en) | Adjustable rotor wing spray bar type electrostatic spraying device | |
| CN105941379A (en) | Coordinated atomization control system of pneumatic intelligent atomizing robot and chemical applying method | |
| BR112019016644B1 (en) | SYSTEM FOR CONTROLING THE SPRAYING OF AGRICULTURAL PRODUCT, METHOD FOR CONTROLLING A SPRAYING NOZZLE OF A SPRAYING ARM OF AN AGRICULTURAL MACHINE AND AN AGRICULTURAL MACHINE | |
| CN205284757U (en) | Indoor multipurpose removes spouts medicine robot | |
| US20110210186A1 (en) | Mobile sprayer system for spraying aquatic environments | |
| CN208084344U (en) | A kind of Multifunctional field robot | |
| CN106857466A (en) | Field fertilization spray drug operation track drive snake-shaped robot | |
| CN105903590A (en) | Spraying flow automatic control system | |
| CN110463679A (en) | A kind of orchard gate solid air-assisted type spraying machine | |
| CN112106757A (en) | Spraying mechanism, pesticide spraying machine and pesticide spraying equipment | |
| CN115768689A (en) | Remote control aircraft suitable for aerial survey and spraying activity and aerial survey and spraying system | |
| CN110547280A (en) | Agricultural atomizing pesticide spraying unmanned aerial vehicle | |
| CN115443906A (en) | Accurate pollination robot of kiwi fruit based on visual perception and double-flow spraying | |
| JP2016086727A (en) | Field management vehicle | |
| US20120187210A1 (en) | Multi-headed Mobile Fogging System and Method | |
| EP3991557B1 (en) | Atomizer | |
| CN109213160A (en) | A kind of field weeding fertilising operation takes turns biped robot more | |
| CN210642121U (en) | Agricultural unmanned vehicle | |
| CN208204333U (en) | A kind of pipe crawling device carrying sprinkling equipment | |
| CN111838111B (en) | Orchard wind power and drug dosage targeting regulation sprayer and method based on ultrasonic sensing | |
| CN117530259A (en) | Crop disease control robot | |
| CN108190026A (en) | A kind of plant protection UAV Intelligent control system | |
| CN106982815A (en) | It is a kind of to have to target dispenser and intelligent weed eradication unit of the seedling with tracking function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: XAG Co., Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191015 |