CN110786221B - Unmanned vehicle medicine separation high-clearance operation system - Google Patents
Unmanned vehicle medicine separation high-clearance operation system Download PDFInfo
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- CN110786221B CN110786221B CN201910986167.2A CN201910986167A CN110786221B CN 110786221 B CN110786221 B CN 110786221B CN 201910986167 A CN201910986167 A CN 201910986167A CN 110786221 B CN110786221 B CN 110786221B
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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
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/047—Spraying of liquid fertilisers
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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
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- 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)
- Soil Sciences (AREA)
- Catching Or Destruction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a medicine separation high-clearance operation system of an unmanned vehicle. The self-propelled high-ground-clearance multifunctional working vehicle mainly comprises a hub motor, a chassis, a vehicle body customized steel plate, a support arm, a differential GPS, a control console, a spray pipe, a rotating chassis, a support pipe and the like, wherein the spray pipe is transversely positioned in front of the vehicle body, the chassis is positioned below the vehicle body, a motor driver and a whole vehicle controller are arranged in the chassis, the vehicle body is formed by welding the customized steel plate and all parts, the control console, the differential GPS and the rotating chassis are welded into a whole, and the support pipe is welded on the rotating chassis. The self-propelled operation supply vehicle mainly comprises a hub motor, a chassis, a vehicle body, a differential GPS, a console, a reel bin, a generator, a medicine box, electric wires and a PE pipe. The reel bin is internally provided with a conveyer belt, the conveyer belt is internally provided with an electric wire and a PE hose, and the reel bin is internally provided with a reel controller and a tightness controller.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to the field of self-propelled high-clearance multifunctional operation vehicles. The self-propelled vehicle-pesticide separation high-clearance operation vehicle system and the method are suitable for operations such as farmland operation, irrigation, fertilization and the like.
Background
In the agricultural operation, irrigation and fertilization processes, agricultural workers are often the most important factors. Agriculturists need to operate the implement through the process, during which they often come into contact with large quantities of pesticides, with undoubted health risks. Meanwhile, most of farming seasons are in summer, and factors such as overlarge farmland area, overlarge operation tool size and complex operation process can greatly increase required manpower, and the working efficiency can be reduced.
In view of the intelligent development of the existing agricultural equipment, more and more abundant achievements of self-propelled high-clearance multifunctional working vehicles in the agricultural field and the current situation of complaints, the invention provides a self-propelled vehicle and medicine separation high-clearance working vehicle system and a method. Related technologies or areas of concern include: GPS communication, motor drive, autonomous driving, hub motors, path planning, control console, and the like.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a self-propelled vehicle and pesticide separation high-clearance operation vehicle system and a method for farmland operation, irrigation, fertilization and other operations. Related technologies or areas of concern include: GPS communication, motor drive, autonomous driving, hub motors, path planning, control console, and the like.
The invention is realized by the following technical scheme: a self-propelled vehicle and medicine separation high-clearance working vehicle system comprises a self-propelled high-clearance multifunctional working vehicle and a self-propelled working supply vehicle;
the self-propelled high-ground-clearance multifunctional working vehicle comprises a support arm (3), a vehicle body customized steel plate (16), a differential GPS (4), a control console (5), a spray pipe (2), a rotating chassis (6) and a support pipe (7); a control console (5) and a rotating chassis (6) are arranged on the upper part of the vehicle body customized steel plate (16), the upper end of the rotating chassis (6) is fixedly connected with a support pipe (7), a spray pipe (2) is installed on the front side of the vehicle body customized steel plate (16) through a support arm (3), and a differential GPS (4) is arranged above the front side of the vehicle body customized steel plate (16); hollow parts are reserved in the spray pipe (2), the support arm (3), the vehicle body customized steel plate (16), the control console (5), the rotating chassis (6) and the support pipe (7) and are communicated in sequence;
the self-propelled operation supply vehicle comprises a vehicle body steel plate (18), a second differential GPS (11), a second control platform (13), a reel bin (9), a generator (12), a medicine box (10) and a conveying belt (8); a second control console (13), a reel bin (9), a generator (12) and a medicine box (10) are arranged at the upper part of the steel plate (18) of the vehicle body, and the medicine box (10) is integrated with a medicine pump; a second differential GPS (11) is arranged above the front side of the vehicle body steel plate (18);
an electric wire (19) and a PE pipe (20) are integrated in the conveying belt (8), and the conveying belt (8) is wound on the coiling bin (9); the recovery conveyer belt (8) is released through a reel bin (9); an electric wire (19) at one end of the conveyer belt (8) is connected with a generator (12), and a PE pipe (20) at the same side end is connected with the medicine chest (10); the electric wire (19) at the other end of the conveying belt (8) is connected with the console (5) through the support pipe (7), the PE pipe (20) at the same side end is communicated to the spraying pipe (2) through the support pipe (7), and in addition, the generator (12) is also connected with the second console (13).
Further, a chassis (14) is arranged in the middle of the bottom of the vehicle body customized steel plate (16), and hub motors (1) are mounted at four corners of the bottom of the vehicle body customized steel plate (16); the middle of the bottom of the vehicle body steel plate (18) is provided with a second chassis (15), and four corners of the bottom of the vehicle body steel plate (18) are provided with second hub motors (17).
Furthermore, a reel controller and a tightness controller are arranged in the reel bin (9), and when the distance between the self-propelled high-clearance multifunctional working vehicle and the self-propelled working supply vehicle is far away from each other, the reel controller and the tightness controller control the conveyor belt (8) to be in a state of being continuously pulled out; when the distance between the self-propelled high-clearance multifunctional working vehicle and the self-propelled working supply vehicle is close to each other, the rolling disc controller and the tightness controller control the conveyor belt (8) to be in a state of being continuously retracted.
Further, when the self-propelled high-clearance multi-function working vehicle travels, the differential GPS (4) on the vehicle transmits the position information thereof to the second differential GPS (11) on the self-propelled working supply vehicle.
Further, motor drivers are arranged in the console (5) and the second console (13) and are connected with the generator; when the generator (12) works, the control console (5) controls the running direction of the self-propelled high-clearance multifunctional working vehicle according to the position information provided by the differential GPS (4) on the vehicle; the second control platform (13) controls the working states of the generator and the medicine pump according to the position information of the self-propelled high-clearance multifunctional working vehicle received by the second differential GPS (11) on the vehicle; the second differential GPS (11) also controls the running state thereof based on the position information provided by the differential GPS (4) on the self-propelled high-clearance multifunctional working vehicle.
Furthermore, the rotating chassis (6) can drive the support pipe (7) to rotate simultaneously (the design is obtained through a great deal of experience, and the biggest design characteristic is that when the self-propelled high-clearance multifunctional operating vehicle turns, the conveying belt is not pressed by a vehicle hub, or when the self-propelled high-clearance multifunctional operating vehicle turns, the conveying belt is prevented from being wound with the hub, and the automation of the vehicle is improved without artificial auxiliary interference); the direction of the spray pipe (2) is the head of the self-propelled high-clearance multifunctional operating vehicle, and the support pipe (7) inclines to a certain angle towards the tail of the self-propelled high-clearance multifunctional operating vehicle; a fixed shaft is arranged in the rotating chassis (6), so that the rotating chassis (6) and the support pipe (7) can only rotate left and right for a certain angle.
Furthermore, the control console (5) is used for reading the position information provided by the differential GPS (4) and planning the running path of the self-propelled high-clearance multifunctional working vehicle according to the position information provided by the differential GPS (4); the control console (5) is internally provided with a steering system for controlling the steering function of the self-propelled high-clearance multifunctional working vehicle.
Further, the second console (13) is used for reading the position information provided by the second differential GPS (11); the device is also used for controlling the working state of a generator (12) on the self-propelled operation supply vehicle, controlling the working state of a medicine pump on the self-propelled operation supply vehicle, controlling the inner coiling disk controller and the working state of a tension controller in a coiling disk bin (9) on the self-propelled operation supply vehicle, and controlling the working state of a second hub motor (17) and a motor driver on the self-propelled operation supply vehicle; a travel route of the self-propelled work replenishment vehicle is planned on the basis of the position information provided by the second differential GPS (11).
Further, the control console of each of the self-propelled high-clearance utility vehicle and the self-propelled working supply vehicle is provided with an algorithm code therein, and a running route is planned in real time based on the position information of the self-propelled high-clearance utility vehicle and the self-propelled working vehicle.
The invention has the following beneficial effects:
the labor cost is saved: in the operation process of the system, manual operation is not needed in most processes;
reducing health risks: the system realizes separation of human and medicine in the operation process;
the application is wide: the application scene is not limited to spraying, irrigation and fertilization, and is not limited to the area of a farmland;
energy and environment friendliness: the power source of the system is all electric power, and environmental pollution is avoided.
Drawings
FIG. 1 is a schematic diagram of a self-propelled vehicle-medicine separation high-clearance working vehicle system; (a) is a self-propelled high-clearance multifunctional working vehicle; (b) a self-propelled operation supply vehicle;
FIG. 2 is a side view of a self-propelled high clearance multi-function vehicle in a self-propelled vehicle and drug separation high clearance vehicle system;
FIG. 3 is a front view of a self-propelled working supply cart in a self-propelled cart-to-drug separation high clearance work cart system;
FIG. 4 is a rear view of a self-propelled working feeder in a self-propelled vehicle and drug separation high clearance work vehicle system;
FIG. 5 is a side view of a self-propelled work tender car in a self-propelled vehicle drug separation high clearance work car system;
FIG. 6 is a schematic diagram of the structure of the conveying belt in the self-propelled vehicle-medicine separation high-clearance working vehicle system;
FIG. 7 is a diagram of a travel route of two working vehicles in a self-propelled vehicle-medicine separation high-clearance working vehicle system;
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, a working schematic diagram of a self-propelled vehicle-medicine separation high-clearance working vehicle system. The self-propelled high-clearance multifunctional working vehicle and the self-propelled working supply vehicle are positioned at the intersection of the ridges, and the direction of the vehicle head on the way is the traveling direction from the beginning. The medicine chest (10) is filled with liquid medicine, and the generator (12) stores electric quantity. And the working switch of the generator (12) is turned on, the generator (12) provides power for a second control console (13), a second differential GPS (11), a medicine pump, a motor driver, a second hub motor (17), a rolling disk controller and a tightness controller on the self-propelled operation supply vehicle, and the power is improved for a control console (5), a differential GPS (4), a motor driver and a hub motor (1) on the self-propelled high-clearance multifunctional operation vehicle. A differential GPS (4) on the self-propelled high-clearance multifunctional working vehicle transmits position information to a control console (5) on the self-propelled high-clearance multifunctional working vehicle and a second control console (13) on the self-propelled working supply vehicle, thereby judging whether the running condition and the working condition are met. When the running condition and the operation condition are met, the control console (5) on the self-propelled high-clearance multifunctional operation vehicle turns on the working switches of the motor driver and the hub motor (1), and the second control console (13) on the self-propelled operation supply vehicle turns on the medicine pump switch, so that the self-propelled high-clearance multifunctional operation vehicle starts running and operation.
The invention is characterized in that the functions of the two vehicle parts are realized and connected; the embodiment of the driving and walking mode of the vehicle model can be seen in the invention patent application: a multi-ground-clearance self-steering mechanism is disclosed in application number 201710467123. X.
When the self-propelled high-clearance multifunctional working vehicle runs to a corner, the position information at the moment is acquired by a differential GPS (4) on the self-propelled high-clearance multifunctional working vehicle and a second differential GPS (11) on the self-propelled working supply vehicle, and is further read by a control platform (5) on the self-propelled high-clearance multifunctional working vehicle and a second control platform (13) on the self-propelled working supply vehicle, the control platform (5) on the self-propelled high-clearance multifunctional working vehicle turns on a steering system to steer along the side of the farmland to be worked, and the second control platform (13) on the self-propelled working supply vehicle turns off a medicine pump switch. During the turning process, the rotating chassis can not change along with the steering of the vehicle body. After the turning is finished, the self-propelled high-clearance multifunctional working vehicle continues to run forwards until reaching a second corner. At the second corner, as at the previous corner, the position information at that time is acquired by the differential GPS (4) on the self-propelled high clearance multi-function work vehicle and the second differential GPS (11) on the self-propelled work replenishment vehicle, and is read by the console (5) on the self-propelled high clearance multi-function work vehicle and the second console (13) on the self-propelled work replenishment vehicle. During turning, the rotating chassis does not change along with the steering of the vehicle body. A control console (5) on the walking type high-clearance working vehicle starts a steering system to steer along one side of a worked farmland, and after the turning is finished, a second control console (13) on the walking type working supply vehicle turns on a medicine pump switch, a motor driver and a second hub motor (17). The self-propelled high-clearance multifunctional working vehicle starts running and working work, and the self-propelled working supply vehicle runs forwards. When the self-propelled high-clearance multifunctional working vehicle and the self-propelled working supply vehicle reach a ridge intersection, the position information at the moment is acquired by a differential GPS (4) on the self-propelled high-clearance multifunctional working vehicle and a second differential GPS (11) on the self-propelled working supply vehicle, and is further read by a control console (5) on the self-propelled high-clearance multifunctional working vehicle and a second control console (13) on the self-propelled working supply vehicle. The control platform (5) on the self-propelled high-clearance multifunctional working vehicle closes the working switches of the motor driver and the hub motor (1) on the vehicle, and the second control platform (13) on the self-propelled working supply vehicle closes the working switches of the drug pump, the motor driver and the second hub motor (17). The self-propelled high-clearance multifunctional working vehicle stops running and working, and the self-propelled working supply vehicle stops running. Then, depending on the actual situation, whether the self-propelled high-clearance multifunctional work vehicle continues steering and works or repeats the above-described operations or not is determined, and the relevant decision code is written in the control consoles of the work vehicle and the supply vehicle according to the actual situation.
As shown in fig. 2, the self-propelled high-clearance multifunctional working vehicle mainly comprises a hub motor (1), a chassis (14), a vehicle body customized steel plate (16), a support arm (3), a differential GPS (4), a console (5), a spray pipe (2), a rotating chassis (6), a support pipe (7) and the like, wherein the spray pipe (2) is transversely positioned in front of the vehicle body, the chassis (14) is positioned below the vehicle body, a motor driver and a vehicle control unit are arranged in the chassis, and the vehicle body is a customized steel plate. The console (5), the differential GPS (4) and the rotating chassis (6) are welded into a whole, and the rotating chassis (6) is welded with the support pipe (7). The rotating chassis (6) and the support pipe (7) are welded into a whole, and the rotating chassis (6) is provided with a hollow part which is perforated and communicated with the welding part of the support pipe (7); the console (5) is provided with a hollow part and is welded with the rotating chassis (6), and the welding part is perforated and communicated with each other; the vehicle body customized steel plate (16) is provided with a hollow part and is welded with the console (5), and the welding part is punched and communicated; the front end of the vehicle body customized steel plate (16) is provided with a spray pipe (2) which is welded by a support arm (3), wherein the support arm (3) is a hollow steel pipe, and the welding parts of the support arm, the spray pipe (2) and the vehicle body customized steel plate (16) are perforated and communicated. The conveyor belt (8) passes through the support tube (7), enters the rotary chassis (6) and passes through the hollow part, enters the console (5) and passes through the hollow part, enters the vehicle body customization steel plate (16) and passes through the hollow part, enters and passes through the support arm (3), and enters the spray pipe (2). The rotating chassis (6) can drive the bracket pipe (7) to rotate, and the rotation occurs when the self-propelled high-clearance multifunctional operating vehicle turns every time. A fixed shaft is arranged in the rotating chassis (6), the maximum rotating angle is 90 degrees, and the rotating chassis is realized by an internal rotating shaft; the support arm (3) is telescopic;
as shown in fig. 3 and 4, the self-propelled working supply vehicle mainly includes a second in-wheel motor (17), a second chassis (15), a vehicle body steel plate (18), a second differential GPS (11), a second console (13), a reel bin (9), a generator (12), a medicine box (10), an electric wire (19), and a PE hose (20). A conveyer belt is arranged in the reel bin (9), the conveyer belt contains an electric wire (19) and a PE hose (20), a reel controller and a tightness controller are arranged in the reel bin (9), and a medicine pump is integrated in the medicine box (10). The generator (12) on the self-propelled operation supply vehicle is in circuit communication with the second hub motor (17), the second chassis (15), the second differential GPS (11), the second control platform (13), the reel bin (9), the medicine box (10) and other components, so as to supply power to the main components of the self-propelled operation supply vehicle. In addition, electric wires (19) are provided for integration with the PE hose in the conveyor belt for powering the components of the self-propelled high-clearance utility vehicle. After the working switch of the generator (12) on the self-propelled work supply vehicle is turned on, the control platform (5) on the self-propelled high-clearance multifunctional work vehicle and the second control platform (13) on the self-propelled work supply vehicle control the states of work, running, turning and the like of the self-propelled high-clearance multifunctional work vehicle and control a rolling disc controller, a tightness controller, a medicine pump, the generator (12) and the running states thereof on the self-propelled work supply vehicle according to the GPS position information.
As shown in fig. 6, the conveying belt is internally provided with an electric wire (19) and a PE hose (20), and the rest space is separated by insulating substances. As described above, the electric wire (19) is connected to the generator on the self-propelled working supply vehicle, and the PE hose (20) is connected to the medicine box on the self-propelled working supply vehicle. The conveying belt enters the secondary bin of the reel bin, then enters the self-propelled high-clearance multifunctional working vehicle along with the conveying belt, passes through the support pipe and the rotating chassis on the self-propelled high-clearance multifunctional working vehicle, enters the hollow part in the control console on the self-propelled high-clearance multifunctional working vehicle along with the conveying belt, and then enters the hollow part of the vehicle body of the self-propelled high-clearance multifunctional working vehicle. In the body of the self-propelled high-clearance multifunctional working vehicle, the conveyor belt is opened, and the electric wire (19) is separated from the PE hose (20). The electric wire is connected with a control platform on the self-propelled high-clearance multifunctional working vehicle, and the control platform is connected with a differential GPS and a chassis on the self-propelled high-clearance multifunctional working vehicle. Therefore, power is supplied to all parts on the self-propelled high-clearance multifunctional working vehicle. The PE hose (20) passes through the hollow portion of the interior of the vehicle body into and through the bracket arm, and is finally connected to the nozzle.
As shown in fig. 7, the self-propelled high-clearance multipurpose work vehicle before the first turn, B the self-propelled high-clearance multipurpose work vehicle after the first turn, C the self-propelled high-clearance multipurpose work vehicle after the second turn, and D, E the self-propelled high-clearance multipurpose work vehicle and the self-propelled work replenishing vehicle which travel to the junction. The self-propelled high-clearance multifunctional operation vehicle and the self-propelled operation supply vehicle are placed at the intersection of the ridges before operation. After a generator working switch on the self-propelled operation supply vehicle is turned on, the self-propelled high-clearance multifunctional operation vehicle starts to run and performs operation, and the conveying belt is in a state of being continuously pulled at the moment; after the vehicle turns for the first time, the angle formed by the bracket pipe and the vehicle body changes, and the change amplitude is about 90 degrees. Until the junction, the angle formed by the bracket pipe and the vehicle body is kept unchanged. The operation state of the whole process is as follows: the self-propelled high-clearance multifunctional working vehicle trolley in the step A is in a running and working state; the self-propelled high-clearance multifunctional working vehicle in the step B is only in a running state; and the self-propelled high-clearance multifunctional working vehicle in the step C is in a running and working state. After the self-propelled high-clearance multifunctional working vehicle is rotated for the second time, the self-propelled multifunctional working supply vehicle also starts to run to the junction. Namely, the whole work has two working states, and the area of the two working states completely covers a farmland (the length of the spray pipe can be adjusted according to the actual situation).
Claims (9)
1. A self-propelled vehicle and medicine separation high-clearance working vehicle system is characterized by comprising a self-propelled high-clearance multifunctional working vehicle and a self-propelled working supply vehicle;
the self-propelled high-ground-clearance multifunctional working vehicle comprises a support arm (3), a vehicle body customized steel plate (16), a differential GPS (4), a control console (5), a spray pipe (2), a rotating chassis (6) and a support pipe (7); a control console (5) and a rotating chassis (6) are arranged on the upper part of the vehicle body customized steel plate (16), the upper end of the rotating chassis (6) is fixedly connected with a support pipe (7), a spray pipe (2) is installed on the front side of the vehicle body customized steel plate (16) through a support arm (3), and a differential GPS (4) is arranged above the front side of the vehicle body customized steel plate (16); hollow parts are reserved in the spray pipe (2), the support arm (3), the vehicle body customized steel plate (16), the control console (5), the rotating chassis (6) and the support pipe (7) and are communicated in sequence;
the self-propelled operation supply vehicle comprises a vehicle body steel plate (18), a second differential GPS (11), a second control platform (13), a reel bin (9), a generator (12), a medicine box (10) and a conveying belt (8); a second control console (13), a reel bin (9), a generator (12) and a medicine box (10) are arranged at the upper part of the steel plate (18) of the vehicle body, and the medicine box (10) is integrated with a medicine pump; a second differential GPS (11) is arranged above the front side of the vehicle body steel plate (18);
an electric wire (19) and a PE pipe (20) are integrated in the conveying belt (8), and the conveying belt (8) is wound on the coiling bin (9); the recovery conveyer belt (8) is released through a reel bin (9); an electric wire (19) at one end of the conveyer belt (8) is connected with a generator (12), and a PE pipe (20) at the same side end is connected with the medicine chest (10); the electric wire (19) at the other end of the conveying belt (8) is connected with the console (5) through the support pipe (7), the PE pipe (20) at the same side end is communicated to the spraying pipe (2) through the support pipe (7), and in addition, the generator (12) is also connected with the second console (13).
2. The self-propelled vehicle and pesticide separation high-clearance working vehicle system is characterized in that a chassis (14) is arranged in the middle of the bottom of the vehicle body customized steel plate (16), and hub motors (1) are arranged at four corners of the bottom of the vehicle body customized steel plate (16); the middle of the bottom of the vehicle body steel plate (18) is provided with a second chassis (15), and four corners of the bottom of the vehicle body steel plate (18) are provided with second hub motors (17).
3. The self-propelled vehicle and pesticide separation high-clearance working vehicle system as claimed in claim 1, wherein the reel bin (9) is internally provided with a reel controller and a tightness controller, and when the self-propelled high-clearance multifunctional working vehicle and the self-propelled working supply vehicle are far away from each other, the reel controller and the tightness controller control the conveyor belt (8) to be in a continuous pulling state; when the distance between the self-propelled high-clearance multifunctional working vehicle and the self-propelled working supply vehicle is close to each other, the rolling disc controller and the tightness controller control the conveyor belt (8) to be in a state of being continuously retracted.
4. The vehicle system for self-propelled vehicle-medicine separation high-clearance working vehicle according to claim 1, wherein when the self-propelled high-clearance multifunctional working vehicle travels, the differential GPS (4) on the vehicle transmits its position information to the second differential GPS (11) on the self-propelled working supply vehicle.
5. The self-propelled vehicle-medicine separation high-clearance working vehicle system according to claim 1,
the control console (5) and the second control console (13) are both internally provided with motor drivers and are both connected with the generator; when the generator (12) works, the control console (5) controls the running direction of the self-propelled high-clearance multifunctional working vehicle according to the position information provided by the differential GPS (4) on the vehicle; the second control platform (13) controls the working states of the generator and the medicine pump according to the position information of the self-propelled high-clearance multifunctional working vehicle received by the second differential GPS (11) on the vehicle; at the same time, the second console (13) controls the running state thereof.
6. The self-propelled vehicle-medicine separation high-clearance working vehicle system according to claim 1, wherein the rotating chassis (6) drives the support tube (7) to rotate simultaneously; the direction of the spray pipe (2) is the head of the self-propelled high-clearance multifunctional operating vehicle, and the support pipe (7) inclines to a certain angle towards the tail of the self-propelled high-clearance multifunctional operating vehicle; a fixed shaft is arranged in the rotating chassis (6), so that the rotating chassis (6) and the support pipe (7) can only rotate left and right for a certain angle.
7. The self-propelled vehicle and pesticide separation high-clearance working vehicle system as claimed in claim 1, wherein the console (5) is used for reading the position information provided by the differential GPS (4) and planning the running path of the self-propelled high-clearance multifunctional working vehicle according to the position information provided by the differential GPS (4); the control console (5) is internally provided with a steering system for controlling the steering function of the self-propelled high-clearance multifunctional working vehicle.
8. The self-propelled vehicle-medicine separation high-clearance working vehicle system according to claim 1, wherein the second console (13) is configured to read position information provided by a second differential GPS (11); the device is also used for controlling the working state of a generator (12) on the self-propelled operation supply vehicle, controlling the working state of a medicine pump on the self-propelled operation supply vehicle, controlling the inner coiling disk controller and the working state of a tension controller in a coiling disk bin (9) on the self-propelled operation supply vehicle, and controlling the working state of a second hub motor (17) and a motor driver on the self-propelled operation supply vehicle; a travel route of the self-propelled work replenishment vehicle is planned on the basis of the position information provided by the second differential GPS (11).
9. The vehicle system according to claim 1 or 8, wherein the control console of each of the self-propelled high-clearance multi-function vehicle and the self-propelled working supply vehicle contains an algorithm code, and a running route is planned in real time based on the position information of the self-propelled high-clearance multi-function vehicle and the self-propelled working vehicle.
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| CN112425588A (en) * | 2020-11-03 | 2021-03-02 | 王树华 | Eminence laxative machine |
| CN112741063B (en) * | 2020-12-17 | 2021-12-07 | 南京林业大学 | Agricultural pesticide application robot system with automatic supply function |
| CN114451269B (en) * | 2022-01-14 | 2023-10-10 | 江苏大学 | Equal-height traction spraying system and implementation method thereof |
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