CN112970419B - Multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and operation method - Google Patents
Multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and operation method Download PDFInfo
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- CN112970419B CN112970419B CN202110149872.4A CN202110149872A CN112970419B CN 112970419 B CN112970419 B CN 112970419B CN 202110149872 A CN202110149872 A CN 202110149872A CN 112970419 B CN112970419 B CN 112970419B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/14—Mowers combined with apparatus performing additional operations while mowing with dispensing apparatus, e.g. for fertilisers, herbicides or preservatives
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
- A01D34/863—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches and for mowing around obstacles, e.g. posts, trees, fences or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
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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
- A01M7/0053—Mounting of the spraybooms
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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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- Pest Control & Pesticides (AREA)
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Abstract
The invention provides a multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and an operation method, and belongs to the technical field of agricultural machinery. The multifunctional operation machine comprises a crawler-type chassis, a gantry type profiling sprayer and a profiling mower, wherein the crawler-type chassis is used as a carrier, the gantry type profiling sprayer is arranged on the crawler-type chassis, and the profiling mower is hung behind the crawler-type chassis; the invention adjusts the distance between the gantry type profiling sprayer and the plant through the rotating motor and the lifting motor of the sprayer, and realizes profiling spraying on the plant; the obstacle avoidance function in the mowing process is realized through a side arm push rod motor; the multifunctional operation machine comprises a transportation mode, a spraying operation mode, an obstacle avoidance and mowing operation mode and a spraying obstacle avoidance and mowing simultaneous operation mode. The invention is beneficial to improving the spraying effect of terrace orchards in mountainous and hilly areas and realizes the terrain-imitated obstacle-avoiding mowing operation.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a multifunctional operation machine integrating orchard profiling spraying and obstacle avoidance mowing and an operation method.
Background
The orchard spraying can effectively prevent diseases and pests and improve the crop yield. At present, most of existing orchard sprayers walk in an S shape between rows by arranging spray bars at two ends of the sprayer, and the sprayer sprays pesticide on two sides of one fruit tree twice. Fruit trees planted in a ladder-shaped manner in hilly and mountainous orchards cannot be sprayed on two sides in such a manner.
Meanwhile, in the fruit tree cultivation management, the orchard grass growing is a more advanced method in the orchard soil cultivation management, can improve the photosynthesis efficiency of fruit trees, promote the growth and development of trees, improve the quality and yield of fruits, and has good ecological benefit, social benefit and obvious economic benefit. Aiming at the vigorous popularization of orchard grass growth, mowing becomes an important operation in orchard management, the traditional sickle needs to bend down when mowing, the efficiency is low, the labor intensity is high, and the manual control of mowing height and neatness are unreliable. The backpack brush cutter is cradled, the machine is manually carried, the efficiency and cradling regularity are greatly influenced by human and terrain conditions, the operation quality cannot be guaranteed, and the backpack brush cutter is dangerous when encountering sundries such as stones during cradling. The difference of orchard topography, and topography are relatively complicated, the road surface is uneven, put forward higher requirement to mechanized mowing, therefore, in order to guarantee to cut the height of stubble to be unanimous, prevent the cutting knife from touching the ground, the non-leakage is cut, require the lawn mower cutter to be able to adapt to the relief of topography well, need to invent a copying apparatus can adapt to the relief of topography, guarantee the high-efficient high-quality operation of lawn mower.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the multifunctional operation machine integrating orchard profiling spraying and obstacle avoidance mowing and the operation method, so that the spraying effect of a terrace orchard in mountainous and hilly areas is improved, and the terrain-imitated obstacle avoidance mowing operation is realized.
The present invention achieves the above-described object by the following technical means.
The utility model provides a collect orchard profile modeling spraying and keep away multi-functional workover rig that barrier was mowed, includes:
the crawler-type chassis frame comprises a crawler-type chassis, wherein the upper part of the crawler-type chassis is connected with a sprayer lifting motor through an installation frame; the crawler-type chassis is also provided with an electric winch which is used for being connected with the header shell;
the gantry type profiling spraying machine comprises a short door-shaped frame, a rotating door-shaped frame, an outer door-shaped frame, an I-shaped rod and a spraying rod, wherein one end of the short door-shaped frame is connected with a lifting motor of the spraying machine, the other end of the short door-shaped frame is rotatably connected with one end of the rotating door-shaped frame, the other end of the rotating door-shaped frame is fixedly connected with one end of the outer door-shaped frame, and the I-shaped rod is fixed inside the outer door-shaped frame; the spray rod comprises an inner spray rod and an outer spray rod, the inner spray rod is fixed at the lower end of the rotary door-shaped frame, an arc-shaped spray rod is arranged between the inner spray rod and the rotary door-shaped frame, the outer spray rod is fixed at the tail end of the I-shaped rod, and the arc-shaped spray rod is also arranged between the I-shaped rod and the outer spray rod; the outer door-shaped frame is provided with a rotating motor, and the rotating motor is matched with the I-shaped rod through a gear rack; the bottom ends of the short door-shaped frame and the rotating door-shaped frame are provided with a sprayer rotating push rod motor;
the rear-mounted profiling obstacle-avoiding mower comprises a header shell, a profiling mowing mechanism and a side-cutting obstacle-avoiding mowing mechanism, wherein a T-shaped connecting frame is mounted on the header shell, the T-shaped end of the T-shaped connecting frame is respectively connected with the three profiling mowing mechanisms, the mower shell is rotatably connected with the profiling mowing mechanism, the profiling mowing mechanism comprises a profiling movable disc shell, a cutting knife is arranged on the profiling movable disc shell, the cutting knife is driven by a mowing motor, and the profiling movable disc shell is also connected with a profiling movable disc shell depth limiting wheel; the side cutting obstacle avoidance mowing mechanism comprises a side cutting obstacle avoidance cutter shell, the side cutting obstacle avoidance cutter shell is connected with one end of a side arm push rod motor through a side arm rod, the other end of the side arm push rod motor is connected with the header shell, the side cutting obstacle avoidance cutter shell is rotatably connected with a side cutting obstacle avoidance cutter disc, and a cutting knife is arranged on the side cutting obstacle avoidance cutter disc;
the crawler-type chassis is also provided with a controller, a water tank and a generator;
ultrasonic distance measuring sensors are arranged on the spray rod, at the front end of the crawler-type chassis and in the middle of the outer portal frame.
In the technical scheme, the mounting frame is a frame upper beam, the sprayer lifting motor is connected to the frame upper beam through the motor sliding plate, and the sliding plate motor is arranged at the bottom end of the motor sliding plate.
In the technical scheme, the spray rod is divided into an upper section and a lower section, the upper spray rod is connected with the lower spray rod through the connecting piece B, and the connecting part B and the spray rod is provided with the rubber ring.
Among the above-mentioned technical scheme, evenly be provided with the shower nozzle on arc spray lance and the lower spray lance, arc spray lance and spray lance all lead to pipe and water tank intercommunication, and are equipped with the solenoid valve by controller control on the pipeline of intercommunication.
In the technical scheme, the shell of the mower is fixed with one end of a frame connecting piece, the other end of the frame connecting piece is movably connected with a horizontal movable shaft A, the horizontal movable shaft A is connected with a vertical movable shaft A, and the vertical movable shaft A is connected with a profiling movable disc shell through a connecting piece E.
In the technical scheme, the side cutting obstacle avoidance cutter shell is fixed to one end of the cutter shell connecting piece, the other end of the cutter shell connecting piece is movably connected with the horizontal movable shaft B, the horizontal movable shaft B is connected with the vertical movable shaft B, and the vertical movable shaft B is connected with the side cutting obstacle avoidance motor shell through the connecting piece F.
Among the above-mentioned technical scheme, the casing rear portion of lawn mower is fixed with the altitude mixture control frame, and the terminal and the lifting connecting piece upper portion of altitude mixture control frame pass through the latch connection, and the lifting connecting piece end is equipped with header depth wheel.
In the technical scheme, the tail end of the crawler-type chassis is fixed with the header shell through the connecting rod and the connecting rack.
In the technical scheme, the header shell at the front part of the side arm rod is further rotatably connected with an obstacle avoidance pressure stop rod, and the obstacle avoidance pressure stop rod is provided with a pressure sensor along the advancing direction.
An operation method of a multifunctional operation machine integrating orchard profiling spraying and obstacle avoidance mowing comprises a spraying operation mode, an obstacle avoidance mowing operation mode and a spraying obstacle avoidance mowing simultaneous operation mode;
the spraying operation mode is as follows: the gantry type spraying machine is unfolded, ultrasonic distance measuring sensors on the spray rods on the two sides detect the distance between the two spray rods and the plant in real time, the minimum value of the distance between the spray rods on the inner sides and the plant is compared with an initial preset value, if the minimum value is smaller than the preset value, the crawler-type chassis is controlled to move away from the plant, if the minimum value is larger than the preset value, the crawler-type chassis is controlled to move close to the plant, and the distance between the plant and the spray rods is adjusted to the preset value; then comparing the minimum value of the distance between the outer spray rod and the plant with a preset value, if the minimum value is smaller than the preset value, controlling the I-shaped rod to move away from the plant, and if the minimum value is larger than the preset value, controlling the rotary H-shaped rod to move close to the plant; meanwhile, comparing the distance between the outer portal frame and the top of the plant, which is detected by an ultrasonic distance measuring sensor at the middle position of the outer portal frame, with a preset value, and adjusting a spray rod to a proper height through the extension and retraction of a lifting motor of the spraying machine;
the mowing and obstacle avoiding operation mode is as follows: the cutting knife works, if the ultrasonic distance measuring sensor in front of the crawler-type chassis detects that a plant is in front of the side, the obstacle avoidance pressure stop lever is in contact rotation with the plant, and when the measured value of the pressure sensor on the obstacle avoidance pressure stop lever is larger than a preset value, the side arm push rod motor is controlled to contract, so that the cutting obstacle avoidance knife shell is driven to rotate to avoid the plant; when the ultrasonic distance measuring sensor in front does not detect a plant, the obstacle avoidance pressure stop lever is reset, the side arm push rod motor is controlled to extend, the side cutting obstacle avoidance cutter shell is driven to expand, the mower carries out full-width mowing operation, and obstacle avoidance mowing is realized in the whole operation process;
the spraying obstacle avoiding and mowing simultaneous operation mode is as follows: firstly, obstacle avoidance and mowing operation is carried out, and then spraying operation is carried out.
Further, still include the mode of transportation, the mode of transportation is: the controller controls the sprayer to rotate and push a rod motor to contract, and the gantry type sprayer is folded towards one side; meanwhile, the electric winch contracts the steel wire rope B, and the header shell is lifted to be separated from the ground.
The invention has the beneficial effects that:
the crawler-type chassis is used as a carrier, the gantry type profiling sprayer is mounted on the crawler-type chassis, the profiling mower is hung behind the crawler-type chassis, detection is carried out through ultrasonic distance measuring sensors on the spray rod and the outer door-shaped frame, the distance between the gantry type profiling sprayer and a plant is adjusted by utilizing the rotating motor and the sprayer lifting motor, and profiling spraying on the plant is realized; the ultrasonic distance measuring sensor on the crawler-type chassis is used for detecting, and the side arm push rod motor is used for realizing the obstacle avoidance function in the mowing operation process; this multifunctional operation machine can carry out steady, efficient motion operation in hills and mountains orchard, is favorable to improving the spraying effect in hills and mountains terrace orchard, realizes the operation of mowing of imitative topography, and the laxative is efficient, reduce intensity of labour.
Drawings
FIG. 1 is a schematic structural view of a multifunctional working machine integrating orchard profiling spraying, obstacle avoidance and mowing;
FIG. 2 is a front view of the tracked chassis and frame of the present invention;
FIG. 3 is a side view of the tracked chassis and frame of the present invention;
FIG. 4 is a schematic structural view of a gate-type profiling sprayer according to the invention;
FIG. 5 is a schematic view of the I-shaped bar of the present invention engaged with an external door frame;
FIG. 6 is a schematic view of a rear suspension contour mower according to the present invention;
FIG. 7 is a bottom view of the rear suspension contour mower of the present invention;
FIG. 8 is a schematic view of the configuration of the profiling mowing mechanism of the present invention;
FIG. 9 is a schematic structural view of a side-cutting obstacle avoidance cutter of the present invention;
FIG. 10 is a schematic view of the outer door frame of the present invention;
FIG. 11 is a schematic view of an I-shaped bar according to the present invention;
fig. 12(a) is a rear view of a header profile according to the present invention;
fig. 12(b) is a profiled side view of the header of the present invention;
FIG. 13 is a schematic view of the side-cut obstacle avoidance system of the present invention;
FIG. 14 is a schematic view of the spray profiling and topography of the present invention;
in the figure: 1-gantry type profiling sprayer, 2-crawler type chassis and frame, 3-rear suspension profiling obstacle avoidance mower, 101-steel wire rope, 102-motor base A, 103-sprayer rotating push rod motor, 104-short door type frame, 105-cylindrical pin, 106-rotating door type frame, 107-spray rod telescopic motor, 108-I-shaped rod, 109-outer door type frame, 110-connecting piece A, 111-spray rod, 112-connecting piece B, 113-rubber ring, 114-supporting wheel, 115-gear, 116-rack, 117-arc spray rod, 118-spray head, 201-front frame, 202-rear frame, 203-water tank, 204-motor sliding plate, 205-generator, 206-connecting piece C, 207-sprayer lifting motor, 208-sliding plate motor, 209-motor base B, 210-crawler chassis, 211-electric winch, 212-control box, 213-connecting rod, 214-connecting frame, 215-frame upper beam, 301-header shell, 302-side arm push rod motor, 303-height adjusting frame, 304-lifting connecting piece, 305-header depth limiting wheel, 306-T-shaped connecting frame, 307-profiling mowing mechanism, 309-profiling mowing mechanism depth limiting wheel, 310-chain, 311-side cutting obstacle avoiding cutter shell, 312-side cutting obstacle avoiding cutter head, 313-side arm rod, 314-frame connecting piece, 315-movable pin A, 316-horizontal movable shaft A, 317-vertical movable shaft A, 318-connecting piece E, 319-profiling movable disk shell, 320-a profiling cutter head depth limiting wheel frame, 321-a motor mounting cover, 322-a side cutting obstacle avoidance depth limiting wheel frame, 323-a side cutting obstacle avoidance motor shell, 324-a cutter shell connecting piece, 325-a movable pin B, 326-a horizontal movable shaft B, 327-a vertical movable shaft B and 328-an obstacle avoidance pressure stop lever.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the multifunctional operation machine integrating orchard profiling spraying and obstacle avoidance mowing comprises a gantry type profiling spraying machine 1, a crawler type chassis frame 2 and a rear suspension profiling obstacle avoidance mowing machine 3, wherein the gantry type profiling spraying machine 1 and the rear suspension profiling obstacle avoidance mowing machine 3 are fixed on the crawler type chassis frame 2.
As shown in fig. 2 and 3, the crawler chassis frame 2 comprises a front frame 201, a rear frame 202, a water tank 203, a motor slide plate 204, a generator 205, a sprayer lifting motor 207, a slide plate motor 208, a crawler chassis 210, an electric winch 211 and a control box 212; the upper part of a crawler-type chassis 210 is fixedly provided with a water tank 203, a generator 205, a control box 212 and a front frame 201, a rear frame 202 is fixedly arranged on the control box 212, the front frame 201 is jiong-shaped, the left and right rods of the rear frame 202 are reinforced in a Z-shaped manner, an upper frame beam 215 is fixedly arranged between the front frame 201 and the rear frame 202, a motor sliding plate 204 is slidably connected onto the upper frame beam 215, the upper end of the motor sliding plate 204 is fixedly provided with a sprayer lifting motor 207, the lower end of the motor sliding plate 204 is connected with a sliding plate motor 208 through a connecting piece C206, and the sliding plate motor 208 is fixedly arranged on the rear frame 202 through a motor base B209; an electric winch 211 is arranged on the control box 212, and the electric winch 211 is connected with the header shell 301 through a steel wire rope B; the tail end of the control box 212 is fixed to the header housing 301 through a connecting rod 213 and a connecting frame 214. The water tank 203 is used for containing liquid medicine, and a water pump is arranged in the water tank to pump the liquid medicine to each spray head 118. A controller is arranged in the control box 212 and controls the mower motor, the sprayer lifting motor 207, the rotating motor 107, the sprayer rotating push rod motor 103, the sliding plate motor 208, the side arm push rod motor 302, the crawler-type chassis 210 and the electric winch 211 to work.
The generator 205 is used for supplying power to the mowing motor, the sprayer lifting motor 207, the controller, the rotating motor 107, the sprayer rotating push rod motor 103, the sliding plate motor 208 and the side arm push rod motor 302. The slide plate motor 208 is used for adjusting the position of the whole gantry type profiling sprayer 1 relative to the crawler-type chassis 210, so that the gravity center is changed, and the machine body can work stably.
As shown in fig. 4, the gantry type profiling sprayer 1 comprises a short portal frame 104, a rotary portal frame 106, an outer portal frame 109, an i-shaped rod 108 and a spray rod 111; a lifting platform of a lifting motor 207 of the spraying machine is suspended at one end of a short door-shaped frame 104 through a steel wire rope A101, a groove is formed in the other end of the short door-shaped frame 104 and used for being connected with an upright post at one end of a rotating door-shaped frame 106 through a bolt, and the short door-shaped frame 104 is fixedly connected with the lifting motor 207 of the spraying machine through a door-shaped frame connecting piece; the other end of the rotating door-shaped frame 106 is provided with a groove which is fixed with a groove at one end of the outer door-shaped frame 109, and an elastic steel sheet is arranged between the lower parts of the two grooves and used for buffering the up-and-down shaking between the rotating door-shaped frame 106 and the outer door-shaped frame 109 in the moving process; the h-shaped rod 108 shown in fig. 11 is inserted into the groove-shaped outer door frame 109 shown in fig. 10 and then fixed into a whole, the tail end of the h-shaped rod 108 is connected with the outer spray rod 111 through a connecting piece a110, and the connecting piece a110 is integrally T-shaped and is arranged to be hollow for reducing weight; the outer spray rod 111 is divided into an upper section and a lower section, the upper spray rod is connected with the lower spray rod through a connecting piece B112, and a rubber ring 113 is arranged at the joint of the connecting piece B112 and the spray rod, so that the upper spray rod and the lower spray rod have a certain moving range, and the spray rod is prevented from deforming when colliding with an object; the bottom end of the outer spray rod 111 is provided with a support wheel 114; the bottom end of the rotary door-shaped frame 106 is fixed with an inner spray rod 111, and the composition and structure of the inner spray rod 111 are the same as those of the outer spray rod 111; a motor mounting plate is arranged above the outer door type frame 109 shown in fig. 10 and used for mounting the rotating motor 107, a gear 115 is mounted on the rotating motor 107 and is matched with a rack 116 mounted on one side of the i-shaped rod 108, as shown in fig. 5; when the ultrasonic distance measuring sensors are arranged on the two sides of the spray rod, the ultrasonic distance measuring sensors detect the distance between the spray rod and the plant and transmit the distance to the controller, the rotating motor 107 is controlled to rotate to drive the gear 115 and the rack 116 to move, and the extension length of the I-shaped rod 108 is adjusted, so that the distance between the spray head and the plant is adjusted; the outer door-shaped frame 109 is concave, so that the weight of parts far away from the machine body is reduced, and deformation is prevented. Arc-shaped spray rods 117 are arranged between the inner side spray rod 111 and the rotary door-shaped frame 106 and between the I-shaped rod 108 and the outer side spray rod 111, spray heads 118 are uniformly arranged on the arc-shaped spray rods 117 and the lower spray rod, the arc-shaped spray rods 117 and the spray rods 111 are communicated with the water tank 203 through water pipes, and electromagnetic valves controlled by a controller are arranged on communicated pipelines.
The bottom end of the short door-shaped frame 104 is fixed with a sprayer rotating push rod motor 103 through a motor base A102, and the sprayer rotating push rod motor 103 is connected with a rotating door-shaped frame 106 through a cylindrical pin 105. In the transportation process of the multifunctional operation machine, the sprayer rotating push rod motor 103 is contracted, and the gantry type sprayer 1 is folded towards one side, so that the multifunctional operation machine is convenient to transport; when the multifunctional working machine works, the sprayer rotating push rod motor 103 extends to unfold the gantry type sprayer 1; the straight line of the short door-shaped frame 104 and the rotating door-shaped frame 106 of the sprayer is not parallel to the straight line of the rotating push rod motor 103 of the sprayer and the cylindrical pin 105, so that the dead point push rod is prevented from working normally.
The rear suspension profiling obstacle-avoiding mower 3 comprises a header shell 301, a lifting connecting frame 304, a height adjusting frame 303, a push rod motor 302, a side arm rod 313, a side cutting obstacle-avoiding knife shell 311, a profiling mowing mechanism 307, a side cutting obstacle-avoiding knife disk 312 and an obstacle-avoiding pressure stop rod 328; a side arm push rod motor 302 is arranged at the top end of the mower case 301, the side arm push rod motor 302 is connected with a side arm rod 313 through a bolt, a side cutting obstacle avoidance cutter case 311 (see fig. 7) is fixed at the tail end of the side arm rod 313, a height adjusting frame 303 is fixed at the rear part of the mower case 301, a plurality of through holes are formed in the tail end of the height adjusting frame 303 and the upper part of a lifting connecting piece 304, the height adjusting frame 303 and the lifting connecting piece 304 are connected through the through holes and the bolts, a header depth wheel 305 is arranged at the tail end of the lifting connecting piece 304, and the height adjusting frame 303 is matched with the through holes of the lifting connecting piece 304 according to actual requirements to adjust the height of the header depth wheel 305; the tail end of the mower shell 301 is provided with a chain 310 for preventing stones from flying out and hurting passers-by; referring to fig. 7, the inside of the mower housing 301 is fixed to three profiling mowing mechanisms 307 through a T-shaped connecting frame 306, the profiling mowing mechanism 307 includes the components shown in fig. 8, the T-shaped connecting frame 306 is fixed to one end of a housing connecting piece 314, the other end of the housing connecting piece 314 is connected to a horizontal movable shaft a316 through a movable pin a315, the horizontal movable shaft a316 is connected to a vertical movable shaft a317, the vertical movable shaft a317 is fixed to a profiling movable disk housing 319 through a connecting piece E318, the upper end of the connecting piece E318 is connected to a motor mounting cover 321, a mowing motor is arranged inside the motor mounting cover 321, and the mowing motor is connected to a cutting knife arranged at the bottom end of the profiling mowing mechanism 307; the profiling movable disc shell 319 is also connected with a profiling mowing mechanism depth limiting wheel 309 through two profiling cutter head depth limiting wheel frames 320; referring to fig. 7 and 9, the side cutting obstacle avoidance cutter housing 311 is fixed to one end of a cutter housing connecting piece 324, the other end of the cutter housing connecting piece 324 is connected to a horizontal direction movable shaft B326 through a movable pin B325, the horizontal direction movable shaft B326 is connected to a vertical direction movable shaft B327, the vertical direction movable shaft B327 is connected to a side cutting obstacle avoidance motor housing 323 through a connecting piece F, the side cutting obstacle avoidance motor housing 323 is fixed to the side cutting obstacle avoidance cutter 312, the side cutting obstacle avoidance cutter 312 is further connected to a depth limiting wheel through a side cutting obstacle avoidance wheel frame 322, a mowing motor is arranged inside the side cutting obstacle avoidance motor housing 323, and the mowing motor is connected to a cutting knife arranged at the bottom end of the side cutting obstacle avoidance cutter 312. The header enclosure 301 is connected with an obstacle avoidance pressure stop lever 328 through a torsion spring, the position of the obstacle avoidance pressure stop lever 328 on the header enclosure 301 is located in front of the side arm lever 313, the obstacle avoidance pressure stop lever 328 is provided with a pressure sensor along the advancing direction, and the pressure sensor sends acquired data to the controller.
The upper part of the frame connecting piece 314 is square, and the center of the top part is provided with a threaded hole for fixing with the mower shell 301; a connecting rod which forms an angle of 30 degrees with the vertical direction is arranged in front of the frame connecting piece 314, and a square groove is arranged below the connecting rod; the horizontal movable shaft A316 is a hollow cylinder, and the front part of the horizontal movable shaft A is connected with the square groove of the frame connecting piece 314 through a movable pin A315; a connecting shaft which forms an angle of 15 degrees with the horizontal direction is arranged at the front of the vertical direction movable shaft A317, and a cylinder extends out of the center of the cuboid and is connected with a horizontal direction movable shaft A316; the tail part of the vertical direction movable shaft A317 is provided with a square flange which is used for being connected with a connecting piece E318. The arrangement of the knife housing connector 324, the horizontal movable shaft B326 and the vertical movable shaft B327 is the same as the structure and the connection mode of the frame connector 314, the horizontal movable shaft A316 and the vertical movable shaft A317.
When the rear-mounted profiling obstacle-avoiding mower 3 works, the electric winch 211 puts down the mower, the generator 205 supplies power to the cutting knife motor and the controller, the cutting knife motor works to drive the cutting knife to rotate to work, the profiling mowing mechanism 307 enables the cutting knife not to touch the ground through the depth limiting wheels 309 of the profiling mowing mechanisms on two sides, meanwhile, along with the change of the terrain, the depth limiting wheels 309 of the profiling mowing mechanisms transmit the fluctuation of the ground to the profiling mowing mechanism 307, the vertical movable shaft 317 and the horizontal movable shaft 316 rotate at a certain angle, the posture of the profiling cutterhead is adjusted, the ground-sticking work is achieved, and profiling is achieved; as shown in fig. 12(a) and 12 (b).
The utility model provides a collect orchard profile modeling spraying and keep away barrier multi-functional operation machine as an organic whole of mowing has four mode at the during operation: the system comprises a transportation mode, a spraying operation mode, an obstacle avoidance and mowing operation mode and a spraying obstacle avoidance and mowing simultaneous operation mode.
(1) A transportation mode: when the multifunctional working machine is in a transportation process, the controller controls the sprayer rotating push rod motor 103 to contract, and the gantry type sprayer 1 is folded towards one side; meanwhile, the electric winch 211 contracts the steel wire rope, so that the header shell 301 is lifted to be separated from the ground, and transportation is facilitated.
(2) Spraying operation mode: the multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing into a whole starts spraying operation, a controller controls a sprayer to rotate a push rod motor 103 to extend, a gantry type sprayer 1 is unfolded, the gantry type sprayer 1 starts to be aligned with a tree crown, three ultrasonic distance measuring sensors are uniformly arranged on spray rods 111 on two sides of the gantry type sprayer 1 at equal intervals respectively, the six ultrasonic distance measuring sensors detect the distances between the two spray rods and plants in real time and transmit data to the controller, the minimum value of the distance between the spray rod on the inner side and the plants is compared with an initial preset value, if the minimum value is smaller than the preset value, the controller controls a crawler type chassis 210 to move away from the plants, the distance between the plants and the spray rods is adjusted to the preset value, and the spray rods on the two sides reach proper positions; if the distance is larger than the preset value, the crawler-type chassis 210 is controlled to move close to the plants, and the spray bars on the two sides reach the proper positions; then, the minimum distance value measured by the ultrasonic distance measuring sensor on the outer spray rod is transmitted to the controller, the minimum distance value is compared with a preset value, if the minimum distance value is smaller than the preset value, the controller controls the rotating motor 107 to rotate, the I-shaped rod 108 is driven to move outwards, and the distance between the outer spray rod and the plant is adjusted; if the distance is larger than the preset value, the controller controls the rotating motor 107 to rotate to drive the I-shaped rod 108 to move inwards, and the distance between the outer side spray rod and the plant is adjusted to reach a proper distance; meanwhile, an ultrasonic distance measuring sensor is also arranged in the middle position above the outer door-shaped frame 109, the distance between the outer door-shaped frame 109 and the top of the plant is detected, the distance is fed back to a controller, the controller is compared with a preset value, the controller further controls a sprayer lifting motor 207 on the spraying rack to stretch, and the spray rod is adjusted to be at a proper height; when the spray bars are all adjusted to the proper position, the controller controls spray head 118 to begin the spraying operation (FIG. 14).
(3) Obstacle avoidance and mowing operation mode: the multifunctional operation machine integrating orchard profiling spraying and obstacle avoidance mowing starts mowing operation, a controller controls four mowing motors to rotate to drive a cutting knife to perform operation, an ultrasonic distance measuring sensor is arranged in front of a crawler-type chassis 210, when the ultrasonic distance measuring sensor detects a plant, information is transmitted to the controller, the controller calculates and analyzes time required by the side cutting obstacle avoidance knife shell 311 to drive the plant according to the advancing speed of the crawler-type chassis 210, a delay signal is sent to a side arm push rod motor 302, when the side cutting obstacle avoidance knife shell 311 is close to the plant, an obstacle avoidance pressure stop rod 328 rotates in contact with the plant, when the measured value of a pressure sensor on the obstacle avoidance pressure stop rod 328 is larger than a preset value, the side arm push rod motor 302 is controlled to shrink to drive the side cutting obstacle avoidance knife shell 311 to rotate to avoid the plant (fig. 13); when the ultrasonic distance measuring sensor does not detect a plant, the obstacle avoidance pressure stop lever 328 automatically rotates and resets through a torsion spring arranged at the installation position of the header shell 301, the side arm push rod motor 302 extends, the side cutting obstacle avoidance cutter shell 311 is unfolded, and the mower operates in a full range, so that the obstacle avoidance operation between plants is realized.
(4) Spray mowing simultaneous operation mode: the multifunctional operation machine integrating orchard profiling spraying and obstacle avoidance mowing starts mowing operation, a controller controls an electric winch 211 to put down a header, the controller controls four cutting knife motors to rotate to drive the cutting knives to operate, an ultrasonic distance measuring sensor in front of a crawler-type chassis 210 detects plants and transmits information to the controller, the controller calculates and analyzes time required by the side cutting obstacle avoidance knife shell 311 to drive to the plants according to the advancing speed of the crawler-type chassis 210, a delay signal is sent to a side arm push rod motor 302, and when the side cutting obstacle avoidance knife shell 311 is close to the plants, the side arm push rod motor 302 is controlled to contract to drive the side cutting obstacle avoidance knife shell 311 to rotate to avoid the plants; meanwhile, the distance between the crawler-type chassis 210 and the plant is adjusted to a set value according to distance data obtained by an ultrasonic distance measuring sensor in front of the crawler-type chassis 210, so that the distance between a spray rod at the inner side of the spraying machine and the plant is the set value; three ultrasonic distance measuring sensors on the outer spray boom detect the distance between the spray boom and a plant, and a controller controls a spray boom telescopic motor 107 to rotate according to the set distance between the spray boom and the plant, drives a gear 115 to rotate, adjusts the expansion of an I-shaped rod 108 with a rack 116, and enables the outer spray boom to move to the set distance; an ultrasonic distance measuring sensor in the middle position above the outer door-shaped frame 109 detects the distance between the outer door-shaped frame 109 and the top of the tree crown, feeds the distance back to the controller, compares the distance with a preset value, and the controller further controls a sprayer lifting motor 207 on the spraying rack to stretch and retract, and adjusts the spray rod to a proper height; when the spray bars are all adjusted to the proper positions, the spray head 1108 starts to perform spraying operation; similarly, when the ultrasonic distance measuring sensor in front of the crawler-type chassis 210 cannot detect a plant, the controller sends a signal to control the side arm push rod motor 302 to extend, and the side cutting obstacle avoidance cutter head 312 returns to a normal working state, so that the inter-plant obstacle avoidance operation is realized.
In conclusion, the multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing has the following advantages during working, on one hand, the automation degree is high, and the automatic adjustment is finished no matter the vehicle body advances, the spray rod is adjusted, or the lifting and obstacle avoidance of the profiling mowing machine are finished; in addition, the plant height and the crown width aimed by the multifunctional working machine are not specific, and the gantry type profiling sprayer 1 can be adjusted within a certain height range and a certain amplitude adjusting range to achieve the best profiling effect; the lawn mower can realize the work of pasting ground through the profile modeling blade disc, and better cutting ground unevenness's weeds, on the other hand keeps away the adjustment that the barrier cutting knife realized the width of cut grass through the side cutting, and can cut under the specific environment of mountain and hill orchard, get rid of the weeds that are difficult to cut like terraced field formula plant below. The crawler-type chassis 210 can detect the driving position in real time, and then continuously adjust, keep away the most suitable distance from the plant, improve and keep away barrier effect and mowing effect.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (11)
1. The utility model provides a collect orchard profile modeling spraying and keep away multi-functional workover rig that barrier was mowed, its characterized in that includes:
the crawler-type chassis frame (2) comprises a crawler-type chassis (210), wherein the upper part of the crawler-type chassis (210) is connected with a sprayer lifting motor (207) through an installation frame; the crawler-type chassis (210) is also provided with an electric winch (211) which is used for being connected with the header shell (301);
the gantry type profiling spraying machine (1) comprises a short door type frame (104), a rotating door type frame (106), an outer door type frame (109), an I-shaped rod (108) and a spraying rod (111), wherein one end of the short door type frame (104) is connected with a lifting motor (207) of the spraying machine, the other end of the short door type frame (104) is rotatably connected with one end of the rotating door type frame (106), the other end of the rotating door type frame (106) is fixedly connected with one end of the outer door type frame (109), and the I-shaped rod (108) is fixed inside the outer door type frame (109); the spray rod (111) comprises an inner spray rod and an outer spray rod, the inner spray rod is fixed at the lower end of the rotary door-shaped frame (106), an arc-shaped spray rod (117) is arranged between the inner spray rod and the rotary door-shaped frame (106), the outer spray rod is fixed at the tail end of the I-shaped rod (108), and the arc-shaped spray rod is also arranged between the I-shaped rod (108) and the outer spray rod; a rotating motor (107) is arranged on the outer door-shaped frame (109), and the rotating motor (107) is matched with the I-shaped rod (108) through a gear rack; the bottom ends of the short door-shaped frame (104) and the rotating door-shaped frame (106) are provided with a sprayer rotating push rod motor (103);
the rear-mounted profiling obstacle-avoiding mower (3) comprises a header shell (301), profiling mowing mechanisms (307) and side-cutting obstacle-avoiding mowing mechanisms, wherein a T-shaped connecting frame (306) is mounted inside the header shell (301), T-shaped ends of the T-shaped connecting frame (306) are respectively connected with the three profiling mowing mechanisms (307), each profiling mowing mechanism (307) comprises a profiling movable disc shell (319), a cutting knife is arranged on each profiling movable disc shell (319), the cutting knife is driven by a mowing motor, and each profiling movable disc shell (319) is also connected with a profiling mowing mechanism depth limiting wheel (309); the side cutting obstacle-avoiding mowing mechanism comprises a side cutting obstacle-avoiding cutter shell (311), the side cutting obstacle-avoiding cutter shell (311) is connected with one end of a side arm push rod motor (302) through a side arm rod (313), the other end of the side arm push rod motor (302) is connected with a header shell (301), the side cutting obstacle-avoiding cutter shell (311) is rotatably connected with a side cutting obstacle-avoiding cutter disc (312), and a cutter is arranged on the side cutting obstacle-avoiding cutter disc (312);
the crawler-type chassis (210) is also provided with a controller, a water tank (203) and a generator (205);
and ultrasonic distance measuring sensors are arranged at the middle positions of the spray rod (111), the front end of the crawler-type chassis (210) and the outer portal frame (109).
2. The multifunctional working machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 1, wherein the mounting frame is a rack upper beam (215), the sprayer lifting motor (207) is connected to the rack upper beam (215) through a motor sliding plate (204), and a sliding plate motor (208) is arranged at the bottom end of the motor sliding plate (204).
3. The multifunctional operation machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 1, wherein the spray rod (111) is divided into an upper section and a lower section, the upper spray rod is connected with the lower spray rod through a connecting piece B (112), and a rubber ring (113) is arranged at the joint of the connecting piece B (112) and the spray rod.
4. The multifunctional operation machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 3, wherein spray heads (118) are uniformly arranged on the arc-shaped spray rod (117) and the lower spray rod, the arc-shaped spray rod (117) and the spray rod (111) are communicated with a water tank (203) through water pipes, and electromagnetic valves controlled by a controller are arranged on communicated pipelines.
5. The multifunctional working machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 1, wherein the T-shaped connecting frame (306) is fixed to one end of a frame connecting piece (314), the other end of the frame connecting piece (314) is movably connected with a horizontal movable shaft A (316), the horizontal movable shaft A (316) is connected with a vertical movable shaft A (317), and the vertical movable shaft A (317) is connected with a profiling movable disk shell (319) through a connecting piece E (318).
6. The multifunctional working machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 1, wherein the side cutting obstacle avoidance cutter housing (311) is fixed to one end of a cutter housing connecting piece (324), the other end of the cutter housing connecting piece (324) is movably connected with a horizontal movable shaft B (326), the horizontal movable shaft B (326) is connected with a vertical movable shaft B (327), and the vertical movable shaft B (327) is connected with a side cutting obstacle avoidance motor housing (323) through a connecting piece F.
7. The multifunctional working machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 1, wherein a height adjusting frame (303) is fixed to the rear portion of the header shell (301), the tail end of the height adjusting frame (303) is connected with the upper portion of the lifting connecting piece (304) through a bolt, and a header depth limiting wheel (305) is arranged at the tail end of the lifting connecting piece (304).
8. The multifunctional working machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 1, wherein the tail end of the crawler-type chassis (210) is fixed with the header shell (301) through a connecting rod (213) and a connecting frame (214).
9. The multifunctional working machine for orchard profiling spraying, obstacle avoidance and mowing according to claim 2, wherein an obstacle avoidance pressure stop lever (328) is further rotatably connected to the header shell (301) in front of the side arm lever (313), and a pressure sensor is arranged on the obstacle avoidance pressure stop lever (328) in the advancing direction.
10. The operation method of the multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing according to claim 9 is characterized by comprising a spraying operation mode, an obstacle avoidance and mowing operation mode and a spraying, obstacle avoidance and mowing simultaneous operation mode;
the spraying operation mode is as follows: the gantry type profiling spraying machine (1) is unfolded, ultrasonic distance measuring sensors on the spray bars (111) on the two sides detect the distance between the two spray bars and a plant in real time, the minimum value of the distance between the spray bars on the inner side and the plant is compared with an initial preset value, if the minimum value is smaller than the preset value, the crawler-type chassis (210) is controlled to move away from the plant, and if the minimum value is larger than the preset value, the crawler-type chassis (210) is controlled to move close to the plant; then comparing the minimum value of the distance between the outer spray rod and the plant with a preset value, if the minimum value is smaller than the preset value, controlling the I-shaped rod (108) to move away from the plant, if the minimum value is larger than the preset value, controlling the H-shaped rod (108) to move close to the plant, simultaneously comparing the distance between the outer door-shaped frame (109) detected by an ultrasonic distance measuring sensor at the middle position of the outer door-shaped frame (109) and the top of the plant with the preset value, and adjusting the spray rod to a proper height through the expansion and contraction of a spraying machine lifting motor (207);
the obstacle avoidance and mowing operation mode is as follows: the cutting knife works, if an ultrasonic distance measuring sensor in front of the crawler-type chassis (210) detects that a plant is in front of the side, the obstacle avoidance pressure stop lever (328) is in contact rotation with the plant, and when the measured value of the pressure sensor on the obstacle avoidance pressure stop lever (328) is greater than a preset value, the side arm push rod motor (302) is controlled to contract, so that the side cutting obstacle avoidance knife shell (311) is driven to rotate to avoid the plant; when the ultrasonic distance measuring sensor in front does not detect a plant, the obstacle avoidance pressure stop lever (328) is reset, the side arm push rod motor (302) is controlled to extend, the side cutting obstacle avoidance cutter shell (311) is driven to expand, the mower carries out full-width mowing operation, and obstacle avoidance mowing is realized in the whole operation process;
the spraying obstacle avoiding and mowing simultaneous operation mode is as follows: firstly, obstacle avoidance and mowing operation is carried out, and then spraying operation is carried out.
11. The method of claim 10, further comprising a mode of transportation, the mode of transportation being: the controller controls the sprayer rotating push rod motor (103) to contract, and the gantry type profiling sprayer (1) is folded towards one side; meanwhile, the electric winch (211) contracts the steel wire rope B, and the header shell (301) is lifted to be separated from the ground.
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| CN114631523B (en) * | 2022-04-18 | 2023-03-31 | 山东锐光电子工程科技有限公司 | Pesticide spraying device for road traffic greenbelt and use method thereof |
| CN116349485B (en) * | 2023-03-06 | 2023-10-17 | 常州嘉耘机械有限公司 | Arm-type automatic mowing equipment with rotation avoidance function |
| CN116420496B (en) * | 2023-06-02 | 2023-11-10 | 常州嘉耘机械有限公司 | Intelligent obstacle avoidance type cutting equipment based on ground profiling |
| CN117802912B (en) * | 2024-02-29 | 2024-05-03 | 山西路桥第六工程有限公司 | Bridge sprays maintenance equipment |
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