CN113325842A - Indoor unmanned disinfection dolly towards plant - Google Patents
Indoor unmanned disinfection dolly towards plant Download PDFInfo
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- CN113325842A CN113325842A CN202110531807.8A CN202110531807A CN113325842A CN 113325842 A CN113325842 A CN 113325842A CN 202110531807 A CN202110531807 A CN 202110531807A CN 113325842 A CN113325842 A CN 113325842A
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- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 90
- 239000000645 desinfectant Substances 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 5
- 238000000889 atomisation Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims description 2
- 230000004927 fusion Effects 0.000 claims description 2
- 229910001416 lithium ion Inorganic materials 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims 1
- 230000036541 health Effects 0.000 abstract description 3
- 230000001954 sterilising effect Effects 0.000 abstract 4
- 230000007547 defect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/22—Phase substances, e.g. smokes, aerosols or sprayed or atomised substances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/16—Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
Abstract
The invention relates to an indoor unmanned disinfection trolley for a farm, which comprises: the intelligent vehicle comprises a vehicle sensing module, a UWB positioning module, a vehicle decision planning module, a vehicle chassis control module, a remote control pipe connecting module, a disinfection upper mounting module, an intelligent charging module and wheels. Compared with the prior art, the vehicle environment sensing module, the vehicle decision planning module, the UWB positioning module, the vehicle chassis control module, the disinfection loading module, the remote control pipe connection module and the intelligent charging module which are suitable for the environment are designed under the closed scene of a farm and the like, and 24h all-weather unmanned operation and intelligent charging of the unmanned disinfection trolley are realized. The invention solves the problems that the traditional sterilization equipment for the farm is not uniform in sterilization, harms are generated to the health of workers and the like, and can improve the sterilization operation efficiency and the sterilization operation safety while reducing the labor cost of the farm.
Description
Technical Field
The invention relates to the technical field of automotive electronics, in particular to an indoor unmanned disinfection trolley for a farm, which is applied to daily field disinfection operation of a novel intelligent farm.
Background
Currently, the farm disinfection apparatuses on the market are mainly classified into a stationary type and a mobile type. The fixed disinfection equipment has the defects that the fixed disinfection position can cause the atomized disinfectant to be difficult to realize uniform distribution; the defects of the mobile disinfection equipment are mainly that the health of operation staff is easily damaged due to frequent disinfection work of daily farms and non-professional protective equipment. Therefore, how to avoid the damage to the health of the disinfection personnel and improve the efficiency and uniformity of the disinfection operation of the farm is a problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention provides an indoor unmanned disinfection trolley for a farm, which aims to improve the efficiency and uniformity of the disinfection operation of the farm and reduce the labor cost of the farm, and comprises: the vehicle-mounted intelligent charging system comprises a vehicle sensing module (1), a vehicle decision planning module (2), a vehicle chassis control module (3), a remote control take-over module (4), a disinfection loading module (5), an intelligent charging module (6), a UWB positioning module (7) and wheels.
The vehicle sensing module (1) mainly comprises a laser radar on the roof of the unmanned trolley and two ultrasonic radars at the front end of the trolley body, is used for map building and obstacle detection of a farm, and is connected with the vehicle decision planning module (2) through a data transmission line;
the vehicle decision planning module (2) realizes off-line map building through point cloud data acquired by a laser radar, a disinfection operation driving route is built by using a high-precision map after the map building, and the vehicle decision planning module (2) is connected with the vehicle chassis control module (3) through a communication serial port; the vehicle chassis control module (2) is used for driving control and steering control of the unmanned trolley, receives control expected input from the vehicle decision planning module (2) and the remote control take-over module (4), and then outputs the control expected input to the chassis driving/steering actuating mechanism through a serial port to realize motion control of the unmanned trolley; the remote control take-over module (4) comprises a vehicle remote controller and a signal receiver, is used for taking over the vehicle through human intervention in emergency, and the signal receiver receives a control signal from the vehicle remote controller and transmits the control signal to the vehicle chassis control module (3) through a serial port;
the disinfection loading module (5) is atomization disinfection equipment loaded on the vehicle body and used for pressurizing, atomizing and spraying disinfectant, and the module is powered by a battery in the intelligent charging module (6);
the intelligent charging module (6) consists of an in-vehicle battery pack, a vehicle-mounted contact charging port and a contact charging pile, and when the vehicle-mounted contact charging port is in contact with a charging pile interface, the unmanned trolley battery pack can be charged; the UWB positioning module (7) is composed of a UWB tag arranged at the end of the farm and a signal receiver arranged at the center of mass of the vehicle, and the signal receiver at the center of mass of the vehicle is connected with the vehicle chassis control module (3) through a serial port and used for accurately positioning the unmanned trolley in the farm.
Compared with the prior art, the invention has the following beneficial effects:
(1) the 360-degree single-line laser radar at the top end of the vehicle can realize omnibearing sensing of a fixed fence of a farm and a building wall surface, and can realize indoor vehicle kinematic state estimation at low cost by combining a high-precision positioning function of a UWB positioning module;
(2) the disinfection loading module and the vehicle motion control module can realize the running/operation cooperative control of the indoor disinfection unmanned trolley, avoid the defects of traditional farm disinfection equipment, efficiently and safely solve various disinfection operation requirements under the current farm use scene, and reduce the farm labor cost;
(3) the intelligent charging module of the unmanned disinfection trolley avoids the defect that the electric vehicle needs to be charged manually for multiple times, realizes intelligent access and intelligent charging of the unmanned disinfection trolley from the charging mode, and meets the requirement of 24h all-weather timed disinfection operation of the disinfection trolley
(4) The unmanned disinfection trolley is small in size, so that the unmanned disinfection trolley is not limited by the width of a farm road, and can realize disinfection operation of a fixed route under narrow road operation working conditions such as a farm;
(5) compared with traditional disinfection equipment in a farm, the unmanned disinfection trolley disclosed by the invention has the advantages that the disinfection liquid is sprayed more uniformly, and the defect of nonuniform disinfection of the traditional fixed disinfection equipment is overcome;
(6) the UWB-based positioning module can realize high-precision positioning all day long, is not influenced by light, and is convenient for disinfection operation work of a farm at night.
Drawings
Fig. 1 is a design schematic diagram of an indoor unmanned disinfection trolley facing a farm.
Fig. 2 is a schematic diagram of a dotted UWB tag arrangement.
Reference numerals: 1. the system comprises a UWB positioning module, a vehicle sensing module, a vehicle decision planning module, a disinfection loading module, a vehicle chassis control module, a remote control connection module, a vehicle chassis control module and an intelligent charging module, wherein the UWB positioning module is 2, the vehicle sensing module is 3, the vehicle decision planning module is 4, the disinfection loading module is 5, and the remote control connection module is 7.
Detailed Description
The invention aims to provide an indoor unmanned disinfection trolley for a farm, aiming at overcoming the defects of the existing disinfection equipment for the farm.
An indoor unmanned disinfection trolley for a farm is characterized by comprising a vehicle sensing module, a UWB positioning module, a vehicle decision planning module, a vehicle chassis control module, a remote control connection pipe module, a disinfection loading module, an intelligent charging module and wheels, wherein the UWB positioning module and the vehicle decision planning module are respectively connected with the vehicle chassis control module through communication serial ports; the disinfection loading module is powered by a battery in the intelligent charging module;
the vehicle sensing module mainly comprises a laser radar on the roof of the unmanned trolley and two ultrasonic radars at the front end of the trolley body, and is used for indoor map building and obstacle detection of a farm;
the vehicle decision planning module carries out high-precision map construction through point cloud data acquired by a laser radar, and the constructed high-precision map is used for planning the operation driving route of the unmanned disinfection trolley;
the UWB positioning module consists of a UWB tag arranged at the end of a farm and a signal receiver arranged at the center of mass of the vehicle and is used for positioning the unmanned disinfection trolley in real time and high precision;
the vehicle chassis control module is composed of a motion controller VCU and an actuator, and after receiving the planned operation running route and the high-precision positioning information, the motion controller VCU controls the actuator to carry out driving/steering control on the vehicle, so that the disinfection trolley can run according to the preset disinfection operation running route;
the remote control take-over module comprises a vehicle remote controller and a signal receiver and is used for allowing a worker to intervene to take over the vehicle when an emergency occurs;
the disinfection loading module is an atomization disinfection device loaded on the top of the vehicle and used for pressurizing, atomizing and spraying disinfectant liquid during disinfection operation;
the intelligent charging module comprises an in-vehicle battery pack, a vehicle-mounted contact charging port and a contact charging pile, when the vehicle-mounted contact charging port is in contact with a charging pile interface, the charging pile can estimate the residual electric quantity of the battery of the unmanned trolley, and the unmanned disinfection trolley can automatically start charging when charging is needed.
Preferably, the lidar is 1 360 ° single line lidar.
Preferably, the output data of the laser radar is subjected to cutting, pixel level fusion, region segmentation, mean value clustering and feature point extraction, so that fixed fence identification, passable region extraction, obstacle clustering and ranging and laser SLAM positioning of a farm are realized, a vehicle decision planning module establishes a two-dimensional laser grid map by using the rear axisymmetric center of the unmanned disinfection trolley, and the established map can complete disinfection operation driving route planning of the unmanned disinfection trolley in the farm by artificially setting a track route off line.
Preferably, the UWB positioning module is composed of a UWB tag installed at the end of the farm and a signal receiver installed at the center of mass of the vehicle. As shown in fig. 2, the UWB tag is arranged in a dot shape inside the farm, and the distance between the dot and the dot is not more than 200 m.
Preferably, the motion controller VCU receives the positioning information and the vehicle kinematic state from the signal receiver at regular time, then compares the positioning information and the vehicle kinematic state with an offline planned path to realize transverse and longitudinal control decoupling and calculate the optimal control rate in the next control time domain, and finally outputs the control signal of the corresponding actuator; after the actuator receives the control signal sent by the VCU, the actuator is controlled by the PI controller to carry out driving/steering control on the vehicle, and finally high-precision tracking of the disinfection trolley on the operation driving route is realized.
Preferably, the disinfection loading module comprises a disinfectant storage container and a supercharging device, when the unmanned disinfection trolley runs on a preset route, the supercharging device is used for pressurizing and atomizing the disinfectant stored in the container and then spraying out the disinfectant through the nozzle, and therefore the disinfectant can be uniformly atomized and loaded by an unmanned aerial vehicle.
Preferably, 72V power battery packs carried by the vehicle in the intelligent charging module are divided into 4 groups, each group of battery packs comprises 20 pieces 18650 of lithium ion batteries, and in addition, the vehicle-mounted power supply further comprises a 12V auxiliary battery pack, wherein the former can supply power for a vehicle driving motor and a steering motor, and the latter can supply power for other vehicle-mounted electric appliances.
Preferably, the power battery pack can directly charge the auxiliary battery pack through DC-DC; when contact fills electric pile and senses unmanned disinfection dolly and has contacted among the intelligent charging module, can estimate the battery residual capacity, the automatic mode of charging that gets into when needs charge, turn into the constant current source with 220V alternating current and charge to power battery, also can automatic cutout power after the completion of charging.
In a closed scene such as a farm, the vehicle environment sensing module, the vehicle decision planning module, the UWB positioning module, the vehicle chassis control module, the disinfection upper-loading module, the remote control pipe connecting module and the intelligent charging module which are suitable for the environment are designed, and 24h all-weather unmanned operation and intelligent charging of the unmanned disinfection trolley are realized.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An indoor unmanned disinfection trolley for a farm is characterized by comprising a vehicle sensing module, a UWB positioning module, a vehicle decision planning module, a vehicle chassis control module, a remote control connection pipe module, a disinfection loading module, an intelligent charging module and wheels, wherein the UWB positioning module and the vehicle decision planning module are respectively connected with the vehicle chassis control module through communication serial ports; the disinfection loading module is powered by a battery in the intelligent charging module;
the vehicle sensing module mainly comprises a laser radar on the roof of the unmanned trolley and two ultrasonic radars at the front end of the trolley body, and is used for indoor map building and obstacle detection of a farm;
the vehicle decision planning module carries out high-precision map construction through point cloud data acquired by a laser radar, and the constructed high-precision map is used for planning the operation driving route of the unmanned disinfection trolley;
the UWB positioning module consists of a UWB tag arranged at the end of a farm and a signal receiver arranged at the center of mass of the vehicle and is used for positioning the unmanned disinfection trolley in real time and high precision;
the vehicle chassis control module is composed of a motion controller VCU and an actuator, and after receiving the planned operation running route and the high-precision positioning information, the motion controller VCU controls the actuator to carry out driving/steering control on the vehicle, so that the disinfection trolley can run according to the preset disinfection operation running route;
the remote control take-over module comprises a vehicle remote controller and a signal receiver and is used for allowing a worker to intervene to take over the vehicle when an emergency occurs;
the disinfection loading module is an atomization disinfection device loaded on the top of the vehicle and used for pressurizing, atomizing and spraying disinfectant liquid during disinfection operation;
the intelligent charging module comprises an in-vehicle battery pack, a vehicle-mounted contact charging port and a contact charging pile, when the vehicle-mounted contact charging port is in contact with a charging pile interface, the charging pile can estimate the residual electric quantity of the battery of the unmanned trolley, and the unmanned disinfection trolley can automatically start charging when charging is needed.
2. The indoor unmanned aerial vehicle for a farm according to claim 1, wherein the lidar is 1 360 ° single line lidar.
3. The indoor unmanned disinfection trolley for the farm according to claim 1, wherein the output data of the laser radar is subjected to cutting, pixel level fusion, region segmentation, mean value clustering and feature point extraction to realize farm fixed fence identification, passable region extraction, obstacle clustering and ranging and laser SLAM positioning, the vehicle decision planning module establishes a two-dimensional laser grid map by using a rear axis symmetry center of the unmanned disinfection trolley, and the established map can complete disinfection operation driving route planning of the unmanned disinfection trolley in the farm by manually setting a track route offline.
4. The indoor unmanned disinfection trolley for the farm according to claim 1, wherein the UWB positioning module is composed of a UWB tag installed at the farm end and a signal receiver installed at the center of mass of the vehicle.
5. The indoor unmanned disinfection trolley for the farm according to claim 1, wherein the motion controller VCU receives positioning information and vehicle kinematic state from the signal receiver at regular time, then compares the positioning information and the vehicle kinematic state with an offline planned path to realize horizontal and longitudinal control decoupling and calculate an optimal control rate in a next control time domain, and finally outputs a control signal of a corresponding actuator; after the actuator receives the control signal sent by the VCU, the actuator is controlled by the PI controller to carry out driving/steering control on the vehicle, and finally high-precision tracking of the disinfection trolley on the operation driving route is realized.
6. The indoor unmanned disinfection trolley for the farm according to claim 1, wherein the disinfection loading module comprises a disinfectant storage container and a pressurizing device, and when the unmanned disinfection trolley runs on a preset route, the pressurizing device pressurizes and atomizes disinfectant stored in the container and then sprays the disinfectant through a nozzle, so that disinfectant atomization uniform spraying and unmanned loading operation are realized.
7. The indoor unmanned disinfection trolley for the farm according to claim 1, wherein 72V power battery packs carried by vehicles in the intelligent charging module are divided into 4 groups, each group of battery packs comprises 20 18650 lithium ion batteries, and in addition, the vehicle-mounted power supply further comprises a 12V auxiliary battery pack, the former can supply power for a vehicle driving motor and a steering motor, and the latter can supply power for other vehicle-mounted electric appliances.
8. The indoor unmanned aerial vehicle for a farm according to claim 7, wherein the power battery pack is capable of directly charging the secondary battery pack through DC-DC; when contact fills electric pile and senses unmanned disinfection dolly and has contacted among the intelligent charging module, can estimate the battery residual capacity, the automatic mode of charging that gets into when needs charge, turn into the constant current source with 220V alternating current and charge to power battery, also can automatic cutout power after the completion of charging.
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| CN202110531807.8A CN113325842A (en) | 2021-05-17 | 2021-05-17 | Indoor unmanned disinfection dolly towards plant |
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| CN202110531807.8A CN113325842A (en) | 2021-05-17 | 2021-05-17 | Indoor unmanned disinfection dolly towards plant |
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2021
- 2021-05-17 CN CN202110531807.8A patent/CN113325842A/en active Pending
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