CN115251023A

CN115251023A - Intelligent pesticide spraying method and system

Info

Publication number: CN115251023A
Application number: CN202210987754.5A
Authority: CN
Inventors: 赵天硕
Original assignee: Shaanxi University of Technology
Current assignee: Shaanxi University of Technology
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2022-11-01
Anticipated expiration: 2042-08-17
Also published as: CN115251023B

Abstract

The invention relates to an intelligent pesticide spraying method and system, and belongs to the technical field of agricultural machinery. The intelligent pesticide spraying method comprises the following steps: s1, generating environmental information of a pre-sprayed field; s2, planning a traveling route by the control system according to the single spraying path width and the environmental information of the spraying equipment; and S3, the spraying equipment travels on the ground according to the planned traveling route, and the spraying equipment uniformly sprays the pesticide in the transverse direction. Intelligent pesticide sprinkling system is including sprinkler and control system, adopts unmanned ground remote control equipment to spray the pesticide, and sprinkler's structural requirement is lower, and the pesticide can be close to young seedling as far as possible and spray, and is highly lower, can evenly spray the pesticide on young seedling, receives the wind-force influence less, in addition, because sprinkler is supported by ground, can bear more pesticide, does not need frequently to add the medicine, especially is fit for the great field of scale.

Description

Intelligent pesticide spraying method and system

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to an intelligent pesticide spraying method and system.

Background

During the growth of crops, pesticides need to be sprayed. At present, plant protection unmanned aerial vehicles capable of spraying pesticides appear in the market, for example, patent number CN202110373945.8 entitled "a nano pesticide unmanned aerial vehicle spraying system" is an invention patent of the invention, and the unmanned aerial vehicles can spray pesticides remotely or automatically plan a flight route through an internally set program and spray pesticides according to the flight route.

Use plant protection unmanned aerial vehicle to spray insecticide, greatly saved the manpower, however, also have corresponding problem: plant protection unmanned aerial vehicle's cost is higher, portable pesticide is less to, because the interval between unmanned aerial vehicle and the young seedling is great, if too close to ground, the flight receives the interference easily, consequently, receives the influence of wind-force great, when wind-force was too big, the pesticide was difficult to evenly spray.

Disclosure of Invention

In view of this, an object of the embodiments of the present invention is to provide an intelligent pesticide spraying method and system, where unmanned ground remote control equipment is used to spray pesticides, the spraying equipment has low structural requirements, the pesticides can be sprayed as close as possible to young plants, the height is low, the pesticides can be uniformly sprayed on the young plants, and the influence of wind is small.

The embodiment of the invention is realized by the following steps:

the embodiment of the invention provides an intelligent pesticide spraying method, which comprises the following steps:

s1, generating environmental information of a pre-sprayed field, wherein the environmental information comprises working area information and ridge information in the working area information.

S2, planning a traveling route by the control system according to the single spraying path width and the environmental information of the spraying equipment; wherein, spraying equipment is unmanned ground remote control device, and the route of marcing sets up along the extending direction on ridge to, in the route of marcing of planning, spraying equipment's walking wheel is located the open space between two adjacent ridges.

And S3, the spraying equipment travels on the ground according to the planned traveling route, the spraying equipment transversely and uniformly sprays the pesticide, and in the process, the position, the non-spraying range and the spraying range of the spraying equipment are displayed on the handheld mobile terminal.

The embodiment of the invention also provides an intelligent pesticide spraying system which comprises spraying equipment and a control system.

The spraying equipment comprises a travelling mechanism and a spraying mechanism, wherein the spraying mechanism is arranged on the travelling mechanism, the travelling mechanism is used for driving the spraying mechanism to travel on the ground, and the spraying mechanism is used for containing pesticides and uniformly spraying the pesticides.

The control system comprises a control terminal and a plurality of signal generators; the signal generators are independently arranged and are used for positioning the coordinate information of the working area information; the control terminal is configured to receive position coordinate information and generate environmental information of pre-sprayed fields, and plan a travel route; the control terminal is further configured to control actions of the spraying device.

The invention has the beneficial effects that:

according to the intelligent pesticide spraying method and system provided by the invention, unmanned ground remote control equipment is adopted to spray pesticides, the structural requirement of the spraying equipment is low, the pesticides can be sprayed close to the young plants as much as possible, the height is low, the pesticides can be uniformly sprayed on the young plants, the influence of wind power is small, in addition, as the spraying equipment is supported by the ground, more pesticides can be borne, frequent pesticide adding is not needed, and the intelligent pesticide spraying method and system are particularly suitable for large-scale fields.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.

Fig. 1 is a schematic view of environmental information of a pre-sprayed field according to a first embodiment of the present invention;

FIG. 2 is a flow chart of a method for spraying a pesticide according to a first embodiment of the present invention;

FIG. 3 is a partial flowchart of the first step S1 according to the first embodiment of the present invention;

fig. 4 is a schematic diagram of environment information (still mode) provided by the first embodiment of the present invention;

FIG. 5 is a schematic diagram of environment information provided by the first embodiment of the present invention (follow-up mode);

fig. 6 is a partial flowchart of step S1 according to the first embodiment of the present invention;

fig. 7 is a partial flowchart of step S3 provided in the first embodiment of the present invention;

FIG. 8 is a schematic structural view of a spraying apparatus according to a second embodiment of the present invention;

FIG. 9 is a first schematic view illustrating a mating relationship between a leg and a body according to a second embodiment of the present invention;

FIG. 10 is an enlarged partial view of portion A of FIG. 9;

FIG. 11 is a second schematic view of the mating relationship between the leg and the main body according to the second embodiment of the present invention;

fig. 12 is a third schematic view illustrating a fitting relationship between the leg and the main body according to the second embodiment of the present invention.

An icon:

10-a spraying system;

11-a spraying device; 20-pre-spraying the field;

110-a running gear; 111-a body; 112-a leg; 113-a travelling wheel; 114-a trigger lever; 115-a regulating component; 116-a slide; 117-limit piece; 118-a bidirectional ratchet bar; 119-a pawl; 120-a hold down spring; 121-a second chute; 122-a pushing part; 123-a connecting part; 124-a first chute; 125-ratchet;

130-a spraying mechanism; 131-a cartridge; 132-a pressure increasing assembly; 133-folding arms; 134-a nozzle; 135-a nozzle;

140-a first signal generator; 141-a second signal generator; 142-a mobile terminal;

200-a first closed loop area; 201-a second closed loop area; 202-ridges.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

First embodiment

Referring to fig. 1, a first embodiment of the present invention provides an intelligent pesticide spraying method that can be used to spray pesticides in a field.

Referring to fig. 2 to 7, the intelligent pesticide spraying method includes the following steps: generating environmental information of the pre-sprayed field 20; planning a traveling route; the pesticide is sprayed according to the advancing route, and the whole thought is consistent with the mode of the plant protection unmanned aerial vehicle.

Specifically, the intelligent pesticide spraying method comprises the steps S1, S2 and S3, and each step specifically comprises the following contents:

referring to fig. 2, S1, environmental information of the pre-sprayed field 20 is generated. The environment information includes working area information and ridge 202 information therein, the working area information refers to the contour of the pre-sprayed field 20, the range of obstacles or contour (if any) in the pre-sprayed field 20, and the ridge 202 information refers to the direction of the ridge 202 and the number of the ridges 202 in the pre-sprayed field 20.

Specifically, referring to fig. 3, step S1 includes the following steps:

s11, manually placing a first signal generator 140 at each corner of the contour of the pre-sprayed field 20.

Wherein, the pre-sprayed field 20 forms a closed area, the spraying equipment 11 is required to spray pesticide in the closed area, the edge of the closed area is the outline, the outline can be rectangle, polygon, irregular shape, etc., mainly related to the division of the pre-sprayed field 20, generally speaking, each section on the outline is a straight line, and the intersection point of two straight lines on the outline is the point where the corner is located.

The first signal generator 140 may be a GPS locator or other type of locator capable of locating the position coordinates of the corner, and if the first signal generator 140 is placed at the corner, the position coordinates of the first signal generator 140 are the first position coordinates of the corner. After the first signal generator 140 locates the first position coordinate, the first position coordinate may be transmitted to a control system of the mobile terminal 142, and the control system may receive and process information of the first position coordinate.

And S12, judging whether obstacles exist in the pre-spraying field 20, and if no obstacles exist in the pre-spraying field 20, omitting the step.

If there are obstacles in the pre-sprayed field 20, a second signal generator 141 is placed at each obstacle or a second signal generator 141 is placed at each corner of the obstacle.

Obstacles are mainly classified into two types: the raised obstacles (such as trees, soil piles and the like) and the sunken obstacles (such as pits) are divided into small obstacles and large obstacles according to the area of the obstacles: the small-sized obstacles have small occupied area, such as soil piles, in this case, only one second signal generator 141 can be placed in the middle position or the side position of the obstacle, and then a plurality of fields in the surrounding large range can be selected to be divided into obstacle areas; the large obstacle has a large footprint and a strange shape, and thus, it is difficult to locate the large obstacle with one point, and thus, one second signal generator 141 may be disposed at each corner of the large obstacle.

The second signal generator 141 and the first signal generator 140 may have the same structure, type, operation principle, etc., and the distinction between "first" and "second" is used herein to distinguish the type of the anchor point represented by the signal generator from the region.

After the second signal generator 141 locates the second position coordinate, the second position coordinate may be transmitted to a control system of the mobile terminal 142, and the control system may receive and process information of the second position coordinate.

And S13, the control system processes the received information of the first position coordinate and the second position coordinate and then sends the information to the mobile terminal 142, wherein the mobile terminal 142 can be a mobile phone, a tablet, a notebook computer and the like.

A working coordinate system is displayed on the display screen of the mobile terminal 142, and the origin of coordinates of the working coordinate system is the position of the mobile terminal 142.

In addition, in the working coordinate system, the position coordinate information of each corner or each obstacle is displayed, and if there is no obstacle in the working area, the position coordinate information of the obstacle does not need to be displayed. The first coordinate position is displayed as a first coordinate point, and the second coordinate position is displayed as a second coordinate point.

The working coordinate system may be a two-dimensional coordinate system or a three-dimensional coordinate system, and in this embodiment, the working coordinate system is a two-dimensional coordinate system.

And S14, defining a working area according to the working coordinate system and the information of each coordinate point.

Since each coordinate point in the working coordinate system is in a discrete mode and cannot represent a closed space, a user can manually define a working area.

Specifically, the first coordinate points are connected manually to form a first closed-loop area 200, and the first closed-loop area 200 is an outer contour of the pre-sprayed field 20, that is, only the pesticide needs to be sprayed in the first closed-loop area 200. The manual input method may be a handwriting input method or a key input method.

Then, a second closed loop area 201 where the obstacle is located is manually defined, and the second closed loop area 201 can be used as the inner contour of the pre-sprayed field 20, i.e. the pesticide needs to be sprayed in the second closed loop area 201. Similarly, the manual input method may be a handwriting input method, a key input method, or the like.

The definition of the second closed loop area 201 can be divided into two types:

1. the area of the small obstacle is defined by the second coordinate point as the center point, and the second closed-loop area 201 is defined by how many meters of the square circle of the second coordinate point as the second closed-loop area 201, for example, the area of the tree with a diameter of one meter is the second closed-loop area 201,

within the control system several area types can be preset, e.g. circular, square, only the type needs to be selected and the size entered, and the system automatically delimits the area.

2. The area of the large-scale obstacle, at this moment, each corner of the large-scale obstacle all generates corresponding second coordinate point, and the second coordinate point is manually connected to form a second closed-loop area 201, and the connection mode is the same as the operation mode of the outline.

The areas outside the first closed loop area 200 and the second closed loop area 201 are working areas, in which the spraying device 11 needs to spray pesticide, and the area boundary is not exceeded as much as possible, and of course, in some cases, the area boundary may be exceeded properly, but in some specific cases (such as the contour of the wall, etc.), the spraying device 11 must not exceed the working area.

And S15, manually selecting or inputting the information of the ridges 202 in the working area.

The ridge 202 information includes the ridge 202 trend and the ridge 202 quantity, the ridge 202 trend refers to the extending direction of each row of green seedlings, the ridge 202 quantity refers to the number of rows of green seedlings, and an empty space is formed between two adjacent ridges 202 for the spraying equipment 11 to walk.

At least one input frame of the direction of the field ridge 202 and the turning angle is preset in the system. For example, the system is preset with two kinds of ridges 202 in the horizontal direction and the vertical direction, and if the preset ridges 202 do not conform to the direction, the rotation angle is manually input. In some embodiments, the pre-spray field 20 has multiple ridges 202 runs therein, in which case the pre-spray field 20 may be divided into multiple first closed loop areas 200, and ridge 202 runs and the number of ridges 202, etc. may be input separately within each first closed loop area 200.

Before step S14, a display mode of a view on the display may be selected, and the display mode may be classified into a rest mode and a follow-up mode. If the standing mode is selected, executing S141; if the follow-up mode is selected, S142 is executed.

S141, referring to fig. 4, the environmental information is displayed in a planar effect, the orthographic projection information of the environmental information on the horizontal plane is displayed, the standing mode is a planar view, and the contour of the pre-sprayed field 20 and the ridges 202 are reduced in equal proportion.

S142, referring to fig. 5, if the display mode selects the stationary mode, the coordinate origin is taken as the viewing angle point, and a perspective view observed by the viewing angle point, for example, a region projected as a rectangle on a horizontal plane, is displayed as a trapezoid, and the formed reminder is different according to the viewing angle. The connection line of any two points in the environmental information is a first connection line, the projection connection line of the corresponding two points in the pre-sprayed field 20 on the horizontal plane is a second connection line, and the first connection line and the second connection line are parallel or coincident.

The definition of perspective can refer to the prior art, and the same width is wider near the visual corner point, and conversely, the width is narrower far from the visual corner point, so that the human retina is imaged, a camera takes a picture, and the like, all adopt a perspective mode.

Moreover, as the mobile terminal 142 moves, the working coordinate system changes, and when the mobile terminal 142 horizontally rotates around the origin of coordinates, the orientation of the environmental information does not change.

Generally, in order to define the working area, it is preferable to select the tunnel mode, which can completely conform to the user's view angle, so as to facilitate the user's timely comparison, and is especially suitable for the more complicated environment, because if the stationary mode is adopted, it is not consistent with the user's view angle imaging, and is easy to be confused. Moreover, when the direction of the ridges 202 is input, the display information can be consistent with the visual angle imaging in the follow-up mode, the display is moved to one row of ridges 202, the direction of the vertical ridges 202 is input by selecting and facing the ridges 202, and the direction of the generated ridges 202 is completely the same as the actual direction.

And S16, the control system generates complete environment information and displays the environment information on a display screen.

The complete environment information includes: the edge profile of the pre-spray field 20, the edge profile of the obstacles, the strike of the ridges 202, the number of ridges 202, etc.

The user can in time check through display screen observation environmental information, ensures that subsequent spraying process is more smooth, accurate.

S2, referring to fig. 6, the control system plans the traveling route according to the width of the single spraying path of the spraying device 11 and the environmental information.

The spraying device 11 is generally provided with a plurality of nozzles 135, the plurality of nozzles 135 are arranged at intervals in sequence, and the direction of the plurality of nozzles 135 is perpendicular to the traveling direction of the spraying device 11. During the walking of the spraying device 11, the spraying area is the swept area of all the nozzles 135.

The spraying device 11 is an unmanned ground remote control device, and the specific structure of the spraying device 11 can adopt the scheme in the second embodiment of the invention.

In the generated travel route, it is necessary to ensure that the travel route is set along the extending direction of the ridges 202, and in the planned travel route, the road wheels 113 of the sprinkler apparatus 11 are located on the open space between the adjacent two ridges 202. Only in this way is it possible for the spraying device 11 to press as little as possible onto the young seedlings.

S3, referring to fig. 7, the spraying device 11 travels on the ground according to the planned travel route, and the spraying device 11 sprays the pesticide uniformly in the transverse direction.

In this process, the position of the spraying device 11, the non-spraying range, the sprayed range are displayed on the handheld mobile terminal 142. The spraying device 11 can be represented by a straight line, the middle position being the travelling mechanism 110, the straight lines on both sides representing the spraying assembly, the non-sprayed range and the sprayed range can be distinguished by different colors, for example, the non-sprayed range is white, the sprayed range is red, etc.

Specifically, step S3 includes:

and S30, the spraying device 11 expands the spraying assembly, and the extending direction of the spraying assembly is perpendicular to the advancing direction of the spraying device 11.

When the spraying equipment 11 is not needed to spray the pesticide, the spraying assembly can be folded to reduce the occupied area; when the pesticide is required to be sprayed, the spraying assembly is unfolded, the single spraying width of the spraying assembly is large, and the spraying efficiency is higher.

S31, the spraying device 11 enters the starting position in the planned path.

S35, recognizing the width information of the seedlings on the ridges 202, and adjusting the positions of the walking wheels 113 of the spraying equipment 11 to enable each walking wheel 113 to be located on the open land between the ridges 202.

At present, equipment capable of identifying the green seedling information exists in the market, the main principle is that the color of the green seedling is inconsistent with the color of the land, and the green seedling and the land can be easily distinguished by adopting a visual identification system, namely a green (or other colors) area is an area where the green seedling is located, and a soil yellow area is an area where the land is located.

In this step, it is ensured that the position of the body 111 of the spraying device 11 is not changed, because the locator of the spraying device 11 is generally disposed on the body 111, and the position coordinates of the spraying device 11 are not affected in order to change the position of the road wheels 113.

And S32, identifying the height information of the green seedlings on the ridges 202, and adjusting the heights of the supporting legs 112 of the spraying equipment 11 to enable the heights of the supporting legs 112 to be larger than the heights of the green seedlings.

When the green seedlings are higher, the height of the supporting legs 112 is correspondingly increased so as to avoid bending the green seedlings by the main body 111 of the spraying equipment 11; when the young plants are low, the legs 112 are correspondingly adjusted to a lower height to reduce the spacing between the nozzles 135 and the young plants.

S33, the nozzle 135 of the spraying assembly is opened, so that the nozzle 135 sprays the pesticide downward. The nozzle 135 is an atomizing nozzle 135, and the pesticide can be sprayed in an atomized form from the nozzle 135 by turning on a switch under a certain pressure, and the structure of the nozzle 135 can refer to the prior art.

S34, the spraying equipment 11 advances according to the planned travel route. During the spraying process, partial areas can be overlapped to ensure that all positions are sprayed with pesticide, and partial area omission is avoided.

Second embodiment

Referring to fig. 8, a second embodiment of the present invention provides an intelligent pesticide spraying system 10, and the spraying system 10 can implement the spraying method of the first embodiment.

The intelligent pesticide spraying system 10 comprises a spraying device 11 and a control system. The spraying device 11 is used for walking along a planned travelling route, spraying pesticides and the like, and the control system is mainly used for receiving various information and controlling various actions of the spraying device 11.

In the present embodiment, the specific structure of the spraying device 11 is as follows: the spraying device 11 includes a traveling mechanism 110 and a spraying mechanism 130, the spraying mechanism 130 is disposed on the traveling mechanism 110, the traveling mechanism 110 is used for driving the spraying mechanism 130 to travel on the ground, and the spraying mechanism 130 is used for containing pesticide and uniformly spraying the pesticide.

The spraying device 11 may be of a prior art design, in which similar products are already available, but in which manual control, rather than remote control, is used, for example, a tractor on which the spraying mechanism 130 is mounted, and the like, and must be driven by the user to spray the pesticide. And spraying equipment 11 in this application, through control system remote control or automatic control, similar to the mode of robot of sweeping the floor, only need the user in the long-range in time pay close attention to spraying equipment 11 the state can, labour saving and time saving.

In the actual use in-process, because there will be certain deviation in input field 202 position and actual position, the reason lies in, when using the seeder to sow, during one-way seeding, the interval between each field 202 is equal, but when the seeder returns, there is the deviation in the stubble department interval of two seeding positions, and when inputting field 202 information, it is acquiescence that the interval between arbitrary two fields 202 is equal, therefore, in the route of advancing of planning, the walking subassembly can press the wheat seedling, consequently, must adjust the interval between the walking wheel 113 about according to the circumstances to make all walking wheels 113 of the left and right sides walk on the air.

In the existing equipment, such as a tractor and the like, the travelling wheels 113 can only steer, the width between the travelling wheels and the travelling wheels is kept unchanged, the condition that the green seedlings are pressed by the left wheels and the green seedlings are not pressed by the right wheels can occur, and after adjustment, the green seedlings are pressed by the right wheels and the green seedlings are not pressed by the left wheels can occur.

In addition, the technical scheme that the width between the left walking wheel 113 and the right walking wheel 113 can be changed also exists in the prior art, the scheme is that an air cylinder and the like are usually arranged between the supports of the two walking wheels 113, and the air cylinder is extended or retracted to forcibly change the distance between the two walking wheels 113. As is well known, since the road wheels 113 are always in contact with the ground, the road wheels 113 are in sliding friction with the ground in such a way, which may wear the road wheels 113 and change the coordinates of the main body 111 (for example, one road wheel 113 has a large friction force with the ground, and the other road wheel 113 has a small friction force with the ground, and when the change occurs, one road wheel 113 does not move, while the other road wheel 113 moves). In addition, the road wheels 113 are forcibly pushed to push the soil, forming soil piles and pits.

In this embodiment, the following improvements are provided: referring to fig. 9-12, the walking mechanism 110 includes a main body 111, four adjusting assemblies 115 and four legs 112, wherein the adjusting assemblies 115 correspond to the legs 112 one by one, and the legs 112 are mounted on the main body 111 through the adjusting assemblies 115.

The structure of the main body 111 is not limited, and a frame structure may be adopted, or an existing mechanical device, such as a frame of an unmanned vehicle, may be adopted.

The shape of landing leg 112 is not limited, for example, landing leg 112 is the stand structure, and landing leg 112 is along vertical setting, and the bottom of every landing leg 112 all rotates and is provided with walking wheel 113, and every walking wheel 113 is rotatory through the driving motor drive, and walking wheel 113's rotation center line sets up along the horizontal direction, and when walking wheel 113 rotated, can drive main part 111 and walk.

The adjustment assembly 115 includes a slider 116 and a limiter 117.

The slider 116 is not limited in its form, and for example, the slider 116 is a slider, and the main body 111 is provided with a first slide groove 124, and the first slide groove 124 extends in the left-right direction of the main body 111 in a direction perpendicular to the traveling direction of the main body 111. The sliding member 116 is slidably disposed on the main body 111, and when the sliding member 116 slides, the sliding member can slide to both sides of the main body 111 or approach to the middle of the main body 111.

The top end of the supporting leg 112 is provided with a cylindrical connecting portion 123, the connecting portion 123 is rotatably disposed on the sliding member 116, the rotating mode can be driven by a motor or other modes, the connecting portion 123 can rotate along the center line of itself, and the rotating angle of the connecting portion 123 is generally controlled to be-60 ° to 60 ° and the center line of the connecting portion 123 is vertically disposed. When the connecting portion 123 rotates, the leg 112 can be driven to rotate, so that the advancing direction of the road wheel 113 is deflected.

The road wheels 113 deflecting the advancing direction are defined as first road wheels 113, and the remaining road wheels 113 are defined as second road wheels 113. With first walking wheel 113 outwards movement forward, at this moment, first walking wheel 113 drives landing leg 112 and moves to the outside of main part 111 together, connecting portion 123 rotates around self axis, and connecting portion 123 can drive slider 116 and slide along first spout 124, makes walking wheel 113 change width comparatively smoothly, and, at this in-process, only corresponding landing leg 112 position changes, and other structure positions such as main part 111 do not change, can not change main part 111 coordinate, sprays more accurately.

In addition, in adjusting the position of one of the road wheels 113, it is necessary to ensure that the corresponding slider 116 cannot move relative to the main body 111 when the road wheel 113 is being advanced forward, and therefore, the present embodiment provides the following: the stopper 117 includes a two-way ratchet 118, two pawls 119, two hold-down springs 120, and two trigger levers 114.

The bi-directional ratchet 118 is formed by a plurality of ratchet teeth 125 on a bar-shaped structure, the ratchet teeth 125 correspond to two pawls 119, and when the slider 116 moves in one direction, one pawl 119 can abut against the other pawl 119, and vice versa.

The bidirectional ratchet bar 118 extends along the width direction of the main body 111, and the bidirectional ratchet 125 is fixed to the main body 111, which may be integrally formed or welded.

The pawl 119 is movably arranged on the sliding part 116, the pawl 119 is pressed on the bidirectional ratchet 125 through the pressing spring 120, the pressing spring 120 can be a pressure spring, specifically, the sliding part 116 is provided with a second sliding groove 121, the pawl 119 is slidably arranged in the second sliding groove 121 and can be close to or far away from the bidirectional ratchet 118, and the pressing spring 120 is arranged in the second sliding groove 121 and is respectively abutted against the sliding part 116 and the pawl 119. When the pawl 119 is not acted upon by an external force, the pawl 119 is inserted between the two ratchet teeth 125 of the bidirectional ratchet bar 118, and under the action of the external force, the pawl 119 can be pushed away from the bidirectional ratchet bar 118, so that the pawl 119 is disengaged from the bidirectional ratchet bar 118, and the two are not acted upon.

Two pawls 119 are located on both sides of the leg 112, the two pawls 119 are unidirectionally locked with the bidirectional ratchet 118, and the locking directions of the two pawls 119 are opposite. When both pawls 119 are pressed against the bidirectional ratchet 118, the slider 116 cannot slide with respect to the main body 111; when one of the pawls 119 is pushed away from the bidirectional ratchet 118, the sliding member 116 can only slide in the corresponding direction; when the other pawl 119 is pushed away from the ratchet bar 118, the slider 116 can only slide in the opposite direction. Generally, when the trolley 113 is in the forward direction, two pawls 119 are simultaneously engaged with the bidirectional ratchet bar 118, the sliding member 116 cannot slide, and when the trolley 113 is deflected, only one pawl 119 can be disengaged from the bidirectional ratchet bar 118. The sliding direction of the slider 116 coincides with the deflection direction of the trolley 113, for example, when the trolley 113 deflects to the left, the slider 116 can slide to the left, and when the trolley 113 deflects to the right, the slider 116 can slide to the right.

Two trigger bars 114 are located on either side of the leg 112, the trigger bars 114 extending radially of the leg 112, the distal ends of the trigger bars 114 mating with the detents 119. Since the diameter of the connecting portion 123 cannot be too large, if the connecting portion 123 is engaged with the pawl 119, the walking wheel 113 is biased to a small angle, and it is difficult to push the pawl 119 away from the bidirectional ratchet 118, and the diameter of the connecting portion 123 is increased by changing the direction of the trigger lever 114, and when the connecting portion 123 rotates to a small angle, the apparent moving distance of the trigger lever 114 is also large, and the pawl 119 can be completely pushed away from the bidirectional ratchet 118.

One side of the pawl 119 is provided with a pushing portion 122 matching with the trigger rod 114, and when the trigger rod 114 rotates with the connecting portion 123, the trigger rod 114 can abut against the pushing portion 122 to push the pawl 119 away from the bidirectional ratchet 118, and at this time, the compression spring 120 is compressed.

When the travelling wheel 113 travels in the forward direction, the trigger rod 114 is disengaged from the pawls 119, the two pawls 119 are respectively pressed on the bidirectional ratchet bars 118 by the pressing springs 120, the sliding piece 116 is locked, the sliding piece 116 cannot slide along the first sliding groove 124, and the position of the travelling wheel 113 is fixed.

When the support legs 112 drive the travelling wheels 113 to deviate to travel, one of the trigger rods 114 pushes the corresponding pawl 119 to be separated from the bidirectional ratchet bar 118, the other trigger rod 114 is far away from the corresponding pawl 119 and does not work, and the sliding piece 116 can slide along the corresponding direction, so that the travelling wheels 113 can move leftwards or rightwards while moving forwards, and the positions of the corresponding travelling wheels 113 are changed under the condition that the main body 111 is ensured to be immovable.

In addition, when the deviation angle of the traveling wheel 113 is small, the trigger rod 114 can push the pawl 119 away from the bidirectional ratchet 118, when the trigger rod 114 rotates with the connecting portion 123, the meaning of the continuous movement of the pawl 119 is not large, and the range of movement of the pawl 119 cannot be too large, and if the range is large, the requirement on the compression spring 120 and the second sliding groove 121 is high, so in the present embodiment, the following scheme is provided, so that after the pawl 119 is pushed away by a certain distance, the connecting portion 123 rotates continuously, and the pawl 119 cannot move continuously. The trigger rod 114 is hinged to the supporting leg 112, a buffer spring is arranged between the trigger rod 114 and the connecting portion 123 of the supporting leg 112, the buffer spring can be a compression spring, a torsion spring or the like, and in this embodiment, the buffer spring is a torsion spring and is arranged between the hinge portions of the trigger rod 114 and the supporting leg 112. The buffer spring makes the triggering rod 114 have a tendency to return to the radial direction of the supporting leg 112, that is, when the triggering rod 114 is not acted by external force or the external force is less than a preset threshold, the triggering rod 114 extends along the radial direction of the connecting part 123, when the triggering rod 114 is acted by external force in a specified direction to exceed the preset threshold, the triggering rod 114 can rotate relative to the connecting part 123, and the buffer spring is compressed. It should be noted that the elastic force of the buffer spring needs to reach a preset threshold value, so that when the trigger rod 114 pushes the pawl 119 to slide in the second sliding slot 121 and the hold-down spring 120 is compressed, the trigger rod 114 cannot rotate; when the pawl 119 reaches a specified position and the pawl 119 cannot slide further along the second slide groove 121, the trigger lever 114 can rotate relative to the connecting portion 123.

The above structure allows the traveling mechanism 110 to have a trigger state and a transition state. When the travelling mechanism 110 is in the triggering state, the travelling wheel 113 deflects, the pawl 119 slides in the second sliding groove 121, and the triggering rod 114 extends along the radial direction of the leg 112, at this time, the deflection angle of the travelling wheel 113 changes, and the pawl 119 can correspondingly slide in the second sliding groove 121. When the traveling mechanism 110 is in the transition state, the sliding member 116 slides to the preset position, at this time, the pawl 119 is disengaged from the bidirectional ratchet 118, and the sliding member 116 cannot slide along the second sliding groove 121, at this time, when the deflection angle of the traveling wheel 113 is increased, the trigger lever 114 and the leg 112 can rotate relatively. When the traveling mechanism 110 is in the transition state, when the traveling wheel 113 is turned from the deflection to the forward direction, the trigger rod 114 is first returned to the normal position along with the rotation of the connecting part 123

In other embodiments, other schemes may also be employed: the length of the main body 111 is adjustable, namely, the distance between the front and rear road wheels 113 is increased or decreased, and the supporting legs 112 can be lifted, so that the main body 111 can be matched with the young plants with different heights.

Wherein the spraying mechanism 130 comprises a cartridge 131, a pressurizing assembly 132, a folding arm 133 and a nozzle 134,

the medicine cylinder 131 is arranged on the main body 111 and used for containing pesticide, the pressurizing assembly 132 is used for pressurizing the inside of the medicine cylinder 131, the folding arm 133 is arranged behind the walking mechanism 110 in a foldable mode, the spray pipe 134 extends along the folding arm 133 and is communicated with the medicine cylinder 131, and a plurality of spray nozzles 135 are distributed on the spray pipe 134 at intervals.

The control system comprises a control terminal and a plurality of signal generators, the structure of the control system can refer to the prior art, compared with the prior art, the control system has similar programs and structures and consistent control principles.

The signal generator may be constructed in accordance with the prior art, such as a GPS signal generator, an infrared signal generator, etc.

The signal generators are independently arranged and used for positioning the coordinate information of the working area information; the control terminal is configured to receive the position coordinate information and generate environmental information of the pre-sprayed field 20, as well as plan a travel route.

The control terminal is also configured to control the actions of the spraying device 11, which control terminal can refer to the prior art. In this embodiment, the control terminal includes a walking control module, a pressurization module, a spraying module, a signal receiving module, a control module, and the handheld mobile terminal 142, and the module structure and the computer program can refer to the prior art.

The walking control module is used for controlling the actions of the support legs 112 and the walking wheels 113, including but not limited to the following actions: the steering of the leg 112 is the deflection of the road wheels 113 and the walking of the road wheels 113. In brief, the rotation of the supporting legs 112 and the traveling of the traveling wheels 113 are controlled by different motors, and the traveling control module is used for controlling the starting, stopping, rotating speed and the like of the corresponding motors.

The pressurization module is used for controlling pressurization to the medicine cylinder 131, so that the air pressure in the medicine cylinder 131 reaches a preset pressure threshold value. In brief, a pressurizing assembly 132, such as an air pump, is used to inject air into the medicine cartridge 131, so as to increase the air pressure in the medicine cartridge 131, and the pressurizing module is used to control the start and stop of the air pump.

The spray module is used to control the folding arm 133 to unfold or fold and to control the opening and closing of the nozzle 135. In brief, the folding or unfolding of the folding arm 133 is controlled by using an air cylinder or the like, the opening and closing of the nozzle 135 is controlled by a structure such as an electromagnetic valve or a motor, and the spraying module is used for controlling the corresponding air cylinder, electromagnetic valve, motor, and the like. When the air pressure in the cartridge 131 is large, the pesticide can be atomized and sprayed through the nozzle 135.

The signal receiving module is used for receiving the position coordinate information of the signal generator, namely the coordinate information of the signal generator can be sent to the signal receiving module, and the signal receiving module reflects the position information of the signal generator in a coordinate mode.

The control module is used for receiving and processing the information of each module and transmitting a control instruction to each module to enable each module to complete the corresponding function. Specifically, the control module can at least complete the following actions: receiving state information of the supporting legs 112 and the travelling wheels 113, and correspondingly sending actions of controlling the supporting legs 112 and the travelling wheels 113 to the travelling module; receive information on the air pressure inside the canister 131 and accordingly send a pressure to the pressurizing module to pressurize the inside of the canister 131; receiving the unfolding information of the folding arm 133 and accordingly sending an instruction to the spraying module to unfold or fold the folding arm 133; receiving the switch information of the spray head, and correspondingly sending an instruction for opening or closing the spray head to the spraying module; the position coordinate information of the signal generator is received through the signal receiving module and displayed on the display device of the handheld mobile terminal 142.

The handheld mobile terminal 142 may be a mobile phone, a tablet, a notebook computer, etc., and the handheld mobile terminal 142 includes a display device for displaying information of each module and remotely controlling the control module. The handheld mobile terminal 142 may send a control instruction to the control module through the APP software, and display various pieces of information.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent pesticide spraying method is characterized by comprising the following steps:

s1, generating environmental information of a pre-sprayed field, wherein the environmental information comprises working area information and ridge information in the working area information;

s2, planning a traveling route by the control system according to the single spraying path width and the environmental information of the spraying equipment; the spraying equipment is unmanned ground remote control equipment, the travelling route is arranged along the extending direction of the ridges, and in the planned travelling route, the travelling wheels of the spraying equipment are positioned on the vacant land between two adjacent ridges;

2. The method according to claim 1, wherein step S1 comprises:

s11, manually placing a first signal generator at each corner of the contour of the pre-sprayed field, wherein the first signal generator is used for positioning a first position coordinate of the corresponding corner and sending the first position coordinate to a control system of the mobile terminal;

s12, if obstacles exist in the pre-sprayed field, respectively placing a second signal generator at each obstacle or respectively placing a second signal generator at each corner of each obstacle, wherein the second signal generator is used for positioning a second position coordinate of the corresponding obstacle and sending the second position coordinate to a control system of the mobile terminal; if no obstacle exists in the pre-sprayed field, the step is omitted;

s13, displaying a working coordinate system on a display screen of the mobile terminal, and displaying position coordinate information of each corner or each obstacle; the display is located at the position of a coordinate origin, the first coordinate position is displayed as a first coordinate point, and the second coordinate position is displayed as a second coordinate point;

s14, manually connecting the first coordinate points to form a first closed-loop area, manually defining a second closed-loop area by taking the second coordinate point as a central point or manually connecting the second coordinate points to form a second closed-loop area; a region formed by removing the second closed-loop region from the first closed-loop region is a working region;

s15, manually selecting or inputting ridge information in the working area; the system comprises a field ridge information acquisition module, a field ridge information acquisition module and a field ridge information acquisition module, wherein the field ridge information comprises the field ridge direction and the field ridge number, and at least one field ridge direction and turnover angle input frame is preset in the system;

3. The method of claim 2, prior to step S14, comprising:

s140, selecting a display mode of the environment information, wherein the display mode comprises a standing mode and a follow-up mode, and executing S141 if the standing mode is selected; if the follow-up mode is selected, S142 is executed;

s141, displaying the environmental information in a plane effect, displaying the orthographic projection information of the environmental information on a horizontal plane, and reducing the actual size of the pre-sprayed field in an equal proportion;

and S142, the coordinate origin is taken as a view angle point, the environment information is displayed in a perspective effect, the working coordinate system changes along with the movement of the mobile terminal, and the orientation of the environment information is unchanged when the mobile terminal horizontally rotates around the coordinate origin.

4. The method according to claim 1, wherein step S3 comprises:

s30, the spraying component is unfolded by the spraying equipment, and the extending direction of the spraying component is vertical to the advancing direction of the spraying equipment;

s31, enabling the spraying equipment to enter an initial position in a planned path;

s32, recognizing the height information of the green seedlings on the ridges of the field, and adjusting the height of the supporting legs of the spraying equipment to enable the height of the supporting legs to be larger than the height of the green seedlings;

s33, opening a nozzle of the spraying assembly to enable the nozzle to spray the pesticide downwards;

s34, the spraying equipment advances according to the planned travel route.

5. An intelligent pesticide spraying system is characterized by comprising spraying equipment and a control system;

the spraying equipment comprises a travelling mechanism and a spraying mechanism, wherein the spraying mechanism is arranged on the travelling mechanism, the travelling mechanism is used for driving the spraying mechanism to travel on the ground, and the spraying mechanism is used for containing pesticides and uniformly spraying the pesticides;

the control system comprises a control terminal and a plurality of signal generators; the signal generators are independently arranged and are used for positioning the coordinate information of the working area information; the control terminal is configured to receive the position coordinate information and generate environmental information of the pre-sprayed field, and plan a travel route; the control terminal is further configured to control various actions of the spraying device.

6. The system of claim 5, wherein the spraying mechanism comprises a cartridge, a pressurizing assembly, a folding arm and a spray pipe, the cartridge is arranged on the traveling mechanism and used for containing pesticide, the pressurizing assembly is used for pressurizing the inside of the cartridge, the folding arm is arranged at the rear of the traveling mechanism in a foldable mode, the spray pipe extends along the folding arm and is communicated with the cartridge, and a plurality of nozzles are distributed on the spray pipe at intervals.

7. The system of claim 5, wherein the walking mechanism comprises a main body, four adjustment assemblies and four legs, the adjustment assemblies comprising a slider and a stop;

the sliding part is arranged on the main body in a sliding mode along the left-right direction, the tops of the supporting legs are rotatably arranged on the sliding part and can rotate around the axis of the supporting legs, and the bottom end of each supporting leg is provided with a travelling wheel driven by a driving motor;

the limiting piece comprises a bidirectional ratchet bar, two pawls, two compression springs and two trigger rods; the bidirectional ratchet bar is fixed along the width direction of the main body, the pawls are movably arranged on the sliding piece and are pressed on the bidirectional ratchets through the compression springs, the two pawls are positioned on two sides of the supporting leg, the two pawls and the bidirectional ratchet bar are locked in one direction, and the locking directions of the two pawls are opposite; the two trigger rods are positioned on two sides of the supporting leg and extend along the radial direction of the supporting leg, and the tail ends of the trigger rods are matched with the pawls;

when the travelling wheel travels forwards, the trigger rod is separated from the pawls, the two pawls are respectively pressed on the bidirectional ratchet bar by the pressing spring, and the sliding piece is locked; when the supporting legs drive the travelling wheels to deviate to travel, one of the trigger rods pushes the corresponding pawl to be separated from the bidirectional ratchet bar, and the sliding piece can slide along the left and right directions of the main body, so that the position of the corresponding travelling wheel is changed under the condition that the main body is kept immovable.

8. The system according to claim 7, wherein the sliding member is provided with a sliding slot, the pawl is slidably disposed in the sliding slot and can move close to or away from the bidirectional ratchet bar, the bidirectional ratchet bar is provided with a plurality of ratchet teeth, one side of the pawl is provided with a pushing portion matched with the trigger rod, and the compression spring is disposed in the sliding slot and abutted against the sliding member and the pawl respectively;

the trigger rod is hinged with the supporting leg, a buffer spring is arranged between the trigger rod and the supporting leg, and the buffer spring enables the trigger rod to have the tendency of returning to the radial direction of the supporting leg;

the walking mechanism is provided with a triggering state that the pawl slides in the sliding groove and the triggering rod extends along the radial direction of the supporting leg; and the sliding piece slides to a preset position, the pawl is separated from the bidirectional ratchet bar, and the trigger lever and the supporting leg rotate relatively.

9. The system of claim 7, wherein the body is adjustable in length and the leg is liftable.

10. The system according to claim 7, wherein the control terminal comprises:

the walking control module is used for controlling the actions of the supporting legs and the walking wheels;

the signal receiving module is used for receiving the position coordinate information of the signal generator;

the control module is used for receiving and processing the information of each module and transmitting a control instruction to each module to enable each module to complete the corresponding function;

the handheld mobile terminal comprises display equipment and is used for displaying information of each module and remotely controlling the control module.