CN115251023A - A kind of intelligent pesticide spraying method and system - Google Patents

Abstract

The invention relates to an intelligent pesticide spraying method and system, belonging to the technical field of agricultural machinery. The intelligent pesticide spraying method includes: S1, generating environmental information of the pre-sprayed field; S2, the control system planning a travel route according to the width of a single spraying path of the spraying equipment and environmental information; S3, the spraying equipment is on the ground according to the planned travel route travel up, and the spraying equipment sprays the pesticide evenly in the lateral direction. The intelligent pesticide spraying system includes spraying equipment and control system. Unmanned ground remote control equipment is used to spray pesticides. The structure of the spraying equipment is low. The pesticides can be sprayed as close to the young crops as possible, and the height is low. , less affected by wind, in addition, because the spraying equipment is supported by the ground, it can carry more pesticides, and does not require frequent dosing, especially suitable for large-scale fields.

Description

An intelligent pesticide spraying method and system

technical field

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

Background technique

During the growth of crops, pesticides need to be sprayed. At present, there are plant protection drones that can spray pesticides on the market. For example, the patent number is CN202110373945.8, and the invention patent is "A Nano Pesticide Drone Spraying System". This drone can spray remotely Pesticides, or independently plan the flight route through the internally set program, and spray pesticides according to the flight route.

The use of plant protection drones to spray pesticides greatly saves manpower, but there are corresponding problems: the cost of plant protection drones is higher, and the amount of pesticides that can be carried is less. Larger, if it is too close to the ground, the flight is easily disturbed. Therefore, it is greatly affected by the wind. When the wind is too strong, it is difficult to spray the pesticide evenly.

Contents of the invention

In view of this, the purpose of the embodiments of the present invention is to provide an intelligent pesticide spraying method and system, using unmanned ground remote control equipment to spray pesticides, the structure requirements of the spraying equipment are relatively low, the pesticides can be sprayed as close to the young crops as possible, and the height is relatively low , the pesticide can be evenly sprayed on the young crops, and is less affected by the wind. In addition, because the spraying equipment is supported by the ground, it can carry more pesticides and does not require frequent dosing, especially suitable for large-scale fields.

Embodiments of the present invention are achieved like this:

The embodiment of the present invention provides an intelligent pesticide spraying method, comprising the following steps:

S1, generating the environmental information of the pre-spraying field, the environmental information includes the working area information and the field ridge information therein.

S2. The control system plans the travel route according to the single spraying path width and environmental information of the spraying equipment; wherein, the spraying device is an unmanned ground remote control device, and the travel route is set along the extension direction of the field ridge, and, within the planned travel route Among them, the walking wheels of the spraying equipment are located in the open space between two adjacent field ridges.

S3, the spraying equipment travels on the ground according to the planned travel route, and the spraying equipment sprays the pesticide evenly in the horizontal direction. During this process, the position of the spraying equipment, the unsprayed range, and the sprayed range are displayed on the handheld mobile terminal.

The embodiment of the present invention also provides an intelligent pesticide spraying system, including spraying equipment and a control system.

The spraying equipment includes a walking mechanism and a spraying mechanism, the spraying mechanism is arranged on the walking mechanism, the walking mechanism is used to drive the spraying mechanism to walk on the ground, the spraying mechanism is used to hold the pesticide and Pesticides are sprayed evenly.

The control system includes a control terminal and several signal generators; several signal generators are set independently to locate the coordinate information of the work area information; the control terminal is configured to receive the position coordinate information and generate the environment of the pre-spraying field information, and planning travel routes; the control terminal is also configured to control various actions of the spraying equipment.

The beneficial effects of the present invention are:

The intelligent pesticide spraying method and system provided by the present invention adopt unmanned ground remote control equipment to spray pesticides, and the structure requirements of the spraying equipment are relatively low, and the pesticides can be sprayed as close to the young crops as possible, and the height is low, and the pesticides can be evenly sprayed on the young crops , is less affected by the wind. In addition, because the spraying equipment is supported by the ground, it can carry more pesticides and does not require frequent dosing, especially suitable for large-scale fields.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort. The above and other objects, features and advantages of the present invention will be more clearly illustrated by the accompanying drawings. Like reference numerals designate like parts throughout the drawings. The drawings are not intentionally scaled according to the actual size, and the emphasis is on illustrating the gist of the present invention.

Fig. 1 is the environmental information schematic diagram of the pre-spraying field that the first embodiment of the present invention provides;

Fig. 2 is the flow chart of the pesticide spraying method provided by the first embodiment of the present invention;

Fig. 3 is a partial flowchart 1 of step S1 provided by the first embodiment of the present invention;

FIG. 4 is a schematic diagram of environmental information provided by the first embodiment of the present invention (stationary mode);

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

Fig. 6 is a partial flowchart II of step S1 provided by the first embodiment of the present invention;

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

Fig. 8 is a schematic structural view of the spraying equipment provided by the second embodiment of the present invention;

Fig. 9 is a first schematic diagram of the cooperation relationship between the leg and the main body provided by the second embodiment of the present invention;

Fig. 10 is a partially enlarged schematic diagram of part A of Fig. 9;

Fig. 11 is a second schematic diagram of the cooperation relationship between the leg and the main body provided by the second embodiment of the present invention;

Fig. 12 is a third schematic diagram of the cooperation relationship between the leg and the main body provided by the second embodiment of the present invention.

icon:

10 - spraying system;

11-spraying equipment; 20-pre-spraying fields;

110-traveling mechanism; 111-main body; 112-outrigger; 113-traveling wheel; 114-trigger lever; 115-adjustment assembly; 116-slider; Claw; 120-compression spring; 121-second chute; 122-propelling part; 123-connecting part; 124-first chute; 125-ratchet;

130-spray mechanism; 131-cartridge; 132-pressurization assembly; 133-folding arm; 134-spray pipe; 135-nozzle;

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

200-the first closed-loop area; 201-the second closed-loop area; 202-Tianlong.

Detailed ways

In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In addition, the terms "first", "second", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

first embodiment

Please refer to FIG. 1 , the first embodiment of the present invention provides an intelligent method for spraying pesticides, which can be used for spraying pesticides in fields.

Among them, please refer to Fig. 2-Fig. 7, the intelligent pesticide spraying method includes the following steps: generating the environmental information of the pre-spraying field 20; .

Specifically, the intelligent pesticide spraying method includes steps S1, S2 and S3, and the specific content of each step is as follows:

Please refer to FIG. 2 , S1 , generating environmental information of the pre-spraying field 20 . Wherein, the environmental information includes the working area information and the field ridge 202 information therein, and the working area information refers to the outline of the pre-spraying field 20, the obstacle range or outline (if any) in the pre-spraying field 20, etc., and the field ridge 202 information refers to The field ridges 202 in the field 20 are pre-sprayed toward and the number of the field ridges 202 .

Specifically, as shown in FIG. 3, step S1 includes the following steps:

S11 , manually place the first signal generator 140 at each corner of the outline of the pre-spraying field 20 .

Wherein, the pre-spraying field 20 forms a closed section, and the spraying equipment 11 needs to be sprayed with pesticides in the closed section. The division of 20 is related. Generally speaking, each segment on the contour is a straight line, and the intersection point of two straight lines on the contour is the point where the corner is located.

The first signal generator 140 can be a GPS locator or other types of locators, which can locate the position coordinates of the location. If the first signal generator 140 is placed at a corner, the position coordinates of the first signal generator 140 are is the coordinates of the first position where the corner is located. After the first signal generator 140 locates the first position coordinates, it can send the first position coordinates to the control system of the mobile terminal 142, and the control system can receive and process the information of the first position coordinates.

S12, judging whether there is an obstacle in the pre-spraying field 20, if there is no obstacle in the pre-spraying field 20, this step is omitted.

If there are obstacles in the pre-spraying 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 divided into two types: raised obstacles (such as trees, mounds, etc.) and sunken obstacles (such as pits). According to the area of obstacles, they are divided into small obstacles and large obstacles: small Obstacles have a small footprint, such as mounds. At this time, you can only place a second signal generator 141 in the middle or next to the obstacle, and then choose how large the surrounding fields are to be divided into obstacle areas. ; The large-scale obstacle occupies a large area and has various shapes, so it is difficult to use one point to locate it. Therefore, at this time, a second signal generator 141 can be placed at each corner of the large-scale obstacle.

The structure, type, working principle, etc. of the second signal generator 141 and the first signal generator 140 can be exactly the same, and the distinction between "first" and "second" is used here to distinguish the anchor point represented by the signal generator Type is different from area.

After the second signal generator 141 locates the second position coordinates, it can send the second position coordinates to the control system of the mobile terminal 142, and the control system can receive and process the information of the second position coordinates.

S13, the control system processes the received information of the first position coordinates and the second position coordinates, and then sends them to the mobile terminal 142. 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 coordinate origin of the working coordinate system is the location 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, there is no need to display the position coordinate information of the obstacle. Wherein, 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. In this embodiment, the working coordinate system is a two-dimensional coordinate system.

S14. Delimit a work area according to the work coordinate system and the information of each coordinate point.

Since each coordinate point in the work coordinate system is a discrete model, it cannot represent a closed space, so the user can manually define the work area.

Specifically, each first coordinate point is manually connected to form a first closed-loop area 200, which is the outer contour of the pre-spraying field 20, that is, it is only necessary to spray pesticides within the first closed-loop area 200. The manual input method may be handwriting input or button input.

Then, the 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-spraying field 20 , that is, the pesticide needs to be sprayed in the second closed-loop area 201 . Similarly, the manual input method may be handwriting input or key-press input.

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

One, the area where the small-sized obstacle is located, at this time, the second closed-loop area 201 is delineated with the second coordinate point as the center point, that is, how many meters the square circle of the second coordinate origin is used as the second closed-loop area 201, for example, a tree with a diameter of one meter The circular area is the second closed-loop area 201,

In the control system, several types of areas can be preset, such as circles and squares. You only need to select the type and input the size, and the system will automatically define the area.

2. The area where the large-scale obstacle is located. At this time, each corner of the large-scale obstacle generates a corresponding second coordinate point, and the second coordinate point is manually connected to form the second closed-loop area 201. The connection method is the same as the operation method of the contour .

The area within the first closed-loop area 200 and outside the second closed-loop area 201 is the working area. The spraying equipment 11 needs to spray pesticides in the working area, and try not to exceed the boundary of the area. Of course, in some cases, it can be appropriately exceeded. But in some specific cases (such as the contour of the wall, etc.), the spraying device 11 must not exceed the working area.

S15, manually select or input the information of the field ridge 202 in the working area.

The field ridge 202 information includes the direction of the field ridge 202 and the number of the field ridge 202. The direction of the field ridge 202 refers to the extension direction of each row of young crops. walk.

Wherein, at least one kind of field ridge 202 orientation and flip angle input boxes are preset in the system. For example, the horizontal and vertical directions of the field ridge 202 are preset in the system. If the preset direction of the field ridge 202 does not match, the rotation angle can be input manually. In some embodiments, there are multiple field ridges 202 in the pre-spraying field 20. At this time, the pre-spraying field 20 can be divided into a plurality of first closed-loop areas 200, and input field ridges in each first closed-loop area 200 respectively. 202 towards Hotan Long, 202 Quantity etc.

Before step S14, the display mode of the view on the display can be selected, and the display modes can be divided into static mode and follow-up mode. If the static mode is selected, execute S141; if the follow-up mode is selected, execute S142.

S141, please refer to FIG. 4, the environmental information is displayed in a plane effect, and the orthographic projection information of the environmental information on the horizontal plane is displayed. The static mode is a plan view, and the outline of the pre-spraying field 20, the field ridge 202, etc. are proportionally reduced.

S142, please refer to FIG. 5, if the display mode selects the static mode, then the origin of the coordinates is used as the perspective point, and the perspective view observed from the perspective point, for example, an area projected as a rectangle on the horizontal plane, the perspective view is displayed as Trapezoid, and, with the different viewing angles, the reminders formed are different. The connection line between any two points in the environmental information is the first connection line, and the projection connection line corresponding to two points in the pre-spraying field 20 on the horizontal plane is the second connection line, and the first connection line and the second connection line are parallel or coincident.

The definition of the perspective view can refer to the existing technology. For the same width, the closer the view point is, the wider it will be. On the contrary, the farther away from the view point, the narrower. The perspective view mode is used for human retinal imaging and camera photos.

Moreover, as the mobile terminal 142 moves, the working coordinate system changes accordingly. When the mobile terminal 142 horizontally rotates around the coordinate origin, the orientation of the environment information remains unchanged.

In general, in order to delineate the working area, it is best to choose the tunnel mode. This method can be completely consistent with the user's perspective, which is convenient for the user to compare in time. It is especially suitable for more complicated environments, because if the static mode is used , which is inconsistent with the user's viewing angle imaging and is easy to confuse. Moreover, when inputting the direction of the field ridge 202, the follow-up mode can make the display information consistent with the viewing angle imaging. You only need to move the display to one of the row of field ridges 202, and will be facing the field ridge 202, and choose to input the preset vertical field ridge 202 direction , that is, the direction of the generated field ridge 202 is exactly the same as the actual direction.

S16. The control system generates complete environmental information and displays the environmental information on the display screen.

The complete environmental information includes: the edge profile of the pre-spraying field 20 , the edge profile of obstacles, the direction of the field ridge 202 , the number of field ridges 202 , and the like.

Users can observe the environmental information through the display screen and check it in time to ensure that the subsequent spraying process is smoother and more accurate.

S2, please refer to FIG. 6 , the control system plans the traveling route according to the width of a single spraying path of the spraying equipment 11 and the environmental information.

Generally, a plurality of nozzles 135 are arranged on the spraying equipment 11 , and the multiple nozzles 135 are arranged at intervals in sequence, and the direction of the multiple nozzles 135 is perpendicular to the traveling direction of the spraying equipment 11 . During the running of the spraying device 11 , the spraying area is the sweeping area of all the nozzles 135 .

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

In the generated traveling route, it is necessary to ensure that the traveling route is set along the extending direction of the field ridges 202 , and, in the planned traveling route, the traveling wheels 113 of the spraying equipment 11 are located on the open space between two adjacent field ridges 202 . Only in this way, the spraying equipment 11 can not be pressed to the young crops as much as possible.

S3, please refer to FIG. 7 , the spraying equipment 11 travels on the ground according to the planned travel route, and the spraying equipment 11 sprays the pesticide evenly in the horizontal direction.

During this process, the position of the spraying equipment 11 , the unsprayed range, and the sprayed range are displayed on the handheld mobile terminal 142 . The spraying equipment 11 can be represented by a straight line, the middle position is the traveling mechanism 110, the straight lines on both sides represent the spraying components, the unsprayed area and the sprayed area can be distinguished by different colors, for example, the unsprayed area is white, the sprayed area is red, etc. .

Specifically, step S3 includes:

S30, the spraying equipment 11 deploys the spraying assembly, and the extending direction of the spraying assembly is perpendicular to the traveling direction of the spraying equipment 11 .

When the spraying device 11 is not needed to spray pesticides, the spraying assembly can be folded to reduce the footprint; when it is necessary to spray pesticides, the spraying assembly is unfolded, and the single spraying width of the spraying assembly is larger, and the spraying efficiency is higher.

S31, the spraying equipment 11 enters the starting position in the planned route.

S35 , identifying the young crop width information of the field ridges 202 , and adjusting the position of each traveling wheel 113 of the spraying equipment 11 , so that each traveling wheel 113 is located on the open space between the field ridges 202 .

At present, there are devices on the market that can identify young crop information. The main principle is that the color of young crops is inconsistent with the color of the land, which can be easily distinguished by using a visual recognition system, that is, the green (or other color) area is the area where the young crops are located, and the earthy yellow area is the area where the young crops are located. The area where the land is located.

In this step, it is ensured that the position of the main body 111 of the spraying equipment 11 does not change. This is because the locator of the spraying equipment 11 is generally arranged on the main body 111. In order to change the position of the traveling wheels 113, the spraying will not be affected. The location coordinates of the device 11.

S32. Identify the height information of the young crops in the field ridge 202, and adjust the height of the outriggers 112 of the spraying equipment 11, so that the height of the outriggers 112 is greater than the height of the young crops.

When the young crops are high, the height of the legs 112 should be adjusted accordingly to avoid the main body 111 of the spraying equipment 11 from bending the green crops; 135 and the distance between the young crops.

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

S34, the spraying equipment 11 advances according to the planned traveling route. During the spraying process, some areas can overlap to ensure that all positions are sprayed with pesticides and avoid missing some areas.

second embodiment

Please refer to FIG. 8, the second embodiment of the present invention provides an intelligent pesticide spraying system 10, which can realize the spraying method in the first embodiment.

Wherein, the intelligent pesticide spraying system 10 includes a spraying device 11 and a control system. The function of the spraying equipment 11 is to walk along the planned travel route, spray pesticides, etc., and the control system is mainly used to receive various information and control various actions of the spraying equipment 11 .

In this 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 arranged on the traveling mechanism 110, and the traveling mechanism 110 is used to drive the spraying mechanism 130 to walk on the ground, The spraying mechanism 130 is used to hold the pesticide and spray the pesticide evenly.

The spraying equipment 11 can adopt the scheme in the prior art. In the prior art, there are similar products. Of course, in the existing products, manual control is adopted instead of remote control. For example, the spraying mechanism 130 is installed on the tractor etc., must be driven by the user to spray pesticides. The spraying device 11 in this application is remotely controlled or automatically controlled by the control system, which is similar to the working mode of the sweeping robot. It only needs the user to pay attention to the state of the spraying device 11 in a distant place, saving time and effort.

In the actual use process, there will be a certain deviation between the input field ridge 202 position and the actual position. The reason is that when using a seeder to sow, the distance between each field ridge 202 is equal when sowing in one direction, but when the seeder returns, There is a deviation in the spacing between the stubbles at the two sowing positions, and when inputting the field ridge 202 information, the default distance between any two field ridges 202 is equal. Therefore, in the planned travel route, the walking component may press the wheat seedlings, so , the distance between the left and right road wheels 113 must be adjusted according to the situation, so that all the road wheels 113 on the left and right sides are all walking on the open space.

In existing equipment, such as tractors, etc., the road wheel 113 can only turn, and the width between the two remains unchanged, it will appear that the left wheel presses the young crops and the right wheel does not press the young crops. After adjustment, the right side The situation where the green crops are pressed by the wheel and the green crops are not pressed by the left wheel.

In addition, there is also a technical solution that can change the width between the left and right road wheels 113 in the prior art. This solution is usually to arrange a cylinder between the brackets of the two road wheels 113, etc., by extending or retracting the cylinder, forcibly The distance between the two running wheels 113 changes. As everyone knows, because the road wheel 113 is in contact with the ground all the time, this way will make the road wheel 113 slide and rub against the ground, can wear the road wheel 113, and change the coordinates of the main body 111 (for example, one road wheel 113 has greater friction with the ground, and the other Road wheel 113 and ground friction force are less, and when changing, a road wheel 113 does not move, and another road wheel 113 moves). In addition, pushing the road wheels 113 forcibly pushes the soil, forming mounds and pits.

In this embodiment, the following improvement scheme is provided: Please refer to Fig. 9-Fig. , the outrigger 112 is installed on the main body 111 through the adjustment component 115 .

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

The shape of supporting leg 112 is not limited, for example, supporting leg 112 is column structure, and supporting leg 112 is arranged vertically, and the bottom end of each supporting leg 112 is all rotated and is provided with traveling wheel 113, and each traveling wheel 113 is driven by drive motor For rotation, the center line of rotation of the traveling wheel 113 is arranged along the horizontal direction, and when the traveling wheel 113 rotates, it can drive the main body 111 to walk.

The adjusting assembly 115 includes a sliding piece 116 and a limiting piece 117 .

The style of the sliding part 116 is not limited, for example, the sliding part 116 is a slider, the main body 111 is provided with a first chute 124, the first chute 124 extends along the left and right direction of the main body 111, and the direction is 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, it can slide to both sides of the main body 111 or approach the middle of the main body 111 .

The top end of the leg 112 is provided with a cylindrical connecting portion 123, the connecting portion 123 is rotatably arranged on the slider 116, the rotation mode can be driven by a motor or other means, the connecting portion 123 can rotate along its own center line, the rotation of the connecting portion 123 The angle is generally controlled at -60° to 60°. The centerline of the connecting portion 123 is set vertically. When the connecting part 123 rotates, it can drive the outrigger 112 to rotate, thereby deflecting the forward direction of the traveling wheel 113 .

The traveling wheels 113 deflected in the advancing direction are defined as first traveling wheels 113 , and the remaining traveling wheels 113 are defined as second traveling wheels 113 . With the first traveling wheel 113 moving forward and outward, at this moment, the first traveling wheel 113 drives the legs 112 to move to the outside of the main body 111 together, the connecting part 123 rotates around its own axis, and the connecting part 123 can drive the sliding part 116 along the first A chute 124 slides, so that the width of the traveling wheel 113 changes smoothly, and in this process, only the position of the corresponding leg 112 changes, and the positions of other structures such as the main body 111 do not change, and the coordinates of the main body 111 do not change. , the spraying is more precise.

In addition, when adjusting the position of a road wheel 113, it is necessary to ensure that when the road wheel 113 moves forward, the corresponding sliding member 116 cannot move relative to the main body 111. Therefore, this embodiment provides the following solution: the limiting member 117 includes Two-way ratchet bar 118 , two pawls 119 , two compression springs 120 and two trigger levers 114 .

The two-way ratchet bar 118 is provided with several ratchets 125 on the bar structure. The ratchets 125 correspond to the two pawls 119. When the slider 116 moves to one of the directions, it can be resisted by one of the pawls 119. And another pawl 119 has no effect, and vice versa.

The two-way ratchet bar 118 extends along the width direction of the main body 111, and the two-way ratchet 125 is fixed to the main body 111, and the two can be integrally formed or fixed by welding.

The ratchet 119 is movably arranged on the slider 116, and the ratchet 119 is pressed on the bidirectional ratchet 125 by the compression spring 120. The compression spring 120 can be a compression spring. Specifically, the slider 116 is provided with a second The chute 121, the ratchet 119 is slidably disposed in the second chute 121 and can approach or move away from the bidirectional ratchet rack 118, and the compression spring 120 is disposed in the second chute 121 and respectively resists the sliding member 116 and the ratchet 119 catch. When the ratchet 119 is not subjected to external force, the ratchet 119 is inserted between the two ratchets 125 of the two-way ratchet bar 118. 119 disengages from the two-way ratchet bar 118, and the two no longer function.

Two ratchets 119 are located on both sides of the leg 112 , and the two ratchets 119 are unidirectionally locked with the bidirectional ratchet rack 118 , and the locking directions of the two ratchets 119 are opposite. When two ratchets 119 are pressed against the bidirectional ratchet bar 118, the slider 116 cannot slide relative to the main body 111; when one of the pawls 119 is pushed away from the bidirectional ratchet bar 118, the slider 116 can only slide along the When the other pawl 119 is pushed away from the bidirectional ratchet bar 118, the slider 116 can only slide in the opposite direction. Under normal circumstances, when the traveling wheel 113 is in the forward direction, the two pawls 119 cooperate with the two-way ratchet bar 118 at the same time, and the slider 116 cannot slide. 118. The sliding direction of the sliding member 116 is consistent with the direction of deflection of the traveling wheel 113, for example, when the traveling wheel 113 is deflecting to the left, the sliding member 116 can slide to the left, and when the traveling wheel 113 is deflecting to the right, the sliding member 116 can slide to the right .

Two trigger rods 114 are located on both sides of the legs 112 , the trigger rods 114 extend along the radial direction of the legs 112 , and the ends of the trigger rods 114 match with the pawls 119 . Since the diameter of the connecting portion 123 cannot be too large, if the connecting portion 123 is matched with the ratchet 119, when the deflection angle of the traveling wheel 113 is small, it is difficult to push the ratchet 119 away from the bidirectional ratchet bar 118, and the direction of the trigger lever 114 increases. When the diameter of the connecting portion 123 is increased, when the connecting portion 123 rotates at a smaller angle, the apparent moving distance of the trigger lever 114 is also larger, and the ratchet 119 can be completely pushed away from the bidirectional ratchet bar 118 .

One side of the ratchet 119 is provided with a pusher 122 that matches the trigger lever 114. When the trigger lever 114 rotates with the connecting portion 123, the trigger lever 114 can abut against the pusher 122 to push the ratchet 119 away from the bidirectional ratchet. Bar 118, at this time, the compression spring 120 is compressed.

When the traveling wheel 113 is moving forward, the trigger lever 114 is disengaged from the pawl 119, and the two pawls 119 are respectively compressed on the two-way ratchet bar 118 by the compression spring 120, the slider 116 is locked, and the slider 116 cannot move along the The first chute 124 slides, and the position of the road wheel 113 is fixed.

When the supporting leg 112 drives the walking wheel 113 to walk, one of the trigger levers 114 pushes the corresponding pawl 119 to break away from the two-way ratchet bar 118, and the other trigger lever 114 is away from the corresponding ratchet 119 and does not work, and the slider 116 It can slide along the corresponding direction, so that the traveling wheels 113 can also move left or right while moving forward, so that the corresponding traveling wheels 113 positions can be changed under the condition that the main body 111 is kept still.

In addition, when the deflection angle of the traveling wheel 113 is small, the trigger lever 114 can push the ratchet 119 away from the bidirectional ratchet bar 118, and when the trigger lever 114 continues to rotate with the connecting portion 123, the significance of the continued movement of the ratchet 119 is not great, and The range of motion of the ratchet 119 cannot be too large, if the range is larger, the requirements for the compression spring 120 and the second chute 121 are higher. Therefore, in this embodiment, the following scheme is provided to make the ratchet After 119 is pushed away by a certain distance, the connecting part 123 continues to rotate, and the ratchet 119 cannot continue to move. The trigger lever 114 is hinged with the supporting leg 112, and a buffer spring is arranged between the connecting portion 123 of the trigger lever 114 and the supporting leg 112. The buffer spring can be a compression spring, a compression spring, a torsion spring, etc. In this embodiment, the buffer spring The spring is a torsion spring and is arranged between the trigger lever 114 and the hinge of the leg 112 . The buffer spring makes the trigger lever 114 have a tendency to return to the radial direction along the leg 112, that is, when the trigger lever 114 is not subjected to external force or the external force is less than a preset threshold, the trigger lever 114 extends radially along the connecting portion 123, and when the trigger When the lever 114 is subjected to an external force in a specified direction exceeding a preset threshold, the trigger lever 114 can rotate relative to the connecting portion 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, so that when the trigger lever 114 pushes the ratchet 119 to slide in the second chute 121 and the compression spring 120 is compressed, the trigger lever 114 cannot rotate; When the pawl 119 reaches the designated position and the pawl 119 cannot continue to slide along the second sliding groove 121 , the trigger lever 114 can rotate relative to the connecting portion 123 .

The above structure makes the traveling mechanism 110 have a trigger state and a transition state. When the traveling mechanism 110 is in the triggered state, the traveling wheel 113 is deflected, the pawl 119 slides in the second chute 121, and the trigger lever 114 extends radially along the leg 112, at this moment, the deflection angle of the traveling wheel 113 changes , the pawl 119 can slide in the second slot 121 accordingly. When the traveling mechanism 110 was in the transition state, the sliding member 116 slid to the preset position. At this time, the ratchet 119 broke away from the bidirectional ratchet bar 118, and the sliding member 116 could not continue to slide along the second chute 121. At this time, the walking When the deflection angle of the wheel 113 continues to increase, the trigger lever 114 and the leg 112 can rotate relative to each other. When the traveling mechanism 110 is in a transition state, when the traveling wheel 113 turns from the deflection to the forward direction, along with the rotation of the connecting part 123, the trigger lever 114 first returns to

In other embodiments, other schemes can also be adopted: the length of the main body 111 is adjustable, that is, the distance between the front and rear traveling wheels 113 increases or decreases, and the legs 112 can be lifted so that the main body 111 can match young crops of different heights .

Wherein, the spray mechanism 130 includes a cartridge 131, a booster assembly 132, a folding arm 133 and a nozzle 134,

Cartridge 131 is arranged on the main body 111 and is used for containing pesticide, pressurization assembly 132 is used for pressurizing the inside of cartridge 131, folding arm 133 is arranged at the rear of walking mechanism 110 foldably, nozzle pipe 134 is arranged along the folding arm 133 Extending and communicating with the cartridge 131 , a number of nozzles 135 are distributed on the spray pipe 134 at intervals.

The control system includes a control terminal and several signal generators. The structure of the control system can refer to the prior art. Compared with the prior art, the program and structure are similar and the control principles are consistent.

The structure of the signal generator can adopt the existing technology, such as GPS signal generator, infrared signal generator and so on.

A plurality of signal generators are set independently to locate the coordinate information of the working area information; the control terminal is configured to receive the position coordinate information and generate the environmental information of the pre-spraying field 20, and plan the travel route.

The control terminal is also configured to control various actions of the spraying equipment 11, and the 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 a handheld mobile terminal 142, and the module structure and computer program can refer to the prior art.

The walking control module is used to control the actions of the outriggers 112 and the walking wheels 113 , including but not limited to the following actions: the steering of the outriggers 112 , that is, the deflection of the walking wheels 113 , and the walking of the walking wheels 113 . To put it simply, different motors control the rotation of the legs 112 and the travel of the travel wheels 113 respectively, and the travel control module is used to control the start and stop, speed, etc. of the corresponding motors.

The pressurization module is used to control the pressurization into the cartridge 131 so that the air pressure in the cartridge 131 reaches a preset pressure threshold. To put it simply, a booster component 132 such as an air pump is used to inject gas into the cartridge 131 to increase the air pressure in the cartridge 131 , and the booster module is used to control the start and stop of the gas pump.

The spraying 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 simple terms, a cylinder is used to control the unfolding or folding of the folding arm 133, and a solenoid valve or a motor is used to control the opening and closing of the nozzle 135. The spraying module is used to control the corresponding cylinder, solenoid valve, motor, etc. When the air pressure in the cartridge 131 is high, the pesticide can be atomized and sprayed through the nozzle 135 .

The signal receiving module is used to receive the position coordinate information of the signal generator, that is, the coordinate information of the signal generator can be sent to the signal receiving module, and the signal receiving module embodies the position information of the signal generator in the form of coordinates.

The control module is used to receive and process the information of each module, and transmit control instructions to each module, so that each module can complete the corresponding function. Specifically, the control module can at least complete the following actions: receive the state information of the outrigger 112 and the walking wheel 113, and correspondingly send the action of controlling the outrigger 112 and the walking wheel 113 to the walking module; receive the air pressure information in the cartridge 131, And correspondingly send to the pressurization module to pressurize the cartridge 131; receive the unfolding information of the folding arm 133, and correspondingly send an instruction to make the folding arm 133 unfold or fold to the spraying module; receive the switch information of the spray head, and correspondingly Send an instruction to open or close the spray head to the spraying module; receive the position coordinate information of the signal generator through the signal receiving module, and display it on the display device of the handheld mobile terminal 142 .

The handheld mobile terminal 142 can 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. Wherein, the handheld mobile terminal 142 can send control instructions to the control module, display various information, etc. through the APP software.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. An intelligent pesticide spraying method, characterized in that, comprising: S1, generate the environmental information of the pre-spraying field, the environmental information includes the working area information and the field ridge information in it; S2. The control system plans the travel route according to the single spraying path width and environmental information of the spraying equipment; wherein, the spraying device is an unmanned ground remote control device, and the travel route is set along the extension direction of the field ridge, and, within the planned travel route Among them, the walking wheels of the spraying equipment are located in the open space between two adjacent field ridges; S3, the spraying equipment travels on the ground according to the planned travel route, and the spraying equipment sprays the pesticide evenly in the horizontal direction. During this process, the position of the spraying equipment, the unsprayed range, and the sprayed range are displayed on the handheld mobile terminal. 2. The method according to claim 1, wherein step S1 comprises: S11, manually place a first signal generator on each corner of the outline of the pre-spraying field, the first signal generator is used to locate the first position coordinates of the corresponding corners, and send the first position coordinates to the control system of the mobile terminal ; S12, if there are obstacles in the pre-spraying field, place a second signal generator at each obstacle or place a second signal generator at each corner of the obstacle, and the second signal generator is used to locate the corresponding The second position coordinates of the obstacle, and send the second position coordinates to the control system of the mobile terminal; if there is no obstacle in the pre-spraying field, then omit this step; S13, display the working coordinate system on the display screen of the mobile terminal, and display the position coordinate information of each corner or each obstacle; wherein, the position of the display is the coordinate origin, the first coordinate position is displayed as the first coordinate point, and the second coordinate position Displayed as the second coordinate point; S14, manually connecting the first coordinate points to form the first closed-loop area, manually delineating the second closed-loop area with the second coordinate point as the center point or manually connecting the second coordinate points to form the second closed-loop area; removing the first closed-loop area The area formed after the second closed-loop area is the working area; S15. Manually select or input the field ridge information in the working area; wherein, the field ridge information includes the field ridge direction and the number of field ridges, and at least one field ridge direction and flip angle input boxes are preset in the system; S16. The control system generates complete environmental information and displays the environmental information on the display screen. 3. The method according to claim 2, characterized in that, before step S14, comprising: S140, select the display mode of the environmental information, the display mode includes static mode and follow-up mode, if the static mode is selected, execute S141; if the follow-up mode is selected, execute S142; S141, the environmental information is displayed in a plane effect, and the orthographic projection information of the environmental information on the horizontal plane is displayed, and the actual size of the pre-sprayed field is proportionally reduced; S142, using the origin of the coordinates as the viewing point, the environmental information is displayed with a perspective effect, and as the mobile terminal moves, the working coordinate system changes accordingly, and when the mobile terminal rotates horizontally around the origin of the coordinates, the orientation of the environmental information remains unchanged. 4. The method according to claim 1, wherein step S3 comprises: S30, the spraying equipment unfolds the spraying assembly, and the extension direction of the spraying assembly is perpendicular to the traveling direction of the spraying equipment; S31, the spraying equipment enters the starting position in the planned path; S32, identifying the height information of the young crops in the field ridge, and adjusting the height of the outriggers of the spraying equipment, so that the height of the outriggers is greater than the height of the young crops; S33, opening the nozzle of the spraying assembly, so that the nozzle sprays the pesticide downward; S34, the spraying equipment advances according to the planned traveling route. 5. An intelligent pesticide spraying system, comprising a spraying device and a control system; The spraying equipment includes a walking mechanism and a spraying mechanism, the spraying mechanism is arranged on the walking mechanism, the walking mechanism is used to drive the spraying mechanism to walk on the ground, the spraying mechanism is used to hold the pesticide and Pesticide spraying evenly; The control system includes a control terminal and several signal generators; several signal generators are set independently to locate the coordinate information of the work area information; the control terminal is configured to receive the position coordinate information and generate the environment of the pre-spraying field information, and planning travel routes; the control terminal is also configured to control various actions of the spraying equipment. 6. The system according to claim 5, wherein the spraying mechanism comprises a cartridge, a booster assembly, a folding arm and a spray pipe, and the cartridge is arranged on the traveling mechanism and is used to contain pesticides , the pressurization assembly is used to pressurize the cartridge, the folding arm is foldably arranged behind the traveling mechanism, the nozzle pipe extends along the folding arm and communicates with the cartridge , several nozzles are distributed at intervals on the nozzle. 7. The system according to claim 5, wherein the walking mechanism comprises a main body, four adjustment assemblies and four legs, and the adjustment assembly includes a sliding piece and a limit piece; The slider is slidably arranged on the main body along the left and right directions, the top of the leg is rotatably arranged on the slider and can rotate around its own axis, and the bottom end of each leg is provided with a motor driven walking wheels; The limiter includes a two-way ratchet bar, two pawls, two compression springs and two trigger rods; the two-way ratchet bar is fixed along the width direction of the main body, and the pawls are movable On the slider and pressed against the bidirectional ratchet by the compression spring, the two pawls are located on both sides of the leg, and the two pawls are connected to the bidirectional ratchet The two pawls are locked in one direction and the locking directions of the two pawls are opposite; the two trigger levers are located on both sides of the legs and extend along the radial direction of the legs, and the ends of the trigger levers are connected to the pawl match; When the travel wheel is moving forward, the trigger lever is disengaged from the pawls, and the two pawls are respectively compressed on the bidirectional ratchet bar by the compression spring, and the sliding member is pressed Locking; when the outrigger drives the walking wheel to walk, one of the trigger levers pushes the corresponding pawl to disengage from the two-way ratchet rack, and the slider can move along the left and right direction of the main body Sliding, so that the corresponding road wheel position can be changed under the condition of ensuring that the main body does not move. 8. The system according to claim 7, wherein a chute is provided on the sliding member, the pawl is slidably disposed in the chute and can approach or move away from the bidirectional ratchet rack, so The two-way ratchet bar is provided with several ratchets, one side of the ratchet is provided with a pushing part matching the trigger lever, the compression spring is arranged in the chute and is respectively connected with the sliding The part abuts against the pawl; The trigger lever is hinged to the leg, and a buffer spring is arranged between the trigger lever and the leg, and the buffer spring makes the trigger lever return to the direction along the radial direction of the leg ; The traveling mechanism has a trigger state in which the pawl slides in the chute, and the trigger lever extends radially along the leg; and the slider slides to a preset position, the pawl Disengage from the two-way ratchet bar, and the transition state of relative rotation between the trigger lever and the leg. 9. The system of claim 7, wherein the body is adjustable in length and the legs are liftable. 10. The system according to claim 7, wherein the control terminal comprises: a walking control module, configured to control the movements of the outriggers and the walking wheels; A signal receiving module, configured to receive position coordinate information of the signal generator; The control module is used to receive and process the information of each module, and transmit control instructions to each module, so that each module can complete the corresponding function; The handheld mobile terminal includes a display device for displaying information of each module and remotely controlling the control module.

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