CN204560721U - High-precision full-automatic vehicle-mounted sprayer - Google Patents
High-precision full-automatic vehicle-mounted sprayer Download PDFInfo
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- CN204560721U CN204560721U CN201420657529.6U CN201420657529U CN204560721U CN 204560721 U CN204560721 U CN 204560721U CN 201420657529 U CN201420657529 U CN 201420657529U CN 204560721 U CN204560721 U CN 204560721U
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Abstract
A kind of high-precision full-automatic vehicle-mounted sprayer, belongs to agricultural mechanical field.The purpose of this utility model is to provide one no matter how wind speed and direction changes can both be the uniform high-precision full-automatic vehicle-mounted sprayer of pesticide spraying.Supported by expansion link between mounting plate of the present utility model and bottom plate, bottom plate is placed on moving trolley, and the support of moving trolley is connected with wheel by connection bracket axle, and the axletree of front and back wheel is connected by belt; The axle of wheel is provided with movable motor.Without the need to the operation of people in the utility model sprinkling process, use electric energy as drive energy, at Ground Operation, volume is little, action flexibly, and can based on factors such as wind speed and direction, sprinkling target sizes height, carrying out the control of shower nozzle closure or openness, spray angle and range controls, and realizes evenly accurately sprinkling.
Description
Technical field
The utility model belongs to agricultural mechanical field.
Background technology
Now, proportion of crop planting process widely uses pesticide spraying.China is an orchard planting big country.In order to ensure growing up healthy and sound of fruit tree and fruit, every annual meeting carries out repeatedly pesticide spraying to orchard.The vehicle-mounted sprayer that existing market is sold has Ground Operation formula and work high above the ground formula two kinds.Ground Operation formula vehicle-mounted sprayer mainly contains backpack, Fixed Point Operation formula, cart type, these are several for power traction, and its shortcoming is that efficiency is low, and needs people to operate, and agricultural chemicals can damage human body, can cause personnel death time serious.Work high above the ground formula vehicle-mounted sprayer mainly contains helicopter, and its shortcoming to spray surface, low latitude and be blocked part spray less than, so be not suitable for orchard pesticide spraying.Above spraying machine all reckons without the impact of wind speed and direction for pesticide spraying.
Summary of the invention
The purpose of this utility model is to provide one no matter how wind speed and direction changes can both be the uniform high-precision full-automatic vehicle-mounted sprayer of pesticide spraying.
Supported by expansion link between mounting plate of the present utility model and bottom plate, bottom plate is placed on moving trolley, and the support of moving trolley is connected with wheel by connection bracket axle, and the axletree of front and back wheel is connected by belt; The axle of wheel is provided with movable motor; In the front end of mounting plate, OV7670 camera is installed, and HC-Sro4 sonac, master controller LPC2114 chip, GY521-MPU-6050 angular transducer and wind speed wind direction sensor are installed on mounting plate; Bottom plate is provided with pesticide barrel, high-pressure hydraulic pump, accumulator, movable motor driver and submaster controller STC89C52 chip;
Its circuit part connects:
Master controller LPC2114 chip is connected with OV7670 camera, and master controller LPC2114 chip and submaster controller STC89C52 chip are connected by pin S1 and S2; Submaster controller STC89C52 chip is connected by p1.2, p1.3, p1.4 and L298N pump motor driving governor, and L298N pump motor driving governor controls the rotation of water pump; Submaster controller STC89C52 chip is connected with steering wheel by p1.0, p1.1, and shower nozzle is placed on steering wheel, and submaster controller STC89C52 chip controls the angle of shower nozzle by the anglec of rotation controlling steering wheel; Submaster controller STC89C52 chip is connected by p1.5, p1.6, p3.3 and GY521-MPU-6050 angular transducer; Submaster controller STC89C52 chip is connected by p0.0, p0.1, p0.2, p0.3 and L298N wheel electrical machine driving governor, and L298N wheel electrical machine driving governor controls the rotation of wheel electrical machine; The p0.4 of submaster controller STC89C52 chip is connected with CS3144 hall ic by LM393 chip; P0.6, p0.6 and the CHA3806 booster-type photoelectric encoder of submaster controller STC89C52 chip is connected; P2.0, the p2.1 of submaster controller STC89C52 chip, p2.2, p2.3, p2.4, p2.5, p2.6, p2.7, p2.8 and HC-Sro4 sonac are connected; Battery tension is 12V, and by reduction voltage circuit, last output voltage is+5V.
Without the need to the operation of people in the utility model sprinkling process, use electric energy as drive energy, at Ground Operation, volume is little, action flexibly, and can based on factors such as wind speed and direction, sprinkling target sizes height, carrying out the control of shower nozzle closure or openness, spray angle and range controls, and realizes evenly accurately sprinkling.Its advantage is:
(1) adopt double-deck sweep, according to the height spraying target, two-layer sweep spacing can be regulated, make shower nozzle be in optimum height, realize optimization and spray;
(2) the wind speed and direction factor in actual job process can be considered, according to judged result, regulate spray angle, spray range;
(3) can control walking posture, according to fuselage status adjustment nozzle angle during walking, realize optimization and spray.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the structural representation of the utility model dolly;
Fig. 3 is the A-A direction view of the utility model Fig. 1;
Fig. 4 is the vertical view of the utility model Fig. 1;
Fig. 5 is that the utility model circuit connects block diagram;
Fig. 6 is the utility model submaster controller partial circuit connected mode figure;
Fig. 7 master controller partial circuit connected mode figure;
Fig. 8 power module circuitry figure.
Embodiment
Supported by expansion link 5 between mounting plate 4 of the present utility model and bottom plate 6, bottom plate 6 is placed on moving trolley, the support of moving trolley is connected with wheel 8 by connection bracket 11 axle, the axletree of front and back wheel 8 is connected by belt 10; The axle of wheel 8 is provided with movable motor 9; In the front end of mounting plate 4, OV7670 camera 3 is installed, and HC-Sro4 sonac 2, master controller LPC2114 chip 16, GY521-MPU-6050 angular transducer 17 and wind speed wind direction sensor 18 are installed on mounting plate 4; Bottom plate 6 is provided with pesticide barrel 7, high-pressure hydraulic pump 12, accumulator 13, movable motor driver 14 and submaster controller STC89C52 chip 15;
Its circuit part connects:
Master controller LPC2114 chip is connected with OV7670 camera, and master controller LPC2114 chip and submaster controller STC89C52 chip are connected by pin S1 and S2; Submaster controller STC89C52 chip is connected by p1.2, p1.3, p1.4 and L298N pump motor driving governor, and L298N pump motor driving governor controls the rotation of water pump; Submaster controller STC89C52 chip is connected with steering wheel by p1.0, p1.1, and shower nozzle is placed on steering wheel, and submaster controller STC89C52 chip controls the angle of shower nozzle by the anglec of rotation controlling steering wheel; Submaster controller STC89C52 chip is connected by p1.5, p1.6, p3.3 and GY521-MPU-6050 angular transducer; Submaster controller STC89C52 chip is connected by p0.0, p0.1, p0.2, p0.3 and L298N wheel electrical machine driving governor, and L298N wheel electrical machine driving governor controls the rotation of wheel electrical machine; The p0.4 of submaster controller STC89C52 chip is connected with CS3144 hall ic by LM393 chip; P0.6, p0.6 and the CHA3806 booster-type photoelectric encoder of submaster controller STC89C52 chip is connected; P2.0, the p2.1 of submaster controller STC89C52 chip, p2.2, p2.3, p2.4, p2.5, p2.6, p2.7, p2.8 and HC-Sro4 sonac are connected; Accumulator 13 voltage is 12V, and by reduction voltage circuit, last output voltage is+5V.
Below the utility model is described in detail:
Shown in Fig. 1 ~ 4, the present invention includes dolly chassis, two-layer sweep, system master controller module, system submaster controller module, power module.
Wherein, dolly chassis forms primarily of four wheels 12, two motors 13, conveyer belts 20.
System master controller module forms primarily of master controller LPC2114 chip 19 and OV7670 camera 1, and they are positioned on second layer sweep 11, and primary responsibility gathers image information and controls the operation of whole system.
System submaster controller module is primarily of submaster controller STC89C52 chip, motor drive module (L298N wheel electrical machine driving governor and L298N pump motor driving governor), pesticide spraying module (1 pesticide barrel, 3 high-pressure hydraulic pumps, 2 shower nozzles), ultrasound measurement module (4 HC-Sro4 sonacs), (CS3144 hall ic surveys wind speed to wind speed and direction information acquisition module, booster-type photoelectric encoder determines the wind direction), walking posture control module (GY521-MPU-6050 angular transducer) forms.
Power module is primarily of accumulator and reduction voltage circuit composition.
Wherein, submaster controller STC89C52 chip, motor drive module (L298N wheel electrical machine driving governor (2) and L298N pump motor driving governor (1)), pesticide barrel, 3 high-pressure hydraulic pumps, accumulatoies are positioned on ground floor sweep.
Master controller LPC2114 chip, OV7670 camera, 4 HC-Sro4 sonacs, wind speed and direction information acquisition module (CS3144 hall ic survey wind speed, CHA3806 booster-type photoelectric encoder determine the wind direction), GY521-MPU-6050 angular transducer, 2 shower nozzles are positioned on second layer sweep.
Sweep has screwed hole, and sweep is connected by height-adjustable liftable bar with sweep.
Described system provides power source by accumulator.
The circuit of system connects as shown in Figure 6 and Figure 7.
Wherein, as shown in Figure 7, master controller LPC2114 chip U19 is connected with OV7670 camera U20, and master controller LPC2114 chip U19 is connected by S1 and S2 with submaster controller STC89C52 chip U8.As shown in Figure 6, submaster controller STC89C52 chip U8 is connected by p1.2, p1.3, p1.4 and L298N pump motor driving governor U4, and U4 controls the rotation of water pump U1, U2, U3; Submaster controller STC89C52 chip U8 is connected with steering wheel U6, U7 by p1.0, p1.1, and shower nozzle is placed on steering wheel, and submaster controller STC89C52 chip controls the angle of shower nozzle by the anglec of rotation controlling steering wheel; Submaster controller STC89C52 chip U8 is connected by p1.5, p1.6, p3.3 and GY521-MPU-6050 angular transducer U5; Submaster controller STC89C52 chip U8 is connected by p0.0, p0.1, p0.2, p0.3 and L298N wheel electrical machine driving governor U9, and U9 controls the rotation of wheel electrical machine U10, U11; The p0.4 of submaster controller STC89C52 chip U8 is connected with CS3144 hall ic U18 by LM393 chip U12; P0.6, p0.6 and the CHA3806 booster-type photoelectric encoder U13 of submaster controller STC89C52 chip U8 is connected; P2.0, the p2.1 of submaster controller STC89C52 chip U8, p2.2, p2.3, p2.4, p2.5, p2.6, p2.7, p2.8 and HC-Sro4 sonac U14, U15, U16, U17 are connected.Battery tension is 12V, and by reduction voltage circuit, last output voltage is+5V, as shown in Figure 8.
the course of work of the present invention is:
Submaster controller STC89C52 chip U8 controls the rotation of wheel electrical machine U10, U11 by L298N wheel electrical machine driving governor U9, comprise and rotating and reverse, the rotation of dolly chassis four wheels can be realized by conveyer belt, finally realize moving ahead, retreat and turning of vehicle-mounted sprayer.
Submaster controller STC89C52 chip U8 is connected by L298N pump motor driving governor U4, and U4 controls the rotation of water pump U1, U2, U3, wherein, water pump U1 is responsible for water filling in pesticide barrel, water pump U2, U3 are connected with shower nozzle, by the rotating speed of program controlled motor, control with the size realizing spray pressure, the final range controlling to spray.
Submaster controller STC89C52 chip U8 is connected with steering wheel U6, U7, and shower nozzle is placed on steering wheel, and submaster controller STC89C52 chip controls the angle of shower nozzle by the anglec of rotation controlling steering wheel.
Submaster controller STC89C52 chip U8 is connected with GY521-MPU-6050 angular transducer U5, realizes the measurement at fuselage angle of inclination in carriage walking process.
Submaster controller STC89C52 chip U8 is connected with CS3144 hall ic U18 by LM393 chip U12, and submaster controller STC89C52 chip U8 is connected with CHA3806 booster-type photoelectric encoder U13, realizes the measurement of wind speed and direction information in actual environment.
Submaster controller STC89C52 chip U8 is connected with HC-Sro4 sonac U14, U15, U16, U17, measures vehicle-mounted sprayer and sprays target range, and measuring the height spraying target.
Master controller LPC2114 chip U19 processes the information that OV7670 camera U20 collects, and judges whether to exist to spray target.
Master controller LPC2114 chip U19 is connected by S1 and S2 with submaster controller STC89C52 chip U8, the while that master controller LPC2114 sending order to submaster controller STC89C52, submaster controller STC89C52 is to master controller LPC2114 feedback information, realizes the co-ordination of vehicle-mounted sprayer.
operation principle of the present invention is:the rotating speed of submaster controller STC89C52 chip controls wheel electrical machine and turning to, the moving ahead, retreat and turn of real first spraying machine.OV7670 camera collection image information, master controller LPC2114 processes the image information collected, if do not collect new sprinkling target, then continue to gather image, if collect new sprinkling target, then the information collected is processed, and send sprinkling order to submaster controller.Secondly, HC-Sro4 sonac starts to measure sprinkling target and the direct distance of vehicle-mounted sprayer, if not in spraying range, spraying machine is walked forward or turned, till sprinkling target is in spraying range; Again, wind speed wind direction sensor measures the wind speed and direction of current environment, and the measurement of HC-Sro4 ultrasonic sensor is sprayed the height of target, and the angle of inclination of vehicle-mounted sprayer fuselage measured by GY521-MPU-6050 angular transducer; Then, submaster controller STC89C52 chip controls the closure or openness of shower nozzle according to all the sensors feedback result, and spray angle and sprinkling range, accurately control each shower nozzle.
The utility model, before operation, can regulate the height between sweep and sweep, allow shower nozzle be in optimal height, reach best spray effect according to the height spraying target.
Claims (1)
1. a high-precision full-automatic vehicle-mounted sprayer, it is characterized in that: supported by expansion link (5) between mounting plate (4) and bottom plate (6), bottom plate (6) is placed on moving trolley, the support of moving trolley is connected with wheel (8) by connection bracket (11) axle, the axletree of front and back wheel (8) is connected by belt (10); The axle of wheel (8) is provided with movable motor (9); In the front end of mounting plate (4), OV7670 camera (3) is installed, and HC-Sro4 sonac (2), master controller LPC2114 chip (16), GY521-MPU-6050 angular transducer (17) and wind speed wind direction sensor (18) are installed on mounting plate (4); Bottom plate (6) is provided with pesticide barrel (7), high-pressure hydraulic pump (12), accumulator (13), movable motor driver (14) and submaster controller STC89C52 chip (15);
Its circuit part connects:
Master controller LPC2114 chip is connected with OV7670 camera, and master controller LPC2114 chip and submaster controller STC89C52 chip are connected by pin S1 and S2; Submaster controller STC89C52 chip is connected by p1.2, p1.3, p1.4 and L298N pump motor driving governor, and L298N pump motor driving governor controls the rotation of water pump; Submaster controller STC89C52 chip is connected with steering wheel by p1.0, p1.1, and shower nozzle is placed on steering wheel, and submaster controller STC89C52 chip controls the angle of shower nozzle by the anglec of rotation controlling steering wheel; Submaster controller STC89C52 chip is connected by p1.5, p1.6, p3.3 and GY521-MPU-6050 angular transducer; Submaster controller STC89C52 chip is connected by p0.0, p0.1, p0.2, p0.3 and L298N wheel electrical machine driving governor, and L298N wheel electrical machine driving governor controls the rotation of wheel electrical machine; The p0.4 of submaster controller STC89C52 chip is connected with CS3144 hall ic by LM393 chip; P0.6, p0.6 and the CHA3806 booster-type photoelectric encoder of submaster controller STC89C52 chip is connected; P2.0, the p2.1 of submaster controller STC89C52 chip, p2.2, p2.3, p2.4, p2.5, p2.6, p2.7, p2.8 and HC-Sro4 sonac are connected; Accumulator (13) voltage is 12V, and by reduction voltage circuit, last output voltage is+5V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420657529.6U CN204560721U (en) | 2014-11-06 | 2014-11-06 | High-precision full-automatic vehicle-mounted sprayer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420657529.6U CN204560721U (en) | 2014-11-06 | 2014-11-06 | High-precision full-automatic vehicle-mounted sprayer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204560721U true CN204560721U (en) | 2015-08-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420657529.6U Expired - Fee Related CN204560721U (en) | 2014-11-06 | 2014-11-06 | High-precision full-automatic vehicle-mounted sprayer |
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| CN (1) | CN204560721U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105010292A (en) * | 2015-08-20 | 2015-11-04 | 哈尔滨市汇精源农机制造有限公司 | System capable of spraying pesticides automatically in farmland |
| CN105815302A (en) * | 2016-03-24 | 2016-08-03 | 魏会芳 | Device for spraying herbicide in initial stage of plant |
| CN107173362A (en) * | 2017-05-22 | 2017-09-19 | 无锡机电高等职业技术学校 | Automate pesticide dispersal equipment |
| CN109937993A (en) * | 2019-03-21 | 2019-06-28 | 广东农工商职业技术学院 | Full-automatic lifting formula spray robot and spray method |
| CN111482300A (en) * | 2020-04-14 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Intelligent spraying method, unmanned spraying vehicle and readable storage medium |
-
2014
- 2014-11-06 CN CN201420657529.6U patent/CN204560721U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105010292A (en) * | 2015-08-20 | 2015-11-04 | 哈尔滨市汇精源农机制造有限公司 | System capable of spraying pesticides automatically in farmland |
| CN105815302A (en) * | 2016-03-24 | 2016-08-03 | 魏会芳 | Device for spraying herbicide in initial stage of plant |
| CN105815302B (en) * | 2016-03-24 | 2018-06-19 | 梁玉燕 | One kind sprays herbicide device for plant initial stage |
| CN107173362A (en) * | 2017-05-22 | 2017-09-19 | 无锡机电高等职业技术学校 | Automate pesticide dispersal equipment |
| CN109937993A (en) * | 2019-03-21 | 2019-06-28 | 广东农工商职业技术学院 | Full-automatic lifting formula spray robot and spray method |
| CN111482300A (en) * | 2020-04-14 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Intelligent spraying method, unmanned spraying vehicle and readable storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20171106 |