CN206978543U - One kind is floated to spray operating system - Google Patents

Abstract

This application discloses a suspended spraying operation system, which includes an active power chassis and an auxiliary power chassis that can advance in coordination with each other, and a suspension that is suspended between the main power chassis and the auxiliary power chassis when the system is in normal operation and can spray the field. The spraying operation module of the operation, the main power chassis and/or the auxiliary power chassis are provided with a material liquid supply control module that can provide materials required for the spraying operation module, and a power supply module for supplying electricity. The main power chassis or auxiliary power chassis is also provided with a main control module that uses electrical connection to control the work of the main power chassis, auxiliary power chassis and each module. The active power chassis and the auxiliary power chassis set by the application are respectively formed on the corresponding field ridges, and will not cause damage to the field; the spraying operation module is suspended in the sky between the main power chassis and the auxiliary power chassis, and it has its own power. There will not be a large swing, which improves the accuracy of spraying.

Description

A suspended spraying operation system

technical field

The present application relates to the field of spraying technical equipment for field spraying operations, in particular to a suspended spraying operation system.

Background technique

The spraying technology of pesticides and chemical fertilizers in my country is relatively low, and the spraying machines are mainly manual and small electric sprayers, and tractor-mounted plant protection machines account for about 0.57%. Ground machinery has serious damage to crops and field ground; manual backpack spraying machinery has low operating efficiency and wastes manpower and material resources. When spraying pesticides by conventional methods, only 25% to 50% of the pesticides are sprayed on the crops, and most of them are lost in the form of volatilization and drift, and the utilization rate of pesticides is low. According to statistics, the utilization rate of pesticides on field crops in my country is about 30%, which is far lower than the average level of 50% in developed countries. The conventional spraying operation method not only has a low utilization rate of agricultural resources and increases production costs, but also causes water and soil pollution, destroys the balance of the ecosystem, and even poses a threat to people's health. It cannot adapt to the development of modern industry. requirements.

In order to improve the quality of spraying operations and increase the effective utilization of pesticides, some advanced spraying technologies have been applied at home and abroad, mainly including air-driven low-volume spraying, air-driven long-distance spraying, large boom spraying, and manned aerial spraying. , unmanned aerial spraying, etc. However, there are different limitations in existing technologies, such as:

(1) Boom spraying machinery, usually tractor-mounted, common models include Ntech’s GreenSeekerRT200 spraying system, AMAZONE’s UX series sprayer, John Deere’s 4030 series sprayer, and China Academy of Agricultural Mechanization’s 3WQX A series of air curtain boom sprayers, etc., with a maximum operating width of up to 36 meters and high operating efficiency; and can independently control the opening and closing of the nozzles to achieve precise spraying. However, with the increase of the working width, the working quality and working reliability of the machine will decrease, which is shown as: with the increasing of the working width, a larger power machine is required to match it, and the overall weight of the spraying machine increases , the performance of field operations decreases, energy consumption increases, and operating costs increase; during spraying operations, due to the unevenness of the farmland, the spray boom is prone to swing when the machine is walking, and it is difficult to keep the spray boom moving parallel to the ground; With the increase of the length of the spray boom, the balance of the spray boom is more difficult to control, and the two ends are easy to touch the ground, causing damage to the parts; and the spray boom will inevitably vibrate when it walks with the power machinery, which will easily cause damage to the beam of the spray boom; in addition, in the agronomic requirements When spraying crops with small row spacing, because tractors and other power machinery are difficult to enter the field, their spraying function is greatly limited, especially for paddy field crops, such as rice, with small row spacing, and when rice grows to the closure period Finally, the row ridges are not clear, and it is difficult to enter the field to realize the spraying operation with the boom spraying machine.

(2) Air-supply sprayer, usually installed on road vehicles, adds a high-speed centrifugal fan air supply system on the basis of hydraulic spray to achieve secondary atomization and remote spraying of droplets, and the atomization effect is good. And it can form the fog curtain from near to far, with long range, uniform distribution of fog droplets, strong penetrating power, low labor intensity and high work efficiency. However, this machine has limitations such as easy drift of droplets and poor spraying effect of precise control. It is usually used for large-scale spraying operations such as tall crops, fruit trees, and forests, and it is difficult to adapt to spraying crops with small row spacing for agronomic requirements. In addition, when spraying large field crops that need to increase the range, the demand for fan power increases sharply, and the spraying accuracy is not easy to control.

(3) The aerial spraying operation has the advantages of high benefit, fast speed, strong assault ability, and good control effect, and is not limited by crop growth, which can solve the problem that it is difficult for ground machinery to go to the field in the middle and late stages of crop growth. At present, the aircraft used for aerial spraying operations mainly include manned large fixed-wing agricultural aircraft, helicopters, paramotors, unmanned single-rotor helicopters, and non-coaxial multi-rotor helicopters. Manned aircraft have high operational efficiency, but there are many problems such as the need for a dedicated airport, high maintenance costs, long refilling cycles to and from the airport, and strict aviation controls. Due to the characteristics of no special airport, professional pilots, low maintenance cost, and less air traffic control, unmanned aircraft has the advantages of low flight altitude, high operating efficiency and precision, and wide adaptability to operating terrain. It is increasingly used in agricultural production. received widespread attention. However, unmanned aerial spraying operations are still expensive and dangerous for ordinary agricultural workers. In addition, the small payload and short operating life of unmanned aerial vehicles are also key issues restricting its rapid development.

In order to overcome the above-mentioned limitations, patents CN104002974A, CN104512551A, CN105794758A, CN103754368A, CN101518222A, CN104738012A etc. disclose several spraying operation modes combining ground and air. There are common problems such as difficult control of the air part and inaccurate synchronization. In particular, the spraying method using hydrogen or helium balloons to provide lift, in addition to the above problems, also has problems such as large wind resistance, safety hazards (hydrogen is explosive), and high cost (helium is inconvenient to recover and difficult to reuse).

Utility model content

In view of this, the purpose of the utility model is to overcome the deficiencies of the prior art, and provide a suspended spraying operation system that can reduce the difficulty of manipulation and improve the precision of spraying.

In order to solve the above technical problems, the utility model adopts the following scheme to realize:

A suspended spraying operation system, including an active power chassis and an auxiliary power chassis that can advance in coordination with each other, and a spraying machine that is suspended between the main power chassis and the auxiliary power chassis when the system is in normal operation and can perform spraying operations on the field For the operation module, the main power chassis and/or the auxiliary power chassis are provided with a material liquid supply control module that can provide materials required for the spraying operation module, and a power supply module for supplying electricity. The main power chassis Or the auxiliary power chassis is also provided with a main control module that controls the operation of the main power chassis, the auxiliary power chassis and each module by means of electrical connection.

In this application, the main control module controls the main power chassis and the auxiliary power chassis to move forward synchronously, the spraying operation module is suspended on the main power chassis and the auxiliary power chassis, and the material liquid supply control module is controlled to supply the material liquid to the spraying operation module. The construction operation module sprays the material liquid to the field. The main power chassis and the auxiliary power chassis run on the opposite ridge without causing damage to the field. The spraying operation module can move forward with the main power chassis and the auxiliary power chassis. It has its own power, and the width can be equal to the width of the field. It is adaptable and will not be limited by the length. Due to its own dynamic suspension, it will not shake due to excessive length and improve the spraying accuracy. When the width of the field is too large, in order to improve the efficiency of spraying, a material-liquid supply control module can be installed on both the main power chassis and the auxiliary power chassis. Through the control of the main control module, from the material-liquid supply control module The feed liquid is supplied at both ends, which effectively improves the feed liquid supply efficiency. When the field width is small, it is enough to install the feed liquid supply control module on the main power chassis or the auxiliary power chassis. Since the field width is small, the effect of unilateral feed liquid supply can also be better guaranteed. The active power chassis and/or the auxiliary power chassis are connected to the spraying operation module through feed liquid pipelines and conductive pipelines to realize liquid supply and power supply. The spraying operation module is suspended in the air between the main power chassis and the auxiliary power chassis. With the coordinated advancement of the main power chassis and the auxiliary power chassis, the main control module also controls the spraying operation module to advance simultaneously. In addition to the liquid supply and power supply functions of the material liquid pipeline and the conductive pipeline, due to the wide width of the field, the pipelines at both ends can also achieve traction for the spraying operation module, preventing large swings of the spraying operation module caused by strong winds, and improving spraying accuracy . The main control module can also adjust the height of the spraying operation module to adapt to the application of different scenarios. If only one end of the pipeline is used for liquid supply and power supply, the other end can also be wound and connected to the corresponding power chassis through the pipeline to achieve the purpose of traction.

The coordinated advancement of the active power chassis and the auxiliary power chassis adopts laser ranging technology, so as to control the active power chassis and the auxiliary power chassis to maintain a fixed distance between vehicles during the advance, so as to advance cooperatively. For example, the active power chassis and the auxiliary power chassis are respectively equipped with a laser transmitter and a laser receiver that are electrically connected to the main control module, and the information obtained through laser ranging is fed back to the main control module, thereby controlling coordinated progress. For another example, corresponding sensors capable of detecting speed are provided on the main power chassis and the auxiliary power chassis, and the main control module is electrically connected with the sensors to obtain the current speed, thereby controlling the main power chassis and the auxiliary power chassis to advance in coordination. The control module here can set different sensors to obtain the information of the current system, such as speed sensor, height sensor, etc., so as to make more optimal control of the system based on these information.

The power supply module of the present application can supply power to each module, and can also be used as a power source for the main power chassis and the auxiliary power chassis. Certainly, the power supply module only supplies power to each module, while the main power chassis and auxiliary power chassis are driven by the transmission engine and can supply power to the power supply module. The electrical connection mentioned in this application should be understood as that a specific action is completed by receiving or sending control signals (wired signals, wireless signals, etc.) between modules.

When the system of the present application is working normally, the main power chassis and the auxiliary power chassis are respectively driving on the corresponding field ridges. Due to the characteristics of the field ridges, when the main power chassis and the auxiliary power chassis are advancing, the width between the two width will change. In order to adapt to the change of the width of the field and avoid the rupture of the pipeline for supplying liquid and power supply or the shaking of the spraying operation module, in this application, the main power chassis and/or the auxiliary power chassis provided with the material liquid supply control module are also provided. There is an automatic retractable module for the feed liquid pipe, and the feed liquid supply control module is connected with the spraying operation module through the automatic retractable module for the feed liquid pipe, so that under the action of the automatic retractable module for the feed liquid pipe, the spray operation module can adapt to the Variation in field width. When the main control module learns that the current width distance has changed through laser ranging, it can control the automatic retracting and unwinding module of the material and liquid pipe to rewind or stretch, so that the spraying operation module can adapt to the change in width and avoid the change due to width. Cause damage to the spraying operation module.

Further, the feed liquid supply control module includes a feed liquid tank, a control valve connected to the liquid outlet of the feed liquid tank and electrically connected to the main control module, a main feed pipe connected to the control valve, and the main feed pipe The material pipe is provided with a material-liquid metering sensor electrically connected to the main control module; the main material delivery pipe is connected to the spraying operation module through the automatic retractable module of the material-liquid pipe. The main control module obtains the supply status of the material liquid through the material liquid metering sensor, and adjusts the supply of the material liquid through the control valve according to the working state of the spraying operation module to meet the operation requirements of different scenarios.

The material liquid pipe automatic retractable module acts as a buffer module between the material liquid supply control module and the spraying operation module to adapt to changes in field width. In this application, the material liquid pipe automatic retractable module includes a hose reel, and The main control module is electrically connected to the automatic retractable controller that can control the rotation of the coiler. The tube coiler is provided with a feed liquid pipe for the coiler. The material pipe is connected, and its other end is connected to the spraying operation module to provide material liquid. When the main control module learns that the current width has changed, it controls the rotation of the coiler by controlling the automatic retracting controller, so that the length of the material and liquid pipe of the coiler shrinks or stretches to adapt to the change in the width of the field and avoid liquid supply. Breakage of the pipeline (the power supply pipeline and the liquid pipe are integrally formed).

During the working process of the system, the automatic retractable module of the material and liquid pipe is in a dynamic working process, that is, the hose reel can be dynamically adjusted with the change of the field width, so that the elongation or shrinkage of the material and liquid pipe of the pipe reel is also in the In a dynamic process, in order to prevent the material and liquid pipes of the coiling machine from shifting during the working process and winding other components, in this application, the automatic retracting module of the material and liquid pipes also includes a bracket for fixing the coiling machine. The support is provided with a material-liquid pipe guide that allows the material-liquid pipe of the pipe coiler to pass through and guides the material-liquid pipe of the pipe coiler. Guide the material and liquid pipe of the coiler through the guide of the material and liquid pipe to ensure its telescopic function and avoid winding other parts.

When the spraying operation module is working, it is suspended in the space between the main power chassis and the auxiliary power chassis. Since it obtains the material liquid and electric power through the material liquid pipeline and the conductive pipeline, in order to facilitate wiring, the main power chassis and/or Or the secondary power chassis is provided with a baffle plate with a through hole and allows the pipeline to pass through the through hole. Through the setting of the baffle, the confusion of the material liquid pipeline and the conductive pipeline is avoided. Furthermore, when the spraying operation module is blown by strong wind, the baffle can also well restrict the spraying operation module, making the spraying operation more precise.

Further, for the spraying operation module, the spraying operation module is formed by connecting a plurality of spraying units, and the spraying unit includes a pipeline, a power assembly and a suspended The controller, the spraying unit material and liquid pipe arranged in the pipeline and the conductive wire of the spraying unit that provide power to the power assembly and the suspension controller, the spraying unit material and liquid pipe is provided with a nozzle protruding from the pipeline, and the adjacent spraying unit The material-liquid pipe of the spraying unit and the conductive wire of the spraying unit can be plugged and connected; the material-liquid pipe of the spraying unit at the end of the spraying operation module is connected with the material-liquid supply control module to obtain the material liquid. The conductive wire of the spraying unit at the end of the spraying operation module is connected to the main control module to obtain power from the power supply module and perform signal interaction; the suspension controller is used to control the power component to provide lift, send working condition information to the main control module and Receive instructions from the main control module to synchronize the suspension and movement states of the spraying unit, and make the spraying operation module, the main power chassis and the auxiliary power chassis cooperate with each other to advance.

The main control module controls the action of the power assembly (the power assembly can use common power parts, such as propeller + electrode), and drives the entire spraying operation module to be suspended in the sky between the main power module and the auxiliary power module, avoiding the impact caused by the height of the ground Unevenness makes the spraying operation module produce strong vibration. Further, the spraying operation module can be provided with a height measuring sensor electrically connected to the main control module to measure the height of the spraying operation module from the ground in real time, so as to facilitate the adjustment of the spraying operation module and coordinate the working height of each sprinkler head. The entire spraying operation module is connected by multiple independent spraying units. This modular design can adjust the number of spraying units according to the width of the field, greatly expanding the application scenarios.

Of course, the power source of the spraying operation module may not be powered by the power supply on the corresponding chassis, and the corresponding power supply and controller may be installed on the spraying unit to control the work of the power components through the electrical connection with the main control module.

In order to facilitate the storage and arrangement of the spraying operation modules, the ends of the spraying units are connected by flexible members so that adjacent spraying units can be folded and folded. Adjacent spraying units are flexibly connected to avoid the swing of the spraying unit due to vibration, making the operation of the entire spraying operation module more stable and the spraying more accurate.

Further, the flexible member includes extension connectors connected in dislocation, and the dislocation connection parts of the extension connectors connected in dislocation are connected by bolts. This connection method makes it easy for adjacent spraying units to be bent and stacked. Since the first expansion connector and the second expansion connector are misaligned to achieve bending and stacking, when stored, the spraying unit can be bent and stacked in the same direction without causing damage to the spraying unit (such as power components ).

In order to improve the storage efficiency of the spraying operation module, the main power chassis and/or the auxiliary power chassis are provided with a spraying unit recovery control module; the spraying unit recovery control module includes a controller electrically connected to the main control module And a rolling mechanism that realizes rotation under the action of the controller; there is a partition on the rolling mechanism, and the partition makes each spraying unit positioned and wound in an orderly manner; the front end of the rolling mechanism is provided to allow the power assembly of the spraying unit to return automatically Positive comb teeth, so that each spraying unit will not interfere with each other after being wound in place.

The control methods of the above-mentioned suspended spraying system include the following two types:

The first type: detachable recycling method

a. Before operation, first place the main power chassis and the auxiliary power chassis on the ridges corresponding to the two ends of the working field, adjust the two power chassis at the synchronous position, put the spraying operation module across the target field, and spray the operation The two ends of the module are respectively connected to the main power chassis and the auxiliary power chassis. The conductive wire of the spraying unit and the material-liquid pipe of the spraying unit are connected to the automatic retractable module of the material-liquid pipe. The main control module controls each spraying unit The power components of the machine are activated, and the lift force generated suspends the entire spraying operation module above the crops to adjust the working height.

b. During the operation, the main control module controls the coordinated movement of the main power chassis and the auxiliary power chassis along the field, so that the spraying operation system can cover the entire spraying area. Since each spraying unit is an independent unit module, it is connected by flexible parts. During the operation, the suspension height of each spraying unit is adjusted by controlling the power components, and the vibration generated by the driving of the power chassis and external factors is balanced in real time. The main control module controls the feed liquid supply control module to deliver the feed liquid to the nozzles of each spraying unit through the main feed pipe. During the process, if the working width in the field changes, the main control module controls the automatic retracting and unwinding module of the material liquid pipe to retract and retract the material liquid pipe of the coiler, and the spraying operation is carried out according to the actual width.

c. After the operation, first close the material liquid supply control module, stop feeding the material liquid to the spraying unit, stop the power chassis, the main control module controls the power component to slowly and steadily lower the spraying operation module to the ground, and then the spraying operation The two ends of the module are disassembled from the main power chassis and the auxiliary power chassis, folded and retracted.

The second method: winding recycling method

a. Before operation, first place the main power chassis and the auxiliary power chassis on the ridge corresponding to the same end of the work field, connect one end of the spraying operation module to the main power chassis, connect the conductive pipeline and the material liquid pipeline, and the main The control module controls the start of the spraying unit recovery control module, unfolds the wound spraying unit, starts the auxiliary power chassis to advance along the width direction, pulls the other end of the spraying operation module to unfold, and at the same time controls the spraying units that have been stretched out. The power component starts to generate lift, and the spraying unit is controlled to be suspended above the crops. After the spraying operation system covers the entire field area, the auxiliary power chassis is controlled to stop moving forward and turn to the working direction.

b. During the operation, the main control module controls the coordinated movement of the main power chassis and the auxiliary power chassis along the field, so that the spraying operation system can cover the entire spraying area. During the operation, the suspension of each spraying unit is adjusted by the controlled power component. Real-time balancing of power chassis travel and vibrations from external factors. The main control module controls the feed liquid supply control module to deliver the feed liquid to the nozzles of each spraying unit through the main feed pipe. During the process, if the operation width in the field changes, the main control module controls the automatic retractable module of the material liquid pipe to retract and retract the material liquid pipe, and the spraying operation is carried out according to the actual width.

c. After the operation, first close the material liquid supply control module, stop feeding the material liquid to the spraying unit, stop the power chassis, disconnect the connection between the spraying operation system and the main power chassis, and the main control module controls the propellers of each spraying unit Shut down sequentially from the end connected to the auxiliary power chassis, and then activate the spraying unit recovery control module to retract and wind up each spraying unit.

Compared with the prior art, the utility model has the following beneficial effects:

The main power chassis and the auxiliary power chassis set up in this application respectively drive on the corresponding dedicated lanes, and the synchronization of the entire spraying operation system is controlled through the synchronization of the two power chassis, which reduces the difficulty of manipulation and improves the control accuracy of the synchronous operation; The spraying unit of the spraying operation module has its own suspension power component, which can be freely expanded according to the needs, so that the single operation of the whole system can cover a wider range, the operation efficiency is high, and at the same time, the pressure damage loss caused by the equipment going down to the field is reduced; spraying The operation module is suspended in the sky between the main power chassis and the auxiliary power chassis. It has its own power and can move forward with the main power chassis and the auxiliary power chassis. The wind resistance is small and there will be no large swings, thus improving the accuracy of spraying. The spraying units are connected by flexible parts to avoid resonance, and can be folded and stored conveniently and quickly; the spraying operation system is equipped with an automatic retractable module for the material and liquid pipe and a recovery control module for the spraying unit, which can be used according to the actual spraying operation Automatic width adjustment makes the operation of the entire spraying system easier, faster and more reliable.

Description of drawings

Fig. 1 is the structural representation of embodiment 1 suspension type spraying operation system;

Fig. 2 is the structural representation of a single spraying unit in the spraying operation module of embodiment 1;

Fig. 3 is the schematic structural diagram of the feed liquid supply control module of embodiment 1;

Fig. 4 is a schematic structural diagram of the automatic retractable module of the material-liquid pipe in Embodiment 1;

Fig. 5 is the structural representation of the recovery control module of the spraying unit of embodiment 1;

Fig. 6 is a schematic diagram of the recovery control module of the spraying unit in Embodiment 1 after the spraying unit is recovered.

detailed description

In order to allow those skilled in the art to better understand the technical solution of the utility model, the utility model will be further elaborated below in conjunction with the accompanying drawings.

As shown in Figures 1 to 6, a suspended spraying operation system includes an active power chassis 6 and an auxiliary power chassis 1 that can advance in coordination with each other, and is suspended on the main power chassis 6 and auxiliary power chassis 1 when the system is working normally. The spraying operation module that can perform spraying operations on the field. The main power chassis 1 is provided with a material liquid supply control module 8 that can provide materials required for the spraying operation module, and a power supply module 7 for supplying electricity. The spraying unit recovery control module 2 of the spraying operation module, the main power chassis 6 is also provided with a main control module 5 that uses electrical connection to control the main power chassis 6, the auxiliary power chassis 1 and the work of each module.

The active power chassis 6 provided with the feed liquid supply control module 8 is also provided with a feed liquid pipe automatic retractable module 9, and the feed liquid supply control module 8 is connected with the spraying operation module through the feed liquid pipe automatic retractable module 9, so that in Under the action of the automatic retractable module 9 of the material-liquid pipe, the spraying operation module can adapt to the change of the field width.

The feed liquid supply control module 8 includes a feed liquid tank 81, a control valve 84 connected to the liquid outlet of the feed liquid tank 81 and electrically connected to the main control module 5, a main feed pipe 83 connected to the control valve 84, The main feeding pipe 83 is provided with a material-liquid metering sensor 83 electrically connected to the main control module 5; the main feeding pipe 82 is connected to the spraying operation module through the automatic retractable module 9 of the feeding-liquid pipe.

The material-liquid pipe automatic retracting module 9 includes a coiler 91, an automatic retracting controller 95 electrically connected to the main control module 5 and capable of controlling the rotation of the coiler 91 (belt transmission between the two), the coiler The pipe machine 91 is provided with a coiler material liquid pipe 92, one end of the pipe coiler material liquid pipe 92 is connected with the main material delivery pipe 82 of the material liquid supply control module 8, and its other end is connected to the spraying operation module to provide material. liquid. The automatic retractable module 9 of the feed-liquid pipe also includes a bracket 94 for fixing the pipe coiler 91, and the bracket 94 is provided with a counter-coiler feed-liquid pipe 92 that allows the feed-liquid pipe 92 of the tube coiler to penetrate. The material and liquid pipe guide 93 of the guiding function.

The main power chassis 6 is provided with a baffle plate with a through hole and allows pipelines to pass through the through hole. The auxiliary power chassis 1 is provided with a baffle plate 11 with a through hole and allows pipelines to pass through the through hole.

The spraying operation module is formed by connecting a plurality of spraying units 4, and the spraying unit 4 includes a pipeline 42, which is arranged on the pipeline 42 to make the power assembly of the spraying unit 4 suspended in the air (the power assembly includes Motor 43 and the propeller 44 that is arranged on the motor 43), the spraying unit material liquid pipe 47 that is arranged in the pipeline 42 and the conductive wire 46 of the spraying unit that provides power to the power assembly, the spraying unit material liquid pipe 47 is set There is a nozzle 45 protruding from the pipeline 42, and the spraying unit material-liquid pipe of the adjacent spraying unit is plugged and connected with the conductive wire of the spraying unit; the spraying unit at the end of the spraying operation module (end A in Figure 1) The material-liquid pipe of the application unit passes through the baffle through the material-liquid pipeline and connects with the material-liquid pipe 92 of the coiler of the material-liquid pipe automatic retractable module 9 to obtain the material liquid, which is at the end of the spraying operation module (end A in Figure 1) The conductive wire of the spraying unit of the spraying unit is connected to the main control module 5 through the baffle through the conductive pipeline to obtain power from the power supply module 7 . The other end of the spraying operation module (end B in FIG. 1 , which passes through the baffle plate 11 through the pipeline and is wound on the controller of the recovery control module of the spraying unit).

The ends of the spraying units 4 are connected by flexible members 3 so that adjacent spraying units 4 can be folded and folded. Described flexible part 3 comprises the expansion connector that dislocation joins (the two ends of spraying unit 4 are provided with expansion connector 48 and expansion connector 49, and the expansion connector 48 or expansion connector 49 of adjacent spraying unit are dislocated The dislocation connection of the expansion connectors that are dislocated and connected is connected by bolts (the movable connection here is that the adjacent spraying units can be bent and folded after being connected by bolts).

The spraying unit recovery control module 2 includes a controller 22 electrically connected to the main control module 5 and a rolling mechanism 21 that realizes rotation under the action of the controller 22 . The cross-section of the rolling mechanism 21 is triangular (of course, the cross-section may be a quadrangle, a pentagon, etc.).

Operation method:

The first:

(a) In the pre-operation preparation stage, first place the main power chassis and the auxiliary power chassis on the corresponding traffic lane at the same end of the work field, the main control module controls the recovery control module of the spraying unit to start, and unfolds the wound spraying units in sequence , until the width covered by the spraying operation module is greater than the distance between the main power chassis and the auxiliary power chassis; the spraying unit material-liquid pipe of the spraying unit at the end of the spraying operation module is connected to the material-liquid supply control module, and the spraying unit conducts electricity Connect the line to the main control module; start the automatic retractable module of the material liquid pipe to make the tension of each pipeline of the spraying operation module moderate; start the power components and suspension controllers of each spraying unit to control the suspension of the entire spraying operation module above the crop canopy; start the feed liquid supply control module to deliver the feed liquid to the feed liquid pipe.

(b) During the spraying operation stage, the spraying operation module can cover the entire spraying area by controlling the coordinated movement of the main power chassis and the auxiliary power chassis along the field; the main control module coordinates and controls the attitude of each spraying unit according to the operation speed And the amount of spraying; when the field is irregular, the automatic retractable module of the feed and liquid pipe automatically adjusts the length of the feed and liquid pipe to adapt to the change of the working width.

(c) In the post-operation cleaning stage, firstly close the material liquid supply control module, stop feeding the material liquid to the spraying unit; stop the power chassis; turn off the power components of each spraying unit through the control of the main control module; Clean up the residual liquid; disconnect the spraying unit material-liquid pipe of the spraying unit at the end of the spraying operation module from the material-liquid supply control module, and disconnect the conductive wire of the spraying unit from the main control module; start spraying The unit recovery control module recovers each spraying unit and winds it on the rolling mechanism in an orderly manner.

The second type: (do not use the spraying unit to recover the control module, and use the manual assembly and disassembly mode before and after the operation)

(a) In the pre-operation preparation stage, first place the main power chassis and the auxiliary power chassis on the corresponding driving lane at the same end of the work field, and determine the spraying for splicing according to the distance between the main power chassis and the auxiliary power chassis The number of units, connect the spraying units one by one through flexible parts, and connect the liquid pipes and conductive wires one by one until the width covered by the spraying operation module is greater than the distance between the main power chassis and the auxiliary power chassis; the spraying operation The spraying unit material-liquid pipe of the spraying unit at the end of the module is connected to the material-liquid supply control module, and the conductive wire of the spraying unit is connected to the main control module; the automatic retractable module of the material-liquid pipe is activated to make the tension of each pipeline of the spraying operation module The tightening force is moderate; the power components and suspension controllers of each spraying unit are activated to control the entire spraying operation module to be suspended above the crop canopy; the feed liquid supply control module is activated to transport the feed liquid to the feed liquid pipe.

(b) During the spraying operation stage, the spraying operation module can cover the entire spraying area by controlling the coordinated movement of the main power chassis and the auxiliary power chassis along the field; the main control module coordinates and controls the attitude of each spraying unit according to the operation speed And the amount of spraying; when the field is irregular, the automatic retractable module of the feed and liquid pipe automatically adjusts the length of the feed and liquid pipe to adapt to the change of the working width.

(c) In the post-operation cleaning stage, firstly close the material liquid supply control module, stop feeding the material liquid to the spraying unit; stop the power chassis; turn off the power components of each spraying unit through the control of the main control module; Clean up the residual liquid; disconnect the spraying unit material-liquid pipe of the spraying unit at the end of the spraying operation module from the material-liquid supply control module, and disconnect the conductive wire of the spraying unit from the main control module; disassemble each spraying unit At the junction of spraying units, recycle and store each spraying unit.

The above-mentioned embodiments are only specific implementations of the present utility model, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present utility model. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present utility model, and these obvious replacement forms all belong to the protection scope of the present utility model.

Claims (8)

1. A suspended spraying operation system, characterized in that it includes an active power chassis and an auxiliary power chassis that can advance in coordination with each other, and an energy-to-field field that is suspended between the active power chassis and the auxiliary power chassis when the system is in normal operation. The spraying operation module for spraying operations, the main power chassis and/or the auxiliary power chassis are provided with a material liquid supply control module that can provide materials required for the spraying operation module to work, and a power supply module for supplying electricity , the main power chassis or the auxiliary power chassis is also provided with a main control module that controls the work of the main power chassis, the auxiliary power chassis and each module by means of electrical connection. 2. The suspension type spraying operation system according to claim 1, characterized in that, the active power chassis and/or the auxiliary power chassis provided with the material liquid supply control module are also provided with a material liquid pipe automatic retractable module, and the material liquid pipe is automatically retracted. The liquid supply control module is connected to the spraying operation module through the automatic retractable module of the material liquid pipe, so that under the action of the automatic retractable module of the material liquid pipe, the spray operation module can adapt to the change of the width of the field; The module includes a feed liquid tank, a control valve connected to the liquid outlet of the feed liquid tank and electrically connected to the main control module, and a main feed pipe connected to the control valve. The main feed pipe is provided with an electrical connection with the main control module The connected material liquid metering sensor; the main material delivery pipe is connected with the spraying operation module through the automatic retractable module of the material liquid pipe. 3. The floating spraying operation system according to claim 2, characterized in that, the automatic retracting module of the material-liquid pipe comprises a hose reel, and an automatic retractor capable of controlling the rotation of the pipe reel electrically connected to the main control module. put the controller, the coiler is provided with a tube coiler feed liquid pipe, one end of the tube coiler feed liquid tube is connected to the main feed pipe of the feed liquid supply control module, and the other end is connected to the spraying operation module to provide Feed liquid; the automatic retractable module of the feed liquid pipe also includes a bracket for fixing the coiler, and the bracket is provided with a guide for the feed liquid tube of the coiler that allows the feed liquid tube of the coiler to penetrate. Feed tube guide. 4. The suspended spraying operation system according to claim 3, characterized in that, the main power chassis and/or the auxiliary power chassis are provided with baffles with through holes through which pipelines can pass. 5. The suspended spraying operation system according to claim 1, characterized in that, the spraying operation module is formed by connecting a plurality of spraying units, and the spraying unit comprises a pipeline, which is arranged on the pipeline to enable The power assembly and the suspension controller of the spraying unit suspended in the air, the spraying unit liquid pipe arranged in the pipeline and the conductive wire of the spraying unit providing power to the power assembly and the suspension controller, the spraying unit liquid pipe The spray head protrudes from the pipeline, and the spray unit material-liquid pipe of the adjacent spray unit and the conductive wire of the spray unit can be plugged and connected; the spray unit material-liquid pipe of the spray unit at the end of the spray operation module is connected to the material The liquid supply control module is connected to obtain the material liquid, and the conductive wire of the spraying unit at the end of the spraying operation module is connected to the main control module to obtain power from the power supply module and perform signal interaction; the suspension controller is used to control the power component to provide Lifting force, sending working condition information to the main control module and receiving instructions from the main control module, synchronizing the suspension and moving states of the spraying unit, and making the spraying operation module, the main power chassis and the auxiliary power chassis cooperate with each other to advance. 6. The floating spraying system according to claim 5, wherein the ends of the spraying units are connected by flexible members so that adjacent spraying units can be folded and folded. 7 . The floating spraying operation system according to claim 6 , wherein the flexible member includes dislocation-connected expansion connectors, and the dislocation-connection parts of the dislocation-connected expansion connectors are movably connected by bolts. 8 . 8. The suspended spraying operation system according to claim 1, characterized in that, the active power chassis and/or the auxiliary power chassis are provided with a spraying unit recovery control module; the spraying unit recovery control module includes A controller electrically connected to the main control module and a rolling mechanism that realizes rotation under the action of the controller; there is a partition on the rolling mechanism, and the partition enables the orderly positioning and winding of each spraying unit; the front end of the rolling mechanism is equipped with Comb teeth that allow the power components of the spraying unit to return to normal automatically, so that each spraying unit will not interfere with each other after being wound in place.