CN208335016U - Unmanned plant protection spraying system based on ultrasonic wave airmanship - Google Patents
Unmanned plant protection spraying system based on ultrasonic wave airmanship Download PDFInfo
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- CN208335016U CN208335016U CN201820696129.4U CN201820696129U CN208335016U CN 208335016 U CN208335016 U CN 208335016U CN 201820696129 U CN201820696129 U CN 201820696129U CN 208335016 U CN208335016 U CN 208335016U
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Abstract
The utility model relates to a kind of plant protection spraying system more particularly to a kind of unmanned plant protection spraying systems based on ultrasonic wave airmanship；Including computer, the ultrasonic wave positioning mechanism being connected with computer input terminal, satellite positioning mechanism and relative positioning sensor and the walking mechanism being connected with fanout and spray mechanism；Wherein, relative positioning sensor includes the odometer and inertial sensor being arranged in walking mechanism；Spray fluid box and spray head that mechanism includes water pump and is connected respectively with water pump input terminal and output end.Unmanned technology and spraying system are organically combined, effectively improve operating efficiency by the unmanned plant protection spraying system based on ultrasonic wave airmanship of the utility model.
Description
Technical field
The utility model relates to a kind of plant protection spraying systems more particularly to a kind of nobody based on ultrasonic wave airmanship to drive
Sail plant protection spraying system.
Background technique
In the prior art with the plant protection spraying system of walking mechanism, sprayer apparatus is usually simply mounted at existing vehicle
As on tractor, since tractor is manual operation, running on wheels structure, this plant protection spraying system is to road and farmland
It is more demanding, and human machine is difficult to accomplish that walking route is straight uniformly, influences spraying effect.
With the propulsion of urbanization, a large amount of agricultural personnel, which go down town, to work, this results in traditional farming practices to need to occur
Change, it is especially desirable to it is a kind of can automatic Pilot, be easily accomplished the agricultural machinery for spraying operation.Chinese Patent Application No. is
201420053908.4 utility model patent discloses a kind of unmanned cultivated complete machine of agricultural, each manipulation on whole cultivated machine
Function has corresponding motor and electric pushrod to realize corresponding operation movement, and all electric pushrods can be transferred through remote controler
It realizes Telescopic, to realize the remote control to cultivated complete machine, however manually passes through remote control device, it is difficult to accomplish precisely to lead
Boat traction, can only use on daytime.Chinese Patent Application No. is the patent of invention of CN201710076791.X, discloses a kind of north
Bucket navigates unmanned all-hydraulic tractor, can realize the automatic unmanned of agricultural machinery, however its do not accomplish by
Automatic Pilot and the combination for mechanically installing equipment, only application of the simple unmanned technology on tractor.
In view of the above shortcomings, the designer, is actively subject to research and innovation, to found, one kind is new structural to be based on
The unmanned plant protection spraying system of ultrasonic wave airmanship makes it with more the utility value in industry.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of by unmanned technology and sprayer apparatus
Organically combine, effectively improve the unmanned plant protection spraying system based on ultrasonic wave airmanship of operating efficiency.
The unmanned plant protection spraying system based on ultrasonic wave airmanship of the utility model, including computer and meter
Ultrasonic wave positioning mechanism, satellite positioning mechanism and relative positioning sensor that calculation machine input terminal is connected and defeated with computer
The walking mechanism and spray mechanism that outlet is connected；
Wherein, the relative positioning sensor includes the odometer and inertial sensor being arranged in walking mechanism；It is described
Spray fluid box and spray head that mechanism includes water pump and is connected respectively with water pump input terminal and output end.
The working principle of ultrasonic wave navigator fix is to launch ultrasonic wave by the transmitting probe of ultrasonic sensor, ultrasound
Wave encounters barrier in the medium and returns to reception device.By receiving the ultrasonic reflections signal of own transmission, according to super
Sound wave issues and echo reception time difference and spread speed, calculate propagation distance S, can obtain barrier to robot away from
From there is formula: in S=Tv/2 formula, T-ultrasonic wave transmitting and received time difference；The wave that v-ultrasonic wave is propagated in the medium
Speed.
By the collected environmental information of ultrasonic sensor, environmental model is established in computer analysis processing, further according to defending
The location information and altitude information that star positioning mechanism transmits, computer can establish accurate location circumstances model, and then control
It walking mechanism and sprays mechanism, realizes and unmanned sprays automatically.
Ultrasonic sensor has many advantages, such as that low in cost, acquisition information rate is fast, distance resolution is high, but in movement
In navigator fix, there is also certain defects, such as: mirror-reflection, limited field angle are made to the abundant surrounding enviroment information that obtains
At difficulty.Therefore, further, the unmanned plant protection spraying system based on ultrasonic wave airmanship of the utility model,
Ultrasonic wave positioning mechanism is made of at least two ultrasonic sensors.Corresponding environmental model is established by multiple ultrasonic sensors,
The collected information of sensor is passed to computer by serial communication, computer is further according to the signal of acquisition and the number of foundation
Learning model takes certain algorithm progress corresponding data processing that can obtain location circumstances model.
Since the altitude information that satellite positioning obtains is often inaccurate, this results in environmental model foundation, and there are certain mistakes
Difference, for this purpose, the unmanned plant protection spraying system based on ultrasonic wave airmanship of the utility model, further includes height above sea level measurement
Instrument, the height above sea level measuring instrument are connected with computer.Altitude information is obtained by height above sea level measuring instrument, is obtained with satellite positioning mechanism
Altitude information is mutually supplemented, and location circumstances model can be further corrected, and navigator fix is more accurate.
Due to ground out-of-flatness in most cases during plant protection, causes the ultrasonic wave circuit of reflection deviation occur and then go out
Existing model calculates error, further includes further horizon sensor to correct the position error therefore generated, the level
Sensor is connected with computer.It determines the levelness of ultrasonic sensor tested surface by horizon sensor, is corrected with this
The position error of local positioning.
During actual job, the case where due to the out-of-flatness of surface road, the plantation situation of crops and barrier,
Walking mechanism is difficult to keep the stable speed of travel and direction, or there is a situation where walking process or approaches place of having passed by,
Thus, computer also needs to adjust accordingly to spray while handling the path planning and travelling control of navigator fix, walking mechanism
Mechanism sprays state.
Further, the mechanism that sprays further includes spraying pitch angle and in the front-back direction angle tune for adjusting spray head
Save device.When occur walking mechanism walking by or close to passed by place when, or find that crops height to be sprayed becomes
When change, spray head can be adjusted by angle demodulator sprays angle and direction, to improve spraying effect.
In order to improve spraying effect, specifically, the spray head is static nozzle.Made by the charge inducing of static nozzle
With making the liquid droplet charged sprayed, charged drop is adsorbed in the tow sides of crops blade, no under the action of Electrostatic Absorption
It reduced by only the waste rate for spraying liquid, also improve crop surface and spray area, improve spraying effect.
Further, the mechanism that sprays further includes liquid level sensor, and the liquid level sensor is connected with computer.Work as liquid
When level sensor monitors the applying liquid deficiency to be painted in fluid box, liquid level information is sent to computer, computer control row
It walks mechanism and is moved to setting position, to supplement applying liquid to be painted.
It further, further include air velocity transducer, the air velocity transducer is connected with computer.
It further, further include communication module, the communication module is connected with computer.Computer by communication module with
The other intelligent terminals such as mobile phone, computer interact data.
Specifically, the communication module is mobile communication module or bluetooth module or wireless module.
Specifically, the walking mechanism include fuel power vehicle, gas power vehicle, electric vehicle, fuel cell-powered car, with
And hybrid electric vehicle.
According to the above aspect of the present invention, the utility model at least has the following advantages: using nobody based on ultrasonic wave airmanship
Vehicle is driven, and it is organically combined with mechanism is sprayed, it is possible to reduce labour cost, and effectively improve operating efficiency.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
Referring to Fig. 1, the unmanned plant protection based on ultrasonic wave airmanship of one preferred embodiment of the utility model is sprayed
System, including computer 1, the ultrasonic wave positioning mechanism 2 being connected with computer input terminal, satellite positioning mechanism 3 and relatively fixed
Level sensor 4 and the walking mechanism 5 being connected with fanout and spray mechanism 6；Wherein, relative positioning sensor 4
Including the odometer 41 and inertial sensor 42 being arranged in walking mechanism；Spray mechanism 6 include water pump 61 and respectively with water
The fluid box 62 and spray head 63 that pump input terminal is connected with output end.
It should be noted that the unmanned plant protection spraying system of the utility model, according to different usage scenarios, row
Walking mechanism 5 can choose fuel power vehicle, gas power vehicle, electric vehicle, fuel cell-powered car or hybrid electric vehicle, vehicle with walking machine
The travel unit of structure can also select wheeled or crawler type according to different pavement behavior demands.For example, the pesticide application in orchard,
Wheeled fuel oil four-wheel motor cycle can be selected；Big wheel footpath, narrow wheel fuel oil tractor can be selected in the pesticide application in rice field；The work of sand ground
Object water sprays, and Caterpillar fuel transport vehicle can be selected.
In the case where actually using scene, the unmanned plant protection spraying system of the utility model can be placed in wait spray by user
The start position in region inputs region to be sprayed by computer, path planning, sprays the parameters such as plan, walking program, simultaneously
By reflecting plate road sign position information input computer, then can open system complete unmanned to spray automatically.
By the collected environmental information of ultrasonic sensor, environmental model is established in computer analysis processing, further according to defending
The location information and altitude information that star positioning mechanism transmits, computer can establish accurate location circumstances model, and then control
It walking mechanism and sprays mechanism, realizes and unmanned sprays automatically.
The unmanned plant protection spraying system based on ultrasonic wave airmanship of the utility model, ultrasonic wave positioning mechanism by
At least two ultrasonic sensors composition.Corresponding environmental model is established by multiple ultrasonic sensors, by serial communication biography
The collected information of sensor passes to computer, and computer is taken certain further according to the signal of acquisition and the mathematical model of foundation
Algorithm, which carries out corresponding data processing, can obtain location circumstances model.
Since the altitude information that satellite positioning obtains is often inaccurate, this results in environmental model foundation, and there are certain mistakes
Difference, for this purpose, the unmanned plant protection spraying system based on ultrasonic wave airmanship of the utility model, further includes height above sea level measuring instrument
7, height above sea level measuring instrument is connected with computer.Altitude information is obtained by height above sea level measuring instrument, the height above sea level obtained with satellite positioning mechanism
Information is mutually supplemented, and location circumstances model can be further corrected, and navigator fix is more accurate.
Due to ground out-of-flatness in most cases during plant protection, causes the ultrasonic wave circuit of reflection deviation occur and then go out
Existing model calculates error, in order to correct the position error therefore generated, the nothing based on ultrasonic wave airmanship of the utility model
People drives plant protection spraying system, further includes horizon sensor 8, horizon sensor is connected with computer.It is surveyed by horizon sensor
The levelness of ultrasonic sensor tested surface is made, the position error of local positioning is corrected with this.
Spraying mechanism 6 further includes spraying pitch angle and in the front-back direction angle demodulator 64 for adjusting spray head.When out
Existing walking mechanism walking by or close to passed by place when find when spraying crops height and changing or
When other situations, computer can calculate spray head pitch angle and direction under best spraying effect, and pass through angle demodulator tune
Section is realized.
It should be noted that when calculating spray head pitch angle and the direction under best spraying effect, it is optimal, it also needs to examine
Consider the wind speed and direction in environment, thus, the unmanned plant protection spraying system of the utility model further includes air velocity transducer 9,
Air velocity transducer is connected with computer, and wind speed and direction information is sent to computer by air velocity transducer, and computer is corrected accordingly
The analysis result of best spraying effect.
In order to improve spraying effect, spray head 63 can be set to static nozzle.It is acted on by the charge inducing of static nozzle,
Make the liquid droplet charged sprayed, charged drop is adsorbed in the tow sides of crops blade, not only drops under the action of Electrostatic Absorption
The low waste rate for spraying liquid, also improves crop surface and sprays area, improve spraying effect.
Lack the equipment idle running in the case of liquid in order to prevent, spraying mechanism further includes liquid level sensor 65, liquid level sensor with
Computer is connected.When liquid level sensor monitors the applying liquid deficiency to be painted in fluid box, liquid level information is sent to calculating
Machine, computer control walking mechanism is moved to setting position, to supplement applying liquid to be painted.
In order to real-time watch device operational situation, and realize long-range control, the unmanned plant protection of the utility model
Spraying system further includes communication module 10, and communication module is connected with computer.Computer passes through communication module and mobile phone, computer etc.
Other intelligent terminal interacts data；According to the distance of transmission range and the difference of usage scenario, communication module be can be set
For mobile communication module or bluetooth module or wireless module, i.e., intelligent terminal by mobile communications network or bluetooth connection,
Or local area network wireless transmission is connected with the computer of unmanned plant protection spraying system.
The above is only the preferred embodiment of the utility model, is not intended to limit the utility model, it is noted that
For those skilled in the art, without deviating from the technical principle of the utility model, it can also do
Several improvements and modifications out, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of unmanned plant protection spraying system based on ultrasonic wave airmanship, it is characterised in that: including computer and meter
Ultrasonic wave positioning mechanism, satellite positioning mechanism and relative positioning sensor that calculation machine input terminal is connected and defeated with computer
The walking mechanism and spray mechanism that outlet is connected；
Wherein, the relative positioning sensor includes the odometer and inertial sensor being arranged in walking mechanism；It is described to spray
Mechanism includes water pump and the fluid box and spray head that are connected respectively with water pump input terminal and output end.
2. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
Ultrasonic wave positioning mechanism is made of at least two ultrasonic sensors.
3. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
It further include height above sea level measuring instrument, the height above sea level measuring instrument is connected with computer.
4. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
It further include horizon sensor, the horizon sensor is connected with computer.
5. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
The mechanism that sprays further includes spraying pitch angle and in the front-back direction angle demodulator for adjusting spray head.
6. the unmanned plant protection spraying system according to claim 5 based on ultrasonic wave airmanship, it is characterised in that:
It further include air velocity transducer, the air velocity transducer is connected with computer.
7. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
The spray head is static nozzle.
8. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
The mechanism that sprays further includes liquid level sensor, and the liquid level sensor is connected with computer.
9. the unmanned plant protection spraying system according to claim 1 based on ultrasonic wave airmanship, it is characterised in that:
It further include communication module, the communication module is connected with computer.
10. the unmanned plant protection spraying system according to claim 9 based on ultrasonic wave airmanship, feature exist
In: the communication module is mobile communication module or bluetooth module or wireless module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820696129.4U CN208335016U (en) | 2018-05-10 | 2018-05-10 | Unmanned plant protection spraying system based on ultrasonic wave airmanship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820696129.4U CN208335016U (en) | 2018-05-10 | 2018-05-10 | Unmanned plant protection spraying system based on ultrasonic wave airmanship |
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| Publication Number | Publication Date |
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| CN208335016U true CN208335016U (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820696129.4U Active CN208335016U (en) | 2018-05-10 | 2018-05-10 | Unmanned plant protection spraying system based on ultrasonic wave airmanship |
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- 2018-05-10 CN CN201820696129.4U patent/CN208335016U/en active Active
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