CN210181475U - Agricultural greenhouse is with spouting medicine intelligent vehicle - Google Patents
Agricultural greenhouse is with spouting medicine intelligent vehicle Download PDFInfo
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- CN210181475U CN210181475U CN201921008987.6U CN201921008987U CN210181475U CN 210181475 U CN210181475 U CN 210181475U CN 201921008987 U CN201921008987 U CN 201921008987U CN 210181475 U CN210181475 U CN 210181475U
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Abstract
The utility model discloses an agricultural greenhouse is with spouting medicine intelligent vehicle, every mecanum wheel all comes the individual drive respectively by the same independent motor, the front wheel axis front side of automobile body has preceding rubber drum, by the drive of preceding driving motor, the rear wheel axis rear side of automobile body has back rubber drum, by back driving motor drive, all motors of automobile body provide the electric energy by the battery, drive module is accomplished by the cooperation of above part, the automobile body is equipped with ultrasonic sensor, acceleration sensor, camera sensor, in order to avoid the car to collide other objects and can monitor the position of locating, the side-mounting fan is used for adjusting the automobile body temperature, all controls of automobile body are all controlled by the controller, let the automobile body move smoothly. The utility model discloses can be automatic, convenient, swift, accurately subaerial remove to appointed place, and enter into track and even running uninterruptedly, master in real time and adjust its functioning speed, and the mechanism of making insecticide can automated inspection plant height etc. and spray insecticide automatically and accurately.
Description
Technical Field
The utility model relates to a but all direction movement intelligent vehicle, especially a green house of track, ground double-purpose of spraying insecticide is with spouting medicine intelligent vehicle.
Background
The existing intelligent pesticide spraying vehicle usually enables a vehicle body to move on the ground in a manual control mode, and in actual operation, the vehicle is labor-consuming to run, has a large turning radius during turning, and is not suitable for agricultural greenhouses with limited space.
Secondly, the vehicle body is aligned and checked with the preset track in a manual mode to ensure that the vehicle body can enter the track correctly, the workload is large, the control is complicated, the accuracy needs to be confirmed repeatedly, the efficiency is low, time is consumed, and unnecessary troubles are caused to operators.
The existing equipment adopts manpower to drive the vehicle body in the pesticide spraying process, the mode is a traditional operation mode, the potential health safety hazard to human bodies caused by partially spilled pesticides in the working process is avoided, and the waste of manpower and material resources is avoided.
The utility model relates to a track for spraying insecticide, ground double-purpose intelligent car have solved the unfavorable condition in the above-mentioned background art, can automatic operation, including the equal automatic operation of three kinds of motion modes subaerial, upper and lower track, orbital motion, saved input capital greatly, improved work efficiency to can not produce any safe and healthy hidden danger yet to the operator.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an agricultural greenhouse is with spouting medicine intelligent vehicle for overcome among the prior art dolly motion process turn the route complicated, work efficiency is low, produce defects such as harm to the human body, the utility model discloses can make the car can subaerial automatic all around movement, automatic accurately go up and down the track, steady motion on the track and cartridge case top sensor automated inspection plant height sprays the pesticide, and then saved manpower and materials and more automatic, intelligent.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:
the utility model provides an agricultural greenhouse is with spouting medicine intelligent vehicle, contains the automobile body and is used for spraying the laxative equipment of pesticide, the automobile body contains:
the intelligent vehicle is driven to move on the ground in all directions by a plurality of wheels, and each wheel is connected with an independent driving wheel motor;
the intelligent vehicle is driven to enter the at least two rollers of the track motion, the at least two rollers comprise a front roller positioned on the front side of the vehicle body and a rear roller positioned on the rear side of the vehicle body, and the front roller driving motor and the rear roller driving motor are respectively connected;
a controller for controlling the movement of the wheels and the entrance of the rollers into the track or the lower track, which is respectively connected with each driving wheel motor, the front roller driving motor and the rear roller driving motor;
the acceleration sensor collects vehicle body acceleration signals of the rollers entering the track or the lower track, generates voltage signals and outputs the voltage signals to the main controller, the main controller sends out control instructions entering the track or the lower track to control the corresponding roller driving motors to operate, and the rollers take over the wheels to provide forward power for the intelligent vehicle.
Preferably, the wheels comprise four Mecanum wheels, namely a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the front roller and the rear roller are rubber rollers; the left front wheel and the right front wheel are symmetrically distributed on the left side and the right side of the front part of the vehicle body, and the left rear wheel and the right rear wheel are symmetrically distributed on the left side and the right side of the rear part of the vehicle body; the front rollers are positioned on the front sides of the axes of the left and right front wheels, and the rear rollers are positioned on the rear sides of the axes of the left and right rear wheels.
Preferably, the vehicle body is provided with a plurality of camera sensors, including a front camera sensor at the front lower part of the vehicle body and a rear camera sensor at the rear lower part of the vehicle body; the controller is connected with the camera sensor, receives information sent by the camera sensor when the two-dimensional code at the inlet and outlet or the end of the track is scanned, and controls the intelligent vehicle to enter the track or lower the track.
Preferably, the number of the acceleration sensors is two, and the two acceleration sensors are respectively a front acceleration sensor positioned at the front side of the vehicle body and a rear acceleration sensor positioned at the rear side of the vehicle body, and are connected with the controller; when the intelligent vehicle enters a track, the left front wheel and the right front wheel gradually advance, when the front roller starts to contact the track, the vehicle body generates sudden change of acceleration, the front acceleration sensor collects the acceleration signal at the moment, generates a corresponding voltage signal and transmits the voltage signal to the main controller, and the main controller controls the front roller to drive the motor to rotate, so that the front roller runs to replace the left front wheel and the right front wheel and provides forward power for the intelligent vehicle;
the intelligent vehicle comprises a vehicle body, a rear roller, a rear acceleration sensor, a main controller, a rear roller driving motor, a rear roller, a left rear wheel, a right rear wheel, a rear acceleration sensor, a rear roller driving motor and a rear roller driving motor, wherein the rear roller driving motor is connected with the rear roller driving motor;
when the front roller touches and rides on the track, a first driving wheel motor for driving the left front wheel and a second driving wheel motor for driving the right front wheel are both in a rotation stop state, and the left front wheel and the right front wheel are both in a motion stop state;
and when the rear roller touches and rides on the track, the third driving wheel motor for driving the left rear wheel and the fourth driving wheel motor for driving the right rear wheel are both in a stop rotation state, and the left rear wheel and the right rear wheel are both in a stop motion state.
Preferably, when the intelligent vehicle returns to the beginning of the track, when the rear roller starts to get off the track, the vehicle body generates sudden change of acceleration, the rear acceleration sensor collects the acceleration signal at the moment, generates a corresponding voltage signal and transmits the voltage signal to the main controller, the main controller controls the rear roller driving motor to stop rotating and simultaneously controls and drives the left rear wheel and the right rear wheel to start rotating, and the left rear wheel, the right rear wheel and the front roller are matched to provide continuous power for the intelligent vehicle;
when the front roller starts to descend the track, the vehicle body generates acceleration sudden change, the front acceleration sensor collects the acceleration signal at the moment, generates a corresponding voltage signal and transmits the voltage signal to the main controller, the main controller controls the front roller driving motor to stop rotating and controls the left front wheel and the right front wheel to start rotating at the same time, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are matched to provide continuous power for the intelligent vehicle.
Preferably, a plurality of ultrasonic sensors for preventing the intelligent vehicle from colliding with other objects are arranged on the vehicle body and are connected with the main controller.
Preferably, the plurality of ultrasonic sensors include four ultrasonic sensors distributed on the peripheral edge of the vehicle body, namely a front ultrasonic sensor located right in front of the vehicle body, a rear ultrasonic sensor located right behind the vehicle body, a left ultrasonic sensor located on the left side of the vehicle body, and a right ultrasonic sensor located on the right side of the vehicle body.
Preferably, a storage battery for supplying electric energy to all the motors is arranged on the vehicle body.
Preferably, a fan as a vehicle body cooling device is arranged on a side surface of the vehicle body.
Preferably, LED lamp strips for decoration are arranged on the periphery of the vehicle body.
Compared with the prior art, the beneficial effects of the utility model are that: (1) the intelligent vehicle of the utility model can automatically, conveniently, quickly and accurately move to a designated place on the ground, can enter a track and run stably without interruption, can master and adjust the running speed in real time, ensures the running state of the intelligent vehicle, and can automatically detect the height of plants and the like and automatically and accurately spray pesticides by a pesticide spraying mechanism; (2) the intelligent vehicle for track running pesticide spraying provided with Mecanum wheels of the utility model respectively drives four motors to be matched together through the main controller on the ground so as to control four Mecanum wheels including a left front wheel, a left rear wheel, a right front wheel and a right rear wheel, thus realizing all-directional movement; (3) the intelligent vehicle of the utility model starts to enter the track and runs on the track, and the trolley stably enters the track by the mutual matching drive of the front and rear rollers and the four Mecanum wheels; (4) the front camera sensor and the rear camera sensor of the utility model determine the running track of the trolley and the accurate points of the upper and lower tracks through the scanning of the two-dimensional codes preset at the inlet, the outlet and the end of the track, so as to ensure that the intelligent vehicle can enter the track correctly without deviation or slipping, namely, the accurate positions of the intelligent vehicle when the intelligent vehicle is moved up and down the track are determined; (5) the utility model discloses an each ultrasonic wave links to each other with main control unit for prevent that the automobile body of intelligent car from colliding with other objects.
Drawings
FIG. 1 is a top view of the intelligent pesticide spraying vehicle for the agricultural greenhouse of the present invention;
fig. 2 is the utility model discloses an agricultural greenhouse is with spouting medicine intelligent vehicle left side view.
In the figure: 1. a front ultrasonic sensor; 2. a front acceleration sensor; 3. a front rubber roller; 4. a bearing; 5. a front camera sensor; 6. a first motor (top left); 7. mecanum wheels (top left); 8. a storage battery; 9. a left ultrasonic sensor; 10. a vehicle body; 11. a second motor (lower left); 12. mecanum wheels (bottom left); 13. a rear rubber roller; 14. a rear acceleration sensor; 15. a rear ultrasonic sensor; 16. a rear camera sensor; 17. a third motor (rear drum); 18. mecanum wheels (bottom right); 19. a fourth motor (lower right); 20. a fan; 21. a main controller; 22. a right ultrasonic sensor; an LED strip; 24. mecanum wheels (top right); 25. a fifth motor (upper right); 26. a sixth motor (front drum); 27. a cartridge; 28. a height sensor; 29. a cartridge controller; 30. and (4) a nozzle.
Detailed Description
The features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of the non-limiting embodiments made with reference to fig. 1-2. Referring to fig. 1-2, which illustrate embodiments of the present invention, the present invention will be described in more detail below. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
As shown in fig. 1-2, the utility model provides a track and ground dual-purpose medicine spraying intelligent vehicle with mecanum wheels, which mainly comprises a vehicle body 10 and a pesticide spraying device. The vehicle body 10 includes: four mecanum wheels, namely mecanum wheel 7 (also called the left front wheel), 24 (also called the right front wheel), 12 (also called the left rear wheel) and 18 (also called the right rear wheel); two rollers, a front rubber roller 3 and a rear rubber roller 13.
The intelligent vehicle can do all-round movement on the ground through four mecanum wheels. The four mecanum wheels and the two rollers are respectively connected with six motors (a first motor 6, a second motor 11, a third motor 17, a fourth motor 19, a fifth motor 25 and a sixth motor 26) to form a set of power device, and power required by the movement is provided for the intelligent vehicle.
Each mecanum wheel is driven by the same independent motor respectively and independently, specifically, the first motor 6 is connected with the mecanum wheel 7, the second motor 11 is connected with the mecanum wheel 12, the fourth motor 19 is connected with the mecanum wheel 18, the fifth motor 25 is connected with the mecanum wheel 24, meanwhile, the independent motors corresponding to the mecanum wheels are connected with a controller 21, and the rotation of the independent motors (the first motor 6, the second motor 11, the fourth motor 19 and the fifth motor 25) is controlled by the main controller 21 to drive the mecanum wheels, so that the all-round movement of the intelligent vehicle on the ground is realized.
The left front wheel 7 and the right front wheel 24 are symmetrically distributed at the left and right sides of the front part of the vehicle body 10, the front rubber roller 3 is positioned at the front side of the front wheel axis of the vehicle body 10, and the front rubber roller 3 is connected with a sixth motor 26 (also called a front roller driving motor) and driven by the sixth motor 26. Similarly, the left rear wheel 12 and the right rear wheel 18 are symmetrically distributed on the left side and the right side of the rear portion of the vehicle body 10, the rear rubber roller 13 is located on the rear side of the rear wheel axis of the vehicle body 10, and the rear rubber roller 13 is connected with a third motor 17 (also called a rear roller driving motor) and driven by the third motor 17. Meanwhile, the independent motors corresponding to the rollers are all connected with the controller 21, and the independent motors (the third motor 17 and the sixth motor 26) are controlled and driven to rotate to drive the rollers by receiving related control instructions of the controller 21.
In this embodiment, the front rubber roller 3 and the rear rubber roller 13 are respectively provided with a bearing 4 for supporting the front rubber roller 3 and the rear rubber roller 13, reducing the friction coefficient in the movement process thereof, and ensuring the rotation precision thereof.
The motors of the utility model are mutually driven and matched to provide the power required by the intelligent vehicle; in the process that the intelligent vehicle enters the track, all the rollers and the Mecanum wheels are matched with each other to drive the intelligent vehicle to stably enter the track.
Two camera sensors are respectively arranged on the front side and the rear side below the vehicle body 10, namely a front camera sensor 5 on the front lower side of the vehicle body and a rear camera sensor 16 on the rear lower side of the vehicle body, and the running track of the trolley and the accurate points of the upper track and the lower track are determined by scanning two-dimensional codes preset at the inlet, the outlet or the end of the track, so that the intelligent vehicle can correctly enter the track without deviation or slipping, and the accurate position of the intelligent vehicle on the upper track and the lower track is determined. The front camera sensor 5 and the rear camera sensor 16 are both connected with the main controller 21, after the front camera sensor 5 and the rear camera sensor 16 respectively scan the two-dimensional codes which are attached to the inlet and the outlet of the track or the end of the track in advance, the main controller 21 receives information corresponding to the camera sensors and then controls the intelligent vehicle to start entering the track or getting off the track.
When the intelligent vehicle enters the track, the vehicle body has a sudden change of acceleration, two acceleration sensors are respectively arranged at the front edge and the rear edge of the vehicle body 10, namely a front acceleration sensor 2 in front of the vehicle body and a rear acceleration sensor 14 in back of the vehicle body, and are used for detecting the acceleration of the vehicle body 10; wherein, preceding acceleration sensor 2 and back acceleration sensor 14 link to each other with main control unit 21, can produce corresponding voltage signal and transmit for main control unit 21 after each acceleration sensor gathers the acceleration signal of automobile body, and main control unit 21 can send corresponding control command drive corresponding motor and rotate, the cooperation work relation between real-time drive cylinder and the drive wheel for ensure intelligent vehicle even running.
In the embodiment, all the motors are powered by the storage battery 8 on the vehicle body.
Four ultrasonic sensors are distributed on the periphery of the vehicle body 10, namely a front ultrasonic sensor 1 in front of the vehicle body and a rear ultrasonic sensor 15 in back of the vehicle body, a left ultrasonic sensor 9 on the left side of the vehicle body and a right ultrasonic sensor 22 on the right side of the vehicle body, each ultrasonic sensor is connected with a main controller 21, the main controller 21 receives signals of each ultrasonic sensor and processes the signals, the signals are converted into distance information away from obstacles, the controller 21 analyzes and judges whether the vehicle body 10 of the intelligent vehicle collides with other objects according to the distance information of the obstacles, and then sends corresponding control instructions to control the action of the intelligent vehicle, so that the intelligent vehicle is prevented from colliding with other objects, namely, when the camera sensors cannot successfully scan the two-dimensional codes, the intelligent vehicle can be safely stopped to avoid collision damage.
As shown in fig. 1-2, a fan 20 is disposed on the side of the vehicle body and serves as a cooling device to ensure that the temperature of the vehicle body is not too high.
Preferably, the utility model discloses still decorate LED lamp area 23 around automobile body 10.
As shown in fig. 2, the pesticide spraying device of the present invention is composed of a pesticide cartridge 27, a nozzle 30, a cartridge controller 29 and a height sensor 28, and is used for spraying pesticide, for example, the pesticide cartridge 27 contains pesticide, the height sensor 28 detects the height of the plant, and then the nozzle 30 and the cartridge controller 29 cooperate to automatically spray pesticide. Specifically, a height sensor 28 above the cartridge 27 continuously monitors the height of the crop and converts the height into a usable output signal to be transmitted to a cartridge controller 29, and the cartridge controller 29 selectively opens and closes four nozzles 30 according to the received signal to spray the crop. The pesticide spraying equipment can adopt the device in the prior art, and the utility model discloses do not emphasize the explanation.
In this embodiment, the intelligent vehicle separately drives the four motors through the controller 21 to control the corresponding four mecanum wheels, so as to realize omnibearing operation on the ground, so that the front camera sensor 5 and the rear camera sensor 16 respectively scan the two-dimensional code which is attached to the track inlet in advance, the main controller 21 on the vehicle body 10 receives the corresponding information and then controls the intelligent vehicle to start entering the track, and the left front wheel 7, the right front wheel 24 and the front rubber roller 3 coordinate with each other when the intelligent vehicle starts to enter the track. When the intelligent vehicle starts to enter the track, the left front wheel 7 and the right front wheel 24 gradually advance, when the front rubber roller 3 starts to contact the track, the vehicle body 10 has a sudden change of acceleration, the front acceleration sensor 2 collects the acceleration signal at the moment and generates a voltage signal to be transmitted to the main controller 21, the main controller 21 sends an instruction to drive the sixth motor 26 of the front rubber roller 3 to start to rotate, and then the front rubber roller 3 starts to operate to replace the left front wheel 7 and the right front wheel 24, so that forward power is provided for the intelligent vehicle.
Similarly, when the left rear wheel 12 and the right rear wheel 18 of the intelligent vehicle gradually advance, the vehicle body 10 has a sudden change of the acceleration when the rear rubber roller 13 starts to contact the track, the rear acceleration sensor 14 collects the acceleration signal at the moment and generates a voltage signal to be transmitted to the main controller 21, and the main controller 21 sends an instruction to drive the third motor 17 of the rear rubber roller 13 to start to rotate, so that the rear rubber roller 13 starts to operate to replace the left rear wheel 12 and the right rear wheel 18, and forward power is provided for the intelligent vehicle; by this time, the intelligent vehicle successfully enters the track, and the driving mode is changed to apply forward power of the intelligent vehicle by the front rubber roller 3 and the rear rubber roller 13 together.
Here, the first motor 6 and the fifth motor 25 that drive the left front wheel 7 and the right front wheel 24 at the moment when the front rubber drum 3 touches and rides on the track stop rotating at the same time, and the left front wheel 7 and the right front wheel 24 stop rotating at the same time, and similarly, the second motor 11 and the fourth motor 19 that drive the left rear wheel 12 and the right rear wheel 18 at the moment when the rear rubber drum 13 touches and rides on the track stop rotating at the same time, and the left rear wheel 12 and the right rear wheel 18 stop rotating at the same time.
Therefore, the intelligent vehicle of the utility model is advanced by the front rubber roller 3 and the rear rubber roller 13 applying the power for advancing the intelligent vehicle together on the track, and the pesticide spraying equipment arranged on the intelligent vehicle starts to spray pesticide in the process; when the intelligent vehicle advances to the end of the track, the front camera sensor 5 can scan the two-dimensional code attached to the end of the track in advance, the main controller 21 receives signal transmission at the moment, the sixth motor 26 of the front rubber roller 3 and the third motor 17 of the rear rubber roller 13 are controlled to rotate reversely, the pesticide spraying equipment stops spraying pesticide, and the intelligent vehicle starts and finally returns to the beginning of the track.
When the intelligent vehicle returns to the beginning of the track, when the rear rubber roller 13 starts to get off the track, the vehicle body 10 has a sudden change of the acceleration, the rear acceleration sensor 14 collects the acceleration signal at the moment and generates a voltage signal to be transmitted to the main controller 21, the main controller 21 sends an instruction to stop rotating the third motor 17 driving the rear rubber roller 13, and simultaneously the second motor 11 and the fourth motor 19 driving the left rear wheel 12 and the right rear wheel 18 start to rotate simultaneously, so that the left rear wheel 12 and the right rear wheel 18 start to rotate and are matched with the front rubber roller 3 to provide continuous power for the intelligent vehicle; then, when the front rubber roller 3 starts to get off the track, the vehicle body 10 has a sudden change of acceleration, the front acceleration sensor 2 collects the acceleration signal at this time and then generates a voltage signal to be transmitted to the main controller 21, the main controller 21 sends out an instruction to stop the rotation of the sixth motor 26 for driving the front rubber roller 3 and to simultaneously start the rotation of the first motor 6 and the fifth motor 25 for driving the left front wheel 7 and the right front wheel 24, then the left front wheel 7 and the right front wheel 24 start to operate and cooperate with the left rear wheel 12 and the right rear wheel 18 to provide continuous power for the intelligent vehicle, finally the intelligent vehicle successfully gets off the track, and then the driving mode is changed to jointly apply the forward power of the intelligent vehicle by means of the mecanum wheels.
When the front camera sensor 5 scans the two-dimensional code again, the intelligent vehicle starts to run to the position near the beginning of the next track, the next round of spraying medicine is started, and the steps are repeated to continue working. Therefore, the utility model discloses can get into track and even running without interruption, can master in real time and adjust its functioning speed, make its running state obtain guaranteeing.
While the present invention has been described in detail with reference to the preferred embodiments thereof, it should be understood that the above description should not be taken as limiting the present invention. Numerous modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (10)
1. The utility model provides an agricultural greenhouse is with spouting medicine intelligent vehicle which characterized in that contains the automobile body and is used for spraying the laxative equipment of pesticide, the automobile body contains:
the intelligent vehicle is driven to move on the ground in all directions by a plurality of wheels, and each wheel is connected with an independent driving wheel motor;
the intelligent vehicle is driven to enter the at least two rollers of the track motion, the at least two rollers comprise a front roller positioned on the front side of the vehicle body and a rear roller positioned on the rear side of the vehicle body, and the front roller driving motor and the rear roller driving motor are respectively connected;
the main controller is used for controlling the wheels to move and controlling the rollers to enter a track or a lower track and is respectively connected with each driving wheel motor, the front roller driving motor and the rear roller driving motor;
the acceleration sensor collects vehicle body acceleration signals of the roller entering the track or the lower track, generates voltage signals and outputs the voltage signals to the main controller, the main controller sends out control instructions of entering the track or the lower track to control the corresponding roller driving motor to operate, and the roller takes over the wheels to provide forward power for the intelligent vehicle.
2. The intelligent spraying vehicle for agricultural greenhouses according to claim 1,
the wheels comprise four Mecanum wheels which are respectively a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the front roller and the rear roller are rubber rollers;
the left front wheel and the right front wheel are symmetrically distributed on the left side and the right side of the front part of the vehicle body, and the left rear wheel and the right rear wheel are symmetrically distributed on the left side and the right side of the rear part of the vehicle body;
the front rollers are positioned on the front sides of the axes of the left and right front wheels, and the rear rollers are positioned on the rear sides of the axes of the left and right rear wheels.
3. The intelligent spraying vehicle for agricultural greenhouses according to claim 1,
the vehicle body is provided with a plurality of camera sensors, including a front camera sensor at the front lower part of the vehicle body and a rear camera sensor at the rear lower part of the vehicle body;
the main controller is connected with the camera sensor, receives information sent by the camera sensor when the two-dimensional code at the inlet and outlet or the end of the track is scanned, and controls the intelligent vehicle to enter the track or get down the track.
4. The intelligent spraying vehicle for agricultural greenhouses according to claim 2,
the two acceleration sensors are respectively a front acceleration sensor positioned on the front side of the vehicle body and a rear acceleration sensor positioned on the rear side of the vehicle body, and are connected with the main controller;
when the intelligent vehicle enters a track, the left front wheel and the right front wheel gradually advance, when the front roller starts to contact the track, the vehicle body generates sudden change of acceleration, the front acceleration sensor collects the acceleration signal at the moment, generates a corresponding voltage signal and transmits the voltage signal to the main controller, and the main controller controls the front roller to drive the motor to rotate, so that the front roller runs to replace the left front wheel and the right front wheel and provides forward power for the intelligent vehicle;
the intelligent vehicle comprises a vehicle body, a rear roller, a rear acceleration sensor, a main controller, a rear roller driving motor, a rear roller, a left rear wheel, a right rear wheel, a rear acceleration sensor, a rear roller driving motor and a rear roller driving motor, wherein the rear roller driving motor is connected with the rear roller driving motor;
when the front roller touches and rides on the track, a first driving wheel motor for driving the left front wheel and a second driving wheel motor for driving the right front wheel are both in a rotation stop state, and the left front wheel and the right front wheel are both in a motion stop state;
and when the rear roller touches and rides on the track, the third driving wheel motor for driving the left rear wheel and the fourth driving wheel motor for driving the right rear wheel are both in a stop rotation state, and the left rear wheel and the right rear wheel are both in a stop motion state.
5. The intelligent spraying vehicle for agricultural greenhouses according to claim 4,
when the intelligent vehicle returns to the beginning of a track, when the rear roller starts to get off the track, the vehicle body generates sudden change of acceleration, the rear acceleration sensor collects the acceleration signal at the moment, generates a corresponding voltage signal and transmits the voltage signal to the main controller, the main controller controls the rear roller driving motor to stop rotating and simultaneously controls and drives the left rear wheel and the right rear wheel to start rotating, and the left rear wheel, the right rear wheel and the front roller are matched to provide continuous power for the intelligent vehicle;
when the front roller starts to descend the track, the vehicle body generates acceleration sudden change, the front acceleration sensor collects the acceleration signal at the moment, generates a corresponding voltage signal and transmits the voltage signal to the main controller, the main controller controls the front roller driving motor to stop rotating and controls the left front wheel and the right front wheel to start rotating at the same time, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are matched to provide continuous power for the intelligent vehicle.
6. The intelligent spraying vehicle for agricultural greenhouses according to claim 1,
the intelligent vehicle is characterized in that the vehicle body is provided with a plurality of ultrasonic sensors for preventing the intelligent vehicle from colliding with other objects, and the ultrasonic sensors are connected with the main controller.
7. A spraying intelligent vehicle for an agricultural greenhouse according to claim 6,
the ultrasonic sensors comprise four ultrasonic sensors distributed on the periphery of the vehicle body, namely a front ultrasonic sensor positioned in the front of the vehicle body, a rear ultrasonic sensor positioned in the rear of the vehicle body, a left ultrasonic sensor positioned on the left side of the vehicle body and a right ultrasonic sensor positioned on the right side of the vehicle body.
8. The intelligent spraying vehicle for agricultural greenhouses according to claim 1,
and the vehicle body is provided with a storage battery for providing electric energy for all the motors.
9. The intelligent spraying vehicle for agricultural greenhouses according to claim 1,
and a fan serving as a vehicle body cooling device is arranged on the side surface of the vehicle body.
10. The intelligent spraying vehicle for agricultural greenhouses according to claim 1,
and LED lamp belts for decoration are arranged around the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921008987.6U CN210181475U (en) | 2019-07-01 | 2019-07-01 | Agricultural greenhouse is with spouting medicine intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921008987.6U CN210181475U (en) | 2019-07-01 | 2019-07-01 | Agricultural greenhouse is with spouting medicine intelligent vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210181475U true CN210181475U (en) | 2020-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921008987.6U Expired - Fee Related CN210181475U (en) | 2019-07-01 | 2019-07-01 | Agricultural greenhouse is with spouting medicine intelligent vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN210181475U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187710A (en) * | 2019-07-01 | 2019-08-30 | 上海海事大学 | A kind of agricultural greenhouse spray intelligent vehicle and its method |
| CN110974996A (en) * | 2019-11-27 | 2020-04-10 | 浙江壹加壹环保科技有限公司 | Full-automatic spraying control system for space deodorization |
-
2019
- 2019-07-01 CN CN201921008987.6U patent/CN210181475U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110187710A (en) * | 2019-07-01 | 2019-08-30 | 上海海事大学 | A kind of agricultural greenhouse spray intelligent vehicle and its method |
| CN110187710B (en) * | 2019-07-01 | 2024-06-11 | 上海海事大学 | Intelligent pesticide spraying vehicle for agricultural greenhouse and method thereof |
| CN110974996A (en) * | 2019-11-27 | 2020-04-10 | 浙江壹加壹环保科技有限公司 | Full-automatic spraying control system for space deodorization |
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