CN210642121U

CN210642121U - Agricultural unmanned vehicle

Info

Publication number: CN210642121U
Application number: CN201921366900.2U
Authority: CN
Inventors: 苏吉贤; 陈星�
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2020-06-02
Anticipated expiration: 2029-08-21

Abstract

The utility model discloses an agricultural unmanned vehicle relates to agricultural production technical field. The agricultural unmanned vehicle comprises a vehicle body, a camera, a spraying control module and a spraying device. The camera is installed on the automobile body, and is connected with spraying control module, and the camera is used for shooing ground target image, and sprinkler includes medical kit and shower nozzle, and the medical kit is installed on the automobile body, and is connected with the shower nozzle, and the shower nozzle is installed on the automobile body, and with spraying control module connection, sprays control module and is used for opening or closing according to ground target image control shower nozzle. Compared with the prior art, the utility model provides an agricultural unmanned vehicle is owing to adopted the camera of installing on the automobile body and the control module that sprays of being connected with the shower nozzle, so can open or close according to ground target object image real time control shower nozzle to spray the operation to the target object accurately, the degree of accuracy is high, saves the quantity of liquid medicine, reduce cost.

Description

Agricultural unmanned vehicle

Technical Field

The utility model relates to an agricultural production technical field particularly, relates to an agricultural unmanned vehicle.

Background

In agricultural production, spraying pesticides or water to plants is an essential link, and the spraying mode is divided into a manual spraying mode and a mechanical spraying mode. Wherein, the manual spraying mode has large labor capacity and low efficiency, and is only suitable for small-scale planting fields; the mechanical spraying mode usually uses a tractor to carry spraying equipment for spraying, and the mode needs a relatively professional person to operate, so that the labor cost is high. In order to reduce the human cost, all adopt unmanned machinery to spray the operation in a lot of planting places now, it uses unmanned vehicle or unmanned aerial vehicle to carry spraying apparatus to spray usually, and this kind of mode efficiency is higher, but the position that sprays can not accurate control, can cause the waste of pesticide or water, leads to the cost-push.

In view of this, it is important to design and manufacture an agricultural unmanned vehicle capable of spraying precisely, especially in agricultural production.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an agricultural unmanned vehicle can spray the operation to the target object accurately, and the degree of accuracy is high, saves the quantity of pesticide or water, reduce cost.

The utility model is realized by adopting the following technical scheme.

The utility model provides an agricultural unmanned vehicle, includes automobile body, camera, sprays control module and sprinkler, and the camera is installed on the automobile body, and with spray control module and be connected, and the camera is used for shooing ground target object image, and sprinkler includes medical kit and shower nozzle, and the medical kit is installed on the automobile body, and is connected with the shower nozzle, and the shower nozzle is installed on the automobile body, and with spray control module and be connected, sprays control module and is used for opening or closing according to ground target object image control shower nozzle.

Furthermore, the number of the spray heads is multiple, and the multiple spray heads are arranged on the vehicle body at intervals. The line direction of a plurality of shower nozzles sets up with the direction of travel of automobile body is perpendicular to make a plurality of shower nozzles can cover a great scope, and the unmanned car of agricultural can be at the in-process of marcing to the operation of spraying of whole coverage selectivity, with the improvement spray efficiency, save time cost.

Furthermore, the spraying control module comprises an image processing unit and a control unit, the camera is connected with the image processing unit, the image processing unit is used for processing images of the ground target objects and marking the positions of the ground target objects, the image processing unit is connected with the control unit, the control unit is connected with the spray head, and the control unit is used for controlling the spray head corresponding to the positions of the ground target objects to be opened. So that the spray head sprays the liquid medicine outwards at the position with the target object and stops spraying outwards at the position without the target object, thereby saving the using amount of the liquid medicine and reducing the cost.

Further, sprinkler still includes air compressor machine, gas holder and jet-propelled subassembly, and the shower nozzle is negative pressure formula shower nozzle, and air compressor machine and gas holder are all installed on the automobile body, and the air compressor machine passes through the gas holder to be connected with the jet-propelled subassembly, and the jet-propelled subassembly is connected with a plurality of shower nozzles respectively. The air compressor machine can be with air compression back input and storage in the gas holder, the gas holder can be with high-pressure gas input in the jet-propelled subassembly to through each shower nozzle of jet-propelled subassembly input, with to the shower nozzle air feed, this high-pressure gas can exert pressure to the liquid medicine, make the shower nozzle can spray the liquid medicine atomizing back again when spraying the operation, the liquid medicine after the atomizing can spray the target object on evenly, with the improvement spray effect, enlarge the scope of spraying, the material cost of saving the liquid medicine.

Further, the air injection assembly comprises a bus board and a plurality of electromagnetic valves, the bus board is provided with an air inlet and a plurality of air outlets which are communicated with each other, the air inlet is communicated with the air storage tank, the electromagnetic valves are fixedly mounted on the bus board, each air outlet is communicated with one electromagnetic valve, and each electromagnetic valve is connected with one spray head. High-pressure gas in the gas storage tank can enter the confluence plate through the gas inlet and enter the electromagnetic valve through the gas outlet, and the electromagnetic valve can be opened or closed under the control of the spraying control module, so that the high-pressure gas enters the spray head or stops entering the spray head, and the gas inlet control of the spray head is realized.

Further, sprinkler still includes pipeline, and pipeline includes trunk line and a plurality of small transfer lines that communicate each other, and the one end and the medical kit of trunk line are connected, and the other end is connected with a plurality of small transfer lines respectively, and every small transfer line is connected with a shower nozzle. The liquid medicine in the medicine chest respectively enters a plurality of branch pipelines through the main pipeline and enters each spray head through each branch pipeline so as to supply liquid to the spray heads and facilitate the spray heads to spray the liquid medicine outwards.

Furthermore, the camera is arranged at the front end of the vehicle body and is used for shooting images of ground targets in front of the vehicle body. The front end at the automobile body is favorable to reducing the mounting height of camera to the camera is installed, improves the effective shooting scope of camera to can avoid other parts to shelter from.

Further, the automobile body includes girder, mounting bracket and a plurality of walking subassembly, mounting bracket and girder fixed connection, and set up in the rear end of girder, and a plurality of walking subassemblies are all installed on the girder, and the shower nozzle is installed on the mounting bracket. The shower nozzle can spray the operation to the target object at the rear of automobile body, and a plurality of running gear combined action can realize advancing, retreating, the left turn and the right turn of automobile body to improve the flexibility of the unmanned car motion of agricultural.

Further, the walking assembly comprises a wheel arm, a wheel and a motor, one end of the wheel arm is fixedly connected with the crossbeam, the other end of the wheel arm is connected with the wheel, the motor is installed on the wheel arm and is connected with the wheel, and the wheel can rotate relative to the wheel arm. The wheel can support the wheel arm to support the girder, the motor can drive the wheel and rotate, thereby realizes the motion of agricultural unmanned vehicle for ground.

Furthermore, the agricultural unmanned vehicle further comprises a motor control module, wherein an encoder is arranged in the motor, and the motor control module is respectively connected with the plurality of encoders to control the rotating speed of each motor. The rotating speed of each wheel is independently controlled, the obstacle crossing capability and the difficulty removing capability of the agricultural unmanned vehicle can be improved by independently controlling the rotating speed of the wheels in a closed-loop mode, so that the agricultural unmanned vehicle is kept in a running state, and the spraying efficiency is improved.

Furthermore, the agricultural unmanned vehicle further comprises a protection box, the protection box is fixedly installed on the crossbeam, and the spraying control module and the motor control module are integrally arranged in the protection box. The protective housing can protect each functional module, prevents that external water or dust from getting into to cause the influence to each functional module's operation to a plurality of functional modules are integrated in a protective housing, only need to do waterproof dustproof treatment to this protective housing can, the cost is saved in the operation of being convenient for.

Further, the medicine chest is fixedly arranged on the girder, and the position of the medicine chest corresponds to the projection position of the axis of the wheel close to one side of the mounting frame on the girder. Because the medical kit is heavier after filling with the liquid medicine, consequently install the medical kit in the axis top of the wheel that is close to mounting bracket one side to improve the adhesive force on wheel and the ground that is close to mounting bracket one side, guarantee the motion of agricultural unmanned car reliable and stable.

Furthermore, the number of the walking assemblies is four, the crossbeam is relatively provided with a first side surface and a second side surface, two wheel arms are arranged on the first side surface at intervals, and the other two wheel arms are arranged on the second side surface at intervals. The two wheel arms arranged on the first side face protrude out of the first side face and extend towards the ground so as to protect the first side face and prevent foreign objects from impacting the first side face; the two wheel arms arranged on the second side face protrude out of the second side face and extend towards the ground so as to protect the second side face and prevent foreign objects from impacting the second side face.

Furthermore, the agricultural unmanned vehicle further comprises two batteries and two battery holders, each battery is connected in one battery holder in a pluggable mode, a first protection space is formed by combining two wheel arms on the first side face and the crossbeam, a second protection space is formed by combining two wheel arms on the second side face and the crossbeam, one battery holder is fixedly installed on the crossbeam and is arranged in the first protection space, and the other battery holder is fixedly installed on the crossbeam and is arranged in the second protection space. The two wheel arms arranged on the first side face can protect the battery seat and prevent one battery seat from being collided by foreign objects in the spraying operation process; the two wheel arms arranged on the second side face can protect the battery seat and prevent the other battery seat from being collided by foreign objects in the spraying operation process.

Further, the agricultural unmanned vehicle further comprises an RTK antenna and a communication module, wherein the RTK antenna is installed on the vehicle body and connected with the communication module, and the RTK antenna is used for being in communication connection with the base station. So as to plan and detect the route of traveling of unmanned vehicle of agricultural for unmanned vehicle of agricultural advances along predetermineeing the route.

The utility model provides an unmanned car of agricultural has following beneficial effect:

the utility model provides an agricultural unmanned vehicle, the camera can be shot ground environment, obtains ground target object image to send this ground target object image for spraying control module, spray control module can judge whether the position of spraying of shower nozzle has the target object according to ground target object image, when judging that the position of spraying has the target object, spray control module control shower nozzle and open, when judging that the position of spraying does not have the target object, spray control module control shower nozzle and close. Compared with the prior art, the utility model provides an agricultural unmanned vehicle is owing to adopted the camera of installing on the automobile body and the control module that sprays of being connected with the shower nozzle, so can open or close according to ground target object image real time control shower nozzle to spray the operation to the target object accurately, the degree of accuracy is high, saves the quantity of pesticide or water, reduce cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a first view angle of an agricultural unmanned vehicle according to a first embodiment of the present invention;

fig. 2 is a schematic structural view of a second view angle of the agricultural unmanned vehicle provided by the first embodiment of the present invention;

fig. 3 is a schematic structural view of a third view angle of the agricultural unmanned vehicle provided by the first embodiment of the present invention;

fig. 4 is a block diagram illustrating the structure of an agricultural unmanned vehicle according to a first embodiment of the present invention;

fig. 5 is a schematic structural view of a viewing angle of a spraying device in an agricultural unmanned vehicle according to a first embodiment of the present invention;

fig. 6 is a schematic structural view of another view angle of the spraying device in the agricultural unmanned vehicle according to the first embodiment of the present invention;

FIG. 7 is a schematic view of the jet assembly of FIG. 5;

fig. 8 is a block diagram illustrating a structure of a spraying control module in an agricultural unmanned vehicle according to a first embodiment of the present invention;

fig. 9 is a schematic structural view of a fourth view angle of the agricultural unmanned vehicle provided by the first embodiment of the present invention;

FIG. 10 is an exploded view of the walking assembly of FIG. 9;

FIG. 11 is a schematic view of the first link of FIG. 9;

fig. 12 is a schematic structural view of a spraying device in an agricultural unmanned vehicle according to a second embodiment of the present invention.

Icon: 100-agricultural unmanned vehicle; 110-a vehicle body; 111-girders; 1111-a first side; 1112-a second side; 1113-first protected space; 1114 — a second protected space; 112-a mounting frame; 1121-first connecting rod; 1122-a second link; 1123-mounting a pole; 1124-a first bend; 1125-a second bend; 113-a walking assembly; 1131-wheel arm; 1132-wheels; 1133, a motor; 120-a camera; 130-a spray control module; 131-an image processing unit; 132-a control unit; 140-a spraying device; 141-a medicine box; 142-a delivery conduit; 1421 — main conduit; 1422-branch ducts; 1423-one-way valve; 1424-flow on-off valve; 143-a spray head; 144-an air compressor; 145-gas storage tank; 146-a gas injection assembly; 1461-bus board; 1462-solenoid valve; 1463-air intake; 1464-gas outlet; 147-a water pump; 150-a motor control module; 160-a protective box; 170-RTK antenna; 180-a communication module; 190-a power supply module; 200-a battery; 210-a battery holder; 211-a connection frame; 212-a seat body; 213-accommodation cavity.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are conventionally placed when used, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.

First embodiment

Referring to fig. 1, 2, 3 and 4, an embodiment of the present invention provides an agricultural unmanned vehicle 100 for spraying pesticide or water to crops in a planting area. It can spray the operation to the target object accurately, and the degree of accuracy is high, saves the quantity of pesticide or water, reduce cost. In this embodiment, the target object is a crop, and the agricultural unmanned vehicle 100 can perform a spraying operation on the crop in the planting field to promote the growth of the crop.

The agricultural unmanned vehicle 100 includes a vehicle body 110, a camera 120, a spray control module 130, a spray device 140, a motor control module 150, a shielding box 160, an RTK antenna 170, a communication module 180, a power module 190, a battery 200, and a battery holder 210. The camera 120, the spraying device 140, the guard box 160, the RTK antenna 170 and the battery holder 210 are all mounted on the vehicle body 110, the distribution positions are reasonable and reliable, the balance performance of the vehicle body 110 can be improved, and the vehicle body 110 is more stable in the traveling process; the spraying control module 130, the motor control module 150, the communication module 180 and the power module 190 are integrated in the protective box 160, the protective box 160 can protect each functional module, the external water or dust is prevented from entering the protective box 160 to influence the operation of each functional module, and a plurality of functional modules are integrated in the protective box 160, and only the protective box 160 needs to be subjected to waterproof and dustproof treatment, so that the operation is convenient, and the cost is saved.

Specifically, the camera 120 is connected with the spraying control module 130, the spraying control module 130 is connected with the spraying device 140, and the spraying control module 130 can control the spraying device 140 according to the image obtained by shooting by the camera 120 so as to realize accurate spraying operation; the motor control module 150 is connected with the vehicle body 110, and the motor control module 150 can control the vehicle body 110 to move forward, backward, rotate left or rotate right, so that spraying operation on a target object on a preset path is facilitated; the communication module 180 is connected with the RTK antenna 170, and the RTK antenna 170 is used for being in communication connection with a base station to detect the position of the vehicle body 110 in real time, so as to control the vehicle body 110 to keep traveling on a preset path; power module 190 is connected with battery holder 210, and battery 200 can set up in battery holder 210 with vertically inserting and unplugging, and battery 200 supplies power to power module 190 through battery holder 210, and the power module 190 of being convenient for supplies power to the whole car.

It should be noted that the camera 120 is connected to the spraying control module 130, and the camera 120 is used for capturing the ground object image and sending the ground object image to the spraying control module 130. The spraying control module 130 is connected with the spraying device 140, and the spraying control module 130 is used for controlling the spraying device 140 to start or pause according to the ground target object image so as to selectively spray the ground, spray at the position with the target object and stop spraying at the position without the target object, thereby saving the using amount of pesticide or water and reducing the cost.

In this embodiment, the camera 120 is disposed at the front end of the vehicle body 110, the camera 120 is disposed to be inclined toward the direction close to the ground, the camera 120 is configured to capture an image of a ground target located in front of the vehicle body 110, the camera 120 is mounted at the front end of the vehicle body 110, which is beneficial to reducing the mounting height of the camera 120, improving the effective shooting range of the camera 120, and avoiding shielding of other components. Specifically, the camera 120 is a binocular camera, and the binocular camera can determine the distance by calculating the parallax of two images, so as to further improve the precision of the spraying operation.

Referring to fig. 5 and 6, the spraying device 140 includes a medicine box 141, a conveying pipeline 142, a spraying head 143, an air compressor 144, an air storage tank 145 and an air injection assembly 146. The medicine box 141 is attached to the vehicle body 110 and connected to the spray head 143 through the transfer pipe 142, and the medicine box 141 may contain therein the pesticide or may contain water to transfer the pesticide or the water to the spray head 143, thereby achieving spraying operations in different situations. The spray head 143 is mounted on the vehicle body 110 and connected to the spray control module 130, and the spray control module 130 is configured to control the spray head 143 to open or close according to the ground target image, so as to start or stop the spraying function.

The number of heads 143 is plural, and plural heads 143 are provided at intervals on vehicle body 110. Specifically, the connection line direction of the plurality of spray heads 143 is perpendicular to the traveling direction of the vehicle body 110, so that the plurality of spray heads 143 can cover a large range, and the agricultural unmanned vehicle 100 can selectively perform spraying operation on the whole coverage range in the traveling process, thereby improving the spraying efficiency and saving the time cost. In this embodiment, the number of the spray heads 143 is four, and four spray heads 143 are provided at intervals on the vehicle body, but the present invention is not limited thereto, and in other embodiments, the number of the spray heads 143 may be six or eight, and the number of the spray heads 143 is not particularly limited.

The delivery duct 142 includes a main duct 1421 and a plurality of branch ducts 1422 that communicate with each other. One end of the main pipe 1421 is connected to the medicine box 141, the other end is connected to a plurality of branch pipes 1422, each branch pipe 1422 is connected to one spray head 143, the liquid medicine in the medicine box 141 enters the plurality of branch pipes 1422 through the main pipe 1421, and enters each spray head 143 through each branch pipe 1422, so as to supply liquid to the spray heads 143, and the spray heads 143 spray the liquid medicine outwards. However, the present invention is not limited to this, and in another embodiment, the transport pipe 142 may not include the main pipe 1421, and in this case, the plurality of branch pipes 1422 are all directly connected to the medicine boxes 141, and the liquid medicine in the medicine boxes 141 may be input into the respective heads 143 through the respective branch pipes 1422, and the function of supplying the liquid to the heads 143 may be similarly realized.

Specifically, each branch pipe 1422 is provided with a check valve 1423 and a flow on-off valve 1424, and the check valve 1423 is used to ensure that the liquid medicine in the medicine box 141 can only flow to the spray head 143 along the branch pipe 1422, so as to prevent the liquid medicine in the spray head 143 from flowing back. The liquid flow on-off valves 1424 are connected to the spraying control module 130, and the liquid flow on-off valves 1424 can be opened or closed under the control of the spraying control module 130, so that the liquid medicine in the medicine box 141 enters the spraying head 143 or stops entering the spraying head 143, thereby controlling the liquid inlet of the spraying head 143. In this embodiment, the number of the branch pipes 1422 is the same as the number of the nozzles 143, and is four, so that the number of the check valves 1423 and the flow on/off valves 1424 is also four, and each branch pipe 1422 is connected to one nozzle 143.

In this embodiment, the nozzle 143 is a negative pressure nozzle, and when the nozzle 143 is used, the liquid medicine needs to be input into the nozzle 143, and the high pressure gas needs to be introduced into the nozzle 143, so that the liquid medicine is sucked into the nozzle 143 by the negative pressure generated by the high pressure gas, and is atomized by the high pressure gas and then is ejected outward. The air compressor 144 and the air storage tank 145 are both mounted on the vehicle body 110, the air compressor 144 is connected with the air injection assembly 146 through the air storage tank 145, the air compressor 144 can compress air and then input and store the compressed air in the air storage tank 145, and the air injection assembly 146 is respectively connected with the plurality of spray heads 143. The gas storage tank 145 can input high-pressure gas into the gas injection assembly 146, and input each spray head 143 through the gas injection assembly 146 to supply gas to the spray heads 143, the high-pressure gas can apply pressure to the liquid medicine, so that the spray heads 143 can spray the liquid medicine after atomization when spraying, and the atomized liquid medicine can be uniformly sprayed onto a target object, so that the spraying effect is improved, the spraying range is expanded, and the material cost of the liquid medicine is saved.

It should be noted that the air compressor 144 is an air compressor, and the air compressor 144 is a device for compressing air and is mainly used for generating high-pressure air. In this embodiment, the air compressor 144 is connected to the air storage tank 145, and the high-pressure air generated by the air compressor 144 is stored in the air storage tank 145 to be output to the spray head 143 through the air injection assembly 146 when the air injection assembly is needed.

Referring to fig. 7, specifically, the air injection assembly 146 includes a manifold 1461 and a plurality of solenoid valves 1462. The collecting board 1461 is provided with an air inlet 1463 and a plurality of air outlets 1464 which are communicated with each other, the air inlet 1463 is communicated with the air storage tank 145, a plurality of electromagnetic valves 1462 are fixedly installed on the collecting board 1461, each air outlet 1464 is communicated with one electromagnetic valve 1462, and each electromagnetic valve 1462 is connected with one spray head 143. High-pressure gas in the gas storage tank 145 can enter the confluence plate 1461 through the gas inlet 1463 and enter the solenoid valve 1462 through the gas outlet 1464. The plurality of solenoid valves 1462 are connected with the spraying control module 130, and the solenoid valves 1462 can be opened or closed under the control of the spraying control module 130, so that high-pressure gas enters the spray head 143 or stops entering the spray head 143, and thus the control of gas inlet of the spray head 143 is realized.

It should be noted that, since the spray head 143 is a negative pressure type spray head, which requires simultaneous air intake and liquid intake to achieve the spraying function, in the embodiment, the spray control module 130 controls the liquid flow on-off valve 1424 and the solenoid valve 1462 to open or close the spray head 143. Each spray head 143 is respectively connected with a branch pipe 1422 and an electromagnetic valve 1462, a liquid flow on-off valve 1424 is arranged in each branch pipe 1422, when a certain spray head 143 needs to be controlled to be opened, only the liquid flow on-off valve 1424 and the electromagnetic valve 1462 corresponding to the spray head 143 need to be controlled to be opened, at this time, the branch pipe 1422 supplies liquid to the spray head 143, and the electromagnetic valve 1462 supplies gas to the spray head 143, so that the spraying operation of the spray head 143 is realized.

Referring to fig. 8, in detail, the spraying control module 130 is respectively connected to a plurality of liquid flow on-off valves 1424 and a plurality of solenoid valves 1462, so that one liquid flow on-off valve 1424 and one solenoid valve 1462 corresponding to each spray head 143 are opened or closed synchronously, that is, the solenoid valve 1462 connected to the spray head 143 and the liquid flow on-off valve 1424 in the branch conduit 1422 connected to the spray head 143 are opened or closed synchronously, so as to realize the function of simultaneously inputting high-pressure gas and liquid medicine into the spray head 143 and spraying the spray head 143.

When the spraying control module 130 determines that a target object is located at a certain position, the spraying control module 130 controls the spray head 143 corresponding to the certain position to open, that is, controls the liquid flow on-off valve 1424 in the branch pipe 1422 connected to the spray head 143 and the electromagnetic valve 1462 connected to the spray head 143 to open synchronously, so that the liquid medicine is atomized under the action of the high-pressure gas and is sprayed out from the spray head 143 to spray the target object. When the spraying control module 130 determines that there is no target object at a certain position, the spraying control module 130 controls the spray head 143 corresponding to the certain position to close, that is, controls the liquid flow on-off valve 1424 in the branch pipe 1422 connected to the spray head 143 and the electromagnetic valve 1462 connected to the spray head 143 to close synchronously, so that the liquid medicine is not sprayed out from the spray head 143 any more, and the amount of the liquid medicine is saved.

The spray control module 130 includes an image processing unit 131 and a control unit 132. The camera 120 is connected to the image processing unit 131, the camera 120 is configured to capture an image of a ground target and send the image of the ground target to the image processing unit 131, and the image processing unit 131 is configured to process the image of the ground target and mark a position of the ground target. The image processing unit 131 is connected with the control unit 132, the control unit 132 is connected with the spray head 143, the image processing unit 131 is used for sending the position of the ground target object to the control unit 132, and the control unit 132 is used for controlling the spray head 143 corresponding to the position of the ground target object to be opened so as to spray the target object on the ground.

Specifically, since the number of the nozzles 143 is plural, the area covered by the plural nozzles 143 is wide, and there is a high possibility that a target object is located at a certain position and no target object is located at another certain position in the covered area, in this case, the image processing unit 131 processes the ground target object image and marks one or more positions where the target object is located. The control unit 132 can control one or more spray heads 143 corresponding to positions with the target object to be opened and one or more spray heads 143 corresponding to positions without the target object to be closed, so as to save the amount of the liquid medicine.

Referring to fig. 9, 10 and 11, the vehicle body 110 includes a girder 111, a mounting frame 112 and a plurality of traveling assemblies 113. The mounting bracket 112 is fixedly connected with the girder 111 and is arranged at the rear end of the girder 111, the spray head 143 is mounted on the mounting bracket 112, and the spray head 143 can spray the target object behind the vehicle body 110. The camera 120 is opposite to the mounting frame 112, and the camera 120 is installed at the front end of the girder 111 and is located in the middle of the girder 111. During the forward movement of the agricultural unmanned vehicle 100, the camera 120 captures an image of a ground object in front of the front end of the girder 111, and the spray head 143 sprays the object at the rear end of the girder 111. The plurality of walking assemblies 113 are all installed on the girder 111, and the plurality of walking assemblies 113 jointly act to realize the forward movement, the backward movement, the left rotation and the right rotation of the vehicle body 110, so that the movement flexibility of the agricultural unmanned vehicle 100 is improved.

The travel assembly 113 includes a wheel arm 1131, a wheel 1132, and a motor 1133. One end of the wheel arm 1131 is fixedly connected with the girder 111, and the other end is connected with the wheel 1132, and the wheel 1132 can support the wheel arm 1131, thereby supporting the girder 111. The motor 1133 is installed on wheel arm 1131, and is connected with wheel 1132, and wheel 1132 can rotate for wheel arm 1131, and motor 1133 can drive wheel 1132 and rotate to realize the motion of agricultural unmanned vehicle 100 for ground.

It should be noted that an encoder (not shown) is disposed in the motor 1133, and the motor control module 150 is respectively connected to the plurality of encoders to control the rotation speed of each motor 1133, so as to realize independent control of the rotation speed of each wheel 1132. Because when the farmland is operated, the road surface is more complicated, and the rotational speed of independent closed-loop control wheel 1132 can improve the obstacle-crossing ability and the ability of getting rid of poverty of unmanned vehicle 100 to guarantee that unmanned vehicle 100 of agricultural keeps the state of marcing, improve and spray efficiency.

In this embodiment, the number of the traveling units 113 is four, and the agricultural unmanned vehicle 100 is of a four-wheel drive type. The girder 111 is oppositely provided with a first side surface 1111 and a second side surface 1112, two wheel arms 1131 are arranged at intervals on the first side surface 1111, protrude from the first side surface 1111 and extend towards the ground, and the two wheel arms 1131 arranged on the first side surface 1111 and the girder 111 are combined to form a first protection space 1113; the other two wheel arms 1131 are disposed at intervals on the second side surface 1112, and both protrude from the second side surface 1112 and extend toward the ground, and the two wheel arms 1131 disposed on the second side surface 1112 and the girder 111 form a second protection space 1114.

The number of the batteries 200 and the battery holders 210 is two, each battery 200 is connected in one battery holder 210 in a pluggable manner, and the two battery holders 210 are connected with the power module 190 so as to supply power to the whole vehicle through the power module 190. One battery holder 210 is fixedly mounted on the girder 111 and disposed in the first protection space 1113, and the two wheel arms 1131 disposed on the first side surface 1111 can protect the battery holder 210 to prevent the battery holder 210 from being hit by foreign objects during the spraying operation; the other battery holder 210 is fixedly mounted on the girder 111 and disposed in the second protection space 1114, and the two wheel arms 1131 disposed on the second side surface 1112 can protect the battery holder 210 to prevent the battery holder 210 from being hit by foreign objects during the spraying operation.

Specifically, the battery holder 210 includes a connection frame 211 and a holder body 212. The accommodating cavity 213 is formed in the connecting frame 211, the seat body 212 is disposed in the accommodating cavity 213 and is fixedly connected to the connecting frame 211, and the connecting frame 211 can support and limit the seat body 212 to prevent the seat body 212 from being separated from the accommodating cavity 213. The connection frame 211 is fixedly connected to the first side 1111 or the second side 1112, and the connection frame 211 is disposed in the first protection space 1113 or the second protection space 1114. The battery 200 is removably connected to the socket body 212, the socket body 212 is connected to the power module 190, and the battery 200 can supply power to the power module 190 through the socket body 212.

In the present embodiment, the medicine box 141 is fixedly attached to the girder 111, and the position of the medicine box 141 corresponds to the position of the projection of the axis of the wheel 1132 on the side close to the mounting frame 112 on the girder 111. Divide into four wheels 1132 two sets ofly, two sets of wheels 1132 are preceding wheelset and rear wheel group respectively, and two coaxial intervals of the two wheels 1132 of preceding wheelset set up, and the coaxial interval of two wheels 1132 of rear wheel group sets up. Mounting bracket 112 is installed in girder 111's rear end, so be close to wheel 1132 of mounting bracket 112 one side for two wheels 1132 of back wheelset, because medical kit 141 is heavier after filling with the liquid medicine, consequently install medical kit 141 in the common axis top of two wheels 1132 of back wheelset to improve the adhesive force on two wheels 1132 of back wheelset and ground, guarantee that the motion of agricultural unmanned vehicle 100 is stable reliable.

The mounting bracket 112 includes a first link 1121, a second link 1122, and a mounting rod 1123. The first connecting rod 1121 and the second connecting rod 1122 are arranged in parallel at an interval, one end of the first connecting rod 1121 is fixedly connected with the girder 111, the other end of the first connecting rod 1121 is fixedly connected with the mounting rod 1123, one end of the second connecting rod 1122 is fixedly connected with the girder 111, the other end of the second connecting rod 1122 is fixedly connected with the mounting rod 1123, and the axial direction of the mounting rod 1123 is perpendicular to the extending direction of the girder 111, namely the axial direction of the mounting rod 1123 is perpendicular to the traveling direction of the agricultural unmanned vehicle 100. The four nozzles 143 are spaced apart from each other on the mounting rod 1123, wherein a first nozzle 143 is positioned corresponding to the first link 1121, a second nozzle 143 is positioned corresponding to the second link 1122, and third and

fourth nozzles

143 and 143 are oppositely disposed at both ends of the mounting rod 1123.

It should be noted that the first link 1121 and the second link 1122 are bent. First connecting rod 1121 includes first bending portion 1124 and the second bending portion 1125 that are the contained angle setting, and girder 111 is through first bending portion 1124 and second bending portion 1125 fixed connection, and second bending portion 1125 and installation pole 1123 fixed connection, specifically, first bending portion 1124 sets up for the slope of ground, and second bending portion 1125 vertical sets up to make installation pole 1123 be in the position that is close to ground, and set up with ground interval. In addition, the specific structure of the second link 1122 is the same as that of the first link 1121, and is not described herein again. The first and

second links

1121 and 1122 cooperate to fix the mounting rod 1123 in a horizontal direction such that the four spray heads 143 mounted on the mounting rod 1123 are positioned on a horizontal plane to facilitate uniform spraying of the target object.

In this embodiment, the four spray heads 143 are disposed at equal intervals, the spraying ranges of each spray head 143 are the same, and the four spray heads 143 can cover all areas on the traveling route of the agricultural unmanned vehicle 100 to perform spraying operation on the target object on the traveling route of the agricultural unmanned vehicle 100.

With continued reference to fig. 1 and 4, in the present embodiment, the RTK antenna 170 is mounted on the vehicle body 110 and connected to the communication module 180, and the RTK antenna 170 is used for being in communication connection with a base station so as to plan and detect a driving path of the agricultural unmanned vehicle 100, so that the agricultural unmanned vehicle 100 travels along a preset path. The communication module 180 is connected with the motor control module 150, when the RTK antenna 170 detects that the agricultural unmanned vehicle 100 deviates from the preset path, the communication module 180 sends a signal to the motor control module 150, and the motor control module 150 precisely and rapidly adjusts the driving path of the agricultural unmanned vehicle 100 by precisely controlling the rotation speed of one or more wheels 1132, so that the driving path returns to the preset path.

It should be noted that the RTK is a real-time dynamic carrier phase difference technique, and the RTK antenna 170 is an antenna used for transmitting communication signals in the technique. In this embodiment, the number of the RTK antennas 170 is two, and the two RTK antennas 170 are disposed at intervals on the vehicle body 110, so as to improve the accuracy of detecting the driving path of the agricultural unmanned vehicle 100.

It is worth noting that, in the overall vehicle layout, the camera 120, the RTK antenna 170, the protection box 160, the air storage tank 145, the battery holder 210, the air compressor 144 and the medicine tank 141 are all fixedly installed on the girder 111, two wheel arms 1131 are fixedly connected to a first side surface 1111 of the girder 111, the other two wheel arms 1131 are fixedly connected to a second side surface 1112 of the girder 111, and the connecting frame is fixedly connected to the rear end of the girder 111. Wherein, camera 120 sets up in the foremost of girder 111, guard box 160, gas holder 145, air compressor machine 144 and medical kit 141 all install in the top of girder 111, and arrange in proper order along the direction of girder 111's front end to rear end, two RTK antennas 170 all install in the top of girder 111, and set up in the both sides of guard box 160, two battery holders 210 install relatively on first side 1111 and second side 1112, one battery holder 210 sets up between two wheel arms 1131, another battery holder 210 sets up between two other wheel arms 1131, be convenient for change battery 200.

When the agricultural unmanned vehicle 100 needs to spray crops on a planting area, firstly, a running path of the agricultural unmanned vehicle 100 is planned to obtain a preset path, and then the motor control module 150 controls the motor 1133 to drive the wheels 1132 to rotate, so that the agricultural unmanned vehicle 100 travels along the preset path, and in the traveling process of the agricultural unmanned vehicle 100, the camera 120 shoots the front ground environment in real time to obtain a ground target image, and sends the ground target image to the image processing unit 131.

Specifically, the image processing unit 131 can process the ground target image, and if it is determined that there is no target in the ground target image, the control unit 132 controls all the liquid flow on-off valves 1424 and the solenoid valves 1462 to be closed, and at this time, the agricultural unmanned vehicle 100 does not perform the spraying operation; if the image of the ground target object is determined to have the target object, the image processing unit 131 marks the position of the ground target object, and sends the position of the ground target object to the control unit 132, and the control unit 132 can control the spray head 143 corresponding to the position of the ground target object to be opened, that is, the electromagnetic valve 1462 connected to the spray head 143 to be opened, and the liquid flow on-off valve 1424 in the branch pipe 1422 connected to the spray head 143 to be opened, so that the spray head 143 can perform a spraying operation on the ground target object.

The embodiment of the utility model provides an agricultural unmanned vehicle 100, camera 120 can shoot ground environment, obtain ground target object image, and send this ground target object image for spraying control module 130, it can judge whether the position of spraying of shower nozzle 143 has the target object according to ground target object image to spray control module 130, when judging that the position of spraying has the target object, spray control module 130 control shower nozzle 143 and open, when judging that the position of spraying does not have the target object, spray control module 130 control shower nozzle 143 and close. Compared with the prior art, the utility model provides an unmanned car of agricultural 100 is owing to adopted the camera 120 of installing on automobile body 110 and the control module 130 that sprays that is connected with shower nozzle 143, so can open or close according to ground target object image real time control shower nozzle 143 to spray the operation to the target object accurately, the degree of accuracy is high, saves the quantity of liquid medicine, reduce cost.

Second embodiment

Referring to fig. 12, an embodiment of the present invention provides an agricultural unmanned vehicle 100, which is different from the first embodiment in the structure of the spraying device 140.

In this embodiment, the spraying apparatus 140 includes a medicine tank 141, a water pump 147, a delivery pipe 142, and a spray head 143. The medicine box 141 is attached to the vehicle body 110 and connected to the spray head 143 via the transfer pipe 142, and the water pump 147 is attached to the transfer pipe 142 to draw the liquid medicine in the medicine box 141 to the spray head 143 and to spray the liquid medicine out of the spray head 143. Specifically, the spray head 143 is a common liquid spray head, and is shaped like a shower head, and the liquid medicine in the medicine box 141 enters the spray head 143 through the delivery pipe 142 under the action of negative pressure generated by the water pump 147, and is sprayed out through the spray head 143, so that the spraying function of the agricultural unmanned vehicle 100 can be realized.

It should be noted that the number of spray heads 143 is plural, and the plural spray heads 143 are disposed at intervals on vehicle body 110. Specifically, the connection line direction of the plurality of spray heads 143 is perpendicular to the traveling direction of the vehicle body 110, so that the plurality of spray heads 143 can cover a large range, and the agricultural unmanned vehicle 100 can selectively perform spraying operation on the whole coverage range in the traveling process, thereby improving the spraying efficiency and saving the time cost.

The delivery duct 142 includes a main duct 1421 and a plurality of branch ducts 1422 that communicate with each other. One end of the main pipe 1421 is connected to the medicine box 141, the other end is connected to a plurality of branch pipes 1422, each branch pipe 1422 is connected to one spray head 143, the liquid medicine in the medicine box 141 enters the plurality of branch pipes 1422 through the main pipe 1421, and enters each spray head 143 through each branch pipe 1422, so as to supply liquid to the spray heads 143, and the spray heads 143 spray the liquid medicine outwards.

Specifically, the number of the water pumps 147 is plural, each water pump 147 is installed in one branch pipe 1422 to draw the liquid medicine in the medicine box 141 into the plural branch pipes 1422 through the main pipe 1421 by using negative pressure, the plural water pumps 147 are all connected to the spray control module 130, and the water pumps 147 can be turned on or off under the control of the spray control module 130. Moreover, each branch pipe 1422 is provided with a liquid flow on-off valve 1424, the liquid flow on-off valve 1424 is disposed between the water pump 147 and the spray head 143, the plurality of liquid flow on-off valves 1424 are connected to the spray control module 130, and the liquid flow on-off valves 1424 can be opened or closed under the control of the spray control module 130, so that the liquid medicine in the medicine box 141 enters the spray head 143 or stops entering the spray head 143 through the branch pipe 1422.

It should be noted that the water pump 147 and the flow switching valve 1424 in each branch pipe 1422 are both opened or closed in synchronization, so that the liquid medicine in the medicine box 141 is drawn to the spray heads 143 through the main pipe 1421 and the branch pipes 1422 and is sprayed out by the spray heads 143. When the spray control module 130 determines that a target object is located at a certain position, the spray control module 130 controls the spray head 143 corresponding to the certain position to open, that is, controls the water pump 147 and the flow on-off valve 1424 in the branch pipe 1422 connected to the spray head 143 to open synchronously, so that the liquid medicine is sprayed out from the spray head 143 to spray the target object. When the spraying control module 130 determines that there is no target object at a certain position, the spraying control module 130 controls the spray head 143 corresponding to the certain position to close, that is, controls the water pump 147 and the liquid flow on-off valve 1424 in the branch pipe 1422 connected to the spray head 143 to close synchronously, so that the liquid medicine is not sprayed out from the spray head 143 any more, and the amount of the liquid medicine is saved.

The embodiment of the utility model provides an unmanned car of agricultural 100 utilizes the negative pressure that water pump 147 produced to take out the liquid medicine in the medical kit 141 to outwards spout from shower nozzle 143, occupation space is little, makes unmanned car of agricultural 100 lightweight, and can open or close according to ground target object image real-time control shower nozzle 143, sprays the operation with accurately spraying the target object, and the degree of accuracy is high, saves the quantity of liquid medicine, reduce cost.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an agricultural unmanned vehicle, its characterized in that, includes automobile body, camera, sprays control module and sprinkler, the camera install in on the automobile body, and with spray control module connects, the camera is used for shooing ground target object image, sprinkler includes medical kit and shower nozzle, the medical kit install in on the automobile body, and with the shower nozzle is connected, the shower nozzle install in on the automobile body, and with spray control module connects, spray control module is used for the basis ground target object image control the shower nozzle is opened or is closed.

2. The agricultural unmanned vehicle of claim 1, wherein the number of the spray heads is plural, and the plural spray heads are arranged on the vehicle body at intervals.

3. The agricultural unmanned vehicle of claim 2, wherein the spraying control module comprises an image processing unit and a control unit, the camera is connected with the image processing unit, the image processing unit is used for processing the ground target image and marking the position of the ground target, the image processing unit is connected with the control unit, the control unit is connected with the spray head, and the control unit is used for controlling the spray head corresponding to the position of the ground target to be opened.

4. The agricultural unmanned vehicle of claim 2, wherein the spraying device further comprises an air compressor, an air storage tank and an air injection assembly, the spray head is a negative pressure type spray head, the air compressor and the air storage tank are both mounted on the vehicle body, the air compressor is connected with the air injection assembly through the air storage tank, and the air injection assembly is respectively connected with the plurality of spray heads.

5. The agricultural unmanned vehicle of claim 4, wherein the air injection assembly comprises a manifold plate and a plurality of solenoid valves, the manifold plate is provided with an air inlet and a plurality of air outlets which are communicated with each other, the air inlet is communicated with the air storage tank, the solenoid valves are fixedly arranged on the manifold plate, each air outlet is communicated with one solenoid valve, and each solenoid valve is connected with one spray head.

6. The agricultural unmanned vehicle of claim 2, wherein the spraying device further comprises a conveying pipeline, the conveying pipeline comprises a main pipeline and a plurality of branch pipelines which are communicated with each other, one end of the main pipeline is connected with the pesticide box, the other end of the main pipeline is respectively connected with the plurality of branch pipelines, and each branch pipeline is connected with one spray head.

7. The agricultural unmanned vehicle of claim 1, wherein the vehicle body comprises a girder, a mounting frame and a plurality of traveling assemblies, the mounting frame is fixedly connected with the girder and is arranged at the rear end of the girder, the plurality of traveling assemblies are all mounted on the girder, and the spray head is mounted on the mounting frame.

8. The agricultural unmanned vehicle of claim 7, wherein the walking assembly comprises a wheel arm, a wheel and a motor, the wheel arm is fixedly connected with the girder at one end and connected with the wheel at the other end, the motor is mounted on the wheel arm and connected with the wheel, and the wheel can rotate relative to the wheel arm.

9. The agricultural unmanned vehicle of claim 8, wherein the number of the walking assemblies is four, the girder is oppositely provided with a first side surface and a second side surface, two of the wheel arms are arranged on the first side surface at intervals, and the other two of the wheel arms are arranged on the second side surface at intervals.

10. The agricultural unmanned vehicle of claim 9, further comprising two batteries and two battery holders, wherein each battery is connected in one of the battery holders in a pluggable manner, two wheel arms disposed on the first side face and the girder are combined to form a first protection space, two wheel arms disposed on the second side face and the girder are combined to form a second protection space, one of the battery holders is fixedly mounted on the girder and disposed in the first protection space, and the other battery holder is fixedly mounted on the girder and disposed in the second protection space.