CN215454916U - Ground management control system of wide-width spray rod type pesticide spraying machine - Google Patents
Ground management control system of wide-width spray rod type pesticide spraying machine Download PDFInfo
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- CN215454916U CN215454916U CN202121644428.1U CN202121644428U CN215454916U CN 215454916 U CN215454916 U CN 215454916U CN 202121644428 U CN202121644428 U CN 202121644428U CN 215454916 U CN215454916 U CN 215454916U
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Abstract
The utility model discloses a ground head management control system of a wide spray rod type pesticide spraying machine, which comprises an automatic driving subsystem, a spray rod control subsystem and a pesticide liquid control subsystem, wherein CAN buses are respectively connected among the automatic driving subsystem, the spray rod control subsystem and the pesticide liquid control subsystem; the automatic driving subsystem comprises a navigation controller, wherein the input end of the navigation controller is in signal connection with a signal receiver, an angle sensor and an attitude sensor, the output end of the navigation controller is connected with a display screen and a steering device, and the display screen is also used as a human-computer interaction interface of the navigation controller; the automatic driving subsystem can automatically complete turning work, the spray rod control subsystem can automatically complete folding and unfolding of the spray rod, and the liquid medicine control subsystem automatically closes or opens the liquid medicine supply, and the three are matched to form a ground management mode, so that the problems that the existing pesticide spraying machine is complicated to operate during ground operation, a driver is easy to work fatigue and misoperation occurs due to the fact that the driver works easily and the like are solved.
Description
Technical Field
The utility model relates to the technical field of machinery for crop growth management, in particular to a ground management control system of a wide-width spray rod type pesticide sprayer.
Background
With the development of agricultural machinery technology in recent years, crop pesticide application has been converted from a traditional method of spraying by manually carrying a pesticide box into automatic spraying by using a pesticide spraying machine, the pesticide spraying operation efficiency is greatly improved, and the pesticide spraying machines in the current market mainly comprise unmanned aerial vehicles, backpack type pesticide spraying machines, traction type pesticide spraying machines, self-propelled pesticide spraying machines and the like. Wherein unmanned aerial vehicle, backpack, towed medicine machine of spouting use middle-size and small-size structure as the owner more, and the operation breadth of its spray lance is less, consequently gives medicine to poor efficiency, can't realize the high efficiency of large tracts of land crop and spout the medicine, and self-propelled medicine machine of spouting is special spouts the medicine design to large tracts of land crop, can be divided into the self-propelled medicine machine of spouting of little, medium, big three kinds of models according to spouting the breadth.
Although the self-propelled pesticide spraying machine is large in width and high in pesticide spraying efficiency, when the end of a cultivated land is operated, a driver needs to close the water path system and fold the spray rod before turning around, and unfold the spray rod and open the water path system again after turning around is completed, so that the steering radius of the machine is reduced, and the pesticide waste caused by ineffective pesticide spraying in the steering process of the machine is avoided. This is currently done manually by the driver by operating a series of associated function switches. Therefore, when the self-propelled pesticide spraying machine walks to the end of the cultivated land, a driver needs to control the walking direction to turn around in time and control the spray rod and the water channel repeatedly and accurately, the operation process is complicated, the labor intensity of the driver is increased, the operation fatigue of the driver is easily caused, and misoperation can be caused by fatigue, so that unnecessary adverse results are generated.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing a wide-range spray rod type pesticide spraying machine ground management control system which can automatically adjust the states of a spray rod and a water path system and reduce the operation difficulty of a driver when a pesticide spraying machine walks to the ground and turns.
In order to solve the technical problems, the technical scheme of the utility model is as follows: the ground management control system of the wide-width spray rod type pesticide spraying machine comprises an automatic driving subsystem, a spray rod control subsystem and a pesticide liquid control subsystem, wherein CAN buses are respectively connected between the automatic driving subsystem and the spray rod control subsystem as well as between the spray rod control subsystem and the pesticide liquid control subsystem; the automatic driving subsystem comprises a navigation controller, the input end of the navigation controller is connected with a signal receiver, an angle sensor and an attitude sensor through signals, the output end of the navigation controller is connected with a display screen and a steering device, and the display screen is also used as a human-computer interaction interface of the navigation controller.
Preferably, the spray rod control subsystem comprises a spray rod controller, and a control end of the spray rod controller is connected to a hydraulic device for driving a spray rod of the spraying machine to fold or unfold.
According to the preferable technical scheme, the hydraulic device comprises a hydraulic pump communicated with a hydraulic oil tank, an oil outlet of the hydraulic pump is connected with a hydraulic oil pipe, the hydraulic oil pipe is connected to a hydraulic oil cylinder, a telescopic end of the hydraulic oil cylinder is connected to a spray rod of the pesticide spraying machine, a hydraulic valve is connected to the hydraulic oil pipe in series, and the hydraulic pump and the hydraulic valve are respectively connected to the spray rod controller in a signal mode.
As a preferred technical solution, the spray rod control subsystem further comprises a monitoring device, and the monitoring device is connected to the input end of the spray rod controller through signals.
As a preferable technical scheme, the liquid medicine control subsystem comprises a liquid medicine controller, an input end of the liquid medicine controller is in signal connection with a pressure sensor for detecting liquid medicine conveying pressure, an output end of the liquid medicine controller is in signal connection with a flow control valve, and the flow control valve is connected in series on a liquid medicine conveying pipeline.
As an improvement to the above technical solution, the navigation controller, the spray rod controller and the liquid medicine controller have the same structure;
the navigation controller comprises a microprocessor, a hard disk, a memory and a system bus.
Due to the adoption of the technical scheme, the ground head management control system of the wide-width spray rod type pesticide spraying machine comprises an automatic driving subsystem, a spray rod control subsystem and a pesticide liquid control subsystem, wherein CAN buses are respectively connected between the automatic driving subsystem and the spray rod control subsystem as well as between the spray rod control subsystem and the pesticide liquid control subsystem; the automatic driving subsystem comprises a navigation controller, wherein the input end of the navigation controller is in signal connection with a signal receiver, an angle sensor and an attitude sensor, the output end of the navigation controller is connected with a display screen and a steering device, and the display screen is also used as a human-computer interaction interface of the navigation controller; the utility model has the following beneficial effects: the automatic driving subsystem can automatically complete turning work, the spray rod control subsystem can automatically complete folding and unfolding of the spray rod, and the liquid medicine control subsystem automatically closes or opens supply of liquid medicine, and the three are matched to form a ground management mode; when the machine finishes turning and turning, the spray rod is unfolded after entering the next line, and meanwhile, the liquid medicine control subsystem is opened to enter a normal medicine spraying operation state, so that the problems that the operation of the existing medicine spraying machine is complicated when the ground is operated, and the driver is easy to work and fatigue, and misoperation occurs are solved.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
fig. 1 is a block diagram of the structure of an embodiment of the present invention.
Detailed Description
The utility model is further illustrated below with reference to the figures and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. Needless to say, a person skilled in the art realizes that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.
As shown in fig. 1, the ground management control system of the wide-width spray rod type pesticide spraying machine comprises an automatic driving subsystem, a spray rod control subsystem and a pesticide liquid control subsystem, wherein CAN buses are respectively connected between the automatic driving subsystem and the spray rod control subsystem as well as between the spray rod control subsystem and the pesticide liquid control subsystem, and information communication among the automatic driving subsystem, the spray rod control subsystem and the pesticide liquid control subsystem CAN be realized through the CAN buses, so that the automatic driving subsystem, the spray rod control subsystem and the pesticide liquid control subsystem are matched to form a ground management mode of the pesticide spraying machine.
The automatic driving subsystem comprises a navigation controller, the input end of the navigation controller is connected with a signal receiver, an angle sensor and an attitude sensor through signals, the output end of the navigation controller is connected with a display screen and a steering device, and the display screen is also used as a human-computer interaction interface of the navigation controller. The display screen can preset an automatic driving path and related parameter information such as steering radius and the like according to specific use conditions, the signal receiver is used for receiving longitude and latitude signals and timely transmitting the longitude and latitude signals to the navigation controller, and the navigation controller calculates the current position of the pesticide spraying machine according to data information of the signal receiver and works according to a planned path. The navigation controller CAN also judge whether the machine reaches the ground according to the received longitude and latitude signals, when the pesticide spraying machine is judged to reach the set ground position, the navigation controller sends the signals reaching the ground to the spray rod control subsystem and the pesticide liquid control subsystem through the CAN bus, and the spray rod control subsystem and the pesticide liquid control subsystem CAN carry out corresponding work after receiving the signals. The specific signal reception, processing, etc. of the present subsystem for autopilot is well known to those of ordinary skill in the autopilot art and will not be described in detail herein.
The spray rod control subsystem of the embodiment comprises a spray rod controller, a control process for automatically folding and unfolding a spray rod is preset in the spray rod controller, and a control end of the spray rod controller is connected to a hydraulic device for driving the spray rod of the pesticide spraying machine to fold or unfold. The hydraulic device comprises a hydraulic pump communicated with a hydraulic oil tank, an oil outlet of the hydraulic pump is connected with a hydraulic oil pipe, the hydraulic oil pipe is connected to a hydraulic oil cylinder, a telescopic end of the hydraulic oil cylinder is connected to a spray rod of the pesticide spraying machine, a hydraulic valve is connected to the hydraulic oil pipe in series, and the hydraulic pump and the hydraulic valve are respectively connected to the spray rod controller in a signal mode. Through the cooperation of the hydraulic pump, the hydraulic valve and the hydraulic oil cylinder, the folding and unfolding drive control of the spray rod of the pesticide spraying machine is realized.
And when the spray rod controller receives a signal that the automatic driving subsystem reaches the ground through the CAN bus, the spray rod controller CAN send a spray rod folding instruction and complete the spray rod folding operation according to a preset flow. The hydraulic pump is controlled to be started, the oil pressure of the hydraulic oil cylinder is adjusted through the hydraulic valve, and the spray rod is driven to perform corresponding folding actions. The process of controlling the spray rod to unfold is similar to folding, and is also realized by adjusting the oil pressure of the hydraulic oil cylinder through the hydraulic pump under the control of the spray rod controller.
The spray rod control subsystem comprises a monitoring device, wherein the monitoring device comprises a proximity switch, a distance measuring sensor and the like, is respectively arranged at the position of the spray rod to be monitored and is used for monitoring whether each section of spray rod is in place or not when being unfolded, folded, lifted and descended; the monitoring device is connected to the input end of the spray rod controller in a signal mode, and after the read signal is analyzed and processed by the spray rod controller, a control signal is output to control the hydraulic device to work, so that the corresponding spray rod is unfolded, folded, lifted and lowered, medicine spraying and the like.
In this embodiment, the liquid medicine control subsystem includes a liquid medicine controller, an input end signal of the liquid medicine controller is connected to a pressure sensor for detecting liquid medicine conveying pressure, an output end signal of the liquid medicine controller is connected to a flow control valve, and the flow control valve is connected in series to the liquid medicine conveying pipeline. When the liquid medicine controller receives a signal from the automatic driving subsystem to the ground through the CAN bus, the liquid medicine controller sends a signal for closing the liquid medicine output to close the flow control valve, so that each spray head on the spray rod stops spraying medicine, and after the rotation of the medicine spraying machine is finished, the flow control valve is controlled to be opened to continue spraying medicine.
The navigation controller, the spray rod controller and the liquid medicine controller are consistent in structure, namely the navigation controller comprises a microprocessor, a hard disk, a memory and a system bus, and the navigation controller realizes the receiving, processing, transmitting, controlling and the like of signals.
The automatic driving subsystem of the utility model can automatically complete the work of turning, turning around and the like, the spray rod control subsystem can automatically complete the folding and unfolding of the spray rod, and the liquid medicine control subsystem automatically closes or opens the supply of liquid medicine, and the three are matched to form a ground management mode. After the system is started, the automatic driving subsystem detects that the pesticide spraying machine reaches the ground, the automatic driving subsystem enters a ground management mode, namely, the pesticide liquid control subsystem is firstly closed, the spray rod is folded at the same time, the situation that the machine needs to turn left or right when entering the next line is judged, and turning operation is carried out according to the set turning radius parameter of turning left or right; when the machine finishes turning and turning, the spray rod is unfolded after entering the next line, and meanwhile, the liquid medicine control subsystem is opened to enter a normal medicine spraying operation state, so that the problems that the operation of the existing medicine spraying machine is complicated when the ground is operated, and the driver is easy to work and fatigue, and misoperation occurs are solved.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (6)
1. Wide width spray rod formula spouts medicine machine ground first management control system, including autopilot subsystem, spray lance control subsystem and liquid medicine control subsystem, its characterized in that: CAN buses are respectively connected between the automatic driving subsystem and the spray rod control subsystem and between the spray rod control subsystem and the liquid medicine control subsystem; the automatic driving subsystem comprises a navigation controller, the input end of the navigation controller is connected with a signal receiver, an angle sensor and an attitude sensor through signals, the output end of the navigation controller is connected with a display screen and a steering device, and the display screen is also used as a human-computer interaction interface of the navigation controller.
2. The ground management control system of the wide-width spray bar type pesticide sprayer according to claim 1, characterized in that: the spray rod control subsystem comprises a spray rod controller, and a control end of the spray rod controller is connected to a hydraulic device for driving a spray rod of the spraying machine to fold or unfold.
3. The ground management control system of the wide-width spray bar type pesticide sprayer according to claim 2, characterized in that: the hydraulic device comprises a hydraulic pump communicated with a hydraulic oil tank, an oil outlet of the hydraulic pump is connected with a hydraulic oil pipe, the hydraulic oil pipe is connected to a hydraulic oil cylinder, a telescopic end of the hydraulic oil cylinder is connected to a spray rod of the pesticide spraying machine, a hydraulic valve is connected to the hydraulic oil pipe in series, and the hydraulic pump and the hydraulic valve are respectively connected to the spray rod controller in a signal mode.
4. The ground management control system of the wide-width spray bar type pesticide sprayer according to claim 2, characterized in that: the spray rod control subsystem further comprises a monitoring device, and the monitoring device is connected to the input end of the spray rod controller through signals.
5. The ground management control system of the wide-width spray bar type pesticide sprayer according to claim 2, characterized in that: the liquid medicine control subsystem comprises a liquid medicine controller, the input end of the liquid medicine controller is in signal connection with a pressure sensor used for detecting liquid medicine conveying pressure, the output end of the liquid medicine controller is in signal connection with a flow control valve, and the flow control valve is connected to the liquid medicine conveying pipeline in series.
6. The ground management control system of the wide-width spray rod type pesticide sprayer according to claim 5, characterized in that: the navigation controller, the spray rod controller and the liquid medicine controller are consistent in structure;
the navigation controller comprises a microprocessor, a hard disk, a memory and a system bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121644428.1U CN215454916U (en) | 2021-07-20 | 2021-07-20 | Ground management control system of wide-width spray rod type pesticide spraying machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121644428.1U CN215454916U (en) | 2021-07-20 | 2021-07-20 | Ground management control system of wide-width spray rod type pesticide spraying machine |
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| CN215454916U true CN215454916U (en) | 2022-01-11 |
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| CN202121644428.1U Active CN215454916U (en) | 2021-07-20 | 2021-07-20 | Ground management control system of wide-width spray rod type pesticide spraying machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114527727A (en) * | 2022-01-19 | 2022-05-24 | 中国农业机械化科学研究院集团有限公司 | Self-propelled boom sprayer and unmanned control system and method thereof |
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2021
- 2021-07-20 CN CN202121644428.1U patent/CN215454916U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114527727A (en) * | 2022-01-19 | 2022-05-24 | 中国农业机械化科学研究院集团有限公司 | Self-propelled boom sprayer and unmanned control system and method thereof |
| CN114527727B (en) * | 2022-01-19 | 2023-11-17 | 中国农业机械化科学研究院集团有限公司 | Self-propelled boom sprayer and unmanned control system and method thereof |
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