TWI389635B - Complex guide vehicle - Google Patents

Description

Compound guided work vehicle

The invention relates to a compound guiding work vehicle, which is suitable for setting in an agricultural, animal husbandry, breeding, gardening and the like as an automated operation, for example: weeding, cleaning, spraying, disinfecting, fertilizing, spreading, sprinkling, spraying, cooling, Feeding, activity lighting, movable work rigs, activity awnings, harvesting vehicles, patrol cars and handling vehicles, and open-ended design for the payload platform and the tail pylon, and provide AC power and DC Power supply and control I/O wiring external sockets allow users to easily add other automation work items.

In the past, most agricultural machinery used a single function and manual operation. Although a large number of agricultural machinery was used, small farmers usually need to work hard with human resources after purchasing some agricultural machinery. If they want to enter automation, each single operation system will cost a lot. The huge cost of recycling; the piping spray system and the fog cooling system are typical examples. Take the spray function as an example. The conventional "long sprayer" must manually drive and control the spray, which is labor-intensive and only for Spray function, if the operating area is small, the performance is not good. For large-scale operators or have certain benefits, but not for ordinary small farmers.

In view of the above shortcomings, the inventor believes that it has the urgent need to improve, and has been researching and creating the above improvements with its years of experience in designing and manufacturing related products, and its consistently adhering to the excellent design concept. After continuous testing, the multi-directional guided work vehicle of the present invention was finally introduced to pray for a better product structure to enhance the efficacy of the product.

The main object of the present invention is to provide a low-cost multi-mode automatic navigation micro-three-wheeled vehicle and traction function, which can be easily disassembled and easily carried, and can effectively integrate commercial agricultural machinery and equipment to make it a low-cost automation operation, and Providing a space for payload space, power, control signals, etc. for the connection of newly developed machines, thus achieving a multi-function automatic operation to reduce the use of work vehicles, and spraying and disinfecting for the daily work of the agriculture and animal husbandry industry, However, it is the most threatening to human health. The present invention specifically designs a spray unit for spraying operations as a basic equipment.

In order to achieve the above object, the compound guiding work vehicle of the present invention comprises a vehicle body, a control unit, a power unit, a driving unit and a track for the tow body, and the vehicle system is respectively assembled with a control unit, a power unit and a drive. The steel frame body of the unit, the transmission driving unit can walk the vehicle body on a predetermined track, and the track system can be a single rail or a side rail disposed beside the path side, or even an earth embankment or a field rail. a trough-shaped virtual rail formed by the gutter, and the front end of the driving unit can be pivotally connected to the guiding unit, so as to facilitate driving on the different tracks mentioned above, and at the same time, the control unit can be used to make the car body have the convenience of automation, and the vehicle body is on the vehicle body. It can also carry storage devices and spraying devices, and can also reassemble the traction pylons to achieve weeding, cleaning, spraying, disinfection, fertilization, spreading, watering, spray cooling, feeding, event lighting, movable work frames, activities. Work vehicles for awnings, harvesters, patrol cars and handling vehicles are described below:

1. Car body: It is used to assemble the control unit, power unit, drive unit, and can travel on the main body of the track.

Second, the control unit is mainly composed of several operating buttons, control panel, and control It consists of a controller, an embedded computer, a current converter, and a motor governor. It provides a control assembly for the electronic body of the vehicle body.

3. The power unit is mainly composed of a generator, a first battery pack and a second battery pack, and is a power assembly for each component.

4. The driving unit is mainly composed of a bearing bearing, an inner wheel, an outer wheel, a transmission part, a grating, a driving motor and a proximity switch. The inner wheel is a V-shaped wheel and can walk on a monorail of a tubular or triangular track. The outer wheel is a ratchet gear, which is good for walking on the mud.

5. The guiding unit is mainly composed of a guiding motor, a limit switch, an active chain, a limit wheel, a tension spring, a counter, a guiding wheel and a drawbar, and an activity chain of a predetermined length is set, and the left and right ends of the activity chain are respectively set. There is a limit wheel, the limit wheel on the two sides is connected to the tension spring, and the end of the tension spring is respectively pivotally connected to the two sides of the bottom of the vehicle body, and then a guide wheel is provided, by which the car body has a slope on both sides. When driving on the ditch, the activity chain is driven by a leftward or rightward movement, so that the limit wheel touches the limit switch, which can make the tension spring tension of the left and right ends uneven, and maintain the leftward or rightward guiding force, the guide wheel The guiding force can be attached to the bank to form an automatic guiding function.

6. The drug storage device is mainly composed of a medicine barrel, a barrel lid, a nozzle sealing cover, a flow tube, a power compressor and a control body, and the medicine barrel can be filled with agricultural chemicals or water, and connected to the spraying device through the control body. Spray.

7. The spraying device is mainly composed of a combination frame, a telescopic rod, a manual valve and a clamp, and is assembled on the rear side of the vehicle body to spray the medicament or water, and an expansion frame can be added to the telescopic rod. The spraying device can be adapted to spray workers on high and low fruit trees or agricultural and forestry land such as horizontal, vertical, tunnel and other plant scaffolding or flat vegetable rafts.

8. The traction pylon is mainly composed of an upright adjustment rod, a joint body, a horizontal adjustment rod and an adjustment block. It is assembled on the rear side of the vehicle body, so that the vehicle body can be combined with a variety of commercially available work machines. To achieve a more diverse use.

The invention relates to a compound guiding work vehicle, comprising: a vehicle body (1), [please refer to the first figure], which is respectively assembled with a control unit (2), a power unit (3) and a driving unit (4). The steel frame body is mainly composed of a base (11), an upper cover (12), a chassis (13), a side cover (14), a bearing seat (15) and an assembly frame (16), and the base (11) An upper cover (12) is assembled, and a control unit (2) can be assembled on the base (11) and the upper cover (12), and a chassis (13) is provided below the base (11), and the chassis (13) is provided on the chassis (13). The power unit (3) can be assembled, and one side cover (14) can be placed on the side of the chassis (13), and the bottom of the chassis (13) is provided with a driving unit (4), and the rear side of the base (11) is A carrier (15) is fixed, and the carrier (15) is provided for carrying articles, and a plurality of buckles (151) are disposed on the side of the carrier (15), and at least two are disposed at the bottom of the carrier (15). The bottom wheel (152) is connected to the rear side of the carrier (15) to pivot an assembly frame (16) for the spray device (8); a control unit (2), [see the second figure] is assembled On the base (11) and the upper cover (12) of the vehicle body (1), the control unit (2) is mainly composed of a plurality of operation buttons (21), The control panel (22), the controller (23), embedded computer (24), a current converter (25), a motor speed controller (26) consisting operating knob (21) It is arranged above the upper cover (12) together with the control panel (22) for easy operation, and the operation button (21) can be used to start, close, and start and close the working process respectively. Or an emergency stop action item, and the control panel (22) can be a touch panel, which can be connected to the controller (23) and the embedded computer (24) to set the body (1) for guiding and other operational processes. The controller (23) and the embedded computer (24) are disposed on the base (11), and the current converter (25) and the motor governor (26) are also disposed on the base (11). The current converter (25) converts the current from DC to AC, and the motor governor (26) controls the drive motor (4) of the DC or AC drive unit (4). The required power is supplied by the second battery pack (33) of the power unit (3). If the power must be AC, it is converted by the current converter (25); a power unit (3), [please refer to The second and third figures provide the power assembly of each component. The power unit (3) is located in the base (11) of the vehicle body (1), mainly by the generator (31) and the first battery pack (32). )versus Two battery packs (33), the generator (31) and the first battery pack (32) provide the power required by the drive unit (4), and the second battery pack (33) provides the control unit (2) For the required power, the generator (31) is disposed on the chassis (13) of the vehicle body (1), and the generator (31) is a generator (31) capable of providing 110V alternating current, or alternatively, the generator (31) Can be used interchangeably with the first battery pack (32), which can use a general vehicle battery, and the generator (31) and the first battery pack (32) must be matched with the drive unit ( 4) The drive motor (46) is DC or AC. If the drive motor (46) is AC, it is equipped with the generator (31). This is suitable for long-term operation. In addition, if the drive motor is assumed (46) is DC, and cooperates with the first battery pack (32) of the device. This system is suitable for use in climbing steep slopes and heavy loads or when muting, and then a second battery pack (33), the second battery pack is provided. (33) is disposed under the carrier (15), and the second battery pack (33) provides power required by the control unit (2), and further, the wiring sockets are disposed below the chassis (13). This can avoid the damp in rainy weather; a drive unit (4), [see the second figure] is assembled under the chassis (13) of the car body (1), mainly by the bearing bearing (41), the inner wheel (42) The outer wheel (43), the transmission part (44), the grating (45), the drive motor (46) and the proximity switch (47) are composed. A bearing bearing (41) is arranged, the bearing bearing (41) is locked under the chassis (13), and the inner bearing (42) and the outer wheel (43) are coaxially arranged under the bearing (41). The wheel (42) is a V-shaped wheel that can travel on a monorail (51) of a tubular or triangular track (5), while the outer wheel (43) is a ratchet gear that facilitates walking on the mud land. A transmission portion (44) for transmitting power is pivoted on one side of the outer wheel (42) (43), and a grating (45) is further disposed on one side of the transmission portion (44), and the grating (45) can calculate the inner and outer wheels. (42) (43) the number of turns, in order to calculate the distance traveled by the vehicle body (1), the transmission portion (44) is further connected to a drive motor (46), which can be used according to different operation requirements. DC or AC, in addition, a side-to-ground proximity switch (47) is provided on one side of the transmission portion (44), and the proximity switch (4) 7) During the running of the vehicle body (1), the positioning body (52) fixed on the path of the track (5) can be read to know the positioning signal; the track (5), [see the fourth figure] Providing a path for the vehicle body (1) to be provided with a single rail (51) on the ground, [see Fig. 5]. The monorail (51) may be a circular tube having a circular cross section, or [Please refer to the sixth figure] The triangular rail belt (511) can be matched with the monorail (51). The monorail (51) can provide the vehicle body (1) on a flat ground, and the additional belt strip (511) The vehicle body (1) can be provided on a slope, [see the fourth figure]. A positioning body (52) can be provided on the side of the path of the monorail (51), and the positioning body (52) The proximity switch (47) of the driving device (4) is used to detect the sensing as the positioning point when the vehicle body (1) moves, and then the vehicle body (1) performs corresponding actions, for example, reaching the turning positioning point. Then suspend the travel, suspend the spraying, etc., so that the vehicle body (1) can achieve an excellent automatic displacement function.

In addition, [see the second figure] in order to improve the convenience of driving the vehicle body (1), a pivoting rod (48) and a guiding detector (49) are arranged at the front end of the bearing bearing (41) of the driving unit (4). ), [Please refer to the seventh figure] The pivot rod (48) can be pivotally connected to the drawbar (68) of a guiding unit (6), or (see the eighth figure) the pivot rod (48) can be Directly connected to the guiding unit (6), and the guiding detector (49) can detect whether the running direction of the guiding unit (6) is normal, and then for adjustment, the guiding unit (6), [Please refer to the ninth figure] Mainly by the guide motor (61), limit switch (62), moving chain (63), limit wheel (64), tension spring (65), counter (66), guide wheel (67) And the drawbar (68) is composed of a guiding motor (61), the guiding motor (61) provides the overall power of the guiding unit (6), and the limit switch (62) is provided on the two sides of the guiding motor (61). And a predetermined length of the activity chain (63), the movable chain (63) is provided with a limit wheel (64) at each of the left and right ends, and the limit wheel (64) on the two sides is connected with a tension spring (65), and the stretching The ends of the springs (65) are respectively pivotally connected to the bottom sides of the chassis (13) of the vehicle body (1), and a counter (66) can be arranged on the movable chain (63), and the counter (66) can calculate the movable chain (63). The number of chain passes through to calculate the angular amount of rotation between the left and right directions. A guide wheel (67) is provided on both sides of the guide motor (61), and the lower end of the guide wheel (67) can be set as a cone. In order to facilitate advancement in uneven terrain, the side proximity switch (671) can be separately provided on the guide wheel (67). By the way, [see the tenth figure], it is assumed that the vehicle body (1) has a slope on one side and two sides. When driving on the sulcus, the movable chain (63) is driven by a leftward or rightward movement, so that the limit wheel (64) activates the limit switch (62), which can make the tension springs (65) at the left and right ends have uneven tension. And dimension The guiding force of the left or right direction, the guiding wheel (67) can be attached to the bank by the guiding force to form an automatic guiding function, and a tow bar (68) can be combined with the guiding unit (6). ) is pivotally connected to the pivot rod (48), and the drawbar (68) can be manually pulled to pull the body (1).

In order to cooperate with the above-mentioned guiding unit (6), [see the eleventh figure] the rail (5) may be provided with a side rail (53), and the side rail (53) may be disposed on the traveling path of the vehicle body (1). On the side, the side rail (53) can be made of bamboo raft, wooden strip, rafter, iron strip, or ground. The anchor is applied with a high-strength thick rope or steel cable. The side rail (53) is made by inserting a column (531) on the side of the vehicle body (1), and the rail (532) is placed at an appropriate height from the ground to guide the rail. The wheel (67) can follow the rail (532). In addition, a metal piece (533) can be locked above the column (531), and the metal piece (533) can be used to detect the positioning point of the side proximity switch (671). In addition, [see Figure 12], the trough-shaped virtual rail (54) formed by the earth embankment, the field raft and the trench can also be used. The guide wheel (67) can also follow the trough-shaped virtual rail (54). In this way, the road condition is poor, [see the second figure], so the guide detector (49) can be adjusted to a looser tolerance to match the path.

The working vehicle of the present invention is mainly capable of spraying, sowing, sprinkling or harvesting in a planting land for agriculture and forestry, and assuming that a spraying operation is required, [see the thirteenth figure] can be in the vehicle body (1) A storage device (7) is disposed on the carrier (15), and the drug storage device (7) is mainly composed of a medicine barrel (71), a barrel cover (72), a nozzle sealing cover (73), and a flow tube (74). The power compressor (75) is composed of a control body (76), the medicine barrel (71) is disposed on the carrier (15), and the barrel (71) is provided with a barrel cover (72), and the barrel cover (72) The edge can be fixed on the buckle (151) of the bearing seat (15) by using a tension bolt (153), and the nozzle cover (72) has a nozzle (721) on one side thereof, and the nozzle (721) is covered with a nozzle seal. a cover (73), a nozzle sealing cover (73) and a through-flow pipe (74) for recirculating or sucking the liquid medicine, and a power compressor (75), wherein the power compressor (75) is fixed Below the rear side of the carrier (15), the control of the solenoid valve is assembled on the side of the power compressor (75). The body (76), [please refer to the fourteenth figure], the flow tube (74) can be connected to the control body (76) via the power compressor (75) and the hydraulic pressure is injected by the power compressor (75). Spray device (8).

In conjunction with the drug storage device (7), [see Figure 14], the assembly frame (16) of the vehicle body (1) can be pivotally connected with a spraying device (8), which is mainly composed of a combo frame (81), the telescopic rod (82), the manual valve (83) and the clamp (84) are formed, and a combination frame (81) and two parallel upright telescopic rods (82) are fixed to each other, and the telescopic rod (82) is fixed. a C-shaped rod body, the frame (81) can be pivotally mounted on the assembly frame (16), and the telescopic rods (82) are disposed at a predetermined distance, that is, a manual valve (83) is provided, and the manual valves (83) can be The control body (76) of the drug storage device (7) is connected to receive the liquid medicine from the control body (76), and the liquid medicine nozzle can also be provided with a clamp (84) for adjusting the spray angle, and the clamp (84) can be Fixed at any position on the telescopic rod (82). In addition, [see the fifteenth figure] an extension bracket (85) can be added to the telescopic rod (82). The expansion bracket (85) can be placed on the telescopic rod. (82) Any suitable one, and the expansion frame (85) is also pivotally provided with a telescopic rod (82), and the side of the telescopic rod (82) and the expansion assembly (85) are respectively pivotally connected to each other. Positioning block (86), and oil pressure is connected to the end of the telescopic rod (82) on the expansion set frame (85) (87), the hydraulic pump (88) and the solenoid valve (89) are further disposed outside the hydraulic cylinder (87), followed by the driving hydraulic cylinder (87), [see Fig. 16] in driving the oil pressure At the same time, the cylinder (87) can make the telescopic rod (82) on the expansion assembly (85) rotate at a predetermined angle, and the expansion rod (82) on the expansion assembly (85) can be combined with a positioning bolt ( 8 21), the positioning bolt (821) allows the telescopic rod (82) to be fixed at a predetermined angular position, and the positioning limit block (86) is used to limit the maximum angular limit from 90 degrees to 90 degrees from vertical to horizontal [see Figure 17] The telescopic rod (82) on the expansion frame (85) can also be set downwards (see Figure 18). The telescopic rod (82) can also be made from vertical to horizontal. The 90 degree stretch, by the way, please refer to the nineteenth to the twenty-second figure together. It can be applied to sprayers of high and low fruit trees or various plant scaffoldings or flat vegetable gardens.

In order to make the work vehicle of the present invention can be combined with a variety of commercially available work machines to improve its practical value, [see the twenty-third figure], a traction pylon (9) can be added on the rear side of the vehicle body (1). The traction pylon (9) is mainly composed of an upright adjustment rod (91), a joint body (92), a horizontal adjustment rod (93) and an adjustment block, and the upright adjustment rod (91) is assembled in the vehicle body (1) The rear side of the assembly frame (16) is provided with a joint body (92) on one side of the upright adjustment rod (91), and the joint body (92) can be adjusted to match the working machine table, and the entire traction rack (9) is also It can be attached up and down to match the towing points of various elevations, [see Figure 24] and a horizontal adjustment lever (93) can be extended on one side of the vertical adjustment lever (91). The horizontal adjustment lever (93) An adjustment block (94) is further disposed, and the adjustment block (94) is also coupled to the assembly frame (16). The adjustment block (94) can adjust the length of the horizontal adjustment rod (93) to expand and contract, thereby controlling the work. The distance between the machine and the vehicle body (1) to adjust the inner wheel difference so that the working machine is towed without deviating from the lane.

The utility model has the advantages that the vehicle body can be easily disassembled and assembled with each component and can be easily carried, and can effectively integrate the commercial farmer. The grazing machine makes it a low-cost automation operation, and provides a communication space, power, control signal and other interfaces for the connection of new development tools, thus achieving a multi-function automatic operation to reduce the manpower of the work vehicle, in addition, for the spray Medicine and disinfection are the daily tasks faced by the agro-pastoral industry, but they are the most threatening to human health. The present invention particularly allows the spraying operation to be automated to avoid direct threats to workers. In addition, the vehicle of the present invention The body can be adapted to work in any different agricultural and forestry land, and can be used in conjunction with demand conversion and direct current to achieve the most cost-effective, most practical, and multi-purpose function.

In summary, it is understood that the present invention is novel, and the present invention is not found in any publication, and is in compliance with the provisions of Articles 21 and 22 of the Patent Law.

The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. That is, the equivalent changes and modifications made by the invention in accordance with the scope of the invention are still within the scope of the invention.

1‧‧‧ body

11‧‧‧Base

12‧‧‧Upper cover

13‧‧‧Chassis

14‧‧‧ side cover

15‧‧‧Hosting

151‧‧‧ buckle

152‧‧‧ bottom wheel

153‧‧‧ Tension bolt

16‧‧‧Assembly

2‧‧‧Control unit

21‧‧‧ operation button

22‧‧‧Control panel

23‧‧‧ Controller

24‧‧‧ embedded computer

25‧‧‧ Current Converter

26‧‧‧Motor governor

3‧‧‧Power unit

31‧‧‧Generator

32‧‧‧First battery pack

33‧‧‧Second battery pack

4‧‧‧ drive unit

41‧‧‧ bearing bearing

42‧‧‧ Inner wheel

43‧‧‧Outside

44‧‧‧Transmission Department

45‧‧‧Raster

46‧‧‧Drive motor

47‧‧‧Proximity switch

48‧‧‧ pivot rod

49‧‧‧steering detector

5‧‧‧ Track

51‧‧‧ Monorail

511‧‧‧Belt strip

52‧‧‧ Positioning body

53‧‧‧ Side rail

531‧‧‧ column

532‧‧ ‧ rails

533‧‧‧metal piece

54‧‧‧ trough-shaped virtual track

6‧‧‧Direction unit

61‧‧‧steering motor

62‧‧‧limit switch

63‧‧‧Activity Chain

64‧‧‧limit wheel

65‧‧‧ stretching spring

66‧‧‧ counter

67‧‧‧guide wheel

671‧‧‧ side proximity switch

68‧‧‧Dropper

7‧‧‧ drug storage device

71‧‧‧pill barrel

72‧‧‧ barrel lid

721‧‧‧ mouthpiece

73‧‧‧notch sealing cover

74‧‧‧Flow tube

75‧‧‧Power compressor

76‧‧‧Control body

8‧‧‧Spray device

81‧‧‧ combo box

82‧‧‧ Telescopic rod

821‧‧‧ Positioning bolt

83‧‧‧Manual valve

84‧‧‧ fixture

85‧‧‧Expanding shelves

86‧‧‧ positioning stop

87‧‧‧Hydraulic cylinder

88‧‧‧Hydraulic pump

89‧‧‧ solenoid valve

9‧‧‧ traction pylon

91‧‧‧Upright adjustment rod

92‧‧‧ joint

93‧‧‧Horizontal adjustment lever

94‧‧‧Adjustment block

The first figure: a three-dimensional assembly diagram of the vehicle body of the present invention

The second figure: the overall assembly diagram of the vehicle body driven by the AC motor

The third figure: the overall assembly diagram of the vehicle body driven by the DC motor

Fourth figure: a perspective view of the vehicle body of the present invention combined with a track

Fig. 5 is a partial plan view showing the inner wheel of the present invention combined with the monorail

Figure 6: Partial plan view of the single rail additional belt strip of the present invention

Figure 7 is a perspective view showing the assembly of the pivotal drawbar of the vehicle body of the present invention

Figure 8 is a perspective view showing the assembly of the pivotal guiding unit of the vehicle body of the present invention

Ninth view: a partial perspective view of the pivotal guiding unit of the vehicle body of the present invention

Fig. 10 is a partial perspective view showing the guiding unit of the present invention

Eleventh drawing: a perspective view of the guide unit of the present invention in cooperation with the side rail

Twelfth Figure: Stereoscopic view of the guiding unit of the present invention in cooperation with the grooved virtual track

Thirteenth figure: an assembled schematic view of the assembly body of the vehicle body of the present invention

Figure 14: Three-dimensional schematic diagram of the assembly of the vehicle body assembly spraying device of the present invention

Fifteenth Figure: Three-dimensional schematic diagram of the assembly of the spray assembly of the present invention

Figure 16: Schematic diagram of the adjustment angle of the spraying device of the present invention

Figure 17: Three-dimensional schematic diagram of the assembly of the anti-installation expansion frame of the present invention

Figure 18: Stereoscopic view of the adjustment angle of the anti-assembly spraying device of the present invention

Fig. 19 is a plan view showing the spraying of the vehicle body with the spraying device

Fig. 20 is a plan view showing the spraying of the vehicle body with the spraying device

The twenty-first figure: a schematic diagram of the spraying of the vehicle body with the spraying device

Twenty-second diagram: a schematic plan view of spraying the medicine body with the spray device of the present invention

Twenty-third figure: a schematic view of the forward assembly of the traction frame and the working machine of the vehicle body of the present invention

Twenty-fourth drawing: another perspective view of the reverse assembly of the traction frame and the working machine of the vehicle body of the present invention

1‧‧‧ body

11‧‧‧Base

12‧‧‧Upper cover

13‧‧‧Chassis

14‧‧‧ side cover

15‧‧‧Hosting

151‧‧‧ buckle

152‧‧‧ bottom wheel

16‧‧‧Assembly

2‧‧‧Control unit

21‧‧‧ operation button

22‧‧‧Control panel

33‧‧‧Second battery pack

4‧‧‧ drive unit

42‧‧‧ Inner wheel

43‧‧‧Outside

44‧‧‧Transmission Department

48‧‧‧ pivot rod

5‧‧‧ Track

51‧‧‧ Monorail

52‧‧‧ Positioning body

Claims (10)

A compound guiding work vehicle mainly comprises: a vehicle body, a steel frame body respectively assembled with a control unit, a power unit and a driving unit, mainly comprising a base, an upper cover, a side cover, a chassis, a bearing seat and an assembly frame The base is assembled with an upper cover, and a bottom plate is arranged under the base, and a side cover can be disposed on the side of the chassis, and a bearing seat is fixed on the rear side of the base. The article is provided with a plurality of buckles on the side of the carrier, and at least two bottom wheels are pivoted on the bottom of the carrier, and an assembly frame is pivotally connected to the rear side of the carrier; a control unit is assembled on the base of the vehicle body. On the seat and the upper cover, the control unit is mainly composed of a plurality of operation buttons, a control panel, a controller, an embedded computer, a current converter, and a motor governor, and the operation button is disposed above the upper cover together with the control panel. In operation, the operation button can be used as an action item for starting, closing, starting, closing or emergency stop of the vehicle body, the control panel is connected to the controller and the embedded computer, and the controller and the embedded computer are respectively operated. It is set on the pedestal. There is also a current converter and a motor governor on the pedestal. The current converter converts the current from DC to AC, while the motor governor controls the DC or AC drive. The driving motor of the unit, the power required for the operation button, the control panel, the controller, the embedded computer, the current converter, and the motor governor is supplied by the power unit; and the power unit provides the power assembly of each component. The power unit is located in the base of the vehicle body, and is mainly composed of a first battery pack and a second battery pack. The first battery pack provides power required by the drive unit, and the second battery pack provides the control unit. Electricity, its first battery pack is set in the car The chassis of the body is further provided with a second battery pack, the second battery pack is disposed under the carrier, and the second battery pack provides power required by the control unit; a drive unit is assembled in the chassis of the vehicle body The lower part is mainly composed of bearing bearing, inner wheel, outer wheel, transmission part, grating, drive motor and proximity switch. It is provided with a bearing bearing. The bearing is locked under the chassis and the inner bearing is under the bearing. And the outer wheel, the inner wheel can walk on the monorail of the track, and the outer wheel can walk on the mud land, and the inner and outer wheels are pivotally provided with a transmission part capable of transmitting power, and the transmission part is provided with a grating on one side. The transmission part is further connected with a driving motor, which can use DC or AC according to different operation requirements, and a proximity switch is further disposed on one side of the transmission part, and the proximity switch can read the positioning body fixed on the track path; the track Providing a path for the vehicle body to travel, the path being capable of providing a single rail on the ground, the single rail system being a circular tube having a circular cross section, and a positioning body may be disposed on a side of the path of the single rail. Train means for driving the proximity switch to detect when the vehicle perception as to move the anchor point, then make the corresponding operation so that the vehicle body, whereby the vehicle body can be achieved so that the automatic shift function. The utility model as claimed in claim 1 , wherein the first battery pack of the power unit is replaceable with the generator, and the generator is disposed on the chassis of the vehicle body, and must be matched with the driving unit. The drive motor is DC or AC. The utility model as claimed in claim 1, wherein the bearing bearing of the driving unit, the front end of the bearing bearing can be provided with a pivoting rod, the pivoting rod can be pivotally connected to a guiding unit, the guiding unit is mainly The utility model is composed of a guiding motor, a limit switch, a movable chain, a limit wheel, a tension spring, a counter, a guiding wheel and a drawbar, and a guiding motor is arranged. The guiding motor is provided with a limit switch and a movable chain on two sides, and the movable chain Left and right ends a limit wheel, the limit wheel is connected with a tension spring, and the end of the tension spring is respectively pivotally connected to the bottom side of the chassis of the vehicle body, and a counter can be arranged on the movable chain, and the counter can calculate the chain passing through the active chain. The guide motor is provided with a guide wheel on the two sides of the guide motor. The guide wheel can be respectively provided with a side proximity switch and a drawbar can be pivotally connected with the guide unit on the pivot rod for manual hand pull to the tractor. Body. The utility model as claimed in claim 1 , wherein the bearing bearing of the driving unit, the front end of the bearing bearing can be provided with a guiding detector, wherein the guiding detector can detect whether the heading is normal. The utility model as claimed in claim 3, wherein if the front end of the driving unit is provided with a pivoting rod, the pivoting rod is pivotally connected with a guiding unit, and the guiding track of the guiding unit can be set as a side rail The side rail system can be disposed on the side of the vehicle body travel path, and the side rail is mainly composed of a column, a rail and a metal sheet, and a plurality of pillars are arranged on one side of the vehicle body traveling path, and the column is disposed at an appropriate height from the ground. The strips enable the guide wheels of the guiding unit to follow the rails, and a metal piece is locked on the upper side of the column, and the metal piece can make the side proximity switch detect the positioning point. The utility model as claimed in claim 3, wherein if the front end of the driving unit is provided with a pivoting rod, the pivoting rod is pivotally connected with a guiding unit, and the guiding track of the guiding unit can be set as a groove In the virtual track, the groove-shaped virtual track can be formed by the earth embankment, the field raft, and the gutter, and the guide wheel of the 俾 guiding unit can follow the groove-shaped virtual track to drive. The utility model as claimed in claim 1, wherein the vehicle body is provided with a medicine storage device, and the medicine storage device is mainly sealed by a medicine barrel, a barrel cover and a nozzle. The cover, the flow tube, the power compressor and a control body are arranged, the medicine barrel is arranged on the carrier, and the barrel is arranged on the medicine barrel The cover and the edge of the lid can be fixed on the buckle of the carrier by using a tension bolt, and the nozzle cover has a nozzle on one side thereof, and the nozzle cover is closed with a nozzle sealing cover, and the nozzle sealing cover is passed through at least two flow tubes for The chemical liquid is injected or sucked, and the power compressor is further provided. The power compressor is fixed under the rear side of the bearing seat, and the control body is assembled on one side of the power compressor, and the flow tube can be connected to the control body. The duplex guided work vehicle according to claim 7, wherein if the carrier of the vehicle body is provided with a medicine storage device, the assembly frame of the vehicle body is pivotally connected with a spraying device, and the spraying device is Mainly composed of a combination frame, a telescopic rod, a manual valve and a clamp, and a combination frame and at least two telescopic rods are fixed to each other, and the combined frame can be pivotally mounted on the assembly frame, and the telescopic rods are disposed at a predetermined distance apart The manual valve can communicate with the control body of the drug storage device, thereby extracting the liquid medicine from the control body, and the liquid medicine nozzle is also provided with a clamp, and the clamp can be any movement adjuster on the telescopic rod. The utility model as claimed in claim 8, wherein the spray device added to the assembly frame of the vehicle body, the telescopic rod of the spray device, and the expansion frame can be added to the telescopic rod, and the expansion frame can be added. The telescopic rod is disposed on the telescopic rod, and the telescopic rod is also pivoted on the expansion assembly frame, and the positioning block is respectively disposed on the side of the telescopic rod and the expansion assembly frame, and the telescopic rod on the expansion frame is further In combination with a positioning bolt, a hydraulic cylinder is connected to the end of the telescopic rod on the expansion set frame, and a hydraulic pump and a solenoid valve are arranged on the outer side of the hydraulic cylinder to drive the hydraulic cylinder, and the hydraulic cylinder can be driven at the same time. The telescopic rod on the expansion set frame is rotated at a predetermined angle, and the telescopic rod is fixed to a predetermined angular position through the positioning bolt, and the positioning stopper can limit the maximum limit angle of the rotation. The utility model as claimed in claim 1, wherein the assembly body of the vehicle body, the rear side of the assembly frame can be provided with a traction pylon, the traction hang The frame is mainly composed of an upright adjustment rod, a joint body, a horizontal adjustment rod and an adjustment block. The upright adjustment rod is assembled on the rear side of the assembly body of the vehicle body, and the joint body is arranged on one side of the upright adjustment rod, and the joint body can be matched. Connected to a working machine, and a horizontal adjusting rod can be extended on one side of the vertical adjusting rod, and an adjusting block is further arranged on the horizontal adjusting rod. The adjusting block is also combined on the assembling frame, and the adjusting block can adjust the horizontal adjusting rod to expand and contract. The length is used to control the inner wheel difference between the working machine and the vehicle body.