WO2018010216A1 - 一种高地隙无人驾驶智能履带喷雾机及控制方法 - Google Patents

一种高地隙无人驾驶智能履带喷雾机及控制方法 Download PDF

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Publication number
WO2018010216A1
WO2018010216A1 PCT/CN2016/091968 CN2016091968W WO2018010216A1 WO 2018010216 A1 WO2018010216 A1 WO 2018010216A1 CN 2016091968 W CN2016091968 W CN 2016091968W WO 2018010216 A1 WO2018010216 A1 WO 2018010216A1
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WIPO (PCT)
Prior art keywords
spray
sprayer
wheel
support
hub
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PCT/CN2016/091968
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English (en)
French (fr)
Inventor
沈跃
刘慧�
李宁
徐慧
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江苏大学
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Publication of WO2018010216A1 publication Critical patent/WO2018010216A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
    • G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means

Definitions

  • the invention relates to a spray machine, in particular to a high-gap unmanned intelligent crawler sprayer and a control method thereof.
  • Patent application No. CN201310288169.7 Patent A tractor walking device adopts a triangular crawler structure, which has certain adaptability to complex terrain, but there are still problems in agricultural applications where the center of gravity of the device is too high and the passability cannot adapt to high stalk crops.
  • a high-gap unmanned intelligent crawler sprayer was designed.
  • the track structure and the unmanned intelligent control method are adopted to adapt to the influence of complex spray application topography.
  • the three-stage height-adjustable long spray bar can meet the spray application requirements of different growth periods of field crops.
  • the object of the present invention is to design a sprayer and a control method for a high-gap unmanned vehicle that can adapt to the spray requirements of large fields and crops with complex spray topography, and can improve spray application efficiency.
  • the technical scheme of the present invention is: a high-gap unmanned intelligent crawler sprayer, comprising a sprayer walking device, a sprayer lifting mechanism, a spray mechanism, and a control device; the sprayer walking device is driven by two wheel hub motors
  • the crawler type traveling mechanism comprises a crawler type walking mechanism on both sides connected by a fixed rod, and a sprayer lifting mechanism is arranged at a top end of the crawler type traveling mechanism on both sides, the spray mechanism comprises a mixing device and a spray bar device;
  • the crawler type walking mechanism is internally equipped with a trapezoidal bracket assembly; the mixing device and the control device are disposed inside the trapezoidal bracket assembly on both sides, and the spray bar device is disposed on the sprayer lifting mechanism and connected to the mixing device, with the sprayer
  • the traction mechanism of the lifting mechanism moves up and down; the control device is respectively connected with the hub motor, the sprayer lifting mechanism and the spraying mechanism, respectively, and realizes driving control of the hub motor, lifting control of the sprayer lifting mechanism
  • the outer periphery of the trapezoidal bracket assembly is wrapped by a crawler belt, and the trapezoidal bracket assembly is a trapezoidal support structure, which is composed of a fixed connection of the support plate.
  • the four-side fixed wheel of the trapezoidal bracket assembly can be matched with the crawler belt and driven by the hub motor. The wheel drives the track to travel.
  • the trapezoidal bracket assembly includes a supporting cross plate, a supporting inclined plate, a hub supporting bracket, and a hub supporting horizontal plate, and the supporting horizontal plate, the supporting inclined plate, the hub supporting bracket, and the hub supporting horizontal plate are enclosed into a trapezoidal bracket, and are welded by welding.
  • connection of the supporting cross plate and the supporting swash plate, the joint of the supporting cross plate and the hub supporting bracket, the joint of the supporting swash plate and the hub supporting horizontal plate, the joint of the hub supporting bracket and the hub supporting horizontal plate There are reserved through holes for the intermediate shaft to pass through; the end of the hub support bracket near the supporting transverse plate is a horizontal plate, and the other end is fixed with a half-shaped bracket A; the hub supports the horizontal plate near the supporting inclined plate One end is a horizontal plate, and the other end is fixed with a half-shaped bracket B.
  • the half-shaped bracket B of the hub supporting horizontal plate is engaged with the inner side of the half-shaped bracket A of the hub supporting bracket, and the two are connected by the intermediate shaft;
  • Two triangular brackets are fixedly connected to the bottom of the supporting horizontal plate, and through holes for the intermediate shaft are reserved on both sides of the bottom side of the triangular bracket.
  • the crawler type traveling mechanism includes a hub motor driving wheel, a traveling wheel, a crawler belt, a guide wheel, and a support wheel, and the hub motor driving wheel, the traveling wheel, the guiding wheel and the supporting wheel are all assembled on the trapezoidal bracket assembly through the intermediate shaft.
  • Each of the connecting ends is provided on both sides of the through hole, wherein the hub motor driving wheel and the guiding wheel are respectively mounted on the intermediate shafts on both sides of the bottom side of the trapezoidal bracket assembly, and the two supporting wheels are assembled on the intermediate shaft on both sides of the upper side of the trapezoidal bracket assembly
  • each of the four walking wheels is assembled on the triangular bracket at the bottom of the trapezoidal bracket assembly.
  • connection between the hub motor drive wheel and the trapezoidal bracket assembly is a jumper connection, and the hub motor drive wheel is mounted on the hub support bracket.
  • the hub supports the intermediate shaft on the inner side of the half-shaped bracket which is matched with the horizontal plate; the traveling wheel, the guide wheel and the support wheel are two-wheel coaxial structure; the track wraps around the entire trapezoidal bracket assembly, and the same wheel hub motor drive wheel
  • the walking wheel, the guiding wheel and the supporting wheel are in contact.
  • the sprayer lifting mechanism comprises a quadrangular pyramid frame and a chain pulling device
  • the quadrangular pyramid frame comprises a support frame and a support transverse plate, and the support transverse plate at the bottom end and the support frame thereon form a quadrangular pyramid structure, and the support transverse plate is a plate with a quadrangular structure; the inside of the trapezoidal crawler is seen from the side of the sprayer
  • the trapezoidal bracket assembly is combined with the upper two support brackets to form a triangle, that is, adopts an integral triangular structure, has stability, and gradually narrows from bottom to top;
  • the chain traction device is disposed in the quadrangular pyramid frame, and includes a grooved slide rail, a gear, a DC brushless motor and a chain;
  • the grooved slide rail includes a holed slider and a sliding slot, and the lower end of the sliding groove is vertically fixed by the connecting member Supporting the horizontal plate, the upper end of the sliding groove is fixedly connected to the top plate of the support frame, the holed slider is mounted on the grooved sliding rail, and the middle circular hole of the hole sliding block is used for placing the spray bar;
  • the gear is located on one side of the grooved slide rail, the upper gear is fixed on the upper gear fixing part, and the lower gear is coaxially connected with the DC brushless motor, the two gear centers are on the same vertical line, and the DC brushless motor Fixed on the bottom support plate.
  • the support frame on the quadrangular pyramid frame can be replaced by two metal support frame vertex welding to form a triangular support frame, and the bottom end of the triangular support frame is fixed at a central position on both sides of the support transverse plate, so that the triangular support frame and the lower part are
  • the trapezoidal bracket assembly forms a solid triangular structure when viewed from the side of the sprayer.
  • the mixing device comprises a water tank, a medicine box and a medicine liquid tank, the water tank and the medicine box are separated, the output medicine liquid is mixed in proportion, and the mixed medicine liquid is pre-existed in the medicine liquid tank, and the spray machine encounters When the bad terrain conditions cannot be driven out, the water in the water tank can be released and reduced;
  • the boom device has a three-stage structure, and the crawler-type traveling mechanisms on both sides are internal spray bars, the inner spray bars are externally sprayed on both sides, and the spray bar device is evenly distributed on the spray nozzle device.
  • the inner spray bar passes through the holed sliders on both sides and is fixed, and the spray bar device can perform a certain range of up and down movement under the driving of the brushless DC motor and the gear.
  • the utility model further comprises an electric push rod, wherein the inner spray rod and the outer spray rod are connected together through a rotating shaft, and the two ends of the electric push rod are respectively fixed on the inner spray rod and the outer spray rod above the rotating shaft, and the outer spray rod vertically folded
  • the card is stuck in the spray bar slot at both ends of the main fixed rod; the inner spray rod extends one bottom of each spray rod at the two ends, and the outer spray rod is just stuck in the bottom groove of the spray rod when horizontally placed.
  • the fixing rod comprises:
  • each auxiliary fixing rod is respectively fixed on two side pillars on the same side of the supporting frame;
  • the fixed rod is located directly above the center line of the two auxiliary fixed rods, and the main fixed rod and the auxiliary fixed rod are arranged in parallel.
  • cover plate is further fixed on both sides of the crawler belt, and the size is slightly smaller than the crawler belt, and the trapezoidal bracket assembly and the water tank, the medicine box, the chemical tank and the control device are all covered, and are fixed on the intermediate shaft on the outer side of each wheel. .
  • control device comprises an embedded vehicle control unit, a camera, a gyroscope, an electronic compass, a GPS, a water flow meter, a height sensor, a speed sensor, a liquid level sensor, a pressure sensor, a nozzle flow meter, a remote controller, and a parameter display.
  • image real-time display mobile phone application, hub motor drive, lift motor drive, push rod motor drive, pump drive, liquid pump drive, mixed liquid pump drive, solenoid valve drive;
  • the camera, the gyroscope, the electronic compass, the GPS, the water flow meter, the height sensor, the speed sensor, the liquid level sensor, the pressure sensor, and the nozzle flow meter are all connected to the embedded vehicle control unit;
  • the mobile phone application transmits data through the 4G wireless network and the embedded vehicle control unit, and the remote controller transmits data through the 2.4G wireless network and the embedded vehicle control unit;
  • the hub motor drive, the lift motor drive, the push rod motor drive, the pump drive, the liquid pump drive, the mixed liquid pump drive, and the solenoid valve drive are all connected to the embedded vehicle control unit via the CAN bus;
  • the driving motor of the hub motor is connected with the driving of the hub motor
  • the brushless DC motor is connected with the driving of the lifting motor
  • the electric push rod is driven by the driving of the push rod motor
  • the pump is connected with the driving of the pump
  • the liquid medicine pump is connected with the driving of the liquid medicine pump
  • the mixed liquid The pump is connected to the mixed liquid pump drive
  • the spray rod solenoid valve is connected to the solenoid valve drive.
  • the two outer spray bars are leveled by the electric push rod, the height of the target plant is obtained according to the height sensor, the spray bar is adjusted to the appropriate spray distance by the DC brushless motor, and then the sprayer is controlled by the remote controller. Advance and direction while performing a spray action;
  • the operator effectively and reasonably controls the traveling direction of the sprayer according to the information collected by the camera, the gyroscope, the electronic compass, and the GPS.
  • the embedded vehicle control unit is based on the speed sensor, the liquid level sensor, the pressure sensor, and the nozzle flow meter.
  • the returned information controls the hub motor drive wheel, pumping pump, liquid medicine pump, mixing liquid pump and boom solenoid valve to control the speed of the sprayer, the mixing process and the spraying process; the pumping flow meter is used for real-time detection and pumping.
  • the embedded vehicle control unit controls the liquid pump according to the amount of water pumped by the pump to extract a certain amount of liquid to carry out the mixing process, so that the water and the liquid are mixed according to a certain ratio;
  • the spray bar is a three-stage structure Each part corresponds to a spray rod solenoid valve, and the mixed liquid pump and the spray rod electromagnetic valve are used together to stabilize the water pressure in the spray rod, and the nozzle is pressure type, and reaches a certain water pressure or spray;
  • the spray bar is lowered to the bottom end of the grooved slide rail by the DC brushless motor and the chain and the gear, and the outer two sections of the three-stage spray bar are folded inward by the folding action of the electric push rod, and placed to the inside.
  • the three-stage spray bar forms a positive triangular structure, ensuring that the spray center is center-symmetrical and the center of gravity is located on the center vertical line, which is beneficial to the travel and transportation of the sprayer.
  • the invention has the beneficial effects that a high-gap unmanned intelligent crawler sprayer and its control system adopt wireless data transmission and remote control technology, which no longer requires human driving, and not only reduces the weight of the sprayer, but also does not It exposes the operator to spraying pesticides, improving the operator's operating environment and reducing the intensity of operation.
  • the left and right track drives are driven by a separate in-line hub motor, which has good sealing, reduces the components such as the reduction gear box, saves space and weight, and all the components of the water tank, the liquid tank, and the circuit components such as the vehicle battery and the driver are concentrated.
  • the center of gravity is lowered, which is different from other crawler walking mechanisms, which makes the walking more stable.
  • the structure is fixed only by the three fixed rods at the height of the sprayer, so that the sprayer has good passability and adapts to each.
  • High and low-gap crop spraying conditions; wide-width spray bar can be adjusted up and down according to the actual height of the crop, which can meet the spray requirements of different crops in different growth stages.
  • the two sides of the three-stage spray bar can be folded inward.
  • the three-stage spray bar forms a positive triangular structure with a central symmetry and a stable center of gravity. It is different from other spray bars that are folded backwards.
  • the spray bar does not oscillate up and down or left and right, which is beneficial to the walking and transportation of the sprayer; the sprayer uses water.
  • the medicine separation and real-time mixed medicine waterway system can release the water of the water tank as itself when the sprayer cannot meet the harsh terrain conditions. Negative, to better cope with evil Inferior terrain conditions and no pollution to the environment; through the invention of the high-gap unmanned intelligent crawler sprayer, the efficiency of spray application in the field is improved, the labor intensity is reduced, the automation level is higher, and the scale effect is better.
  • FIG. 1 is a schematic view showing the overall structure of a bevel of a high-gap unmanned intelligent crawler sprayer
  • FIG. 2 is a schematic view showing the front structure of a high-gap unmanned intelligent crawler sprayer
  • Figure 3 is a partial structural view of a high-gap unmanned intelligent crawler sprayer frame
  • Figure 4 is a schematic view of the chain pulling device
  • Figure 5 is a schematic view showing the connection structure of the inner spray bar and the outer spray bar;
  • Figure 6 is a schematic diagram of a control system for a high-gap unmanned intelligent crawler sprayer.
  • a high-gap unmanned intelligent crawler sprayer comprising a sprayer walking device, a sprayer lifting mechanism, a spray mechanism, and a control device;
  • the sprayer walking device is composed of two crawler-type traveling mechanisms driven by a hub motor.
  • the crawler type traveling mechanism on both sides is connected by a fixed rod, and the top of the crawler type walking mechanism on both sides is provided with a sprayer lifting mechanism, and the spray mechanism includes a mixing device and a spray bar device; each crawler type traveling mechanism is internally assembled a trapezoidal bracket assembly; the mixing device and the control device are disposed inside the trapezoidal bracket assembly on both sides, and the spray bar device is disposed on the sprayer lifting mechanism and connected to the mixing device, and moves up and down with the traction mechanism of the sprayer;
  • the control device is respectively connected with the hub motor, the sprayer lifting mechanism and the spraying mechanism, respectively, and realizes driving control of the hub motor, lifting control of the sprayer lifting mechanism, and spray control of the spray mechanism.
  • the periphery of the trapezoidal bracket assembly is wrapped by the crawler belt 3.
  • the trapezoidal bracket assembly 9 is a trapezoidal support structure, which is composed of a fixed connection of the support plate.
  • the four-side fixed wheel of the trapezoidal bracket assembly can cooperate with the crawler belt 3 to drive the crawler belt 3 to travel.
  • the crawler type traveling mechanism includes an in-wheel motor drive wheel 1, a traveling wheel 2, a crawler belt 3, a guide wheel 4, and a support wheel 5.
  • the support wheels 5 are respectively assembled on the opposite sides of the reserved through holes of the respective connecting ends of the trapezoidal bracket assembly 9 through the intermediate shaft, wherein the hub motor driving wheel 1 and the guiding wheel 4 are respectively assembled in the middle of the bottom sides of the trapezoidal bracket assembly 9
  • two support wheels 5 are mounted on the intermediate shafts on both sides of the upper side of the trapezoidal bracket assembly 9, and each of the four traveling wheels 2 is assembled on the triangular bracket at the bottom side of the trapezoidal bracket assembly 9, and the hub motor is driven.
  • connection between the wheel 1 and the trapezoidal bracket assembly 9 is a bridging manner, and the hub motor driving wheel (1) is mounted on the intermediate shaft inside the half-port bracket of the hub supporting bracket 58 and the hub supporting cross plate 59; the walking The wheel 2, the guide wheel 4 and the support wheel 5 are all two-wheel coaxial structures; the track 3 wraps around the entire trapezoidal bracket assembly 9 and is in contact with the hub motor drive wheel 1, the traveling wheel 2, the guide wheel 4, and the support wheel 5. .
  • the mixing device includes a water tank 6, a medicine box 7, and a liquid medicine tank 8, and the water tank 6, the medicine box 7, the liquid medicine tank 8, and the control device are fixed to the trapezoidal crawler inner trapezoidal bracket assembly 9. Internal; the center of gravity is lowered, the sprayer is more stable during walking, and the trapezoidal crawler height is higher, making the medicine box larger in size and suitable for field spray.
  • the water tank 6 is separated from the medicine box 7, and the output medicine liquid is mixed in proportion, and the mixed medicine liquid is pre-existed in the medicine liquid tank 8.
  • the spray locomotive is unable to drive out under the severe terrain conditions, the water of the water tank can be released and reduced. Without polluting the environment.
  • the boom device has a three-stage structure, and the crawler-type traveling mechanism on both sides is an inner spray bar 17, and the inner spray bar 17 has outer spray bars 18 on both sides, and the spray bar device uniformly distributes the nozzles 19.
  • the spray mechanism further includes an electric push rod 20, and the inner spray rod 17 and the outer spray rod 18 are connected together through a rotating shaft 22, and the inner spray rod 17 and the outer sprayed rod respectively fixed on the two ends of the electric push rod 20 respectively on the rotating shaft 22
  • the vertically-extruded outer spray bar 18 is caught in the spray bar slot 23 at both ends of the main fixed rod; the inner spray bar 17 extends at each of the two boom bottom grooves 21, and the outer spray bar 18 is stuck when placed horizontally. In the bottom groove 21 of the spray bar.
  • the above-mentioned boom device is provided with the advantage of being able to carry the pressure of the outer spray bars on both sides while preventing the front and rear swings of the outer spray bar 18 due to wind and bumps.
  • the two ends of the electric push rod 20 are respectively fixed on the inner spray bar 17 and the outer spray bar 18. After the spray is finished, the spray bar is lowered to the bottom end of the grooved slide rail 14 through the DC brushless motor and the chain gear, and the electric push rod is passed.
  • the three-stage spray bar forms a positive triangular structure
  • the center of gravity is relatively stable, which is beneficial to the travel and transportation of the sprayer; before starting the spray, the two outer spray bars are leveled by the electric push rod 20, and then the spray bar is adjusted to the appropriate height according to the height of the target plant, and then executed. Spray action.
  • the present invention further includes a cover plate 24, the cover plate 24 is fixed on both sides of the crawler belt 3, the size is slightly smaller than the crawler belt 3, the trapezoidal bracket assembly 9 and the water tank 6, the medicine box 7, the liquid medicine tank 8, and the control device All are covered and fixed on the intermediate shaft on the outside of each wheel.
  • the cover plate 24 can better protect the internal mechanism, the water tank, the controller, and the like from the pollution and erosion of the harsh environment.
  • one embodiment of a trapezoidal bracket assembly 9 is provided by the present invention.
  • the trapezoidal bracket assembly 9 includes a supporting horizontal plate 56, a supporting inclined plate 57, a hub supporting bracket 58, and a hub supporting horizontal plate 59.
  • the supporting horizontal plate 56, the supporting inclined plate 57, the hub supporting bracket 58, and the hub supporting horizontal plate 59 are enclosed.
  • a through hole for the intermediate shaft is reserved at the joint of the hub support bracket 58 and the hub support cross plate 59.
  • the end of the hub support bracket 58 near the support cross plate 56 is a horizontal plate, and the other end is fixedly connected with a half.
  • a mouth-shaped bracket A (in the shape of " ⁇ ");
  • the end of the hub supporting cross plate 59 near the supporting swash plate 57 is a horizontal plate, the other end is fixedly connected with a half-shaped bracket B, and the hub supports the half-mouth of the horizontal plate 59
  • the bracket B is engaged with the inside of the half-shaped bracket A of the hub support bracket 58 , and the two are connected by the intermediate shaft;
  • the bottom of the hub supporting the horizontal plate 59 is fixedly connected with two triangular brackets, and the sides of the bottom side of the triangular bracket are reserved for the middle.
  • the sprayer lifting mechanism includes a quadrangular pyramid frame and a chain pulling device;
  • the quadrangular pyramid frame includes a support frame 10, a supporting horizontal plate 11, and a supporting horizontal plate 11 at the bottom end thereof.
  • the support frame 10 is formed into a quadrangular pyramid structure,
  • the support transverse plate 11 is a flat plate of a quadrilateral structure;
  • the support transverse plate 11 is a metal flat plate, four triangular iron plates are extended from the lower part of the metal plate, and four triangular iron plates are bridged on the support wheel.
  • the intermediate shaft extending from both sides of the outer side; the support transverse plate 11 and the four triangular iron plates are welded, and the upper gear fixing member 52 and the support frame top plate 51 are welded.
  • the chain pulling device is disposed in the quadrangular pyramid frame, and includes a grooved slide rail 14, a gear 15, a DC brushless motor 16, and a chain 55;
  • the grooved slide rail 14 includes a holed slider 54 and a chute, and the lower end of the chute
  • the horizontal plate 11 is vertically fixedly connected by a connecting member (53), and the upper end of the sliding groove is fixedly attached to the top plate 51 of the support frame, and the holed slider 54 is mounted on the grooved sliding rail 14, and the middle circular hole of the holed slider 54 is used for
  • the spray bar is placed;
  • the gear 15 is located on one side of the grooved slide rail 14, the upper gear 15 is fixed on the upper gear fixing member 52, and the lower gear 15 is coaxially connected with the DC brushless motor, and the two gear centers are in the same
  • a brushless DC motor 16 is attached to the support rail 11 at the bottom.
  • the support frame 10 on the quadrangular pyramid frame can also be welded with two metal support frames to form a triangular support frame, and the bottom end of the triangular support frame is fixed at a central position on both sides of the support transverse plate 11.
  • the triangular support frame and the lower trapezoidal bracket assembly 9 form a solid triangular structure when viewed from the side.
  • the heads of the two support frames 10 are connected on each side, and the two rods are connected at the bottom to the two sides of the support wheel.
  • the bottom of the bracket 10 is joined by a supporting horizontal plate.
  • Such a tripod and a horizontal plate structure form a quadrangular pyramid in space and have stability.
  • the trapezoidal bracket assembly 9 on the inside of the trapezoidal crawler belt is combined with the upper two support frames 10 to form a triangle, that is, an integral triangular structure, which has stability, is gradually narrowed from bottom to top, and is more stable in walking.
  • the crawler type traveling mechanism on both sides of the present invention is the same, and is connected to the two auxiliary fixing rods 13 through a main fixing rod 12, and the two ends of the main fixing rod 12 are respectively connected with the heads of the two supporting frames 10 on each side.
  • the auxiliary fixing rods 13 are respectively fixed on the two side pillars of each side of the supporting frame 10.
  • the three fixing rods and the upper 10 fixing points can firmly connect the two sides of the mechanism together, and the stability is stable. .
  • FIG. 4 it is a chain traction grooved slide rail, including a grooved slide rail 14, a connecting member 53, a holed slider 54, a chain 55; a support horizontal plate 11; a gear 15; a DC brushless motor 16;
  • the middle circular hole of the hole slider 54 is used for the spray bar, the upper gear fixing member 52 is welded with the support frame top plate 51, and the DC brushless motor 16 is fixed on the support horizontal plate 11 with respect to the grooved slide rail 14 On one side, the brushless DC motor 16 drives the gear 15 to rotate, and the chain 55 is coupled with the holed slider 54 to drive the up and down movement of the holed slider 54.
  • the two devices are synchronized to drive the three-stage spray bar up and down. .
  • the crawler belt 3 of the sprayer is driven by the hub motor gear 1, and the trapezoidal crawler height is about 1.2 meters; the intelligent crawler sprayer is driven by the hub motor gear structure, and the hub motor has good sealing performance.
  • the extra gearbox structure saves space and weight of the whole machine, adapts to the walking requirements of various complex terrains, and meets the high requirements of high ground gap crop spray.
  • the spray bar has a three-stage structure, and the inner spray bar 17 is made of titanium alloy material, which is not easy to be deformed, has strong supporting ability, and has a length of 1.5 meters.
  • the outer spray bar 18 carbon fiber material on both sides, the length is 2 meters, the inner spray bar 17 and the outer spray bar 18 all spread up to 5.5 meters; due to the long length of the outer spray rod, the use of titanium alloy can not only meet the strength requirements, but also reduce the self-weight, will not be deformed due to excessive weight; moreover, the inner spray rod and the outer spray rod are all extended Up to 5.5 meters, suitable for field crop spray operations. Conventionally, it is folded backwards, and the center of gravity of the present invention is concentrated on the crawler belt with high stability, and the gravity of each boom is small.
  • the inner spray bar 17 passes through the perforated slider 54 of the grooved slide rail 14 on both sides, and the spray bar can be moved up and down by a range (1.2m-1.8m) under the driving of the brushless DC motor 16 and the gear 15.
  • the brushless DC motor 16 has a self-locking function; it has good applicability for high-gap crops (such as late rice and high-stalk crops).
  • a high-gap unmanned intelligent crawler sprayer control system uses a camera to collect image information of crops in front of the sprayer in real time, and the control unit transmits it to the real-time image display screen for the operator to observe the spray.
  • Environmental characteristics in front of the fog machine The gyroscope is mainly used to detect the deviation information of the spray locomotive attitude angle caused by the unevenness of the ground, and is transmitted to the parameter display screen through the control unit.
  • the electronic compass and GPS are mainly used for the measurement of the heading angle of the spray locomotive and the position information, and transmitted to the parameter display screen through the control unit as the basis for the operator to manipulate the direction of the spray locomotive.
  • the height sensor is mainly used to measure the height information of the crop, and the control unit controls the brushless DC motor according to the information, so that the spray bar spray is at an appropriate height.
  • the speed sensor, the liquid level sensor, the pressure sensor, and the nozzle flow meter are respectively used to measure the traveling speed of the spray locomotive, the liquid level of the liquid tank, the water pressure of the spray bar, and the flow rate of the nozzle spray, and the control unit according to the feedback information of each sensor. Control the hub motor drive wheel, pump, liquid pump, and mixed liquid pump.
  • the pumping flowmeter is used for real-time detection of the amount of water pumped by the pump.
  • the control unit controls the liquid pump to extract a certain amount of liquid according to the amount of water pumped by the pump to carry out the mixing process, so that the water and the liquid are mixed according to a certain ratio.
  • the spray bar is a three-stage structure, each part corresponds to a solenoid valve, and the mixed liquid pump and the electromagnetic valve are used together to stabilize the water pressure in the spray bar, and the nozzle is a pressure type, and reaches a certain water pressure or spray.
  • the mobile phone application is connected to the embedded vehicle control unit through the 4G network, and is used for remotely observing the spray condition of the mobile phone and controlling the spraying process; the remote controller is connected to the embedded vehicle control unit through the 2.4G, and can pass the image real-time display on the remote controller. The real-time image of the crop in front of the spray locomotive and various information on the parameter display are remotely controlled to control the spray locomotive remotely.
  • High-gap unmanned intelligent crawler sprayer control system workflow Before starting the spray, the two outer spray bars are leveled by the electric push rod, and then the spray bar is adjusted to the appropriate height by the DC brushless motor according to the height of the target plant. Then, the forward direction of the sprayer is controlled by the remote controller, and the spraying action is performed at the same time; during the spraying process, the operator performs effective and reasonable control on the traveling direction of the sprayer according to the information collected by the camera, the gyroscope, the electronic compass, the GPS, etc., and controls The unit controls the hub motor drive wheel, the pump, the liquid medicine pump, the mixed liquid pump and the solenoid valve according to the information transmitted by the speed sensor, the liquid level sensor, the pressure sensor, the nozzle flow meter, etc., and the sprayer speed and the mixing process And the spray process is controlled.
  • the pumping flowmeter is used for real-time detection of the amount of water pumped by the pump.
  • the control unit controls the liquid pump to extract a certain amount of liquid according to the amount of water pumped by the pump to carry out the mixing process, so that the water and the liquid are mixed according to a certain ratio.
  • the spray bar is a three-stage structure, each part corresponds to a solenoid valve, and the mixed liquid pump and the electromagnetic valve are used together to stabilize the water pressure in the spray bar, and the nozzle is a pressure type, and reaches a certain water pressure or spray.
  • the spray bar is lowered to the bottom end of the grooved slide rail through the DC brushless motor and the gear, and the two sides of the three-stage spray bar can be folded inward into the spray bar slot by the folding action of the electric push rod.
  • the three-stage spray bar forms a positive triangular structure, which is beneficial to the travel and transportation of the sprayer.

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  • Life Sciences & Earth Sciences (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Wood Science & Technology (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

一种高地隙无人驾驶智能履带喷雾机及控制方法，喷雾机行走设备由两个带有轮毂电机驱动的履带式行走机构组成，两侧的履带式行走机构由固定杆相连，两侧的履带式行走机构顶端均设有喷雾机升降机构，喷雾机构包括混药装置和喷杆装置；每个履带式行走机构内部均装配有梯形支架组件；混药装置和控制装置均置于两侧的梯形支架组件内侧，喷杆装置设置在喷雾机升降机构上并与混药装置相连，随着喷雾机升降机构的牵引上下移动；控制装置分别与轮毂电机、喷雾机升降机构、喷雾机构相连。该装置宽幅喷杆可上下调整，能满足多种作物不同生长时期的喷雾要求，同时通过遥控方式无需人为驾驶，减轻了负重，提高了自动化水平。

Description

一种高地隙无人驾驶智能履带喷雾机及控制方法 技术领域
本发明涉及一种喷雾机器，尤其是涉及一种高地隙无人驾驶智能履带喷雾机及控制方法。
背景技术
我国是一个农业大国，作物的植保以及施肥作业水平直接影响着农作物的产量。目前我国的农业机械化与自动化水平还比较低，缺乏大田高效施药的机具，同时对于具有复杂喷雾施药地形的作物(如水稻以及高秆作物等)，常规机械无法下田，所以大多靠人力或人机结合，导致效率低下、劳动强度大、规模效应差等问题。专利申请号为CN201520140029.X的专利履带自走风送式喷雾机采用传统履带结构，对于复杂地形具有一定适应能力，但是通过性不好，且喷雾范围有限，无法适应大田高秆作物的喷雾要求。专利申请号为CN201310288169.7的专利一种拖拉机行走装置采用三角履带结构，对复杂地形有一定适应能力，但是用于农业应用中仍然存在装置重心过高、通过性无法适应高秆作物等问题。针对以上具有复杂喷雾施药地形的大田喷雾所存在的弊端，设计了一种高地隙无人驾驶智能履带喷雾机。采用履带结构以及无人驾驶智能控制方式以适应复杂喷雾施药地形的影响，另外，三段式高度可调长喷杆可满足大田作物不同生长时期的喷雾施药需求。
发明内容
本发明的目的在于设计了一种高地隙无人驾驶的，能适应大田以及具有复杂喷雾地形作物的喷雾要求，能提高喷雾施药效率的喷雾机及控制方法。
本发明的技术方案为：一种高地隙无人驾驶智能履带喷雾机，包括喷雾机行走设备、喷雾机升降机构、喷雾机构，控制装置；所述喷雾机行走设备由两个带有轮毂电机驱动的履带式行走机构组成，两侧的履带式行走机构由固定杆相连，两侧的履带式行走机构顶端均设有喷雾机升降机构，所述喷雾机构包括混药装置和喷杆装置；每个履带式行走机构内部均装配有梯形支架组件；混药装置和控制装置均置于两侧的梯形支架组件内侧，喷杆装置设置在喷雾机升降机构上并与混药装置相连，随着喷雾机升降机构的牵引上下移动；所述控制装置分别与轮毂电机、喷雾机升降机构、喷雾机构相连，分别实现对轮毂电机驱动控制，喷雾机升降机构的升降控制，以及喷雾机构的喷雾控制。
进一步，所述梯形支架组件外围被履带包裹，梯形支架组件为梯形支撑结构，由支撑板固定连接组成，梯形支架组件四边固定的轮子能够和履带配合，通过轮毂电机驱动 轮带动履带行进。
进一步，所述梯形支架组件包括支撑横板、支撑斜板、轮毂支撑支架、轮毂支撑横板，所述支撑横板、支撑斜板、轮毂支撑支架、轮毂支撑横板合围成梯形支架，通过焊接方式连接；所述支撑横板和支撑斜板的连接处、支撑横板和轮毂支撑支架的连接处、支撑斜板和轮毂支撑横板的连接处、轮毂支撑支架和轮毂支撑横板的连接处均预留有供中间轴穿过的通孔；所述轮毂支撑支架靠近支撑横板的一端为横板，另一端固连有半口状支架A；所述轮毂支撑横板靠近支撑斜板的一端为横板，另一端固连有半口状支架B，轮毂支撑横板的半口状支架B卡合在轮毂支撑支架的半口状支架A内侧，二者通过中间轴连接；所述轮毂支撑横板底部固定连接两个三角支架，三角支架底边两侧预留有供中间轴穿过的通孔。
进一步，所述履带式行走机构包括轮毂电机驱动轮、行走轮、履带、导向轮、支撑轮，所述轮毂电机驱动轮、行走轮、导向轮、支撑轮均通过中间轴装配在梯形支架组件的各个连接端的预留通孔两侧，其中轮毂电机驱动轮与导向轮分别装配在梯形支架组件的底边两侧的中间轴上，两个支撑轮装配在梯形支架组件的上边两侧的中间轴上，4个行走轮每两个一组，装配在梯形支架组件底边的三角支架上，轮毂电机驱动轮与梯形支架组件的连接是采用跨接方式，轮毂电机驱动轮安装在轮毂支撑支架、轮毂支撑横板相配合的半口状支架内侧的中间轴上；所述行走轮、导向轮、支撑轮都是双轮同轴结构；履带将整个梯形支架组件外围包裹，且同轮毂电机驱动轮、行走轮、导向轮、支撑轮相接触。
进一步，所述喷雾机升降机构包括四棱锥机架和链条牵引装置；
所述四棱锥机架包括支撑架、支撑横板，位于底端的支撑横板与其上面的支撑架组成四棱锥结构，所述支撑横板为四边形结构的平板；从喷雾机侧面看，梯形履带内侧的梯形支架组件与上方的两个支撑架组合成一个三角形，即采用整体三角结构，具有稳定性，从下到上逐渐变窄；
所述链条牵引装置设置在四棱锥机架内，包括带槽滑轨、齿轮、直流无刷电机以及链条；带槽滑轨包括带孔滑块和滑槽，滑槽下端通过连接件垂直固连支撑横板，滑槽上端固连在支撑架顶板上，带孔滑块安装在带槽滑轨上，带孔滑块中间圆孔用于安放喷杆；
齿轮位于带槽滑轨的一侧，上部的齿轮固定在上齿轮固定件上，下部的齿轮则是与直流无刷电机同轴连接，两个齿轮中心在同一条垂线上，直流无刷电机固定在底部的支撑横板上。
进一步，所述四棱锥机架上的支撑架可用两根金属支撑架顶点焊接替代，组成三角形支撑架，三角形支撑架底端固定在支撑横板两侧的中心位置，使得三角形支撑架与下部的梯形支架组件从喷雾机侧面看形成牢固的三角形结构。
进一步，所述喷雾机构中，混药装置包括水箱、药箱以及药液箱，水箱与药箱是分离的，输出药液按比例混合，混合的药液预存在药液箱中，喷雾机车遇到恶劣地形条件无法驶出时，能将水箱的水放掉减负；
所述喷杆装置为三段式结构，两侧的履带式行走机构之间为内喷杆，内喷杆的两侧为外喷杆，喷杆装置上均布喷嘴。
进一步，所述内喷杆穿过两侧的带孔滑块并加以固定，喷杆装置可以在直流无刷电机、齿轮的带动下进行一定范围的上下移动。
进一步，还包括电动推杆，所述内喷杆与外喷杆通过转轴连接在一起，电动推杆两端分别固定在转轴上方的内喷杆与外喷杆上，垂直折叠起来的外喷杆卡在主固定杆两端的喷杆卡槽中；内喷杆两头各延伸一个喷杆底槽，外喷杆水平放置时正好卡在喷杆底槽中。
进一步，所述固定杆包括：
和两个支撑架顶端相连接的主固定杆，以及位于主固定杆下端两侧的两个辅助固定杆，每个辅助固定杆分别固定在支撑架同一侧面的两根边柱上；同时保证主固定杆位于两个辅助固定杆中心线的正上方，且主固定杆和辅助固定杆相平行设置。
进一步，还包括盖板，盖板固定在履带两侧，尺寸稍小于履带，将梯形支架组件以及水箱、药箱、药液箱、控制装置全部封盖住，固定在各轮外侧的中间轴上。
进一步，所述控制装置包括嵌入式车载控制单元、摄像头、陀螺仪、电子罗盘、GPS、抽水流量计、高度传感器、速度传感器、液位传感器、压力传感器、喷嘴流量计、遥控器、参数显示屏、图像实时显示屏、手机应用、轮毂电机驱动、升降电机驱动、推杆电机驱动、抽水泵驱动、药液泵驱动、混合液泵驱动、电磁阀驱动；
所述的摄像头、陀螺仪、电子罗盘、GPS、抽水流量计、高度传感器、速度传感器、液位传感器、压力传感器、喷嘴流量计均与嵌入式车载控制单元相连；
手机应用通过4G无线网络与嵌入式车载控制单元相连传输数据，遥控器通过2.4G无线网络与嵌入式车载控制单元相连传输数据；
轮毂电机驱动、升降电机驱动、推杆电机驱动、抽水泵驱动、药液泵驱动、混合液泵驱动、电磁阀驱动均通过CAN总线与嵌入式车载控制单元相连；
轮毂电机驱动轮与轮毂电机驱动相连，直流无刷电机与升降电机驱动相连，电动推杆与推杆电机驱动相连，抽水泵与抽水泵驱动相连，药液泵与药液泵驱动相连，混合液泵与混合液泵驱动相连，喷杆电磁阀与电磁阀驱动相连。
进一步，在开始喷雾前，通过电动推杆将两个外喷杆放平，根据高度传感器获得目标植株的高度，通过直流无刷电机调节喷杆到合适喷雾距离，然后通过遥控器控制喷雾机的前进和方向，同时执行喷雾动作；
在喷雾过程中，操作者根据摄像头、陀螺仪、电子罗盘、GPS采集的信息对喷雾机行进方向进行有效合理的控制，嵌入式车载控制单元根据速度传感器、液位传感器、压力传感器、喷嘴流量计回传的信息对轮毂电机驱动轮、抽水泵、药液泵、混合液泵以及喷杆电磁阀进行控制，对喷雾机速度、混药过程以及喷雾过程进行控制；抽水流量计用于实时检测抽水泵抽取的水量，嵌入式车载控制单元根据抽水泵抽取的水量控制药液泵抽取一定的药液量进行混药过程，使得水和药液按照一定的比例进行混合；喷杆是三段式结构，每个部分对应一个喷杆电磁阀，混合液泵与喷杆电磁阀的配合使用，使喷杆内水压稳定，喷嘴为压力式，达到一定水压即喷雾；
在喷雾结束后，将喷杆通过直流无刷电机以及链条和齿轮下放到带槽滑轨底端，通过电动推杆折叠作用，将三段式喷杆的外部两段向内折叠，安放至到喷杆卡槽中，三段式喷杆形成正三角结构，保证喷雾机整体中心对称且重心位于中心垂直线上，有利于喷雾机的行进与运输。
本发明的有益效果是，一种高地隙无人驾驶智能履带喷雾机及其控制系统，采用的无线数据传输及远程控制技术，不再需要人驾驶，不仅减轻了喷雾机的自身重量，而且不会使操作者暴露在喷洒农药之中，改善操作者的操作环境，同时也减轻其操作强度。左右两侧履带驱动采用独立式内嵌轮毂电机驱动，封闭性好，减少了减速箱等部件，节约了空间和重量；水箱、药液箱等水路各部件以及车载电池、驱动器等电路部分全部集中于两边梯形履带内部，拉低了重心，有别于其它履带行走机构，使得行走更为稳健，只通过喷雾机高处的三根固定杆来固定的结构，使得喷雾机中间通过性好，适应各种高低隙作物喷雾条件；宽幅喷杆可根据作物实际高度上下调整，能满足多种作物不同生长时期的喷雾要求，在喷雾结束时，三段式喷杆的两边两段可以向内折叠，三段式喷杆形成正三角结构，中心对称，重心较稳，有别于其它向后折叠的喷杆，喷杆不会上下、左右摆动，有利于喷雾机的行走与运输；喷雾机采用水药分离、实时混药水路系统，在喷雾机遇到恶劣地形条件不能驶出时，可以释放掉水箱的清水为自身减负，有利于应对恶 劣地形条件且不对环境造成污染；通过所发明的高地隙无人驾驶智能履带喷雾机，提高了在大田中喷雾施药的效率，减轻了劳动强度，自动化水平较高，规模效应较好。
附图说明
图1是一种高地隙无人驾驶智能履带喷雾机斜面整体结构示意图；
图2是一种高地隙无人驾驶智能履带喷雾机正面结构示意图；
图3是一种高地隙无人驾驶智能履带喷雾机车架部分结构图；
图4为链条牵引装置示意图；
图5为内喷杆与外喷杆连接结构示意图；
图6是一种高地隙无人驾驶智能履带喷雾机控制系统原理图。
其中：1-轮毂电机驱动轮；2-行走轮；3-履带；4-导向轮；5-支撑轮；6-水箱；7-药箱；8-药液箱；9-梯形支架组件；10-支撑架；11-支撑横板；12-主固定杆；13-辅助固定杆；14-带槽滑轨；15-齿轮；16-直流无刷电机；17-内喷杆；18-外喷杆；19-喷嘴；20-电动推杆；21-喷杆底槽；22-转轴；23-喷杆卡槽；24-盖板；25-嵌入式车载控制单元；26-摄像头；27-陀螺仪；28-电子罗盘；29-GPS；30-速度传感器；31-液位传感器；32-压力传感器；33-喷嘴流量计；34-遥控器；35-参数显示屏；36-图像实时显示屏；37-手机应用；38-轮毂电机驱动；39-升降电机驱动；40-推杆电机驱动；41-抽水泵驱动；42-抽水泵；43-药液泵驱动；44-药液泵；45-混合液泵驱动；46-混合液泵；47-电磁阀驱动；48-喷杆电磁阀；49-抽水流量计；50-喷杆电磁阀；51-支撑架顶板；52-上齿轮固定件；53-连接件；54-带孔滑块；55-链条；56-支撑横板、57-支撑斜板、58-轮毂支撑支架、59-轮毂支撑横板。
具体实施方式
下面结合示意图具体说明所发明的一种高地隙无人驾驶智能履带喷雾机的工作过程。
一种高地隙无人驾驶智能履带喷雾机，包括喷雾机行走设备、喷雾机升降机构、喷雾机构，控制装置；所述喷雾机行走设备由两个带有轮毂电机驱动的履带式行走机构组成，两侧的履带式行走机构由固定杆相连，两侧的履带式行走机构顶端均设有喷雾机升降机构，所述喷雾机构包括混药装置和喷杆装置；每个履带式行走机构内部均装配有梯形支架组件；混药装置和控制装置均置于两侧的梯形支架组件内侧，喷杆装置设置在喷雾机升降机构上并与混药装置相连，随着喷雾机升降机构的牵引上下移动；所述控制装置分别与轮毂电机、喷雾机升降机构、喷雾机构相连，分别实现对轮毂电机驱动控制，喷雾机升降机构的升降控制，以及喷雾机构的喷雾控制。
所述梯形支架组件外围被履带3包裹，梯形支架组件9为梯形支撑结构，由支撑板固定连接组成，梯形支架组件四边固定的轮子能够和履带3配合，进而带动履带3行进。
如图1-2所示，所述履带式行走机构包括轮毂电机驱动轮1、行走轮2、履带3、导向轮4、支撑轮5，所述轮毂电机驱动轮1、行走轮2、导向轮4、支撑轮5均通过中间轴装配在梯形支架组件9的各个连接端的预留通孔两侧，其中轮毂电机驱动轮1与导向轮4分别装配在梯形支架组件9的底边两侧的中间轴上，两个支撑轮5装配在梯形支架组件9的上边两侧的中间轴上，4个行走轮2每两个一组，装配在梯形支架组件9底边的三角支架上，轮毂电机驱动轮1与梯形支架组件9的连接是采用跨接方式，轮毂电机驱动轮(1)安装在轮毂支撑支架58、轮毂支撑横板59相配合的半口状支架内侧的中间轴上；所述行走轮2、导向轮4、支撑轮5都是双轮同轴结构；履带3将整个梯形支架组件9外围包裹，且同轮毂电机驱动轮1、行走轮2、导向轮4、支撑轮5相接触。
所述喷雾机构中，所述混药装置包括水箱6、药箱7以及药液箱8，所述水箱6、药箱7、药液箱8、控制装置固定于梯形履带内侧梯形支架组件9的内部；重心下放，喷雾机在行走过程中更加稳健，并且梯形履带高度较高，使得药箱的容量较大，适合大田喷雾。水箱6与药箱7是分离的，输出药液按比例混合，混合的药液预存在药液箱8中，喷雾机车遇到恶劣地形条件无法驶出时，可以将水箱的水放掉减负，而不会对环境造成污染。
所述喷杆装置为三段式结构，两侧的履带式行走机构之间为内喷杆17，内喷杆17的两侧为外喷杆18，喷杆装置上均布喷嘴19。所述喷雾机构中还包括电动推杆20，所述内喷杆17与外喷杆18通过转轴22连接在一起，电动推杆20两端分别固定在转轴22上方的内喷杆17与外喷杆18上，垂直折叠起来的外喷杆18卡在主固定杆两端的喷杆卡槽23中；内喷杆17两头各延伸一个喷杆底槽21，外喷杆18水平放置时正好卡在喷杆底槽21中。
上述喷杆装置设置的好处是，既能承载两边外喷杆的压力，同时防止因为风以及颠簸的原因，导致外喷杆18的前后摆动。电动推杆20两端分别固定在内喷杆17与外喷杆18上，在喷雾结束后，将喷杆通过直流无刷电机以及链条齿轮下放到带槽滑轨14底端，通过电动推杆20折叠作用，三段式喷杆的两边两段可以向内折叠到喷杆卡槽23中，与传统喷雾机喷杆向喷雾机后方折叠的方式相比，三段式喷杆形成正三角结构，重心较稳，有利于喷雾机的行进与运输；在开始喷雾前，则通过电动推杆20将两个外喷杆放平，然后根据目标植株的高度调节喷杆到合适的高度，再执行喷雾动作。
如图2所示，本发明还包括盖板24，盖板24固定在履带3两侧，尺寸稍小于履带3，将梯形支架组件9以及水箱6、药箱7、药液箱8、控制装置全部封盖住，固定在各轮外侧的中间轴上。盖板24能较好地保护内部机构、水箱以及控制器等不受恶劣环境的污染、侵蚀。
如图3所示，本发明所给出的梯形支架组件9的一个实施例。
该梯形支架组件9包括支撑横板56、支撑斜板57、轮毂支撑支架58、轮毂支撑横板59，所述支撑横板56、支撑斜板57、轮毂支撑支架58、轮毂支撑横板59合围成梯形支架，通过焊接方式连接；所述支撑横板56和支撑斜板57的连接处、支撑横板56和轮毂支撑支架58的连接处、支撑斜板57和轮毂支撑横板59的连接处、轮毂支撑支架58和轮毂支撑横板59的连接处均预留有供中间轴穿过的通孔；所述轮毂支撑支架58靠近支撑横板56的一端为横板，另一端固连有半口状支架A(为“П”状)；所述轮毂支撑横板59靠近支撑斜板57的一端为横板，另一端固连有半口状支架B，轮毂支撑横板59的半口状支架B卡合在轮毂支撑支架58的半口状支架A内侧，二者通过中间轴连接；所述轮毂支撑横板59底部固定连接两个三角支架，三角支架底边两侧预留有供中间轴穿过的通孔。
如图3-4所示，所述喷雾机升降机构包括四棱锥机架和链条牵引装置；所述四棱锥机架包括支撑架10、支撑横板11，位于底端的支撑横板11与其上面的支撑架10组成四棱锥结构，所述支撑横板11为四边形结构的平板；所述支撑横板11为金属平板，金属平板四角下部延伸出四根三角铁板，四根三角铁板跨接在支撑轮5外部两侧延伸出的中间轴上；支撑横板11和四根三角铁板焊接，上齿轮固定件52和支撑架顶板51焊接。
所述链条牵引装置设置在四棱锥机架内，包括带槽滑轨14、齿轮15、直流无刷电机16、链条55；带槽滑轨14包括带孔滑块54和滑槽，滑槽下端通过连接件(53)垂直固连支撑横板11，滑槽上端固连在支撑架顶板51上，带孔滑块54安装在带槽滑轨14上，带孔滑块54中间圆孔用于安放喷杆；齿轮15位于带槽滑轨14的一侧，上部的齿轮15固定在上齿轮固定件52上，下部的齿轮15则是与直流无刷电机同轴连接，两个齿轮中心在同一条垂线上，直流无刷电机16固定在底部的支撑横板11上。
作为本发明的一个实施例，所述四棱锥机架上的支撑架10也可以选用两根金属支撑架顶点焊接组成三角形支撑架，三角形支撑架底端固定在支撑横板11两侧的中心位置，使得三角形支撑架与下部的梯形支架组件9从侧面看形成牢固的三角形结构。
每一边两个支撑架10头部相接，底部延伸出两根杆跨接在支撑轮外部两侧，两个支 撑架10底部用支撑横板拼接起来，这样的三角架加横板结构，在空间上构成一个四棱锥，具有稳定性。从喷雾机侧面看，梯形履带内侧的梯形支架组件9与上方的两个支撑架10组合成一个三角形，即采用整体三角结构，具有稳定性，从下到上逐渐变窄，行走起更加稳健。
本发明的两侧的履带式行走机构相同，通过一根主固定杆12与两根辅助固定杆13相连接，主固定杆12两头分别与每边的两个支撑架10头部相接处连接，辅助固定杆13两头分别固定在每边支撑架10的两根边柱上，通过3根固定杆以及上面的10个固定点能较稳固地将两边的机构连接在一起，行走起来具有稳定性。
如图4所示，为链条牵引带槽滑轨，包括带槽滑轨14、连接件53、带孔滑块54、链条55；支撑横板11；齿轮15；直流无刷电机16；支撑架顶板51；上齿轮固定件52；其中，带槽滑轨14上端固定在支撑架顶板51中心，下端通过一个底座固定在支撑横板11中部，带孔滑块54安装在带槽滑轨14上，带孔滑块54中间圆孔用于喷杆安放，上齿轮固定件52与支撑架顶板51焊接在一起，直流无刷电机16固定在支撑横板11上，相对于带槽滑轨14偏向一边，直流无刷电机16带动齿轮15转动，链条55与带孔滑块54连接在一起，进而带动带孔滑块54的上下移动，两边装置保持同步，则带动三段式喷杆的上下移动。
作为本发明的实施例，所述喷雾机的履带3靠轮毂电机齿轮1驱动，且梯形履带高度约为1.2米；所述智能履带喷雾机靠轮毂电机齿轮结构驱动，轮毂电机封闭性好，无需额外减速箱结构，节约了整机空间和重量，适应各种复杂地形的行走要求，满足高地隙作物喷雾的高度要求。
所述喷杆为三段式结构，内喷杆17采用钛合金材料，不易变形，支撑能力强，长度1.5米，两边外喷杆18碳纤维材料，长度2米，内喷杆17与外喷杆18全部展开长达5.5米；由于外喷杆长度较长，使用钛合金既能满足强度要求，又能减轻自重，不会因为过重而变形；而且，内喷杆与外喷杆全部展开长达5.5米，适应大田作物喷雾作业。传统的是向后折叠，本发明的重心集中在履带上稳定性高，各节喷杆重力承受力小。
所述内喷杆17穿过两边的带槽滑轨14的带孔滑块54，喷杆可以在直流无刷电机16、齿轮15的带动下进行一定范围(1.2m-1.8m)的上下移动，且直流无刷电机16带自锁功能；对于高地隙作物(如水稻后期以及高秆作物等)具有较好的适用性。
如图6所示，一种高地隙无人驾驶智能履带喷雾机控制系统，摄像头用于实时采集喷雾机前方作物的图像信息，控制单元将其传输到图像实时显示屏上，供操作者观察喷 雾机前方环境特征。陀螺仪主要用于检测由于地面不平整而造成的喷雾机车姿态角的偏差信息，并通过控制单元传输到参数显示屏。同理，电子罗盘与GPS主要用于喷雾机车航向角以及位置信息的测量，并通过控制单元传输到参数显示屏，作为操作者操纵喷雾机车行驶方向的依据。高度传感器主要用于测量作物的高度信息，控制单元据此信息控制直流无刷电机，使得喷杆喷雾处于适当的高度。速度传感器、液位传感器、压力传感器、喷嘴流量计分别用于测量喷雾机车的行进速度、药液箱的液位、喷杆的水压以及喷嘴喷雾的流量，控制单元根据各传感器的反馈的信息对轮毂电机驱动轮、抽水泵、药液泵、混合液泵进行控制。抽水流量计用于实时检测抽水泵抽取的水量，控制单元根据抽水泵抽取的水量控制药液泵抽取一定的药液量进行混药过程，使得水和药液按照一定的比例进行混合。喷杆是三段式结构，每个部分对应一个电磁阀，混合液泵与电磁阀的配合使用，使喷杆内水压稳定，喷嘴为压力式，达到一定水压即喷雾。手机应用通过4G网络与嵌入式车载控制单元相连，用于手机远程观测喷雾状况以及对喷雾过程进行控制；遥控器通过2.4G与嵌入式车载控制单元相连，可以通过遥控器上的图像实时显示屏回传的喷雾机车前方作物的实时图像以及参数显示屏的各种信息，远程控制喷雾机车。
高地隙无人驾驶智能履带喷雾机控制系统工作流程：在开始喷雾前，通过电动推杆将两个外喷杆放平，然后根据目标植株的高度通过直流无刷电机调节喷杆到合适的高度，然后通过遥控器控制喷雾机的前进方向，同时执行喷雾动作；在喷雾过程中，操作者根据摄像头、陀螺仪、电子罗盘、GPS等采集的信息对喷雾机行进方向进行有效合理的控制，控制单元根据速度传感器、液位传感器、压力传感器、喷嘴流量计等回传的信息对轮毂电机驱动轮、抽水泵、药液泵、混合液泵以及电磁阀进行控制，对喷雾机速度、混药过程以及喷雾过程进行控制。抽水流量计用于实时检测抽水泵抽取的水量，控制单元根据抽水泵抽取的水量控制药液泵抽取一定的药液量进行混药过程，使得水和药液按照一定的比例进行混合。喷杆是三段式结构，每个部分对应一个电磁阀，混合液泵与电磁阀的配合使用，使喷杆内水压稳定，喷嘴为压力式，达到一定水压即喷雾。在喷雾结束后，将喷杆通过直流无刷电机以及齿轮下放到带槽滑轨底端，通过电动推杆折叠作用，三段式喷杆的两边两段可以向内折叠到喷杆卡槽中，三段式喷杆形成正三角结构，有利于喷雾机的行进与运输。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对 上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (13)

  1. 一种高地隙无人驾驶智能履带喷雾机，其特征在于，包括喷雾机行走设备、喷雾机升降机构、喷雾机构，控制装置；
    所述喷雾机行走设备由两个带有轮毂电机驱动的履带式行走机构组成，两侧的履带式行走机构由固定杆相连，两侧的履带式行走机构顶端均设有喷雾机升降机构，所述喷雾机构包括混药装置和喷杆装置；每个履带式行走机构内部均装配有梯形支架组件；混药装置和控制装置均置于两侧的梯形支架组件内侧，喷杆装置设置在喷雾机升降机构上并与混药装置相连，随着喷雾机升降机构的牵引上下移动；所述控制装置分别与轮毂电机、喷雾机升降机构、喷雾机构相连，分别实现对轮毂电机驱动控制，喷雾机升降机构的升降控制，以及喷雾机构的喷雾控制。
  2. 根据权利要求1所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述梯形支架组件外围被履带(3)包裹，梯形支架组件(9)为梯形支撑结构，由支撑板固定连接组成，梯形支架组件四边固定的轮子能够和履带(3)配合，通过轮毂电机驱动轮(1)带动履带(3)行进。
  3. 根据权利要求1或2所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述梯形支架组件(9)包括支撑横板(56)、支撑斜板(57)、轮毂支撑支架(58)、轮毂支撑横板(59)，所述支撑横板(56)、支撑斜板(57)、轮毂支撑支架(58)、轮毂支撑横板(59)合围成梯形支架，通过焊接方式连接；所述支撑横板(56)和支撑斜板(57)的连接处、支撑横板(56)和轮毂支撑支架(58)的连接处、支撑斜板(57)和轮毂支撑横板(59)的连接处、轮毂支撑支架(58)和轮毂支撑横板(59)的连接处均预留有供中间轴穿过的通孔；所述轮毂支撑支架(58)靠近支撑横板(56)的一端为横板，另一端固连有半口状支架A；所述轮毂支撑横板(59)靠近支撑斜板(57)的一端为横板，另一端固连有半口状支架B，轮毂支撑横板(59)的半口状支架B卡合在轮毂支撑支架(58)的半口状支架A内侧，二者通过中间轴连接；所述轮毂支撑横板(59)底部固定连接两个三角支架，三角支架底边两侧预留有供中间轴穿过的通孔。
  4. 根据权利要求3所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述履带式行走机构包括轮毂电机驱动轮(1)、行走轮(2)、履带(3)、导向轮(4)、支撑轮(5)，所述轮毂电机驱动轮(1)、行走轮(2)、导向轮(4)、支撑轮(5)均通过中间轴装配在梯形支架组件(9)的各个连接端的预留通孔两侧，其中轮毂电机驱动轮(1)与导向轮(4)分别装配在梯形支架组件(9)的底边两侧的中间轴上，两个支撑轮(5)装配 在梯形支架组件(9)的上边两侧的中间轴上，4个行走轮(2)每两个一组，装配在梯形支架组件(9)底边的三角支架上，轮毂电机驱动轮(1)与梯形支架组件(9)的连接是采用跨接方式，轮毂电机驱动轮(1)安装在轮毂支撑支架(58)、轮毂支撑横板(59)相配合的半口状支架内侧的中间轴上；所述行走轮(2)、导向轮(4)、支撑轮(5)都是双轮同轴结构；履带(3)将整个梯形支架组件(9)外围包裹，且同轮毂电机驱动轮(1)、行走轮(2)、导向轮(4)、支撑轮(5)相接触。
  5. 根据权利要求1所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述喷雾机升降机构包括四棱锥机架和链条牵引装置；
    所述四棱锥机架包括支撑架(10)、支撑横板(11)，位于底端的支撑横板(11)与其上面的支撑架(10)组成四棱锥结构，所述支撑横板(11)为四边形结构的平板；从喷雾机侧面看，梯形履带内侧的梯形支架组件(9)与上方的两个支撑架(10)组合成一个三角形，即采用整体三角结构，具有稳定性，从下到上逐渐变窄；
    所述链条牵引装置设置在四棱锥机架内，包括带槽滑轨(14)、齿轮(15)、直流无刷电机(16)以及链条(55)；带槽滑轨(14)包括带孔滑块(54)和滑槽，滑槽下端通过连接件(53)垂直固连支撑横板(11)，滑槽上端固连在支撑架顶板(51)上，带孔滑块(54)安装在带槽滑轨(14)上，带孔滑块(54)中间圆孔用于安放喷杆；
    齿轮(15)位于带槽滑轨(14)的一侧，上部的齿轮(15)固定在上齿轮固定件(52)上，下部的齿轮(15)则是与直流无刷电机(16)同轴连接，两个齿轮中心在同一条垂线上，直流无刷电机(16)固定在底部的支撑横板(11)上。
  6. 根据权利要求5所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述四棱锥机架上的支撑架(10)可用两根金属支撑架顶点焊接替代，组成三角形支撑架，三角形支撑架底端固定在支撑横板(11)两侧的中心位置，使得三角形支撑架与下部的梯形支架组件(9)从喷雾机侧面看形成牢固的三角形结构。
  7. 根据权利要求1或5所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述喷雾机构中，混药装置包括水箱(6)、药箱(7)以及药液箱(8)，水箱(6)与药箱(7)是分离的，输出药液按比例混合，混合的药液预存在药液箱(8)中，喷雾机车遇到恶劣地形条件无法驶出时，能将水箱的水放掉减负；
    所述喷杆装置为三段式结构，两侧的履带式行走机构之间为内喷杆(17)，内喷杆(17)的两侧为外喷杆(18)，喷杆装置上均布喷嘴(19)。
  8. 根据权利要求7所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述内喷杆(17)穿过两侧的带孔滑块(54)并加以固定，喷杆装置可以在直流无刷电机(16)、齿 轮(15)的带动下进行一定范围的上下移动。
  9. 根据权利要求7所述的高地隙无人驾驶智能履带喷雾机，其特征在于，还包括电动推杆(20)，所述内喷杆(17)与外喷杆(18)通过转轴(22)连接在一起，电动推杆(20)两端分别固定在转轴(22)上方的内喷杆(17)与外喷杆(18)上，垂直折叠起来的外喷杆(18)卡在主固定杆两端的喷杆卡槽(23)中；内喷杆(17)两头各延伸一个喷杆底槽(21)，外喷杆(18)水平放置时正好卡在喷杆底槽(21)中。
  10. 根据权利要求5所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述固定杆包括：
    和两个支撑架(10)顶端相连接的主固定杆(12)，以及位于主固定杆(12)下端两侧的两个辅助固定杆(13)，每个辅助固定杆(13)分别固定在支撑架(10)同一侧面的两根边柱上；同时保证主固定杆(12)位于两个辅助固定杆(13)中心线的正上方，且主固定杆(12)和辅助固定杆(13)相平行设置。
  11. 根据权利要求4所述的高地隙无人驾驶智能履带喷雾机，其特征在于，还包括盖板(24)，盖板(24)固定在履带(3)两侧，尺寸稍小于履带(3)，将梯形支架组件(9)以及水箱(6)、药箱(7)、药液箱(8)、控制装置全部封盖住，固定在各轮外侧的中间轴上。
  12. 根据权利要求1所述的高地隙无人驾驶智能履带喷雾机，其特征在于，所述控制装置包括嵌入式车载控制单元(25)、摄像头(26)、陀螺仪(27)、电子罗盘(28)、GPS(29)、抽水流量计(49)、高度传感器(50)、速度传感器(30)、液位传感器(31)、压力传感器(32)、喷嘴流量计(33)、遥控器(34)、参数显示屏(35)、图像实时显示屏(36)、手机应用(37)、轮毂电机驱动(38)、升降电机驱动(39)、推杆电机驱动(40)、抽水泵驱动(41)、药液泵驱动(43)、混合液泵驱动(45)、电磁阀驱动(47)；
    所述的摄像头(26)、陀螺仪(27)、电子罗盘(28)、GPS(29)、抽水流量计(49)、高度传感器(50)、速度传感器(30)、液位传感器(31)、压力传感器(32)、喷嘴流量计(33)均与嵌入式车载控制单元(25)相连；
    手机应用(37)通过4G无线网络与嵌入式车载控制单元(25)相连传输数据，遥控器(34)通过2.4G无线网络与嵌入式车载控制单元(25)相连传输数据；
    轮毂电机驱动(38)、升降电机驱动(39)、推杆电机驱动(40)、抽水泵驱动(41)、药液泵驱动(43)、混合液泵驱动(45)、电磁阀驱动(47)均通过CAN总线与嵌入式车载控制单元(25)相连；
    轮毂电机驱动轮(1)与轮毂电机驱动(38)相连，直流无刷电机(16)与升降电机 驱动(39)相连，电动推杆(20)与推杆电机驱动(40)相连，抽水泵(42)与抽水泵驱动(41)相连，药液泵(44)与药液泵驱动(43)相连，混合液泵(46)与混合液泵驱动(45)相连，喷杆电磁阀(48)与电磁阀驱动(47)相连。
  13. 根据权利要求12所述的高地隙无人驾驶智能履带喷雾机的控制方法，其特征在于，
    在开始喷雾前，通过电动推杆(20)将两个外喷杆(18)放平，根据高度传感器(50)获得目标植株的高度，通过直流无刷电机(16)调节喷杆到合适喷雾距离，然后通过遥控器(34)控制喷雾机的前进和方向，同时执行喷雾动作；
    在喷雾过程中，操作者根据摄像头(26)、陀螺仪(27)、电子罗盘(28)、GPS(29)采集的信息对喷雾机行进方向进行有效合理的控制，嵌入式车载控制单元(25)根据速度传感器(30)、液位传感器(31)、压力传感器(32)、喷嘴流量计(33)回传的信息对轮毂电机驱动轮(1)、抽水泵(42)、药液泵(44)、混合液泵(46)以及喷杆电磁阀(48)进行控制，对喷雾机速度、混药过程以及喷雾过程进行控制；抽水流量计(49)用于实时检测抽水泵抽取的水量，嵌入式车载控制单元(25)根据抽水泵(42)抽取的水量控制药液泵抽取一定的药液量进行混药过程，使得水和药液按照一定的比例进行混合；喷杆是三段式结构，每个部分对应一个喷杆电磁阀(48)，混合液泵(46)与喷杆电磁阀(48)的配合使用，使喷杆内水压稳定，喷嘴为压力式，达到一定水压即喷雾；
    在喷雾结束后，将喷杆通过直流无刷电机(16)以及链条(55)和齿轮(15)下放到带槽滑轨(14)底端，通过电动推杆(20)折叠作用，将三段式喷杆的外部两段向内折叠，安放至到喷杆卡槽(23)中，三段式喷杆形成正三角结构，保证喷雾机整体中心对称且重心位于中心垂直线上，有利于喷雾机的行进与运输。
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