WO2018090492A1

WO2018090492A1 - Self-steering intelligent sprayer with multiple ground clearances and control method therefor

Info

Publication number: WO2018090492A1
Application number: PCT/CN2017/072922
Authority: WO
Inventors: 沈跃; 刘慧�
Original assignee: 江苏大学
Priority date: 2016-11-17
Filing date: 2017-02-06
Publication date: 2018-05-24
Also published as: CN106719539B; CN106719539A

Abstract

Disclosed is a self-steering intelligent sprayer with multiple ground clearances and a control method therefor. The sprayer comprises a vehicle platform (3), self-steering travelling mechanisms, a controllable-lift spraying device, a gasoline power generation and supply device, and a control device, the two self-steering travelling mechanisms being respectively connected to the vehicle platform (3) by a rotation structure. The controllable-lift spraying device is fixed to the tail of the vehicle platform (3), and comprises a sprayer lifting mechanism, a spray bar device and a mixing device, the spray bar device being arranged on the sprayer lifting mechanism and connected to the mixing device, and a spray bar being able to move up and down along with the traction of the sprayer lifting mechanism. The mixing device is fixed to the middle of the vehicle platform (3) to provide pesticide for the spraying by the spraying device. The gasoline power generation and supply device is fixed to the front of the vehicle platform (3), and serves as a stable voltage power supply for the apparatus. The control device is respectively connected to a driving device, a control motor and multiple groups of sensors. For the apparatus, four wheel hub motors (24) are controlled by the control device to realize wheel differential self-steering with high control precision and a small turning radius.

Description

Multi-slot self-steering intelligent sprayer and control method thereof

Technical field

The invention relates to a spray machine, in particular to a multi-slot self-steering intelligent sprayer and a control method thereof.

Background technique

With the rapid development of agricultural mechanization, long-term use of walking tractors or wheeled hauling machines has made the muddy work of the paddy fields deeper and deeper. On the one hand, the soil environment of the paddy field has been destroyed, and on the other hand, the walking tractor has been working on the paddy field. Therefore, the demand for high ground clearance chassis is becoming more and more urgent. The study of high-gap spray walking equipment can fundamentally change the application method of manual sprayer and mobile stretcher sprayer in paddy field to realize automatic control of walking and spraying, improve pesticide utilization, save water and improve the efficiency of application. And safety, reducing pesticide residues and ensuring food production are of great significance. Chinese patent CN103964253A discloses a screw jack which is supported by a plurality of nested lifting cylinders for lifting and lowering. As the working height increases, the number of lifting cylinders required increases, and the size of the lowermost lifting cylinder increases accordingly. Therefore, although this structure can achieve vertical space reduction, the horizontal space is still large, and the overall storage space is limited. Applying for the Chinese patent "High Ground Gap Self-propelled Blasting Sprayer" with the publication number CN102146756A, the invention adopts four-wheel hydraulic drive, and hydraulic steering device is arranged in the middle of the front and rear axles. This hydraulic steering device can only realize two-wheel steering and steering radius. Large, can not guarantee the passage of the walking chassis, so the whole machine can not be applied to a variety of ground clearance requirements. Aiming at the disadvantages of the above various spray walking devices, a four-wheel independent driving multi-slot self-steering intelligent sprayer and control method are designed. The device is controlled by the control device to four wheel hub motors to realize the self-steering of the wheel differential. The control precision is high, the turning radius is small, and the spray bar adopts five-stage folding, which saves space and meets the spray application requirements of different growth periods of the field crops.

Summary of the invention

The object of the present invention is to design an unmanned walking device that can independently walk and realize self-steering, can meet the needs of various complex terrains and spray objects to a large extent, and can improve the spray application efficiency of the sprayer. And control methods.

The technical solution of the present invention is:

A multi-slot self-steering intelligent sprayer, comprising a vehicle platform, a self-steering running mechanism, a controllable lifting spray device, a power supply device and a control device;

The vehicle platform is a frame formed by connecting a plurality of profiles;

The lower part of the vehicle platform is sequentially provided with two self-steering running mechanisms in the traveling direction, and the self-steering running mechanism is composed of a chassis with a swing mechanism and a tire with a hub motor;

The controllable lifting spray device comprises a sprayer lifting mechanism, a mixing device and a spray bar device; the sprayer lifting mechanism is installed at a tail of the vehicle platform; and the mixing device sends the liquid to the spray bar device; The sprayer lifting mechanism realizes lifting of the spray bar device by screw drive;

The power supply device provides a stable voltage source for the device;

The control device is used for controlling the steering walk of the self-steering running mechanism, the lifting and lowering of the controllable lifting spray device, the mixing amount adjustment of the mixing device, the attitude adjustment of the boom device, and the spray adjustment.

Further, the plurality of profiles of the vehicle platform are square metal pipes, welded into a frame with a plurality of square spaces, and two square metal plates are respectively fixed on two spaces disposed at the middle positions of the two ends of the platform for the placement Two self-steering walking mechanisms.

A spray bar seating groove is welded to the front side and the left and right sides of the platform.

A plurality of stoppers are welded to the bottom of the platform, and a through hole for the fixed central shaft to pass through is reserved at the tail of the platform.

Further, the self-steering running mechanism includes a swing mechanism and a tire with a hub motor;

The slewing mechanism comprises a double row tapered roller bearing, a support column and a damper device from top to bottom in sequence; the damper device is formed by stacking a plurality of shrapnels of the same width and increasing in length from top to bottom, and the last piece of shrapnel Other shrapnels with a thickness greater than the upper portion, the other shrapnels have the same thickness and a rectangular through hole in the center of the shrapnel, and the outer or inner ring of the double row tapered roller bearing is integral, and the two inner or outer rings are concentrically fixed On the top surface of the metal plate and support column of the platform;

The upper end of the support column is a cylinder, and the lower end is a rectangular metal rod. The metal rod portion passes through the rectangular through hole of the damper device and is fixedly welded to the last piece of the elastic piece, and the two sides of the last piece of the elastic piece are welded and fixed to the body of the hub motor.

The slewing mechanism comprises a single row tapered roller bearing, a support column, a shock absorber and a shock absorbing bracket. The outer ring or the inner ring of the single row tapered roller bearing and the vehicle platform are connected by welding, and the inner ring of the single row tapered roller bearing or The top surface of the outer ring and the support column are concentrically fixed, and the shock absorber has three groups, wherein one end of the three sets of shock absorbers are respectively fixed on the symmetric sides and the bottom side of the support column, and the other ends are respectively fixed on both sides of the shock absorption bracket. And the center position, the shock absorbing bracket is a high-strength square metal frame similar to the width of the vehicle, and the two ends of the damper bracket are fixed to the body of the hub motor.

The slewing structure comprises a planar cylindrical bearing, a chassis platform and an axle; the planar cylindrical bearing is composed of a planar cage assembly with a cylindrical roller and a planar washer, and the inner ring of the planar cylindrical bearing passes through the through hole of the metal plate on the platform and makes the plane The cylindrical roller of the cylindrical bearing is in contact with the bottom of the platform, and a circular groove is formed in the middle of the chassis platform. The left and right sides of the chassis platform have gradually contracting extensions, and the planar cage assembly of the planar cylindrical bearing and the circular groove of the chassis platform Adopt Concentrically fixed, the top of the axle is fixedly connected with the extension of the platform of the chassis, and is obtuse with the platform of the chassis. The bottom of the axle and the body of the hub motor are fixed. The height of the self-steering running mechanism can select different height axles according to the operation requirements. .

Further, the rotating structure replaces the planar cylindrical bearing by a ball bearing, and the spherical bearing is installed in the middle of the inner steel ring and the outer steel ring, and the outer ring or the inner ring of the ball bearing is concentrically fixed with the chassis platform, and the ball bearing is fixed. The inner or outer ring and the metal plate of the platform are concentrically fixed.

Further, a damping cooperative device is further included, the damping cooperative device includes a damping motor, a worm gear box and a cooperating gear; the inside of the worm gear box is a worm wheel and a worm, the rotating shaft of the damping motor and the worm are concentrically fixed, and the worm and the worm wheel are assembled. The worm wheel and the cooperating gear are concentrically fixed; the cooperating gear meshes with the inner gear of the inner ring of the ball bearing.

Further, the sprayer lifting mechanism comprises two parallel "<" type fixing brackets arranged in parallel, the vertices of the two "<" type fixing brackets are connected by the fixed horizontal plate A, and the fixing horizontal plate A is fixed under the two sides. The central shaft; the upper ends of the two "<" type fixing brackets are connected by a fixed horizontal plate B, and the fixed horizontal plate B is provided with a lifting control motor and a transmission tooth chain, and the lifting control motor is fixed to the fixed horizontal plate B through the flange structure. a screw rod and a wire pair are arranged between the upper end and the lower end of the two "<" type fixing brackets;

The spray bar device comprises an inner spray bar, a main spray bar, an end spray bar and a rotation control component group. All the spray bars are rigid hollow anti-rust materials, and each spray bar is connected by a hose to form a spray liquid. a water passage; the inner spray bar of the spray bar device is connected with the wire pair, and the two ends of the inner spray bar are respectively a main spray bar, and the outer ends of the main spray bar are respectively end spray bars, and the spray nozzles on each spray bar are evenly distributed. The two ends of the inner spray bar are provided with a rotating control component group, and the inner spray bar and the main spray bar are connected by a first-stage rotating shaft with a gear, and the main spray bar and the end spray bar are connected through a secondary rotating shaft with a gear, and the rotation control The main spray bar and the end spray bar are horizontally rotated by the component group;

The mixing platform can be placed on the vehicle platform according to requirements, including a water tank, a medicine box and a liquid medicine tank of the spraying device. The water tank and the medicine box are separated, the output medicine liquid is mixed in proportion, and the mixed medicine liquid is pre-existing in the medicine liquid tank. In the case of a spray locomotive that cannot be driven out in harsh terrain conditions, the water in the tank can be released and reduced.

Further, the lead screw and the wire pair may be replaced by a ball screw.

Further, the rotation control component group includes a rotation control motor, a gear box, and a transmission tooth chain A. The rotation shaft of the rotation control motor is fixed with a driving gear concentric with the rotating shaft, and extends vertically downward into the gear box, and the gear box The internal reduction gear is assembled. There are four gears in the gearbox. One is the drive gear that rotates the end of the shaft of the motor, one is the driven gear with the upper end connected to the shaft gear A, and the first reduction gear with a certain reduction ratio and the second stage. The rotation centers of the reduction gear, the first reduction gear and the secondary reduction gear are respectively fixed on the upper and lower walls of the gear box housing, the rotation control motor drives the driving gear to rotate, the driving gear and the first reduction gear mesh, the first reduction gear and the second The stage reduction gear is meshed, the secondary reduction gear and the driven gear mesh, and the driven gear drives the shaft gear A to rotate; The gears rotate around the center line of each gear. The center lines of rotation of the four gears are perpendicular to the center line of the inner boom and the foot is located on the center line of the inner boom. The two ends of the gear chain A are respectively The shaft gear A and the shaft gear B are fitted above the main boom, and the gear box is connected by welding to a position below the end of the inner boom.

Further, the upper end of the two "<" type fixing brackets of the sprayer lifting mechanism and the two ends of the fixed horizontal plate B have two through holes of the same size, and the screw rod passes through and is fixed by the gear shaft A, lifting The output shaft of the control motor is fixed vertically in the middle of the fixed transverse plate B through the flange structure. The flange structure has a rotating shaft B concentrically fixed with the output shaft of the lifting control motor, and the outer ring of the rotating shaft B has gears and gears thereof. It is assembled with the transmission toothed chain B, and both ends of the transmission toothed link B and the rotating shaft A at the top of the screw shaft are assembled, so that the rotation of the lifting control motor can control the rotation of the screw to achieve the purpose of lifting the wire.

Further, when the multi-gap self-steering smart sprayer does not require a spraying operation, the main boom and the end boom can be vertically folded through the rotating shaft and placed horizontally on the sides of the vehicle platform and in the front of the spray bar seating groove.

Further, the power supply device is a gasoline power generation power supply device, and the device is fixed on a vehicle platform, including a gasoline engine, a gasoline engine protection frame, a generator, a three-phase rectifier bridge, a filter capacitor, a battery pack, and a rectifier inverter;

The rotating shaft of the gasoline engine is connected with the rotating shaft of the generator. After the generator generates electricity, it is converted into single-phase direct current after three-phase rectifier bridge and filter capacitor rectification and filtering, and part of it is stored in the battery pack; the other part provides stable voltage power supply for the vehicle control unit. The vehicle control unit controls the hub motor drive, lift control motor drive, rotary control motor drive, pump motor drive, liquid pump motor drive, hybrid pump motor drive, solenoid valve drive; Phase AC provides three-phase AC for hub motors, lift control motors, rotary control motors, pump motors, liquid pump motors, and mixed pump motors.

Further, the control device is respectively fixed on the self-steering running mechanism and the controllable lifting spray device, and comprises an embedded vehicle control unit, a gyroscope, a GPS, a height sensor disposed on the inner spray bar, and a speed sensor disposed on the tire. Wheel hub motor drive, corner sensor set on the swing mechanism, liquid level sensor set in the mixing device, pumping flow meter, nozzle flow meter set on the spray bar, lift control motor drive, rotary control motor drive, pumping Pump motor drive, liquid pump motor drive, hybrid pump motor drive, solenoid valve drive;

The gyroscope, the GPS, the angle sensor, the height sensor, the speed sensor, the liquid level sensor, the pumping flow meter, and the nozzle flow meter are all connected to the embedded vehicle control unit;

Hub motor drive, lift control motor drive, rotary control motor drive, pump motor drive, liquid pump motor drive, hybrid pump motor drive, solenoid valve drive are all connected to the embedded vehicle control unit via CAN bus;

The hub motor in the tire is connected to the hub motor drive, the lift control motor is connected to the lift control motor drive, and the rotary control motor is connected to the rotary control motor drive, and the pump installed in the water tank is connected to the pump motor drive. The liquid medicine pump disposed in the medicine box is driven to be connected to the liquid medicine pump motor, and the mixed liquid pump disposed in the liquid medicine tank is connected to the mixed liquid motor pump drive, and the spray rod electromagnetic valve disposed on the spray rod is connected to the electromagnetic valve drive. .

The technical solution of the method of the present invention is a multi-gap self-steering intelligent sprayer control method. Before starting the spraying, the rotation control motor drives the transmission toothed chain to drive the main spray bar and the end spray bar from both sides of the vehicle platform. The front part is deployed to the rear and placed on the same line. The height of the target plant is obtained according to the height sensor. The lifter is adjusted by the lift control motor to the appropriate spray distance, and then the spray task is controlled by the built-in vehicle control unit to control the spray. The advancement and direction of the machine while performing the spray action;

During the spraying process, the walking device effectively and reasonably controls the driving direction, speed and spray height of the hub motor drive and the lift control motor according to the information collected by the gyroscope, GPS, height sensor, speed sensor, and angle sensor, and the embedded vehicle control The unit controls the pump motor drive, the liquid pump motor drive, the mixed liquid pump motor drive and the spray rod solenoid valve drive according to the information returned by the liquid level sensor and the nozzle flow meter, and controls the mixing process and the spraying process of the device. The pumping flowmeter is used to detect the amount of water pumped by the pump in real time, and the embedded vehicle control unit controls the liquid medicine 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 carried out according to a certain ratio. mixing;

After the end of the spray, the spray bar is controlled by the rotary control motor to control the drive chain and the gear box so that the main spray bar and the end spray bar are placed on both sides of the vehicle platform and in the front spray bar seating groove.

The invention has the beneficial effects of: a multi-slot self-steering intelligent sprayer and a control method, wherein the vehicle platform is mainly made of a rectangular metal frame and is welded by a plurality of square metal pipes, and the mixing device can be placed on the platform of the vehicle according to requirements. As well as the gasoline power supply device, not only can the weight of the platform be effectively reduced, but also the space utilization of the platform can be improved. The through holes can be installed at the tail of the platform, and the devices can be realized by assembling devices with different functions. multiple uses. The gasoline power generation and power supply device has simple power generation, stable power supply, low noise, small displacement, light weight, low pollution, light and convenient operation and high cost performance. The above features make it stand out among many power supply devices. The new self-steering walking mechanism can select different axle heights according to the actual situation, so that the sprayer can adapt to the operation of multiple ground gaps; the independent inner hub motor is used as the power source for the wheel travel, and the hub motor technology is also called The in-wheel motor technology, its biggest feature is to integrate the power unit, transmission and braking device into the hub, which can greatly simplify the mechanical part of the electric vehicle. At the same time, the self-steering traveling mechanism with the slewing mechanism as the core is the first in China. It can use a variety of slewing bearings as the main body of the slewing structure to meet the requirements of the axial and radial forces of the slewing structure in different working environments. To reduce the frictional force during the power transmission during the steering of the walking equipment, the transmission efficiency of the mechanical power can be greatly improved, and the four-wheel motor of the two sets of slewing mechanisms can be independently driven by the on-board control unit to make the differential control of the rotary structure. The wheel differential on the side enables the self-steering of the swivel structure. The walking device of this structure not only has a small turning radius, but also can be turned in situ, and the control precision is high, which ensures the flexibility of the walking of the device and can control the direction well, and is a great innovation of the agricultural automatic walking equipment. . The lifting control mechanism drives the screw wire pair by rotating the control motor, so that the spray bar can be adjusted up and down according to the actual height of the crop, the control is simple, the height is adjusted accurately, and the spray requirement of different crops in different growth periods can be met; the controllable lifting spray device has five The segment type spray bar can control the horizontal rotation of the spray bar through the gear box, the first-stage rotating shaft, the transmission tooth chain and the secondary rotating shaft, so that the middle passability of the spray machine is good, and the vehicle control unit is used to control the automatic spraying of the liquid medicine, no longer The need for human driving not only reduces the weight of the sprayer, but also does not expose the operator to spraying pesticides, improves the operator's operating environment, greatly reduces the operational intensity, and reflects the core development concept of people-oriented. In the front and left and right sides of the platform, the spray bar placement groove is welded respectively. At the end of the spray, the two sides of the five-stage spray bar can be folded inward, and the edges of the two sides of the vehicle platform and the front edge are bonded to facilitate the edge. The walking of the sprayer; the sprayer adopts the water-medicine separation and real-time mixed waterway system. When the sprayer is unable to drive out under the harsh terrain conditions, the water of the water tank can be released to reduce the burden, which is beneficial to the harsh terrain and does not cause environmental damage. Pollution; through the invention of the multi-gap self-steering intelligent sprayer, the efficiency of spray application in the field is improved, the labor intensity is greatly reduced, the automation level is high, and the scale effect is good.

DRAWINGS

Figure 1 is a schematic view of a high-gap self-steering intelligent sprayer;

Figure 2 is a top plan view of a high-gap self-steering intelligent sprayer;

3 is a schematic structural view of a sprayer lifting mechanism of a self-steering intelligent sprayer;

4 is a schematic structural view of a rotation control component group;

Figure 5 is a schematic view of Embodiment 1 of a multi-gap self-steering intelligent sprayer;

Figure 6 is a schematic view showing a support column of the swing mechanism in Embodiment 1;

7 is a schematic view of a multi-slot self-steering traveling mechanism with suspension according to Embodiment 2;

Figure 8 is a schematic view of a third embodiment of a high-gap self-steering running mechanism;

9 is a schematic structural view of a slewing mechanism of a high-gap self-steering traveling mechanism;

Figure 10 is a schematic view showing a modification of a high-gap self-steering running mechanism;

Figure 11 is a block diagram showing the assembly of the damping linkage;

Figure 12 is a schematic view of a low-gap self-steering traveling mechanism;

Figure 13 is a schematic diagram of a multi-gap self-steering intelligent sprayer power system;

Figure 14 is a flow chart of the multi-gap self-steering intelligent sprayer control device.

Among them: 1-tire; 2-axle; 3-car platform; 4-spray placement groove; 5-end boom; 6-main boom; 7-drive Tooth chain; 8-wire rod; 9-gear box; 10--fixing bracket; 11-rotary control motor; 12-wire pair; 13-flange structure; 14-lift control motor; 15--tank tank; Box; 17-turn angle sensor; 18-water tank; 19-battery pack; 20-generator; 21-gasoline engine; 22-gasoline frame; 23-stopper; 24-wheel motor; 25-through hole; ;27-fixed central shaft; 28-inner boom; 29-spindle shaft A; 30-spindle gear; 31-stage reduction gear; 32-gear casing; 33-second reduction gear; 34-slave Gear; 35-nozzle; 36-ball bearing; 37-three-phase bridge; 38-turn shaft with gear B; 39-single row tapered roller bearing; 40-cylindrical roller; 41-filter capacitor; 42-plane cylindrical bearing; 43-double row tapered roller bearing; 44-support column; 45-damper device; 46-spring bracket; 47-shock absorber; 48-rectifier inverter; 49-vehicle control unit; 50-gyroscope; -GPS; 52-height sensor; 53-speed sensor; 54-level sensor; 55-pumping flowmeter; 56-nozzle flowmeter; 57-wheel motor drive; 58-lift control motor drive; 59-rotary control motor drive ;60- Pump motor drive; 61-medicine pump motor drive; 62-mixer pump motor drive; 63-pump pump; 64-medicine pump; 65-mixer pump; 66- solenoid valve drive; 67-solenoid valve; 68-internal gear ; 69 - damper motor; 70 - worm gear; 71 - worm; 72 - synergy gear; 73 - worm gear box.

detailed description

The working process of the invented high-gap unmanned intelligent crawler sprayer will be specifically described below in conjunction with the schematic diagram.

As shown in Figure 1-2, a multi-gap self-steering intelligent sprayer includes a vehicle platform 3, a self-steering walking chassis, a controllable lifting spray device, a gasoline power generating device and a control device;

The self-steering running mechanism is composed of two chassis with a swing mechanism and four tires with a hub motor 24; the swing mechanism is rotated by a bearing provided on the vehicle platform 3 together with a support column at the lower end of the bearing and a shock absorbing member. The action; or the slewing mechanism is effected by a bearing provided on the platform 3 together with the undercarriage platform 26 at the lower end of the bearing and the axle 2.

The controllable lifting spray device comprises a sprayer lifting mechanism, a spray bar device and a mixing device, and a sprayer lifting mechanism of the controllable lifting spray device is installed at the tail of the vehicle platform 3; the spray bar device comprises an inner spray bar 28 and a main spray bar 6, The end spray bar 5 and the rotation control component group are all rigid hollow rustproof materials, and each spray bar is connected by a hose to form a water passage for spraying the liquid medicine; the mixing device and the power supply device are placed On the vehicle platform 3. The mixing device that can be placed on the platform 3 as needed includes a water tank 18, a medicine box 16, and a liquid medicine tank 15. The water tank 1 and the medicine box 16 are separated, the output medicine liquid is mixed in proportion, and the mixed medicine liquid pre-existing medicine In the liquid tank 15, a liquid medicine is provided for the lifting spray device;

The gasoline power generation device includes a gasoline engine 21, a gasoline engine protection frame 22, a generator 20, a three-phase rectifier bridge 37, a filter capacitor 41, a battery pack 19, and a rectification inverter 48. The rotation shaft of the gasoline engine 21 is connected to the rotation shaft of the generator 20. After being generated, the generator 20 is rectified and filtered by the three-phase rectifier bridge 37 and the filter capacitor 41 to become single-phase direct current, a part of which is stored in the battery pack 19, a part of which supplies a stable voltage power to the control device, and a part of which is converted into a three-phase rectifier inverter 48. In the alternating current, three-phase alternating current is supplied to the hub motor 24, the lift control motor 14, the rotary control motor 11, the pump motor 63, the chemical pump motor 64, and the mixed pump motor 65.

The plurality of profiles of the platform 3 are square metal tubes, which are welded into 3×5 square spaces, and two square metal plates are respectively fixed in the spaces of the second row and the fourth column of the second row, directly in front of the platform. The boom positioning groove 4 is welded to the left and right sides, and eight stoppers 23 are welded to the bottom of the platform 3, and a through hole 25 through which the fixed central shaft 27 passes is reserved at the tail of the platform 3. The front and left and right sides of the vehicle platform 3 respectively have a spray bar seating groove 4, and eight mechanical stoppers 23 are fixed to the bottom of the vehicle platform 3, and are all connected with the vehicle platform 3 by welding.

As shown in FIG. 3, the controllable lifting spray device comprises a sprayer lifting mechanism, a boom device, and a mixing device;

The sprayer lifting mechanism is assembled in the through hole 25 of the vehicle platform 3 through the fixed central shaft 27, and includes two parallel "<" type fixed brackets 10, a fixed central shaft 27, a lifting control motor 14, a transmission tooth chain 7, and a method. The blue structure 13, the screw rod 8, the wire pair 12, the apexes of the two "<" type fixing brackets 10 are connected by a fixed horizontal plate A, and the fixed central axis 27 is provided below the two sides of the fixed horizontal plate A, two pieces "< The type fixing bracket 10 has two through holes of the same size at the upper and lower ends of the upper and lower sides and the fixed transverse plate B, and the screw rod 8 passes through and is fixed by the gear shaft A, the screw rod 8 and the wire pair 12 The lift control motor 14 is a DC brushless motor, and the output shaft of the lift control motor 14 is fixed vertically downward through the flange structure 13 in the middle of the fixed cross plate B, and the flange structure 13 has a sum inside. The output shaft of the lifting control motor 14 is concentrically fixed to the rotating shaft B. The outer ring of the rotating shaft B is provided with a gear, the gear and the gear chain B7 are assembled, and the two ends of the driving toothed chain B7 and the rotating shaft A at the top of the screw rod 8 are assembled to lift Controlling the rotation of the motor 14 can control the rotation of the screw 8 to achieve the lifting of the wire pair 12 the goal of;

The spray bar device is a five-stage spray bar, including an inner spray bar 28, a main spray bar 6, an end spray bar 5, and a rotating control component group. All the spray bar devices are rigid hollow anti-rust materials, and each spray bar is The hose is connected to form a water passage for spraying the liquid medicine; the inner spray bar 28 of the spray bar device is connected with the wire pair 12, and the two ends of the inner spray bar 28 are respectively the main spray bar 6, and the outer ends of the main spray bar 6 are respectively end The spray bar 5; the end spray bar 5 and the main spray bar 6, the main spray bar 6 and the inner spray bar 28 are respectively connected by a geared primary shaft 29 and a geared secondary shaft 38; the rotary control motor 11 fuselage Fixed on the inner spray bar 28, only the motor shaft can be rotated, and assembled with the gear box 9 welded at the lower end of the inner spray bar to achieve a certain deceleration effect; in this embodiment, the fixed central shaft 27 and the fixed bracket 10 is connected by welding.

As shown in FIG. 4, the rotation control member group includes a rotation control motor 11, a gear box 9, and a transmission tooth chain A7. The rotation shaft of the rotation control motor 11 is fixed with a driving gear 30 concentric with the rotating shaft, and extends vertically downward into the gear. In the box 9, assembled with the reduction gear in the gear box 9, there are four gears in the gear box 9, one is the rotary control motor 11 The driving gear 30 at the end of the rotating shaft, one is a driven gear 34 whose upper end is connected to the primary rotating shaft 29, and a primary reduction gear 31 and a secondary reduction gear 33 having a certain reduction ratio, the primary reduction gear 31 and the secondary reduction gear 33 The rotation center is fixed on the upper and lower walls of the gear box 9, the rotation control motor 11 drives the driving gear 30 to rotate, the driving gear 30 and the primary reduction gear 31 mesh, and the primary reduction gear 31 and the secondary reduction gear 33 mesh with each other. The stage reduction gear 33 meshes with the driven gear 34, and the driven gear 34 drives the primary shaft 29 to rotate; the four gears rotate around the center line of each gear, and the rotation centerlines of the four gears are perpendicular to the inner spray rod 28 The center line and the foot are located on the center line of the inner spray bar 28. The two ends of the drive chain A7 are respectively arranged above the main spray bar with the primary shaft A29 and the secondary shaft 38, and the gear box 9 is connected by welding. The position below the end of the inner spray bar 28.

Example 1

As shown in Figure 5-6, the self-steering walking chassis includes a swing mechanism and a tire 1;

The car platform 3 is a metal frame welded by a plurality of square metal pipes and two square metal plates, which can effectively reduce the weight of the platform, and the plurality of square metal pipes are welded into 3×5 square spaces, in the second row. Two square metal plates are fixed in the spaces of the second row and the fourth column, and the spray bar seating groove 4 is respectively welded in front of the vehicle platform 3 and on the left and right sides, and eight stoppers 23 are welded on the bottom of the vehicle platform 3, a through hole 25 through which the fixed central shaft 27 passes is reserved at the tail of the vehicle platform 3;

Wheel 1 adopts herringbone agricultural tires, and other tires such as ordinary patternless tires can be selected according to the demand of driving road surface, and hub motor 24 is installed in the hub;

The slewing mechanism comprises a double row tapered roller bearing 43, a support column 44 and a damper device 45; the damper device 45 is formed by a plurality of slabs of the same width and length grading, except for the last piece of the slab And the center of the shrapnel has a suitable rectangular through hole, and the outer ring (or inner ring) of the double row tapered roller bearing 43 is a whole. The two inner rings (or the outer rings) are respectively concentrically fixed on the top surface of the metal plate and the support column 45 of the vehicle platform, and the support column 44 is a metal bar whose upper end is a rectangular parallelepiped at the lower end of the cylinder, and the metal bar portion is cut through The rectangular through hole of the shock device 45 is fixedly welded to the last piece of the elastic piece, and the two sides of the last piece of the elastic piece are welded and fixed to the body of the hub motor 24.

Example 2

As shown in FIG. 7, the slewing mechanism includes a single row tapered roller bearing 39, a support column 44, a shock absorber 47 and a damper bracket 46. The outer or inner ring of the single row tapered roller bearing 39 and the platform 3 are connected by welding. The inner ring or the outer ring of the single row tapered roller bearing 39 and the top surface of the support column 44 are concentrically fixed, and the shock absorbers 47 have three groups, wherein one ends of the shock absorbers are respectively fixed on the symmetric sides and below of the support column 44, The other ends are respectively fixed on both sides of the shock absorbing bracket 46 And the center position, the shock absorbing bracket 46 is a high-strength square metal frame similar to the vehicle width, and both ends of the damper bracket 46 are fixed to the body of the hub motor 24.

Implementation case 3

As shown in Figure 8, the self-steering running mechanism includes a swing mechanism and a tire 1 with a hub motor 24;

The slewing structure comprises a planar cylindrical bearing 42, a chassis platform 26 and an axle 2; the planar cylindrical bearing 42 is composed of a planar cage assembly with a cylindrical roller 40 and a planar washer, the inner ring of the planar cylindrical bearing 42 passing through the platform 3 The hole makes the cylindrical roller 40 of the planar cylindrical bearing 42 and the bottom of the platform 3 contact, the circular platform groove is opened in the middle of the chassis platform 26, and the left and right sides of the chassis platform 26 have gradually contracting extensions, and the plane of the planar cylindrical bearing 42 is maintained. The frame assembly and the circular groove of the chassis platform 26 are concentrically fixed. The axle 2 is made of metal. The top of the axle 2 is fixed to the extension of the chassis platform 26, at an obtuse angle to the chassis platform 26, the bottom of the axle 2 and the hub motor 24 The fuselage is fixed; since the height of the axle 2 is higher than the ground, the embodiment is suitable for use in high ground clearance applications.

Example 4

As shown in FIG. 9, the swivel structure is replaced by a ball bearing 36 in which a spherical alloy ball is mounted between the inner and outer rims, and the outer or inner ring of the ball bearing 36 and the undercarriage platform. 26 concentrically fixed, the inner or outer ring of the ball bearing 36 and the square steel plate of the platform 3 are concentrically fixed. In the embodiment, the inner platform of the vehicle platform 3 and the ball bearing 36 is connected by welding.

As a further improvement of the embodiment, as shown in FIGS. 10-11, in the swing structure, the inner ring of the inner gear and the ball bearing 36 are welded, and the damping cooperative device and the inner gear are assembled directly above the inner gear; the damping cooperation The device includes a damper motor 69, a worm gear box 73 and a cooperating gear 72; the worm gear box 73 is internally provided with a worm gear 70 and a worm 71, the shaft of the damper motor and the worm 71 are concentrically fixed, the worm 71 and the worm wheel 70 are assembled, the worm wheel 70 and the yoke 70 The gear 72 is concentrically fixed; the damping linkage has a self-locking function, and when the tire has a tire off the ground, the worm gear will lock the slewing structure, and the damper motor 69 can be driven by the motor. The vehicle control unit 49 is connected to control the steering of the damper motor to assist the swing structure.

Example 5

As shown in FIG. 12, this structure is similar to the self-steering running mechanism of Embodiment 3, except that the height of the axle 2 is relatively low. The entire self-steering mechanism is suitable for low ground clearance applications.

As shown in Figure 13, the gasoline power generation device is fixed on the vehicle platform 3, including a gasoline engine 21, a gasoline engine protection frame 22, a generator 20, a three-phase rectifier bridge 37, a filter capacitor 41, a battery pack 19, and a rectifier inverter 48; The rotating shaft of the gasoline engine (21) is connected with the rotating shaft of the generator (20), and the generator 20 generates electricity and is rectified and filtered by the three-phase rectifier bridge 37 and the filter capacitor 41 to become single-phase direct current, and a part is stored in the battery pack 19; For the vehicle control unit 49 Providing a stable voltage power supply, the vehicle control unit 49 controls the hub motor drive 57, the lift control motor drive 58, the rotary control motor drive 59, the pump motor drive 60, the liquid pump motor drive 61, the mixed liquid pump motor drive 62, the solenoid valve The drive 66; a part of the rectifier inverter 48 becomes a three-phase alternating current, and provides three for the hub motor 24, the lift control motor 14, the rotary control motor 11, the pump motor 63, the liquid pump motor 64, and the mixed pump motor 65. Alternating current.

As shown in FIG. 14, the control device includes an embedded vehicle control unit 49, a gyroscope 50, a GPS 51, a height sensor 52 disposed on the inner spray bar 28, a speed sensor 53 disposed on the tire 1, and an in-wheel motor drive 57. The angle sensor 17 on the swing mechanism, the liquid level sensor 54 disposed in the mixing device, the pumping flow meter 55, the nozzle flow meter 56 disposed on the spray bar, the lift control motor drive 58, the rotary control motor drive 59, pumping Pump motor drive 60, liquid pump motor drive 61, mixed liquid pump motor drive 62, solenoid valve drive 66;

The gyroscope 50, the GPS 51, the rotation angle sensor 17, the height sensor 52, the speed sensor 53, the liquid level sensor 54, the pumping flow meter 55, and the nozzle flow meter 56 are all connected to the embedded vehicle control unit 49;

Hub motor drive 57, lift control motor drive 58, rotary control motor drive 59, pump motor drive 60, liquid pump motor drive 61, hybrid pump motor drive 62, solenoid valve drive 66 through CAN bus and embedded vehicle control Unit 49 is connected;

The hub motor 24 in the tire 1 is connected to the hub motor drive 57, the lift control motor 14 is connected to the lift control motor drive 58, the rotary control motor 11 is connected to the rotary control motor drive 59, and the pump 63 and the pump are disposed in the water tank 18. The motor drive 60 is connected, the liquid medicine pump 64 disposed in the medicine box 16 is connected to the liquid medicine pump motor drive 61, and the mixed liquid pump 65 disposed in the chemical tank 15 is connected to the mixed liquid motor pump drive 62, and is disposed on the spray bar. The upper boom solenoid valve 67 is connected to the solenoid valve drive 47.

The above-mentioned vehicle control unit is disposed near the gasoline power generation device at the front of the vehicle platform, the gyroscope and the GPS are next to the vehicle control unit, and the pump flowmeters are respectively installed at the water outlets of the water tank, the medicine box and the liquid tank, and the height sensor is installed. At the bottom of the spray bar, the speed sensors are installed at the four hub motors respectively. The liquid level sensors are installed in the water tank, the medicine box and the liquid tank respectively. The nozzle flow meter is installed at each nozzle; the gyroscope, GPS, pumping flow meter, height The sensor, the speed sensor, the liquid level sensor, and the nozzle flow meter are all directly connected to the embedded vehicle control unit;

The hub motor in the tire is connected to the hub motor drive, the lift control motor is connected to the lift control motor drive, the rotary control motor is connected to the rotary control motor drive, the pump is connected to the pump motor drive, and the liquid pump is connected to the liquid pump motor drive. The mixed liquid pump is connected to the mixed liquid motor pump drive, and the spray rod electromagnetic valve is connected to the electromagnetic valve drive.

The above control motors are all DC brushless motors. The above tires are made of herringbone agricultural tires, and other tires such as ordinary patternless tires can be selected according to the demand of the road surface.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the examples or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

While the embodiments of the present invention have been shown and described, the embodiments of the invention may The scope of the invention is defined by the claims and their equivalents.

Claims

A multi-slot self-steering intelligent sprayer, comprising: a vehicle platform (3), a self-steering running mechanism, a controllable lifting spray device, a power supply device and a control device;

The vehicle platform (3) is a frame formed by connecting a plurality of profiles;

The lower part of the vehicle platform (3) is sequentially provided with two self-steering running mechanisms in the traveling direction, and the self-steering running mechanism is composed of a chassis with a swing mechanism and a tire (1) with a hub motor (24);

The controllable lifting spray device comprises a sprayer lifting mechanism, a mixing device and a boom device; the sprayer lifting mechanism is installed at the tail of the vehicle platform (3) to realize lifting and lowering of the boom device; The device sends the liquid to the boom device;

The power supply device provides a stable voltage source for the device;

The control device is respectively used for controlling the steering walking of the self-steering traveling mechanism, the lifting and lowering of the controllable lifting and lowering device, the mixing amount adjustment of the mixing device, the posture adjustment of the boom device, and the spray adjustment.
The multi-slot self-steering intelligent sprayer according to claim 1, wherein the plurality of profiles of the vehicle platform (3) are square metal pipes, welded into a frame with a plurality of square spaces, on the platform Two square metal plates are respectively fixed on the two spaces set at the middle positions of the two ends for arranging two self-steering running mechanisms.
The multi-slot self-steering intelligent sprayer according to claim 2, characterized in that the spray bar seating groove (4) is welded to the front side and the left and right sides of the vehicle platform (3), respectively.
The multi-slot self-steering intelligent sprayer according to claim 2, wherein a plurality of stoppers (23) are welded to the bottom of the platform (3), and a tail portion is reserved at the tail of the platform (3). A through hole (25) through which the fixed central shaft (27) passes.
The multi-gap self-steering intelligent sprayer according to claim 1 or 2, wherein the self-steering running mechanism comprises a swinging mechanism and a tire (1) with a hub motor (24);

The slewing mechanism includes a double row tapered roller bearing (43), a support column (44) and a damper device (45) from top to bottom in sequence; the damper device (45) has a plurality of widths from top to bottom. The shrapnels which are successively enlarged are superimposed. The last shrapnel is thicker than the other shrapnel in the upper part. The other shrapnels have the same thickness and a rectangular through hole in the center of the shrapnel. The outer or inner ring of the double row tapered roller bearing (43) is One whole, two inner rings or outer rings are respectively concentrically fixed on the top surface of the metal plate and the support column (44) of the vehicle platform (3);

The upper end of the support column (44) is a cylindrical body, and the lower end is a rectangular metal rod. The metal rod portion passes through the rectangular through hole of the damper device (45) and is fixedly welded to the last piece of the elastic piece, and the two sides of the last piece of the elastic piece and the hub motor (24) ) The fuselage is welded and fixed.
The multi-gap self-steering intelligent sprayer according to claim 1 or 2, wherein the self-steering running mechanism comprises a swinging mechanism and a tire (1) with a hub motor (24);

The slewing mechanism comprises a single row tapered roller bearing (39), a support column (44), a shock absorber (47) and a damper bracket (46), an outer ring or inner ring of a single row tapered roller bearing (39) and a vehicle The platform (3) is connected by welding. The inner or outer ring of the single row tapered roller bearing (39) and the top surface of the support column (44) are concentrically fixed. The shock absorber (47) has three groups, three of which are shock absorbers. One end of the device is respectively fixed on the symmetric side and the bottom side of the support column (44), and the other end is fixed on both sides and the center position of the shock absorbing bracket (46) respectively, and the shock absorbing bracket (46) is one and the vehicle width is similar The high-strength square metal frame has two ends of the shock absorbing bracket (46) fixed to the body of the hub motor (24).
The multi-gap self-steering intelligent sprayer according to claim 1 or 2, wherein the self-steering running mechanism comprises a swinging mechanism and a tire (1) with a hub motor (24);

The slewing structure comprises a planar cylindrical bearing (42), a chassis platform (26) and an axle (2); the planar cylindrical bearing (42) consists of a planar cage assembly with a cylindrical roller (40) and a planar washer, a planar cylindrical bearing ( The inner ring of 42) passes through the through hole of the metal plate on the platform (3) and makes the cylindrical roller (40) of the planar cylindrical bearing (42) contact the bottom of the platform (3), and the chassis platform (26) is opened in the middle. The circular groove has a gradually contracting extension on the left and right sides of the chassis platform (26), and the planar cage assembly of the planar cylindrical bearing (42) and the circular groove of the chassis platform (26) are concentrically fixed, the axle (2) The top is fixed to the extension of the chassis platform (26), at an obtuse angle to the chassis platform (26), the bottom of the axle (2) and the body of the hub motor (24) are fixed, the height of the self-steering running mechanism can be The job requires the selection of different height axles (2).
The multi-slot self-steering intelligent sprayer according to claim 7, wherein the rotating structure is replaced by a ball bearing (36) instead of a planar cylindrical bearing (42), and the ball bearing (36) is a spherical alloy steel ball mounted on In the middle of the inner and outer steel rings, the outer or inner ring of the ball bearing (36) is concentrically fixed with the chassis platform (26), the inner or outer ring of the ball bearing (36) and the metal plate of the platform (3) Concentric fixation.
The multi-slot self-steering intelligent sprayer according to claim 8, further comprising a damping cooperative device comprising a damping motor (69), a worm gear box (73) and a cooperating gear (72); the inside of the worm gear box (73) is a worm wheel (70) and a worm (71), the shaft of the damper motor (69) and the worm (71) are concentrically fixed, the worm (71) and the worm wheel (70) are assembled, and the worm wheel ( 71) Concentrically fixed with the cooperating gear (72); the cooperating gear (72) meshes with the inner ring welded inner gear (68) of the ball bearing (36).
The multi-slot self-steering intelligent sprayer according to claim 1, wherein

The sprayer lifting mechanism comprises two parallel “<” type fixing brackets (10), and the vertices of the two “<” type fixing brackets (10) are connected by a fixed horizontal plate A, and the two sides of the horizontal plate A are fixed. A fixed central shaft (27) is arranged below; the upper ends of the two "<" type fixing brackets (10) are connected by a fixed horizontal plate B, and the fixed horizontal plate B is arranged a lifting control motor (14) and a transmission toothed chain (7), the lifting control motor (14) being fixed to the fixed transverse plate B by a flange structure (13); upper ends of two "<" type fixing brackets (10) a screw rod (8) and a wire pair (12) are arranged between the lower end and the lower end;

The spray bar device comprises an inner spray bar (28), a main spray bar (6), an end spray bar (5), and a rotating control component group, all of which are rigid hollow anti-rust materials, each of which is The hose is connected to form a water passage for spraying the liquid medicine; the inner spray bar (28) of the spray bar device is connected with the wire pair (12), and the two ends of the inner spray bar (28) are respectively the main spray bar (6). The outer ends of the main spray bar (6) are respectively end spray bars (5), and the spray nozzles are evenly distributed on each spray bar (35); the two ends of the inner spray bar (28) are provided with a rotating control component group, and the inner spray The rod (28) and the main spray rod (6) are connected by a geared primary shaft (29), and the main spray rod (6) and the end spray rod (5) are connected by a geared secondary shaft (38), rotating The control unit group drives the lower main spray bar (6) and the end spray bar (5) to rotate horizontally;

The vehicle platform (3) can be placed with a mixing device as needed, including a water tank (18), a medicine box (16), a liquid medicine tank (15) of the spray device, and the water tank (18) is separated from the medicine box (16). The output liquid is mixed in proportion, and the mixed liquid is pre-existing in the liquid tank (15). When the spray locomotive is unable to drive out in the harsh terrain, the water in the water tank can be released and reduced.
A multiple-gap self-steering smart sprayer according to claim 10, characterized in that the screw (8) and the wire pair (12) can be replaced by a ball screw.
The multi-slot self-steering smart sprayer according to claim 10, wherein the rotation control member group comprises a rotation control motor (11), a gear box (9), and a transmission tooth chain A (7), The rotating shaft of the rotary control motor (11) is fixed with a driving gear (30) concentric with the rotating shaft, and extends vertically downward into the gear box (9), and is assembled with a reduction gear in the gear box (9), and the gear box (9) There are four gears in total, one is the drive gear (30) at the end of the rotary control motor (11), one is the driven gear (34) with the upper end connected to the shaft gear A (29), and the first stage deceleration with a certain reduction ratio. The rotation centers of the gear (31) and the secondary reduction gear (33), the primary reduction gear (31) and the secondary reduction gear (33) are respectively fixed on the upper and lower walls of the gearbox casing (32), and the rotary control motor (11) The driving gear (30) is driven to rotate, the driving gear (30) and the primary reduction gear (31) are meshed, the primary reduction gear (31) and the secondary reduction gear (33) are meshed, and the secondary reduction gear (33) Engaged with the driven gear (34), the driven gear (34) drives the rotating shaft gear A (29) to rotate; the four gears are wound around the center line of each gear Turn, the center line of rotation of the four gears is perpendicular to the center line of the inner spray bar (28) and the foot is located on the center line of the inner spray bar (28), and the two ends of the drive tooth chain A (7) are respectively The revolving gear A (29) and the revolving gear B (38) are fitted over the main boom, and the gearbox (9) is connected by welding to a position below the end of the inner boom (28).
The multi-slot self-steering intelligent sprayer according to claim 10, wherein the sprayer lifting mechanism has two upper ends of the "<" type fixing bracket (10) and two ends of the fixed horizontal plate B. Through holes of the same size, The feed screw (8) passes through and is fixed by the geared shaft A. The output shaft of the lift control motor (14) is fixed vertically downward through the flange structure (13) in the middle of the fixed cross plate B, and the flange structure ( 13) There is a rotating shaft B concentrically fixed with the output shaft of the lifting control motor (14). The outer ring of the rotating shaft B has a gear, and the gear and the transmission tooth chain B (7) are assembled, and both ends of the transmission toothed chain B (7) are assembled. It is assembled with the rotating shaft A at the top of the screw (8), so that the rotation of the lifting control motor (14) can control the rotation of the screw (8) to achieve the purpose of lifting the wire pair (12).
The multi-slot self-steering smart sprayer according to claim 1, wherein when the multi-gap self-steering smart sprayer does not require a spraying operation, the main boom (6) and the end boom (5) pass The rotating shaft can be vertically folded and placed horizontally on both sides of the vehicle platform (3) and in the front of the spray bar seating groove (4).
The multi-slot self-steering intelligent sprayer according to claim 1, wherein the power supply device is a gasoline power generation device, and the device is fixed on the vehicle platform (3), including a gasoline engine (21), a gasoline engine protection frame. (22), generator (20), three-phase rectifier bridge (37), filter capacitor (41), battery pack (19), rectifier inverter (48);

The rotating shaft of the gasoline engine (21) is connected with the rotating shaft of the generator (20), and the generator (20) generates electricity and is rectified and filtered by the three-phase rectifier bridge (37) and the filter capacitor (41) to become single-phase direct current, and a part of the storage is The battery pack (19); the other part provides a stable voltage power supply for the vehicle control unit (49), so that the vehicle control unit (49) controls the hub motor drive (57), the lift control motor drive (58), and the rotary control motor drive (59) Pump motor drive (60), liquid pump motor drive (61), hybrid pump motor drive (62), solenoid valve drive (66); and some of the rectified inverter (48) become three-phase AC A three-phase alternating current is provided for the hub motor (24), the lift control motor (14), the rotary control motor (11), the pump motor (63), the liquid pump motor (64), and the mixed pump motor (65).
The multi-slot self-steering intelligent sprayer according to claim 1, wherein the control device is respectively fixed on the self-steering running mechanism and the controllable lifting spray device, and comprises an embedded vehicle control unit (49) and a top. Instrument (50), GPS (51), height sensor (52) set on the inner spray bar (28), speed sensor (53) on the tire (1), hub motor drive (57), set in the swing mechanism The upper corner sensor (17), the liquid level sensor (54) disposed in the mixing device, the pumping flow meter (55), the nozzle flow meter (56) disposed on the spray bar, the lift control motor drive (58), Rotary control motor drive (59), pump motor drive (60), liquid pump motor drive (61), mixed liquid pump motor drive (62), solenoid valve drive (66);

The gyroscope (50), the GPS (51), the angle sensor (17), the height sensor (52), the speed sensor (53), the liquid level sensor (54), the pumping flow meter (55), and the nozzle flow meter ( 56) both connected to the embedded vehicle control unit (49);

Hub motor drive (57), lift control motor drive (58), rotary control motor drive (59), pump motor drive (60), liquid pump motor drive (61), mixed liquid pump motor drive (62), electromagnetic Valve drive (66) both pass Connected to the embedded vehicle control unit (49) via the CAN bus;

The hub motor (24) in the tire (1) is connected to the hub motor drive (57), the lift control motor (14) is connected to the lift control motor drive (58), and the rotary control motor (11) and the rotary control motor drive (59) Connected, the water pump (63) disposed in the water tank (18) is connected to the pump motor drive (60), and the liquid medicine pump (64) disposed in the medicine box (16) is connected to the liquid medicine pump motor drive (61). The mixed liquid pump (65) disposed in the chemical tank (15) is connected to the mixed liquid motor pump drive (62), and the spray rod electromagnetic valve (67) disposed on the spray bar is connected to the solenoid valve drive (47).
The multi-slot self-steering intelligent sprayer control method according to claim 1, characterized in that before the start of spraying, the main operating bar (6) and the end are driven by a rotation control motor (11) to drive the toothed chain (7). The spray bar (5) is unfolded from the both sides and the front part of the vehicle platform (3) to the rear and placed on the same straight line, the height of the target plant is obtained according to the height sensor (52), and the spray bar is adjusted by the lift control motor (14) To the appropriate spray distance, then control the sprayer's advancement and direction through the spray task obtained inside the embedded vehicle control unit (49) while performing the spray action;

During the spraying process, the walking device drives the hub motor (57) and the lift control motor according to the information collected by the gyroscope (50), GPS (51), height sensor (52), speed sensor (53), and angle sensor (17). The driving (58) direction, speed and spray height are effectively and reasonably controlled, and the embedded vehicle control unit (49) drives the pump motor according to the information returned by the liquid level sensor (54) and the nozzle flow meter (56) (60) ), the liquid medicine pump motor drive (61), the mixed liquid pump motor drive (62), and the spray rod solenoid valve drive (66) are controlled to control the mixing process and the spraying process of the device; the pumping flow meter (55) In real time, the amount of water pumped by the pump is detected, and the embedded vehicle control unit (49) controls the liquid medicine pump according to the amount of water pumped by the pump (63) to extract a certain amount of liquid to carry out the mixing process, so that the water and the liquid are in a certain proportion. Mixing;

After the spraying is finished, the boom is controlled by the rotation control motor (11) to control the transmission chain (7) and the gear box (9) so that the main boom (6) and the end boom (5) are placed on the platform (3). The spray bars on both sides and front are placed in the groove (4).