A plant protection spraying trolley for middle and lower layer cigar tobacco leaves and a method of using the same

Abstract

The invention discloses a plant protection spray trolley for middle and lower layer cigar tobacco leaves and a use method thereof, comprising a walking chassis and a remote controller, wherein a spray system, a visualization system and a detachable outer cover shell are arranged on the walking chassis, the visualization system comprises an image transmission module and a camera installed at the front end of the walking chassis, the remote controller is provided with the image transmission module and a display for displaying camera images, the walking chassis is also provided with a power supply located at the inner side of the outer cover shell, the spray system comprises a medicine box and an annular spray bracket installed on the walking chassis, the medicine box is connected to a pump body, the pump body is connected to a delivery pipe, the delivery pipe is connected to a spray structure, the spray structure comprises a plurality of atomizing nozzles connected in sequence through pipelines, and the atomizing nozzles are detachably installed on the annular spray bracket; the invention has the advantages of long-distance control, adjustable spray effect and high working efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of tobacco agricultural plant protection mechanization, and particularly relates to a plant protection spraying trolley for middle and lower layer cigar tobacco leaves and a use method thereof. Background Art

[0002] Cigar is a tobacco product that is popular all over the world for its rich flavor. With the improvement of economic level and people's living standards in recent years, the domestic cigar product market has grown rapidly, and the demand for cigar raw materials has continued to increase. As material costs continue to rise, the cost of artificial cultivation continues to rise. In order to effectively control the cost of cigar tobacco planting, promoting the full mechanization of cigar tobacco production is the direction of development of domestic cigar tobacco.

[0003] Plant protection, as an important part of cigar production, plays a major role in ensuring high and stable yields of crops. In recent years, tobacco plant protection research has made significant progress in the occurrence of major tobacco pests and diseases, disaster patterns, pest and pathogen resistance, and information technology and biotechnology have been widely used in the field of plant protection research. However, the tobacco plant protection machinery currently used in my country is relatively backward, mainly manual backpack sprayers, which are labor-intensive to apply pesticides and easily cause heatstroke and poisoning to operators; on the other hand, in the middle and late stages of tobacco plant growth, the tobacco plants have been closed, and traditional pesticide application operations are very likely to cause leaf breakage or damage, and cigar tobacco leaves have very high requirements for leaf surface integrity throughout the production process.

[0004] In the existing technology, traditional manual plant protection operations are difficult to meet technical needs; drone spraying only sprays liquid medicine from above, and tobacco plants have a large number of leaves and a large leaf area index, so it is difficult for the middle and lower leaves of tobacco plants to evenly receive the medicine, and the efficiency of the application is very low. Therefore, it is urgent to develop an automated plant protection solution for the middle and lower tobacco leaves of cigars to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to address the problems existing in the prior art and provide a plant protection spray cart for middle and lower layers of cigar tobacco leaves and a method of using the same, which has the advantages of long-distance control, adjustable spray effect and high work efficiency, and can realize unmanned plant protection operations for the middle and lower layers of cigar tobacco leaves.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a plant protection spray cart for middle and lower layer cigar tobacco leaves, comprising a walking chassis and a remote control, a spray system, a visualization system and a detachable outer cover shell are arranged on the walking chassis, the visualization system comprises an image transmission module and a camera installed at the front end of the walking chassis, the remote control is provided with an image transmission module and a display for displaying the camera image, the walking chassis, the spray system and the visualization system are all connected with the remote control signal, the walking chassis is also provided with a power supply located on the inner side of the outer cover shell, the spray system comprises a medicine box and an annular spray bracket installed on the walking chassis, the medicine box is connected with a connecting part, the connecting part is connected with a power-adjustable pump body, the pump body is connected with a delivery pipe, the delivery pipe is connected with a spray structure, the spray structure comprises a plurality of atomizing nozzles connected in sequence by pipelines, and the atomizing nozzle is detachably installed on the annular spray bracket.

[0007] In the above scheme, the trolley is mainly composed of an outer cover shell, a walking chassis, a spray system, a visualization system, and a remote control. The walking chassis adopts an electric drive structure to provide power for the movement of the trolley. The spray system is installed above the walking chassis, and the visualization system is installed at the front end of the walking chassis. During driving, the camera monitors the road conditions ahead in real time and sends the real-time conditions to the remote control through the image transmission module, so that the operator can adjust the operation path; the remote control can control the forward and backward turning of the walking chassis, the displacement of the spray system, and the power on and off of the visualization system and display the real-time road conditions; the walking chassis, the spray system and the visualization system are all powered by a power supply, the outer cover shell is installed above the walking chassis and built on the outside of the medicine box, the spray system stores the liquid medicine through the medicine box, and the pressure is provided by the pump body so that the liquid medicine in the medicine box is transported to the spray structure through the connecting part and the delivery pipe, and finally sprayed out from the atomizing nozzle, and the atomizing nozzle is arranged on the annular spray bracket along a ring, so that the liquid medicine is sprayed and diffused outward in multiple fan-shaped directions, so that the liquid medicine is evenly distributed and fully contacts with the middle and lower layers of the tobacco leaves.

[0008] Furthermore, the atomizing nozzle is detachably mounted on the annular spray bracket via a locking structure, and adjacent atomizing nozzles are connected via a hose.

[0009] The atomizing nozzles are detachably mounted on the annular spray bracket through a locking structure, and the atomizing nozzles are connected through hoses, so that the number and direction of the atomizing nozzles can be adjusted conveniently.

[0010] Furthermore, the atomizing nozzles are bilaterally symmetrically arranged on the annular spray support.

[0011] The atomizing nozzles are arranged symmetrically on both sides so that the liquid medicine can be sprayed evenly on both sides.

[0012] Furthermore, the plant protection sprayer is designed to have a width not exceeding 700mm, a height not exceeding 900mm, and a walking chassis height not exceeding 400mm.

[0013] According to the agronomic requirements of cigar tobacco plants during the planting period, the spray width of the machine is 1000mm-1600mm, the spray height is 300mm-1400mm from the bottom of the ridge, and the size of the trolley is set to facilitate the trolley to travel at the bottom of the ridge without scratching the leaves. Because the trolley travels at the bottom of the ridge, the operating space is narrow and the leaves cannot be scratched, meeting the general requirements of ridge height, ridge width, and plant height of 1600mm-2000mm during the planting period for cigar tobacco planting.

[0014] Furthermore, the main body curve of the outer cover is an arc line, and the side line is a contour curve of a large marlin head to reduce the sliding resistance between the cover and the tobacco stems. The curve equation is as follows:

[0015]

[0016] Where: h is the vertical height of the cross-section of the cover, mm; z is the horizontal length of the cross-section of the cover, mm.

[0017] By designing the shape of the outer cover, the resistance between the cover and the tobacco stems is reduced, thus avoiding damage to the plants during contact.

[0018] Furthermore, the walking chassis includes a main frame, above which is provided a fixing seat for installing a medicine box and a signal receiving antenna, on which is a detachable baffle plate for the medicine box, below which is provided a control box and a telescopically adjustable support frame, on which is rotatably provided a driving wheel and a driven wheel, and between which is provided a crawler track.

[0019] The main frame is used to support the connecting parts. The medicine box is installed in the fixed seat and the baffle on the medicine box is used to limit the position. The remote control can send signals to the signal receiving antenna and further transmit them to the control box. The control system in the control box can control the motor reducer to transmit power to the driving wheel and then drive the driven wheel and track to rotate; the support frame includes a load-bearing frame and a driven bracket connected in a nested manner.

[0020] Furthermore, the control box includes a driving control system, a spray control system, and a visualization control system.

[0021] The driving control system, spray control system and visualization control system respectively control the traveling chassis, spray system and visualization system.

[0022] Furthermore, the remote control is provided with a spray adjustment knob, a camera switch, and a remote control driving push rod.

[0023] The camera switch is used to control the opening and closing of the camera; the display is fixed to the upper part of the remote control by a fixing clip. When the camera is turned on, it can receive the image information transmitted by the image transmission module and display the road condition in front of the car in real time; turning the spray adjustment knob can be used to transmit a remote control signal to remotely control the pump pressure and further control the flow rate; the remote control driving push rod is used to remotely control the forward, backward and steering of the car.

[0024] A method for using the above-mentioned plant protection spraying trolley for middle and lower layer cigar tobacco leaves comprises the following steps:

[0025] Step 1: Adjust the number and direction of the atomizing nozzles on the annular spray bracket according to the growth needs of cigar tobacco leaves at different stages, fill the medicine box with liquid medicine, and temporarily lock the outer cover;

[0026] Step 2: Use the remote control to control the movement of the car, observe the front of the car through the visualization system and display, and adjust the route of the car in time;

[0027] Step 3: Operate the remote control to adjust the flow rate of the liquid medicine at the atomizing nozzle so that the liquid medicine in the medicine box is sprayed outward through the atomizing nozzle to apply the medicine to the middle and lower layers of the plants.

[0028] In the above scheme, in step 1, the number and direction of the atomizing nozzles are adjusted according to the growth of the cigar tobacco leaves. As the leaves of the plants become larger and denser, the number of atomizing nozzles is gradually increased, and the spatial density of the liquid medicine is increased, so as to improve the utilization rate of the liquid medicine and fully apply the medicine to the middle and lower layers of the plants, thereby reducing the waste of the liquid medicine and the pollution to the environment. After the liquid medicine is filled, the outer cover shell is closed and locked, and the arc shape of the outer cover shell is used to reduce the resistance between the plant and the plant, thereby reducing the damage to the plant; in step 2, the movement of the trolley is controlled by a remote control, and the route of the trolley can be remotely controlled in conjunction with the visualization system and the display, so as to avoid damage to the human body during close-range application of the medicine and the waste of the liquid medicine remaining on the human body; in step 3, the liquid medicine flow rate of the atomizing nozzle is controlled by controlling the pump power or speed by the remote control, and the liquid medicine diffuses to the periphery along the fan-shaped surface through the atomizing nozzle arranged along the annular spray bracket, and applies the medicine to the leaves of the plants on both sides and above the trolley from multiple angles, thereby increasing the contact area between the liquid medicine and the plant, and improving the effect of the application of the medicine.

[0029] Furthermore, in step 3, the atomizing nozzle flow is calculated according to the medicine box capacity and the power supply life, and the pump body pressure is calculated according to the following formula;

[0030]

[0031] Where Q is the atomizing nozzle flow rate, unit is m 3 / s; μ is the nozzle flow coefficient; A is the atomizing nozzle outlet area, unit: m 2; p is the pump pressure, unit is pa; ρ is the liquid density, unit is kg / m 3 ; g is the acceleration due to gravity, unit is m / s 2 ; h is the liquid level, unit: m.

[0032] According to the power capacity and the trolley power, the longest power endurance of the trolley is calculated, and then the atomizing nozzle flow and pump pressure are calculated, so as to optimize the spraying efficiency and effect of the spraying system.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (i) During the operation of the plant protection vehicle of the present invention, the operator does not need to carry the medicine box to spray pesticides at various locations in the farmland. He only needs to control the movement of the crawler vehicle and the operation of the spray system through a remote control from a distance. The camera installed at the front end of the plant protection vehicle can transmit the image information of the front end of the chassis to the display screen receiver in real time, which is convenient for the operator to observe the scene in front of the vehicle and adjust the posture of the vehicle in time, so as to realize the plant protection and pesticide application on the leaves of the middle and lower layers of cigar tobacco plants, reduce the labor intensity, and facilitate the operation;

[0035] (ii) The plant protection vehicle of the present invention is provided with a plurality of atomizing nozzles on the annular spray support to achieve multi-angle application of pesticides. The number, height and angle of the nozzle arrangement are determined according to the growth height, leaf length and plant spacing of the middle and lower leaves of the cigar, and the growth density is determined by the arrangement and is easy to adjust. It has application value in solving the current problem of difficulty in applying pesticides to the middle and lower leaves, and can achieve real-time control and adjustment of the spray flow rate. The operator can judge the density of the plants at the operation site according to the image transmitted by the camera, and adjust the spray flow rate by the knob on the remote control, which can effectively reduce the amount of pesticides used and reduce pollution to the environment;

[0036] (III) The plant protection trolley applies pesticides in the furrows through the circularly arranged atomizing nozzles, which has high operating efficiency and good pesticide application effects on the middle and lower layers of cigar tobacco leaves. According to agronomic requirements, the relationship between the power supply life and the capacity of the medicine box is fully considered, and the working pressure of the pump is regulated and designed, which further improves the working efficiency of the trolley and the effect of pesticide application;

[0037] (iv) The remote-controlled trolley is used to apply pesticides in the furrows. It is small in size and has a curved outer cover design, which causes little damage to plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The structure of a plant protection sprayer for middle and lower cigar tobacco leaves in an embodiment of the present invention is shown in FIG. Figure 1 ;

[0039] Figure 2The structure of a plant protection sprayer for middle and lower cigar tobacco leaves in an embodiment of the present invention is shown in FIG. Figure 1 ;

[0040] Figure 3a It is a structural stereogram of the outer cover shell in an embodiment of the present invention;

[0041] Figure 3b It is a front view of the outer cover shell in the embodiment of the present invention;

[0042] Figure 4 It is a structural stereogram of the walking chassis in an embodiment of the present invention;

[0043] Figure 5 A structural stereogram of a spray system in an embodiment of the present invention;

[0044] Figure 6 It is a working schematic diagram of a plant protection spraying vehicle for middle and lower layer cigar tobacco leaves in an embodiment of the present invention;

[0045] Figure 7 A structural stereogram of a remote controller in an embodiment of the present invention;

[0046] Figure 8 This is a circuit schematic diagram of a plant protection spraying vehicle for middle and lower layer cigar tobacco leaves in an embodiment of the present invention;

[0047] In the figure: 1. Outer cover; 2. Walking chassis; 2.1. Main frame; 2.2. Fixed seat; 2.3. Upper baffle; 2.4. Buckle lock; 2.5. Signal receiving antenna; 2.6. Driven wheel; 2.7. Driven bracket; 2.8. Load-bearing frame; 2.9. Road wheel; 2.10. Track; 2.11. Control box; 2.12. Driving wheel; 2.13. Motor reducer; 3. Spray system; 3.1. Fine atomizing nozzle; 3.2. T-type three-way connector; 3.3 , U-shaped card; 3.4, plug; 3.5, annular spray bracket; 3.6, ball valve; 3.7, connecting part; 3.8, electric diaphragm pump; 3.9, pump body fixing bracket; 3.10, waterproof top cover; 3.11, delivery pipe; 3.12, medicine box; 4, visualization system; 4.1, camera; 4.2, image transmission module; 5, remote control; 5.1, display; 5.2, spray adjustment knob; 5.3, camera switch; 5.4, remote control driving push rod; 6, battery. DETAILED DESCRIPTION

[0048] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example 1

[0050] like Figure 1-8 As shown, a plant protection spraying vehicle for middle and lower layer cigar tobacco leaves comprises a walking chassis 2 and a remote controller 5. A spraying system 3, a visualization system 4 and a detachable outer cover 1 are arranged on the walking chassis 2. The visualization system 4 comprises an image transmission module 4.2 and a camera 4.1 installed at the front end of the walking chassis 2. The remote controller 5 is provided with an image transmission module 4.2 and a display 5.1 for displaying the image of the camera 4.1. The walking chassis 2, the spraying system 3 and the visualization system 4 are all connected to the remote controller 5 by wireless signals. The walking chassis 2 is also provided with a power source located inside the outer cover shell 1. The spray system 3 includes a medicine box 3.12 and an annular spray bracket 3.5 installed on the walking chassis 2. The medicine box 3.12 is connected to a connecting portion 3.7, and the connecting portion 3.7 is connected to a pump body with adjustable power. The pump body is connected to a delivery pipe 3.11, and the delivery pipe 3.11 is connected to a spray structure. The spray structure includes a plurality of atomizing nozzles connected in sequence through pipelines. The atomizing nozzle is detachably installed on the annular spray bracket 3.5. The atomizing nozzle uses a fine atomizing nozzle 3.1, and the pump body uses an electric diaphragm pump 3.8.

[0051] In the above scheme, the trolley is mainly composed of an outer cover shell 1, a running chassis 2, a spray system 3, a visualization system 4, and a remote controller 5. The running chassis 2 adopts an electric drive structure to provide power for the trolley to move. The spray system 3 is installed above the running chassis 2, and the visualization system 4 is installed at the front end of the running chassis 2. During driving, the camera 4.1 monitors the road conditions ahead in real time and sends the real-time conditions to the remote controller 5 through the image transmission module 4.2, so that the operator can adjust the working path; the remote controller 5 can control the forward and backward turning of the running chassis 2, the displacement of the spray system 3, and the power on and off and display of the visualization system 4. The real-time road conditions are displayed; the walking chassis 2, the spray system 3 and the visualization system 4 are all powered by a power supply. The outer cover shell 1 is installed above the walking chassis 2 and built on the outside of the medicine box 3.12. The spray system 3 stores the medicine liquid through the medicine box 3.12. The pressure provided by the pump body makes the medicine liquid in the medicine box 3.12 be transported to the spray structure through the connecting part 3.7 and the delivery pipe 3.11, and finally sprayed out from the atomizing nozzle. The atomizing nozzle is arranged in a ring on the annular spray bracket 3.5, so that the medicine liquid is sprayed and diffused outward in multiple fan-shaped directions, so that the medicine liquid is evenly distributed and fully contacts with the middle and lower layers of the tobacco leaves.

[0052] The annular spray support 3.5 is a circular ring with equal radius installed at the rear of the walking chassis 2. The axial direction of the atomizing nozzle converges at the center of the circular ring, so that multiple small fan-shaped liquid medicines form a large fan-shaped liquid medicine to diffuse to the middle and lower layers of the tobacco leaves on both sides, thereby improving the effect of the medicine application. A valve can be set at the connection part 3.7 to control the flow of the liquid medicine.

[0053] The spray system 3 mainly includes a medicine box 3.12, a ball valve 3.6, an electric diaphragm pump 3.8, a delivery pipe 3.11, a T-type three-way joint 3.2, a fine atomizing nozzle 3.1, and a plug 3.4. On the main frame 2.1 of the walking chassis 2, a connection part 3.7 is left at the bottom of the medicine box 3.12. The ball valve 3.6 controls the opening and closing of the water flow by connecting the connection part 3.7 and the electric diaphragm pump 3.8. The outlet of the pump body is connected to the delivery pipe 3.11. The nozzle is connected to the pipeline and the delivery pipe 3.11 through the T-type three-way joint 3.2. The water outlet of the end T-type three-way joint 3.2 is sealed with a plug 3.4 to concentrate the pressure on the nozzle. The connection part 3.7 can be a water pipe joint.

[0054] The monitoring camera 4.1 in the visualization system 4 can be installed at the front and rear of the chassis to increase the field of vision of the vehicle. The battery can last for 2 hours when the power supply is fully loaded.

[0055] In the embodiment, the spray system 3 includes an annular spray bracket 3.5 installed at the rear of the walking chassis 2, a T-type three-way joint 3.2 evenly installed on the annular spray bracket 3.5 and fixed by a U-shaped card 3.3, a fine atomizing nozzle 3.1, a plug 3.4 installed at the rear T-type three-way joint, a medicine box 3.12 installed in front of the annular spray bracket 3.5, a water pipe joint installed at the bottom of the side of the medicine box 3.12, a ball valve 3.6 connected to the water pipe joint, an electric diaphragm pump 3.8 installed between the annular spray bracket 3.5 and the medicine box 3.12, a pump body fixing frame 3.9, a waterproof top cover 3.10, and a delivery pipe 3.11 connected to the electric diaphragm pump 3.8 and the T-type three-way joint at the head end. The output power of the electric diaphragm pump 3.8 is controllable to change the spraying amount and spraying range; the fine atomizing nozzles 3.1 are evenly arranged on the annular spray bracket 3.5 to meet the requirements of comprehensive and uniform spraying of cigar tobacco leaf plant protection drugs; the waterproof top cover 3.10 can prevent liquid droplets from entering the electric diaphragm pump 3.8.

[0056] Furthermore, the atomizing nozzle is detachably mounted on the annular spray bracket 3.5 via a locking structure, and adjacent atomizing nozzles are connected via a hose.

[0057] The atomizing nozzles are detachably mounted on the annular spray bracket 3.5 through a locking structure, and the atomizing nozzles are connected through hoses, so that the number and direction of the atomizing nozzles can be adjusted conveniently.

[0058] The locking structure includes a U-shaped card 3.3.

[0059] Furthermore, the atomizing nozzles are bilaterally symmetrically arranged on the annular spray support 3.5.

[0060] The atomizing nozzles are arranged symmetrically on both sides so that the liquid medicine can be sprayed evenly on both sides.

[0061] Furthermore, the plant protection sprayer is designed to have a width of no more than 700 mm, a height of no more than 900 mm, and a height of the walking chassis 2 of no more than 400 mm.

[0062] According to the agronomic requirements of the cigar tobacco plant during the plant protection period, the spray width of the machine is in the range of 1000mm-1600mm, the spray height is 300mm-1400mm from the bottom of the ridge, and the size of the trolley is set to facilitate the trolley to travel at the bottom of the ridge without scratching the leaves. Because the trolley travels at the bottom of the ridge, the working space is narrow and the leaves cannot be scratched, which meets the general requirements of 300mm ridge height, 500mm ridge width, and 1600mm-2000mm plant height during the plant protection period for cigar tobacco planting. In the embodiment, it is preferred that the plant protection spray trolley is designed to have a width of 420mm, a height of 611mm, a walking chassis height of 265mm, a spray operation width of 1500mm, and a spray height of 1400mm from the bottom of the ridge.

[0063] Furthermore, the main body curve of the outer cover shell 1 is an arc line, and the side line is a contour curve of a large marlin head to reduce the sliding resistance between the cover shell and the tobacco stems. The curve equation is as follows:

[0064]

[0065] Where: h is the vertical height of the cross-section of the cover, mm; z is the horizontal length of the cross-section of the cover, mm.

[0066] By designing the shape of the outer cover 1, the resistance between the outer cover and the tobacco stems is reduced, thus avoiding damage to the plants when in contact.

[0067] The outer cover shell 1 is hinged to the running chassis 2 through a front hinge, and the rear of the outer cover shell 1 is connected to the running chassis 2 through a knurled hand screw. When the medicine box 3.12 needs to add liquid medicine, the outer cover shell 1 can be flipped forward and uncovered by unscrewing the knurled hand screw for operation.

[0068] Furthermore, the walking chassis 2 includes a main frame 2.1, a fixing seat for installing a medicine box 3.12 and a signal receiving antenna 2.5 are provided above the main frame 2.1, an upper baffle 2.3 is detachably provided on the fixing seat 2.2, a control box 2.11 and a telescopic and adjustable support frame are provided below the main frame 2.1, a driving wheel 2.12 and a driven wheel 2.6 are rotatably provided on the support frame, and a crawler track 2.10 is provided between the driving wheel 2.12 and the driven wheel 2.6.

[0069] The main frame 2.1 is used to support the connecting part 3.7. The medicine box 3.12 is installed in the fixed seat. The medicine box 3.12 is limited by the upper baffle 2.3. The remote control 5 can send a signal to the signal receiving antenna 2.5 and further transmit it to the control box 2.11. The control system in the control box 2.11 can control the motor reducer 2.13 to transmit power to the driving wheel 2.12 and then drive the driven wheel 2.6 and the crawler 2.10 to rotate; the support frame includes a load-bearing frame 2.8 and a driven bracket 2.7 connected in a nested manner.

[0070] The control box 2.11 is located at the center of the lower side of the main frame 2.1. The walking chassis 2 is provided with a transmission system for transmitting power (including a worm gear reducer, bearings, a driving wheel 2.12, a driven wheel 2.6, a load-bearing wheel 2.9, a crawler track 2.10, a load-bearing frame 2.8, a driven bracket 2.7, and a crawler track 2.10 tensioning component), and an auxiliary fixing member located above the main frame 2.1 (including a fixing seat 2.2, an upper baffle 2.3 and a snap lock 2.4 for connecting the two).

[0071] The track 2.10 tensioning component includes a driven bracket 2.7, a nut welded on the load-bearing frame 2.8, and a tensioning bolt threaded on the nut; the driven bracket 2.7 and the load-bearing frame 2.8 are matched in a nested manner, the tensioning bolt and the limiting part on the driven bracket 2.7 are tightly connected, and the spacing between the driving wheel and the driven wheel 2.6 is changed by adjusting the front and rear adjustment bolts, thereby adjusting the tightness of the track 2.10.

[0072] The walking chassis 2 includes a main frame 2.1, a fixing seat 2.2 installed above the main frame 2.1, an upper baffle 2.3 of the medicine box installed above the fixing seat 2.2 and fixed by a buckle lock 2.4, a signal receiving antenna 2.5 installed at the rear of the main frame 2.1, a load-bearing frame 2.8 below, a control box 2.11, a driving wheel 2.12, a motor reducer 2.13, a driven wheel 2.6 installed in conjunction with the driving wheel 2.12, a driven bracket 2.7, a road wheel 2.9, and a crawler track 2.10. The remote controller 5 can send signals to the signal receiving antenna 2.5 and further transmit them to the control box 2.11. The control system in the control box 2.11 can control the motor reducer 2.13 to transmit power to the driving wheel 2.12, thereby driving the driven wheel 2.6, the road wheel 2.9, and the crawler track 2.10 to rotate; the two motor reducers 2.13 can output at the same speed to control the trolley to move forward and backward, and the differential output can control the steering of the trolley; the load-bearing frame 2.8 and the driven bracket 2.7 are connected in a nested manner, and the locking bolts and nuts installed above them can control the change of the relative distance between the two parts to further tighten the crawler track.

[0073] Furthermore, the control box 2.11 includes a driving control system, a spray control system, and a visual control system.

[0074] The driving control system, the spray control system and the visualization control system respectively control the traveling chassis 2, the spray system 3 and the visualization system 4.

[0075] The driving control system includes a remote control signal receiver, an STM32F407 single-chip microcomputer, a battery 6 group, a motor driver, and a DC brushless motor. The battery 6 directly supplies power to the motor driver, and the remaining power of the power supply is displayed in real time on the OLED screen of the battery 6. The remote control signal receiver is responsible for receiving the instructions sent by the remote control handle in real time and transmitting them to the single-chip microcomputer. The single-chip microcomputer controls the left motor drive module and the right motor drive module according to the different instructions received, and then controls the left DC brushless motor and the right DC brushless motor.

[0076] The spray control system includes a remote control signal receiver, an STM32F407 single-chip computer, a transformer, a DC brush motor driver, and an electric diaphragm pump 3.8 motor. The transformer installed in the central control box 2.11 is responsible for converting the input high-voltage DC power into low-voltage DC power to power the single-chip computer and the electric diaphragm pump 3.8; the remote control receiver is responsible for receiving the instructions sent by the remote control knob in real time and transmitting them to the single-chip computer. The single-chip computer controls the DC brush motor driver inside the electric diaphragm pump 3.8 according to the received remote control 5 instructions, and then controls the motor speed in the diaphragm pump, realizing the function of remotely controlling the pressure and flow size of the electric diaphragm pump 3.8.

[0077] The visual control system includes a remote control signal receiver, an STM32F407 single-chip computer, a transformer, and a relay. The relay is used as a power switch to control the camera 4.1 and the image transmission module 4.2. The transformer installed in the central control box 2.11 is responsible for converting the input high-voltage direct current into low-voltage direct current to power the camera 4.1 and the image transmission module 4.2. The remote control receiver is responsible for receiving the instructions sent by the remote control knob in real time and transmitting them to the single-chip computer. The single-chip computer controls the internal relay to power on and off according to the received remote control 5 instructions.

[0078] Furthermore, the remote controller 5 is provided with a spray adjustment knob 5.2, a camera switch 5.3, and a remote control driving push rod 5.4.

[0079] like Figure 7 As shown, the display 5.1 is fixed to the upper part of the remote controller 5 by a fixing clip. When the camera 4.1 is turned on, the image information transmitted by the image transmission module 4.2 can be received to display the road condition image in front of the car in real time; turning the spray adjustment knob 5.2 can be used to transmit a remote control signal to remotely control the pump pressure and further control the flow rate; the remote control driving push rod 5.4 is used to remotely control the forward, backward and steering of the car.

[0080] The remote controller 5 integrates a control handle and an image display into one, and includes a display 5.1, a spray adjustment knob 5.2, a camera switch 5.3, and a remote control driving push rod 5.4. The camera switch 5.3 is used to control the opening and closing of the camera 4.1.

[0081] A method for using the above-mentioned plant protection spraying trolley for middle and lower layer cigar tobacco leaves comprises the following steps:

[0082] Step 1: According to the growth requirements of cigar tobacco leaves at different stages, the number and direction of the atomizing nozzles on the annular spray bracket 3.5 are adjusted, the medicine box 3.12 is filled with liquid medicine, and the outer cover shell 1 is temporarily locked;

[0083] Step 2: Operate the remote controller 5 to control the movement of the car, observe the front of the car through the visualization system 4 and the display 5.1, and adjust the route of the car in time;

[0084] Step 3: Operate the remote controller 5 to adjust the flow rate of the liquid medicine at the atomizing nozzle, so that the liquid medicine in the medicine box 3.12 is sprayed outward through the atomizing nozzle to apply medicine to the middle and lower layers of the plants.

[0085] In the above scheme, in step 1, the number and direction of the atomizing nozzles are adjusted according to the growth of the cigar tobacco leaves. As the leaves of the plants become larger and denser, the number of atomizing nozzles is gradually increased, and the spatial density of the liquid medicine is increased, so as to improve the utilization rate of the liquid medicine and fully apply the medicine to the middle and lower layers of the plants, thereby reducing the waste of liquid medicine and the pollution to the environment. After the liquid medicine is filled, the outer cover shell 1 is closed and locked, and the arc shape of the outer cover shell 1 is used to reduce the resistance between the plant and the plant, thereby reducing the damage to the plant; in step 2, the power of the trolley and the remote control 5 is turned on, and the connection between the remote control 5 and the trolley signal receiver is completed, and the remote control driving push is controlled. Rod 5.4 controls the trolley to travel to the ridge of the target field. With the help of visualization system 4 and display 5.1, the route of the trolley can be remotely controlled to avoid damage to the human body during close-range application and waste of liquid medicine on the human body. In step 3, the spray adjustment knob 5.2 on the remote control is turned to adjust the spray volume, and the pump power or speed is controlled to control the liquid medicine flow of the atomizing nozzle. The liquid medicine spreads along the fan-shaped surface to the periphery through the atomizing nozzle set along the annular spray bracket 3.5, and applies medicine to the leaves of plants on both sides and above the trolley from multiple angles, thereby increasing the contact area between the liquid medicine and the plants and improving the effect of application. The operator controls the trolley to work between ridges through the remote control driving push rod 5.4 and fine-tunes the driving posture of the trolley by observing the real-time road conditions on the display 5.1. After completing one ridge operation, the trolley is controlled to travel to the next ridge through differential steering to work until the target field operation is completed.

[0086] Furthermore, in step 3, the atomizing nozzle flow is calculated according to the capacity of the medicine box 3.12 and the power supply life, and the pump body pressure is calculated according to the following formula;

[0087]

[0088] Where Q is the atomizing nozzle flow rate, unit is m 3 / s; μ is the nozzle flow coefficient, 0.8; A is the atomizing nozzle outlet area, unit m 2 ; p is the pump pressure, unit is pa; ρ is the liquid density, 1.0×10 3 kg / m 3 ; g is the acceleration due to gravity, 9.8m / s 2 ; h is the liquid level, m.

[0089] According to the power capacity and the trolley power, the longest power endurance time of the trolley is calculated, and the atomizing nozzle flow and pump pressure are further calculated, so as to optimize the spraying efficiency and effect of the spraying system 3.

[0090] Since the amount of spray required for cigar tobacco leaves at different times is different, in order to meet this requirement, the spray amount can be changed by increasing or decreasing the number of fine atomizing nozzles 3.1 (6-8). Since the fine atomizing nozzle 3.1 at the bottom of the plant protection spray trolley for the middle and lower layers of cigar tobacco leaves is 365mm high from the bottom of the ridge ditch, and the spray angle of the selected fine atomizing nozzle 3.1 is 40°, considering that the minimum spray amount during the plant protection period is 48L / mu, the calculation is performed through the relationship between the nozzle flow rate, the diaphragm pump pressure, and the nozzle outlet area.

[0091] According to the above agronomic requirements and the longest endurance of the spray cart, the optimal spray flow rate is 51ml / s. Considering the environmental impact, the maximum drift rate of the spray device is 30%. The spray flow rate of the spray system 3 of the spray cart is 72ml / s. The minimum number of nozzles is 6, and the flow rate distributed in each nozzle is 12ml / s. Since the diameter of the 24 holes of the fine atomizing nozzle is 0.4mm, it can be calculated that the application efficiency and effect are better when the corresponding water pump pressure is 0.73Mpa.

[0092] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A plant protection spraying trolley for middle and lower layer cigar tobacco leaves, characterized in that: The invention comprises a walking chassis and a remote controller, wherein a spray system, a visualization system and a detachable outer cover are arranged on the walking chassis, the visualization system comprises an image transmission module and a camera installed at the front end of the walking chassis, the remote controller is provided with an image transmission module and a display for displaying the camera image, the walking chassis, the spray system and the visualization system are all connected with the remote controller signal, the walking chassis is also provided with a power supply located on the inner side of the outer cover, the spray system comprises a medicine box and an annular spray bracket installed on the walking chassis, the medicine box is connected with a connecting part, the connecting part is connected with a pump body with adjustable power, the pump body is connected with a delivery pipe, and the The delivery pipe is connected to a spraying structure, and the spraying structure includes a plurality of atomizing nozzles connected in sequence through pipes. The atomizing nozzles are detachably mounted on an annular spray bracket. The atomizing nozzles are detachably mounted on the annular spray bracket through a locking structure. Adjacent atomizing nozzles are connected through hoses. The width of the plant protection spray trolley is designed to be no more than 700 mm, the height is no more than 900 mm, and the height of the walking chassis is no more than 400 mm. The main curve of the outer cover shell adopts an arc line and is built on the outside of the medicine box. The side line of the outer cover shell is a contour curve of a large marlin head to reduce the sliding resistance between the cover shell and the tobacco stems. The curve equation is as follows: Where: h is the vertical height of the cross-section of the cover, in mm; z is the horizontal length of the cross-section of the cover, in mm.

2. The plant protection spraying trolley for middle and lower layer cigar tobacco leaves according to claim 1, characterized in that: The atomizing nozzles are bilaterally symmetrically arranged on the annular spray support.

3. The plant protection spraying trolley for middle and lower layer cigar tobacco leaves according to claim 1, characterized in that: The walking chassis includes a main frame, above which a fixing seat for installing a medicine box and a signal receiving antenna are arranged, a detachable upper baffle of the medicine box is arranged on the fixing seat, a control box and a telescopic and adjustable support frame are arranged below the main frame, a driving wheel and a driven wheel are rotatably arranged on the support frame, and a crawler track is arranged between the driving wheel and the driven wheel.

4. The plant protection spraying trolley for middle and lower layer cigar tobacco leaves according to claim 3, characterized in that: The control box includes a driving control system, a spray control system and a visual control system.

5. The plant protection spraying trolley for middle and lower layer cigar tobacco leaves according to claim 1, characterized in that: The remote control is equipped with a spray adjustment knob, a camera switch, and a remote control driving push rod.

6. A method for using the plant protection spraying trolley for middle and lower layer cigar tobacco leaves as claimed in any one of claims 1 to 5, characterized in that: The following steps are included: Step 1: Adjust the number and direction of the atomizing nozzles on the annular spray bracket according to the growth needs of cigar tobacco leaves at different stages, fill the medicine box with liquid medicine, and temporarily lock the outer cover; Step 2: Use the remote control to control the movement of the car, observe the front of the car through the visualization system and display, and adjust the route of the car in time; Step 3: Use the remote control to adjust the flow rate of the liquid medicine at the atomizing nozzle, so that the liquid medicine in the medicine box is sprayed outward through the atomizing nozzle to the periphery, and the medicine is applied to the middle and lower layers of the plants. The flow rate of the atomizing nozzle is calculated according to the capacity of the medicine box and the battery life, and the pump pressure is calculated according to the following formula; Where Q is the atomizing nozzle flow rate, unit is m 3 / s; μ is the nozzle flow coefficient; A is the atomizing nozzle outlet area, unit: m 2 ; p is the pump pressure, unit is pa; ρ is the liquid density, unit is kg / m 3 ; g is the acceleration due to gravity, unit is m / s 2 ; h is the liquid level, unit: m.

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