Compound planting omni-directional mobile spraying plant protection machine and walking deviation correction method thereof

Abstract

The application discloses a kind of composite planting omni-directional mobile pesticide spraying plant protection machine, belong to agricultural machinery technical field, solve the problem that plant protection machine cannot be zoned in prior art pesticide spraying, the pesticide spraying plant protection machine includes frame structure, frame structure both sides are provided with inner protection mechanism and outer protection mechanism, inner protection mechanism forms inner cavity, outer protection mechanism and inner protection mechanism form outer cavity, and inner cavity and outer cavity cover different crops so that plant protection machine can be aimed at the plant in inner cavity and outer cavity and sprays different pesticide when spraying, in addition, the bottom of the frame structure is equipped with walking wheel by wheel track adjusting assembly and steering mechanism, the wheel track between walking wheel can be adjusted by wheel track adjusting assembly to meet the demand of different crop spacing, walking wheel can be turned by steering mechanism, so that the situation that plant protection machine is avoided to crush crops, avoid crop death, guarantee the use effect of pesticide spraying plant protection machine.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to an omnidirectional mobile pesticide spraying plant protection machine for compound planting and a walking deviation correction method thereof. BACKGROUND

[0002] The pesticide spraying plant protection machine is a device for spraying pesticides on crops to remove weeds and pests in agricultural planting. The plant protection machine sprays pesticides while moving in the farmland, thereby avoiding the problem of huge workload caused by manual pesticide spraying. The compound planting technology is gradually popularized in farmland planting. The compound planting changes the configuration mode of crops in the field, thereby improving crop yield and ensuring the utilization efficiency of land resources.

[0003] In the prior art, the compound planting is mainly corn-soybean strip compound planting. The corn-soybean strip compound planting technology is developed on the basis of traditional intercropping. By changing the configuration mode of crops in the field, 2-4 corn strips and 2-6 soybean strips are intercropped and planted, so as to adapt to mechanized operation and realize the harmonious coexistence between crops. The popularization and use of the corn-soybean strip compound planting technology can improve the land output rate and realize the production of one more season of soybeans without reducing the yield of corn.

[0004] However, since corn is a monocotyledonous plant and soybean is a dicotyledonous plant, they have different sensitivities to herbicides. The herbicide used for corn may kill soybean plants, and vice versa. The traditional pesticide spraying plant protection machine is difficult to spray pesticides on the compound planting crops. For example, CN104705280A discloses a self-propelled plant protection pesticide spraying machine. The pesticide spraying machine comprises a vehicle frame and a pesticide spraying assembly arranged at the tail of the vehicle frame. The pesticide spraying assembly comprises a pesticide cartridge, a pesticide spraying frame, a pesticide outlet pipe connected with a pesticide outlet at the lower part of the pesticide cartridge, a pesticide spraying pump connected with the pesticide outlet pipe, a pesticide spraying pipe connected with the pesticide spraying pump, and a pesticide return pipe. The pesticide outlet pump sprays pesticide water through the pesticide outlet pipe to spray pesticides on crops. Although the plant protection pesticide spraying machine can realize pesticide spraying operation, it still has the following inconvenience in actual use: the pesticide spraying machine cannot adjust the pesticide spraying range on crops, thereby reducing the pesticide spraying efficiency on crops. In order to solve this problem, CN109832252A discloses a pesticide spraying mechanism of a plant protection machine. The pesticide spraying mechanism comprises a pesticide box, a pesticide extraction pump, a flow divider, a horizontal telescopic arm, an L-shaped joint, a vertical telescopic arm, and a spray head. The pesticide extraction pump is connected to the top of the horizontal telescopic arm, the flow divider is connected to the top of the pesticide extraction pump, the horizontal telescopic arm is detachably connected to the flow divider, the L-shaped joint is connected to the horizontal telescopic arm, the vertical telescopic arm is connected to the L-shaped joint, and the pesticide extraction pump extracts pesticides in the flow divider. After the pesticides are divided, the pesticides are sprayed from the spray head through the horizontal telescopic arm and the vertical telescopic arm, thereby achieving the purpose of spraying pesticides on crops.

[0005] Although the pesticide spraying mechanism of the plant protection machine can change the spraying range by adjusting the length of the transverse telescopic arm and adjust the spraying height by adjusting the longitudinal telescopic arm, the pesticide spraying mechanism of the plant protection machine still has the following inconvenience in use: the pesticide spraying mechanism can only adjust the spraying range, but in the field of complex planting technology, different crops have different sensitivities to pesticides, and the pesticide spraying mechanism cannot spray pesticides to crops in different areas, so the sprayed pesticide solution is easy to cover different areas, which can easily cause other crops to die or reduce yield, and there is a certain inconvenience in use. SUMMARY

[0006] This section is intended to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract and the title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0007] To solve the problem that the plant protection machine in the prior art cannot solve the problem of zoned pesticide spraying, the present application adopts the following technical solution.

[0008] A pesticide spraying plant protection machine for complex planting, comprising a frame structure, a plurality of pesticide tanks are placed on the frame structure, walking wheels are arranged at the bottom of the frame structure, the walking wheels can drive the pesticide spraying plant protection machine to walk in the farmland through external power, inner protection mechanisms and outer protection mechanisms are arranged on both sides of the frame structure, the inner protection mechanisms are enclosed to form an inner cavity, the outer protection mechanisms and the inner protection mechanisms are enclosed to form an outer cavity, the inner cavity and the outer cavity cover different crop areas respectively, an inner pesticide spraying pipe is arranged at the bottom of the frame structure in the inner cavity, an outer pesticide spraying pipe is arranged on the outer side of the frame structure in the outer cavity, the inner pesticide spraying pipe and the outer pesticide spraying pipe are respectively connected to the extraction pumps of different pesticide tanks, and the extraction pumps spray pesticide solution on crops in the inner cavity and the outer cavity through the inner pesticide spraying pipe and the outer pesticide spraying pipe respectively.

[0009] Preferably, in the pesticide spraying plant protection machine, the inner protection mechanism comprises a winding roller, the winding roller is rotatably installed on one side of the frame structure, and the winding roller can be driven to rotate by an external power mechanism, a protective film is connected to the winding roller, and the winding roller can wind the protective film by rotating.

[0010] Preferably, in the pesticide spraying plant protection machine, the end of the protective film is connected to a counterweight, and the counterweight makes the protective film in a vertical state.

[0011] Preferably, the above-mentioned pesticide spraying plant protection machine, the inner pesticide spraying pipe is connected with the pesticide outlet of the extraction pump of the pesticide tank through the telescopic pipe, and a height adjuster is further arranged on the inner pesticide spraying pipe, the height adjuster is assembled on the lower surface of the frame structure, and the height of the inner pesticide spraying pipe can be adjusted by the height adjuster to change the pesticide spraying range of the inner pesticide spraying pipe.

[0012] Preferably, the above-mentioned pesticide spraying plant protection machine, the traveling wheels are assembled on the lower surface of the frame structure through the wheel track adjusting assembly, and the distance between the traveling wheels can be adjusted by the wheel track adjusting assembly to meet the spacing of the crops.

[0013] Preferably, the above-mentioned pesticide spraying plant protection machine, the wheel track adjusting assembly comprises a sliding rail, a push rod motor and a sliding block, the lower surface of the frame structure is fixedly connected with a fixed plate, the sliding rail is arranged on the fixed plate, the sliding block is slidably assembled on the sliding rail, and the push rod motor is arranged on the fixed plate, the power end of the push rod motor is assembled with the sliding block, the sliding block can be driven to move along the length direction of the sliding rail by the operation of the push rod motor, and the traveling wheels are assembled on the sliding block and are driven to move by the movement of the sliding block, so that the wheel track between the traveling wheels is adjusted.

[0014] Preferably, the above-mentioned pesticide spraying plant protection machine, the traveling wheels are assembled on the sliding block through the steering mechanism, and the traveling direction of the traveling wheels can be changed by the steering mechanism to avoid the crushing between the traveling wheels and the crops.

[0015] Preferably, the above-mentioned pesticide spraying plant protection machine, the steering mechanism comprises a protective shell, a harmonic reducer and a mounting rack, the protective shell is fixedly installed on the lower surface of the sliding block and is internally provided with a driving motor, the lower surface of the protective shell is provided with the harmonic reducer, and the mounting rack is rotatably assembled on the harmonic reducer, the power end of the driving motor is connected with the mounting rack through the harmonic reducer, the mounting rack can be driven to rotate by the operation of the driving motor, and the traveling wheels are assembled on the mounting rack and the traveling direction of the traveling wheels can be changed by the rotation of the mounting rack.

[0016] Another aspect of the present application provides a walking deviation correction method of the above-mentioned pesticide spraying plant protection machine, which adopts the following technical scheme.

[0017] The walking deviation correction method of the above-mentioned plant protection machine comprises the following steps:

[0018] An industrial camera arranged on the protective shell is used to shoot images, and a coordinate system is constructed by collecting image information through control;

[0019] The safety range is constructed by fitting the safety distance D1 according to the image information and fitting the function of the middle line between the crops according to the constructed coordinate system;

[0020] The current position of the protective film is determined by the intersection of the walking path of the protective film and the edge line of the safety range, the distance between the intersection and the current position of the protective film is H, and the current center point coordinate of the walking wheel is obtained by the coordinate system as (x0, y0), and the coordinate of the protective film corresponding to the horizontal coordinate x0 is (x0, y1);

[0021] The walking wheel is driven to turn by the turning mechanism.

[0022] Preferably, the walking deviation correction method, the angle of turning of the walking wheel is obtained according to the following formula:

[0023]

[0024] Wherein, alpha is the turning angle of the walking wheel adjusted by the turning mechanism;

[0025] y1 is the vertical coordinate of the protective film corresponding to the horizontal coordinate x0;

[0026] y r is the vertical coordinate of the middle line between crops corresponding to the horizontal coordinate x0;

[0027] |y1-y r | is the absolute value of the difference between y1 and y r , that is, the offset of the walking wheel;

[0028] H is the distance between the current position of the protective film 202 and the intersection, that is, the walking distance of the walking wheel.

[0029] Compared with the prior art, the beneficial effects of the present application are:

[0030] (1) The pesticide spraying plant protection machine in the present application comprises a frame structure and inner protection mechanisms and outer protection mechanisms arranged on both sides of the frame structure, the inner protection mechanisms form an inner cavity, the outer protection mechanisms and the inner protection mechanisms form an outer cavity, the inner cavity and the outer cavity cover different types of crops respectively, and the inner cavity is further provided with an inner pesticide spraying pipe to spray pesticides on the crops in the inner cavity, and the outer cavity is further provided with an outer pesticide spraying pipe to spray pesticides on the crops in the outer cavity, so that the crops in the two cavities are sprayed with different pesticide liquids at the same time, and the pesticide liquid is prevented from flying into other cavities, so that the pesticide spraying plant protection machine can be applied in the field of composite planting to simultaneously spray pesticide liquid on different crops.

[0031] (2) The frame mechanism of the pesticide spraying plant protection machine is connected with the walking wheels through the wheel track adjusting assembly and the steering mechanism, the pesticide spraying plant protection machine walks in the farmland through the walking wheels to facilitate spraying of crops, in addition, the wheel track adjusting assembly drives the walking wheels to move through the sliding of the sliding blocks, so that the wheel track between the walking wheels can be adjusted, so that the walking wheels can adapt to the spacing between crops after adjustment, in addition, the walking direction of the walking wheels is adjusted through the steering mechanism when the walking wheels deviate during walking to avoid the situation that the crops are crushed to cause the death of the crops.

[0032] (3) In the steering mechanism in the application, the industrial camera shoots images and collects image information to construct a coordinate system during adjustment of the steering of the walking wheels, a safety range is constructed according to the coordinate system and a set safety distance, the steering mechanism determines the steering angle of the walking wheels according to the deviation of the walking wheels and the required walking distance, and adjusts the moving speed of the sliding block according to the speed of the walking wheels, so that the demand of the movement of the sliding block caused by the movement of the walking wheels can be met, so that the walking wheels can smoothly steer, the walking wheels and the protective film are located in the safety range, and the problem of crushing with crops is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a structure schematic view of the pesticide spraying plant protection machine in the application;

[0034] Figure 2 It is a structure schematic view of the internal protection mechanism in the application;

[0035] Figure 3 It is a structure schematic view of the pesticide spraying plant protection machine spraying in the application;

[0036] Figure 4 It is a structure schematic view of the pesticide spraying plant protection machine after removing the medicine box in the application;

[0037] Figure 5 It is Figure 4 a structure schematic view of the pesticide spraying plant protection machine after removing the frame in the application;

[0038] Figure 6 It is Figure 5 a top view;

[0039] Figure 7 It is Figure 4 a partial structure schematic view;

[0040] Figure 8 It is Figure 7 a bottom view;

[0041] Figure 9 It is a structure schematic view of the wheel track adjusting assembly and the walking wheel assembly in the application;

[0042] Figure 10 Structure diagram of the wheel track adjusting assembly in the application;

[0043] Figure 11 Structure diagram of the matching structure of the steering mechanism and the walking wheel in the application;

[0044] Figure 12 Split structure diagram of the steering mechanism and the walking wheel after assembly and the industrial camera in the application;

[0045] Figure 13 Planar diagram of the steering mechanism driving the walking wheel to rotate in the application.

[0046] The correspondence between the various figure annotations and component names in the drawings is as follows:

[0047] 100, frame structure; 200, inner protection mechanism; 300, outer protection mechanism; 400, wheel track adjusting assembly; 500, steering mechanism;

[0048] 101, fixed frame; 102, side plate; 103, inner pesticide spraying pipe; 104, outer pesticide spraying pipe; 105, fixed plate;

[0049] 201, winding roller; 202, protective film; 203, counterweight;

[0050] 301, connecting frame; 302, outer protection plate;

[0051] 401, sliding rail; 402, push rod motor; 403, sliding block;

[0052] 501, protection shell; 502, harmonic reducer; 503, mounting frame; 504, industrial camera;

[0053] 103a, height adjuster. DETAILED DESCRIPTION

[0054] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the specific embodiments of the application will be described in detail below in conjunction with the drawings.

[0055] In the following description, many specific details are set forth in order to provide a thorough understanding of the application, but the application can also be practiced without other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the application, therefore the application is not limited to the specific embodiments disclosed below.

[0056] Secondly, the "one embodiment" or "embodiment" referred to herein means a specific feature, structure, or characteristic that can be included in at least one implementation of the present application. The "in one embodiment" appearing in various places in the specification does not all refer to the same embodiment, nor does it necessarily refer to a single or particular embodiment. The present application provides the following embodiments.

[0057] As shown in Figure 1 The structure diagram of the omnidirectional mobile pesticide spraying plant protection machine in the embodiment, the pesticide spraying plant protection machine in the embodiment is used for spraying pesticide on crops, specifically, the pesticide spraying plant protection machine in the embodiment comprises a frame structure 100, a pesticide tank is assembled on the frame structure 100, a suction pump is arranged in the pesticide tank, and a pesticide spraying pipe is connected to the pesticide outlet of the suction pump, the pesticide spraying pipe extends to the outside of the pesticide tank, and the pesticide liquid is sprayed out of the spray head on the pesticide spraying pipe through the working of the suction pump to achieve the purpose of pesticide spraying, the bottom of the frame structure 100 in the embodiment is assembled with traveling wheels, the traveling wheels are used for traveling between crops so as to drive the frame structure 100 and the pesticide tank to travel in the farmland for pesticide spraying.

[0058] In the embodiment, the frame structure 100 comprises a fixed frame 101 and a side plate 102 surrounding the side wall of the fixed frame 101, the pesticide tank is placed on the fixed frame 101, and the pesticide liquid is injected into the pesticide tank to facilitate the pesticide spraying on crops.

[0059] As shown in Figure 1 The pesticide spraying plant protection machine in the embodiment is symmetrically provided with an inner protection mechanism 200 and an outer protection mechanism 300 on both sides, the inner protection mechanism 200 is located below the pesticide spraying plant protection machine to form an inner cavity, and the outer protection mechanism 300 is located above the pesticide spraying plant protection machine to form an outer cavity, in the compound planting technology, the inner cavity covers one kind of crop, and the outer cavity covers another kind of crop, so that different pesticide liquids are sprayed into different cavities according to needs to spray pesticide on target crops, in the embodiment, for the convenience of description, the soybean crop and the corn crop are taken as examples in the compound planting. Specifically, the soybean crop is located in the inner cavity, and the corn crop is located in the outer cavity, different pesticide liquids are sprayed into different cavities to achieve the purpose of spraying pesticide on different crops.

[0060] As shown in Figure 2As shown, this is a schematic diagram of the structure of the inner protective mechanism 200 in this embodiment. The inner protective mechanism 200 is located on one side of the spraying plant protection machine. The inner protective mechanism 200 includes a take-up roller 201 and a protective film 202 connected to the take-up roller 201. The take-up roller 201 is connected to the power mechanism. The power mechanism can drive the take-up roller 201 to rotate to take up the protective film 202. In order to ensure that the protective film 202 is in a vertical state and to prevent the protective film 202 from swaying due to wind, in this embodiment, a counterweight 203 is also connected to the end of the protective film 202. The counterweight 203 pulls on the protective film 202 to ensure that the protective film 202 is in a vertical state. The protective films 202 arranged opposite each other form an inner cavity to cover the soybean crop area, so as to facilitate the spraying of the soybean crop and prevent the pesticide from flying into other areas.

[0061] like Figure 5 as well as Figure 6 As shown, this is a schematic diagram of the structure of the outer protective mechanism 300 in this embodiment. The outer protective mechanism 300 is located on one side of the inner protective mechanism 200, and an outer cavity is formed between the outer protective mechanism 300 and the inner protective mechanism 200. The outer cavity is used to cover the corn crop area to facilitate spraying of the corn crop. In this embodiment, the outer protective mechanism 300 includes a connecting frame 301, which is connected to the side plate 102. An outer protective plate 302 is fixedly connected to the end of the connecting frame 301. An outer cavity is formed between the outer protective plate 302 and the protective film 202 to cover the corn crop area.

[0062] In addition, such as Figure 4 as well as Figure 5 As shown in this embodiment, the bottom of the frame structure 100 is also provided with an inner spray pipe 103. The inner spray pipe 103 is connected to the outlet of the extraction pump in one of the medicine tanks, and multiple nozzles are provided on the inner spray pipe 103. The nozzles are located in the inner cavity. The extraction pump draws the liquid medicine from the medicine tank into the inner spray pipe 103 and then sprays it out through the nozzles, thereby spraying the crops in the inner cavity. In this embodiment, soybean crops are being sprayed. In addition, in this embodiment, the inner spray pipe 103 is also connected to a height adjuster 103a. The height adjuster 103a is connected to the lower surface of the frame structure 100. The height of the inner spray pipe 103 can be adjusted by the operation of the height adjuster 103a, thereby changing the spraying range to ensure the spraying effect. Specifically, the inner spray pipe 103 is connected to the outlet of the extraction pump in the medicine tank through a telescopic pipe, so the height adjuster 103a can be adjusted to change the spraying range.

[0063] The bottom of the frame structure 100 is also provided with an outer spraying pipe 104 in the embodiment. The outer spraying pipe 104 is connected with the medicine outlet of the extraction pump in another medicine tank. The outer spraying pipe 104 extends to the outside of the frame structure 100 through the side plate 102 and is located in the outer cavity. In the embodiment, a plurality of spray heads are arranged on the outer spraying pipe 104 located in the outer cavity. The extraction pump can inject the liquid medicine in the medicine tank into the outer spraying pipe 104 and then spray out through the spray heads to spray the crops in the outer cavity. In the embodiment, the crops are corn.

[0064] In the embodiment, different liquid medicines are injected into different medicine tanks. The inner cavity is formed by the inner protection mechanism 200. The outer cavity is formed by the inner protection mechanism 200 and the outer protection mechanism 300. The inner cavity and the outer cavity cover different crops. Therefore, the spraying plant protection machine in the embodiment can spray different liquid medicines on crops in different areas. Therefore, the spraying plant protection machine in the embodiment can be applied to the composite planting technology to spray different crops.

[0065] The spraying plant protection machine in the embodiment is provided with traveling wheels at the bottom. The traveling wheels are driven to rotate by external mechanisms so as to drive the spraying plant protection machine to travel in the farmland to spray crops. In the embodiment, in order to ensure that the distance between the traveling wheels can adapt to the spacing between the crops, the bottom of the frame structure 100 in the embodiment is assembled with a wheel track adjusting assembly 400. The traveling wheels are assembled on the wheel track adjusting assembly 400. The distance between the traveling wheels is adjusted by the wheel track adjusting assembly 400 to ensure that the traveling wheels can adapt to the spacing between the crops.

[0066] As shown in Figure 5 the lower surface of the frame structure 100 is fixedly connected with a fixed plate 105. The lower surface of the fixed plate 105 is provided with a wheel track adjusting assembly 400. As shown in Figures 7 to 10 the wheel track adjusting assembly 400 in the embodiment includes a sliding rail 401 fixedly arranged on the fixed plate 105. A sliding block 403 is slidingly assembled on the sliding rail 401. The sliding block 403 can move along the length direction of the sliding rail 401. In the embodiment, the wheel track adjusting assembly 400 further includes a push rod motor 402. The push rod motor 402 is assembled on the lower surface of the fixed plate 105. The working end of the push rod motor 402 is connected with the sliding block 403. The push rod motor 402 can drive the sliding block 403 to move along the length direction of the sliding rail 401. In the embodiment, the traveling wheels are assembled on the sliding block 403. The push rod motor 402 can drive the sliding block 403 to move to adjust the wheel track between the traveling wheels so that the wheel track between the traveling wheels can adapt to the spacing between the crops.

[0067] In addition, it is worth noting that the top of the walking wheel in the embodiment is also connected with a steering mechanism 500, which is connected with the sliding block 403, and the direction of the walking wheel can be adjusted through the steering mechanism 500. In the embodiment, the walking wheel is located at the lower end of the steering mechanism 500, and the rotation of the walking wheel is driven through the steering mechanism 500 to adjust the direction of the walking wheel.

[0068] As shown in Figure 11 and Figure 12 , in the embodiment, the steering mechanism 500 includes a protective shell 501 fixedly installed on the sliding block 403, and the protective shell 501 is internally provided with a driving motor, and the lower surface of the protective shell 501 is provided with a harmonic reducer 502, and the harmonic reducer 502 is connected with a mounting rack 503. In the embodiment, the power end of the driving motor is connected with the mounting rack 503 through the harmonic reducer 502, and the mounting rack 503 can be driven to rotate through the operation of the driving motor. In the embodiment, the walking wheel is assembled on the mounting rack 503, and the rotation of the walking wheel is driven through the rotation of the mounting rack 503 to adjust the direction of the walking wheel.

[0069] As shown in Figure 11 and Figure 12 , in the embodiment, the side wall of the protective shell 501 is also provided with an industrial camera 504, which faces the advancing direction of the pesticide spraying plant protection machine and is used for real-time shooting of the foreground of the pesticide spraying plant protection machine.

[0070] In the embodiment, when the pesticide spraying plant protection machine moves in the farmland, the walking wheel is easy to deviate and cause the crushing of crops. In addition, due to the planting deviation during planting, the crops cannot be planted in a straight line, causing the planting route to be curved, and thus the pesticide spraying plant protection machine is easy to crush crops when walking. In order to solve this problem, the embodiment also provides a method for correcting the deviation of the walking wheel of the above-mentioned pesticide spraying plant protection machine, as shown in Figure 13 , in the embodiment, the industrial camera 504 forms an image by real-time shooting of the foreground of the pesticide spraying plant protection machine and transmits the image to the control center. The control center collects image information and speed information through an encoder. In the embodiment, in order to avoid the crushing of crops by the walking wheel, a safety range is constructed between the crops in the collected image information, and the walking wheel is guaranteed to move in the safety range through the deviation correction method in the embodiment, thereby avoiding the crushing of crops by the walking wheel and the inner protection mechanism 200.

[0071] In the embodiment, the control center collects image information, and the upper left corner of the image is taken as the origin to establish a safety range as shown in Figure 13In the coordinate system shown, the industrial camera 504 is located on the side wall of the protective shell 501 and directly above the walking wheel in this embodiment, so the center line of the industrial camera is parallel to the center line of the walking wheel. In this embodiment, the center point coordinates of the current position of the walking wheel are (x0, y0), and the distance between the walking wheel and the protective film 202 is defined as D0. Since the distance between the walking wheel and the protective film 202 is constant, D0 is a fixed value.

[0072] In this embodiment, the coordinates of the protective film 202 corresponding to the horizontal coordinate x0 are (x0, y1), and y1 = y0 + D0. Therefore, the coordinates of the protective film 202 corresponding to the horizontal coordinate x0 are (x0, y0 + D0).

[0073] In addition, as Figure 13 shown in the coordinate system, the function of the inter-crop center line is obtained by fitting the crop boundary line, and the coordinates of the inter-crop center line corresponding to the horizontal coordinate x0 are (x0, y r ). The intersection point of the trajectory formed by the movement of the protective film 202 following the walking wheel and the safety boundary line represents the point at which the protective film 202 will crush the crops. In order to avoid the crushing of the crops by the protective film 202, the distance between the current position of the protective film 202 and the intersection point is calculated to be H through the constructed coordinate system. Therefore, the direction of the walking wheel needs to be adjusted within a range of H walking distance by the steering mechanism 500 to make the protective film 202 return to the inter-crop center line to ensure that the walking wheel and the protective film 202 are within the safety range to avoid crushing the crops.

[0074] In this embodiment, the steering angle of the walking wheel adjusted by the steering mechanism 500 is α, and the steering angle is calculated according to the following formula:

[0075]

[0076] wherein α is the steering angle of the walking wheel adjusted by the steering mechanism 500;

[0077] y1 is the vertical coordinate of the protective film 202 corresponding to the horizontal coordinate x0;

[0078] y r is the vertical coordinate of the inter-crop center line corresponding to the horizontal coordinate x0;

[0079] |y1-y r | is the absolute value of the difference between y1 and y r , which is the offset of the walking wheel;

[0080] H is the distance between the current position of the protective film 202 and the intersection point, which is the walking distance of the walking wheel.

[0081] Since the walking wheel turns, the walking wheel pushes the slider 403 to move along the length direction of the slide rail 401 through the turning mechanism 500 during the movement, thus, in the embodiment, the push rod motor 402 needs to work to pull the slider 403 to move, and the moving speed of the slider 403 should be consistent with the moving speed of the slider 403 caused by the movement of the walking wheel.

[0082] In the embodiment, the speed of the slider 403 should satisfy the following formula:

[0083] v2=v1xsinα

[0084] Wherein, v2 is the moving speed of the slider 403 driven by the push rod motor 402;

[0085] v1 is the moving speed of the walking wheel;

[0086] α is the turning angle of the walking wheel adjusted by the turning mechanism 500.

[0087] The speed of the slider 403 driven by the push rod motor 402 is matched with the speed of the walking wheel, so that the smooth movement of the slider 403 is ensured during the turning of the walking wheel, thereby completing the turning operation, so that the walking wheel drives the protective film 202 to move to the middle line of the crop row, so that the walking wheel and the protective film 202 are located in the safety range.

[0088] In addition, in the embodiment, when the safety range is constructed, the size of the safety range is adjusted by constructing the safety distance, and in the embodiment, the safety range is constructed along the distance of the crop as D1, thus, the distance of the safety range is R s , the distance of the safety range R s =S-2D1;

[0089] Wherein, D1 is the safety distance between the safety range and the crop;

[0090] S is the distance between the crops.

[0091] Thus, in the embodiment, the size D1 of the safety range is determined, and the safety range can be fitted according to the collected image information and the set variable D1, so as to ensure that the walking wheel and the protective film 202 move in the safety range, and the rolling with the crops is avoided.

[0092] It is worth noting that in order to ensure that the protective film 202 on one side of the walking wheel is located in the safety range when the walking wheel is located on the middle line of the safety range, the distance of the safety range should be greater than twice the width of the walking wheel and the distance between the walking wheel and the protective film 202, that is:

[0093]

[0094] wherein, W is the width of the walking wheel; is the distance between the edge line of the walking wheel and the middle line of the walking wheel, i.e. half of the width of the walking wheel;

[0095] D0 is the distance between the middle line of the walking wheel and the protective film 202.

[0096] Therefore, in order to ensure that the walking wheel and the protective film are within the safe range, the safe distance should satisfy According to the above formula, we have:

[0097] In this embodiment, the safe range is constructed by setting the safe distance D1, and the walking wheel and the protective film 202 are always within the safe range by the action of the steering mechanism 500, which avoids the rolling of the protective film 202 and crops by the walking wheel during movement, and improves the use effect of the pesticide plant protection machine. It is worth noting that when the pesticide plant protection machine reaches the end and needs to turn around, the walking wheel is driven to turn 90° by the steering mechanism 500 to change the walking direction vertically, and then the walking wheel is driven to turn 90° by the steering mechanism 500 to complete the turning around work. During the turning around process, the protective film 202 is wound by the winding roller 201 to avoid the rolling of the protective film 202 on crops, thereby ensuring the safety of crops and improving the use effect of the pesticide plant protection machine.

[0098] In order to ensure that the walking wheel does not exist the problem of rolling on crops during walking, in this embodiment,

[0099] The above content is a further detailed description of the present application in combination with the specific embodiments, and cannot be considered as limiting the specific implementation of the present application to these descriptions. For ordinary skilled persons in the technical field to which the present application belongs, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered as belonging to the protection scope determined by the claims of the present application.

Claims

1. Compound planting omni-directional mobile pesticide spraying plant protection machine walking deviation correction method, the plant protection machine comprises a frame structure (100), a plurality of pesticide boxes are placed on the frame structure (100), walking wheels are arranged at the bottom of the frame structure (100), the walking wheels can drive the pesticide spraying plant protection machine to walk in farmland through external power, inner protection mechanisms (200) and outer protection mechanisms (300) are arranged on both sides of the frame structure (100), the inner protection mechanisms (200) are surrounded to form an inner cavity, the outer protection mechanisms (300) and the inner protection mechanisms (200) are surrounded to form an outer cavity, the inner cavity and the outer cavity cover different crop areas respectively, an inner pesticide spraying pipe (103) is arranged at the bottom of the frame structure (100) in the inner cavity, an outer pesticide spraying pipe (104) is arranged outside the frame structure (100) in the outer cavity, the inner pesticide spraying pipe (103) and the outer pesticide spraying pipe (104) are connected to the extraction pumps of different pesticide boxes respectively, and the extraction pumps spray pesticide liquid on crops in the inner cavity and the outer cavity through the inner pesticide spraying pipe (103) and the outer pesticide spraying pipe (104) respectively; the inner protection mechanism (200) comprises a winding roller (201), the winding roller (201) is rotatably installed on one side of the frame structure (100), and the winding roller (201) can be driven to rotate through an external power mechanism; the winding roller (201) is connected with a protective film (202), and the winding roller (201) can wind the protective film (202) by rotating; the walking wheels are assembled on the lower surface of the frame structure (100) through a wheel track adjusting assembly (400), the wheel track adjusting assembly (400) is used for adjusting the distance between the walking wheels, so that the distance between the walking wheels can meet the spacing of crops; the wheel track adjusting assembly (400) comprises a sliding rail (401), a push rod motor (402) and a sliding block (403), the lower surface of the frame structure (100) is fixedly connected with a fixed plate (105), the fixed plate (105) is provided with the sliding rail (401), the sliding rail (401) is slidably assembled with the sliding block (403), the fixed plate (105) is further provided with the push rod motor (402), the power end of the push rod motor (402) is assembled with the sliding block (403), and the push rod motor (402) can drive the sliding block (403) to move along the length direction of the sliding rail (401); the walking wheels are assembled on the sliding block (403) and move along with the sliding block (403) to adjust the wheel track between the walking wheels; the walking wheels are assembled on the sliding block through a steering mechanism (500), and the steering mechanism (500) can change the walking direction of the walking wheels to avoid crushing between the walking wheels and crops. The turning mechanism (500) comprises a protective shell (501), a harmonic reducer (502) and a mounting frame (503), the protective shell (501) is fixedly installed on the lower surface of the sliding block (403), and the protective shell (501) is internally provided with a driving motor, the lower surface of the protective shell (501) is provided with the harmonic reducer (502), and the mounting frame (503) is rotatably arranged on the harmonic reducer (502), the power end of the driving motor is connected with the mounting frame (503) through the harmonic reducer (502), the mounting frame (503) can be driven to rotate through the driving motor, and the walking wheel is arranged on the mounting frame (503) and can be driven to change the walking direction through the rotation of the mounting frame (503); It is characterized in that: The walking deviation correction method comprises the following steps: An industrial camera (504) arranged on the protective shell (501) is used to shoot an image, and a coordinate system is constructed by controlling the central collection of image information; Fitting crop boundaries and determining safety distances from image information Constructing a safety range, fitting a function of the midline between crops by the constructed coordinate system; The current position of the protective film (202) is determined by the intersection of the walking path of the protective film (202) and the safety range boundary line, and the distance between the intersection and the current position of the protective film (202) is , and the current center point coordinate of the walking wheel is obtained by the coordinate system , the corresponding coordinate of the protective film (202) with the horizontal coordinate is ; The walking wheel is driven to turn through the turning mechanism (500); The angle of the turning of the walking wheel is obtained according to the following formula: ； wherein, to adjust the turning angle of the traveling wheels by the turning mechanism (500); The protective film (202) corresponds to the abscissa ordinate; For the crop-to-crop midline, the horizontal coordinate is the vertical coordinate; For With The absolute value of the difference between them, i.e. the offset of the walking wheel; The distance of the protective film (202) between the current position and the intersection, i.e. the walking distance of the walking wheel.

2. The walking deviation correction method of the omnidirectional mobile spraying plant protection machine for compound planting according to claim 1, characterized in that, The end of the protective film (202) is connected with a counterweight (203), and the counterweight (203) makes the protective film (202) in a vertical state.

3. The walking deviation correction method of the omnidirectional mobile spraying plant protection machine for compound planting according to claim 2, characterized in that, The inner spraying pipe (103) is connected with the medicine outlet of the pumping pipe of the medicine box through the telescopic pipe, and the inner spraying pipe (103) is further provided with a height adjuster (103a), the height adjuster (103a) is arranged on the lower surface of the frame structure (100), and the height of the inner spraying pipe (103) can be adjusted through the operation of the height adjuster (103a) to change the spraying range of the inner spraying pipe (103).

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