Electrostatic air-blast sprayer based on open field target recognition

Abstract

The application discloses a kind of electrostatic air supply type target spraying machine based on open field target identification, it includes walking car body, visual unit is installed on walking car body, electrostatic air supply spraying device and liquid tank, liquid tank connects the electrostatic air supply spraying device;Electrostatic air supply spraying device is connected walking car body by multi-axis control mechanism;Walking car body includes frame and walking wheel;Multi-axis control mechanism includes top mounting seat and the end seat of connecting electrostatic air supply spraying device;Top mounting seat can be rotated along vertical axis relative to the frame;Top mounting seat and the relative motion between the end seat of the middle transition seat is driven by pull rope and elastic rope, so that the whole multi-axis control mechanism is greatly lightened and miniaturized, and the posture control of electrostatic air supply spraying device is flexible, can realize multiple spraying modes to vegetables, realize reasonable spraying to vegetables.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, in particular to an electrostatic air supply type target sprayer based on open-air target recognition. Background Art

[0002] During the vegetable planting process, in order to prevent and control pests, it is necessary to spray the vegetables with pesticides. Many existing sprayers adopt a large-scale continuous spraying method to cover the vegetable planting area with pesticides. In this method, for sparsely planted vegetables, not only a large amount of pesticides is used, but also a large amount of empty spraying will pollute the environment.

[0003] In the prior art, patent CN 205492225 U discloses an intelligent, self-propelled, air-assisted electrostatic target sprayer, which includes a chassis drive, an air-assisted electrostatic sprayer, an intelligent control system, a remote control system, and a vehicle frame. This patent employs a rake spraying method for spraying, but the patent is primarily applied to spraying fruit trees and other plants, resulting in limited freedom and difficulty meeting the spraying requirements for vegetables. Furthermore, the prior art generally utilizes a robotic arm to increase the freedom of spraying, but existing robotic arms are heavy and bulky, resulting in significant shaking during movement and low flexibility, making it difficult to meet the high flexibility requirements for target spraying. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a lightweight electrostatic air supply target sprayer based on open-air target recognition that can be used for precise application of pesticides to sparsely planted vegetables.

[0005] Technical solution: To achieve the above-mentioned purpose, the present invention provides an electrostatic air supply type target sprayer based on open-air target recognition, which includes a traveling body, on which a visual unit, an electrostatic air supply spray device and a liquid tank are installed, and the liquid tank is connected to the electrostatic air supply spray device; the electrostatic air supply spray device is connected to the traveling body via a multi-axis control mechanism;

[0006] The traveling vehicle body comprises a vehicle frame and traveling wheels;

[0007] The multi-axis control mechanism includes a top mounting seat and an end seat connected to the electrostatic air supply spray device;

[0008] The top mounting seat is capable of rotating relative to the vehicle frame along a vertical axis, and its rotation is driven by a rotary motor;

[0009] The top mounting seat and the middle transition seat are respectively connected to a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are rotatably connected to form a connecting rod group; the first connecting rod is driven by a first motor to rotate relative to the top mounting seat;

[0010] The rotational movement of the second connecting rod relative to the first connecting rod is driven by a first pull rope located on the outside of the connecting rod group and a first elastic rope located on the inside of the connecting rod group; the rotational movement of the end seat relative to the second connecting rod is driven by a second pull rope located on the outside of the connecting rod group and a second elastic rope located on the inside of the connecting rod group.

[0011] In the early stages of vegetable growth, a downward spraying mode can be used, that is, the spray nozzle of the electrostatic air supply spray device is directed downwardly to spray the vegetables. At this time, by adjusting the postures of the first and second connecting rods, it is possible to achieve downward alignment of the vegetables and adjust the height of the electrostatic air supply spray device to prevent the spray position from deviating from the vegetable plants. When the vegetables grow larger, a circular spraying mode can be used. Specifically, the postures of the first and second connecting rods and the electrostatic air supply spray device are adjusted so that the first and second connecting rods deviate from the vegetable plants, and the spray nozzle of the electrostatic air supply spray device is directed obliquely to the vegetables. The operation of the rotary motor can cause the first and second connecting rods and the electrostatic air supply spray device to rotate around the plants, spraying the vegetable plants in a circular manner, thereby achieving all-round spraying of the vegetable plants.

[0012] Furthermore, the electrostatic air supply spray device includes a spray barrel fixed on the end seat, an electrostatic ring is installed in the spray barrel, and the electrostatic ring is connected to a high-voltage electrostatic generator installed on the frame through a wire.

[0013] Furthermore, an atomizer is installed in the spray barrel, the atomizer is connected to the liquid tank through a liquid pipeline, and the liquid pipeline is provided with a liquid pump; the spray barrel is connected to a fan installed on the frame through an air duct; the liquid pipeline is placed in the air duct.

[0014] Furthermore, a middle transition seat is fixed on the first connecting rod at the hinge position between the first connecting rod and the second connecting rod; an inner transition wheel and an outer transition wheel are rotatably mounted on the middle transition seat, which are respectively located on the inner and outer sides of the connecting rod group;

[0015] A first hoop is fixed on the second connecting rod, and a first winding wheel that can be driven to rotate by a second motor is installed on the top mounting seat; one end of the first pull rope is connected to the first hoop, and the first pull rope passes through the outer transition wheel and the other end is wound around the first winding wheel;

[0016] A second hoop body is fixed on the first connecting rod, and the first elastic rope connects the first hoop body and the second hoop body, and the first elastic rope passes through the inner transition wheel.

[0017] Adopting the above structure, when the first winding wheel winds the first pull rope, the relative angle of the first connecting rod and the second connecting rod becomes larger, and the first elastic rope is elongated; when the first winding wheel releases the first pull rope, the elastic tension of the first elastic rope makes the relative angle of the first connecting rod and the second connecting rod become smaller, so that the control of the relative angle of the two connecting rods is realized.

[0018] Further, the inner and outer sides of the end seat are respectively provided with inner and outer ear parts; the top mounting seat is mounted with a second winding wheel capable of being driven to rotate by a third motor;

[0019] The outer ear part is connected with one end of the second pull rope; the second pull rope passes through the outer transition wheel and is wound on the second winding wheel at the other end;

[0020] The second elastic rope is connected with the inner ear part and the second hoop, and the second elastic rope passes through the inner transition wheel.

[0021] The number of the above-mentioned inner transition wheel and outer transition wheel is two respectively, for the elastic rope and the pull rope to pass through respectively.

[0022] Adopting the above structure, when the second winding wheel winds the second pull rope, the end seat rotates relative to the second connecting rod in a first direction, and the second elastic rope is elongated; when the second winding wheel releases the second pull rope, the elastic tension of the second elastic rope makes the end seat rotate relative to the second connecting rod in a second direction, the first direction and the second direction are opposite, so that the control of the relative angle of the end seat relative to the second connecting rod is realized.

[0023] The first angle sensor is arranged between the above-mentioned two connecting rods, and the second angle sensor is arranged between the second connecting rod and the end seat, so that the control system can know the relative angle of the two rotary joints, and the second motor and the third motor are controlled to rotate according to the relative angle, so that the posture of the electrostatic air supply and spraying device can be accurately controlled.

[0024] Further, the frame is in the shape of a door, the first connecting rod and the second connecting rod are arranged inside the frame, a rotary sleeve is mounted on the top mounting seat, the air pipe passes through the rotary sleeve and is connected to the fan above the frame, a large gear is mounted on the top of the rotary sleeve, and a small gear is fixed on the output shaft of the rotary motor; the large gear is engaged with the small gear.

[0025] Advantages: the electrostatic air supply type target spraying machine based on open field target recognition has the following advantages:

[0026] (1) During operation, the control system identifies the target of the vegetable planting location based on the image obtained by the visual unit, and controls the operation of the multi-axis control mechanism, so that the electrostatic air supply spray device can spray at the location of the target, realizing accurate point spraying. It is suitable for accurate application of pesticides to sparsely planted vegetables, which can reduce the use of pesticides and prevent environmental pollution.

[0027] (2) Since the relative movement between the first connecting rod, the second connecting rod and the end seat is driven by the pull rope and the elastic rope, the entire multi-axis control mechanism is greatly lightweight and miniaturized, and the posture control of the electrostatic air supply spray device is flexible, which can realize a variety of spray modes for vegetables and achieve reasonable spraying of vegetables.

[0028] (3) By installing high-voltage electrostatic generators, fans, liquid pumps and other structures on the frame, the structure of the spray barrel can be made lightweight and miniaturized, which can meet the needs of flexible control. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural diagram of an electrostatic air supply target sprayer based on open-air target recognition;

[0030] Figure 2 This is a first-person perspective structural diagram of the multi-axis control mechanism;

[0031] Figure 3 This is a second-view structural diagram of the multi-axis control mechanism;

[0032] Figure 4 This is a third-view structural diagram of the multi-axis control mechanism;

[0033] Figure 5 This is the combined structural diagram of the adapter, fan, and liquid pipeline;

[0034] Figure 6 This is the structural diagram of the electrostatic air spray device.

[0035] In the figure: 1-traveling body; 11-frame; 12-traveling wheel; 2-visual unit; 3-electrostatic air supply spray device; 31-spray gun; 32-atomizer; 33-connecting rod; 34-output pipe; 34a-thick pipe section; 34b-thin pipe section; c-first mist outlet; 35-first mist outlet pipe; 36-second mist outlet pipe; d-second mist outlet; 4-liquid tank; 41-liquid pipeline; 5-multi-axis control mechanism; 51-top mounting seat; 52-middle transition seat; 53-end seat; 53a-inner ear; 53b-outer ear; 54-rotating motor ;55-first connecting rod;56-second connecting rod;57-first motor;58-first pull rope;59-first elastic rope;510-second pull rope;511-second elastic rope;512-inner transition wheel;513-outer transition wheel;514-first hoop;515-second motor;516-first winding wheel;517-second hoop;518-third motor;519-second winding wheel;520-rotating sleeve;521-large gear;522-small gear;61-air duct;62-fan;7-adapter;a-rotating buckle;b-pin shaft. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the accompanying drawings.

[0037] like Figure 1 The electrostatic air supply target sprayer based on open-air target recognition shown in the figure includes a vehicle body 1, on which is mounted a visual unit 2, an electrostatic air supply spray device 3, and a liquid tank 4. The liquid tank 4 is connected to the electrostatic air supply spray device 3; the electrostatic air supply spray device 3 is connected to the vehicle body 1 via a multi-axis control mechanism 5. The vehicle body 1 includes a frame 11 and running wheels 12.

[0038] like Figure 2-4 As shown, the multi-axis control mechanism 5 includes a top mounting seat 51 and an end seat 53 connected to the electrostatic air supply spray device 3; the top mounting seat 51 can rotate along the vertical axis relative to the frame 11, and its rotational movement is driven by a rotation motor 54; the top mounting seat 51 and the middle transition seat 52 are respectively connected to a first connecting rod 55 and a second connecting rod 56, and the first connecting rod 55 and the second connecting rod 56 are rotatably connected to form a connecting rod group; the first connecting rod 55 is driven by a first motor 57 to rotate relative to the top mounting seat 51; the rotational movement of the second connecting rod 56 relative to the first connecting rod 55 is driven by a first pull rope 58 located on the outside of the connecting rod group and a first elastic rope 59 located on the inside of the connecting rod group; the rotational movement of the end seat 53 relative to the second connecting rod 56 is driven by a second pull rope 510 located on the outside of the connecting rod group and a second elastic rope 511 located on the inside of the connecting rod group.

[0039] During operation, the control system identifies the target of the vegetable planting location based on the image obtained by the visual unit 2, and controls the operation of the multi-axis control mechanism 5, so that the electrostatic air supply spray device 3 can spray at the location of the target, realizing accurate point spraying, which is suitable for accurate application of pesticides for sparsely planted vegetables, can reduce the use of pesticides and prevent environmental pollution.

[0040] With the above structure, since the relative movement between the first connecting rod 55, the second connecting rod 56, and the end seat 53 is driven by the pull rope and the elastic rope, the entire multi-axis control mechanism 5 is significantly lightweight and miniaturized, and the posture control of the electrostatic air supply spray device 3 is flexible, which can realize a variety of spray modes for vegetables and achieve reasonable spraying of vegetables. In the early stages of vegetable growth, a downward spraying mode can be used, that is, the spray port of the electrostatic air supply spray device 3 is sprayed downward at the vegetables. At this time, adjusting the posture of the first connecting rod 55 and the second connecting rod 56 can achieve downward alignment of the vegetables and adjust the height of the electrostatic air supply spray device 3 to prevent the spray position from deviating from the vegetable plants. When the vegetables grow larger, a circular spray mode can be used. Specifically, the postures of the first connecting rod 55, the second connecting rod 56 and the electrostatic air supply spray device 3 are adjusted so that the first connecting rod 55 and the second connecting rod 56 deviate from the vegetable plants, and the spray port of the electrostatic air supply spray device 3 is obliquely facing the vegetables. The operation of the rotary motor 54 can make the first connecting rod 55, the second connecting rod 56 and the electrostatic air supply spray device 3 rotate around the plants, spraying the vegetable plants in a circular manner, thereby achieving all-round spraying of the vegetable plants.

[0041] Preferably, the electrostatic air supply spray device 3 includes a spray barrel 31 fixed on the end seat 53, an electrostatic ring is installed in the spray barrel 31, and the electrostatic ring is connected to a high-voltage electrostatic generator installed on the frame 11 through a wire.

[0042] Preferably, the spray barrel 31 is further provided with an atomizer 32, which is connected to the liquid tank 4 via a liquid pipeline, and the liquid pipeline is provided with a liquid pump; the spray barrel 31 is connected to a fan 62 installed on the frame 11 via an air duct 61; the liquid pipeline 41 is placed in the air duct 61, which can reduce the difficulty of pipeline layout. The frame 11 is provided with a connector 7, such as Figure 5 As shown, the connector 7 is a hollow structure, the cavity of which is connected to the air duct 61 , the fan 62 is connected to the side of the connector 7 , and the liquid pipe 41 penetrates the connector 7 from the top and passes through the entire air duct 61 to connect to the atomizer 32 in the spray barrel 31 .

[0043] like Figure 6As shown, the atomizer 32 is fixed to the middle of the nozzle 31 by multiple connecting rods 33, and the outlet of the atomizer 32 is connected to the output pipe 34, the output pipe 34 has a thick pipe section 34a close to the atomizer 32 and a thin pipe section 34b away from the atomizer 32, the thin pipe section 34b has a plurality of first mist outlets c arranged in a circular array, and each first mist outlet c is connected to a first mist outlet pipe 35; a second mist outlet pipe 36 that can slide and adjust its position relative to the output pipe 34 is installed in the output pipe 34, the inward end of the second mist outlet pipe 36 is closed, and its side wall has a second mist outlet d. The second mist outlet pipe 36 can be switched between two positions: inner and outer. When the second mist outlet pipe 36 is in the inner position, it blocks the first mist outlet c, and the second mist outlet d is connected to the thick tube section 34a. In this way, the atomized liquid mist is discharged from the second mist outlet pipe 36, and the mist sprayed by the electrostatic air supply spray device 3 is more concentrated. When the second mist outlet pipe 36 is in the outer position, the second mist outlet d is blocked by the inner wall of the thin tube section 34b, and the first mist outlet c is connected to the thick tube section 34a. In this case, the liquid mist is discharged from the multiple first mist outlet pipes 35, and the mist sprayed by the electrostatic air supply spray device 3 is more dispersed. By changing the position of the second mist outlet pipe 36, the spray range can be adjusted.

[0044] By adopting the above structure, by installing the high-voltage electrostatic generator, the fan 62, the liquid pump and other structures on the frame 11, the structure of the spray barrel 31 can be made lightweight and miniaturized, which can meet the needs of flexible control.

[0045] Preferably, a middle transition seat 52 is fixed to the first connecting rod 55 at a hinged position between the first connecting rod 55 and the second connecting rod 56; an inner transition wheel 512 and an outer transition wheel 513 are rotatably mounted on the middle transition seat 52, which are respectively located on the inner and outer sides of the connecting rod group;

[0046] A first hoop 514 is fixed to the second connecting rod 56, and a first winding wheel 516, which can be driven and rotated by a second motor 515, is mounted on the top mounting base 51. One end of the first pull rope 58 is connected to the first hoop 514, passes through the outer transition wheel 513, and the other end is wound around the first winding wheel 516. A second hoop 517 is fixed to the first connecting rod 55, and a first elastic rope 59 connects the first hoop 514 and the second hoop 517, and passes through the inner transition wheel 512. The rope ends of the first pull rope 58 and the first elastic rope 59 are respectively connected to the corresponding hoop body via a rotating buckle a. A pin b is fixed to the hoop body and rotates with the rotating buckle a.

[0047] With the above structure, when the first winding wheel 516 reels in the first pull rope 58, the relative angle between the first connecting rod 55 and the second connecting rod 56 increases, and the first elastic rope 59 is stretched; when the first winding wheel 516 releases the first pull rope 58, the elastic tension of the first elastic rope 59 causes the relative angle between the first connecting rod 55 and the second connecting rod 56 to decrease, thereby achieving control of the relative angle of the two connecting rods.

[0048] The inner and outer sides of the end seat 53 are respectively provided with an inner ear portion 53a and an outer ear portion 53b. A second winding wheel 519, which can be driven by a third motor 518, is mounted on the top mounting seat 51. The outer ear portion 53b is connected to one end of the second pull rope 510. The second pull rope 510 passes through the outer transition wheel 513 and the other end is wound around the second winding wheel 519. The second elastic cord 511 connects the inner ear portion 53a and the second hoop body 517, and the second elastic cord 511 passes through the inner transition wheel 512. The ends of the second pull rope 510 and the second elastic cord 511 are connected to the corresponding hoop body and ear portion respectively via a rotating buckle a. A pin b is fixed to the hoop body and ear portion, which rotates with the rotating buckle a.

[0049] There are two inner transition wheels 512 and two outer transition wheels 513 for the elastic rope and the pull rope to pass through respectively.

[0050] With the above structure, when the second winding wheel 519 reels in the second pull rope 510, the end seat 53 rotates in the first direction relative to the second connecting rod 56, and the second elastic rope 511 is stretched; when the second winding wheel 519 releases the second pull rope 510, the elastic tension of the second elastic rope 511 causes the end seat 53 to rotate in the second direction relative to the second connecting rod 56, and the first direction is opposite to the second direction, thereby achieving control of the relative angle of the end seat 53 relative to the second connecting rod 56.

[0051] A first angle sensor is set between the above-mentioned two connecting rods, and a second angle sensor is set between the second connecting rod 56 and the end seat 53. In this way, the control system can conveniently obtain the relative angles of the two rotating joints, and control the operation of the second motor 57 and the third motor 518 accordingly, so as to achieve precise control of the posture of the electrostatic air supply spray device 3.

[0052] The frame 11 is in the shape of a gate. The first connecting rod 55 and the second connecting rod 56 are placed inside the frame 11. A rotating sleeve 520 is installed on the top mounting seat 51. The air duct 61 passes through the rotating sleeve 520 and is led to the top of the frame 11 and is connected to the fan 62. A large gear 521 is installed on the top of the rotating sleeve 520. A small gear 522 is fixed on the output shaft of the rotary motor 54; the large gear 521 is engaged with the small gear 522.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electrostatic air supply type target sprayer based on open-air target recognition, comprising a traveling vehicle (1), a visual unit (2), an electrostatic air supply spray device (3) and a liquid tank (4) mounted on the traveling vehicle (1), the liquid tank (4) being connected to the electrostatic air supply spray device (3); the electrostatic air supply spray device (3) being connected to the traveling vehicle (1) via a multi-axis control mechanism (5); The traveling vehicle body (1) comprises a vehicle frame (11) and traveling wheels (12); Its characteristics are: The multi-axis control mechanism (5) includes a top mounting seat (51), a middle transition seat (52), and an end seat (53) connected to the electrostatic air supply spray device (3); The top mounting seat (51) is capable of rotating along a vertical axis relative to the vehicle frame (11), and its rotational movement is driven by a rotary motor (54); The top mounting seat (51) and the middle transition seat (52) are respectively connected to a first connecting rod (55) and a second connecting rod (56), and the first connecting rod (55) and the second connecting rod (56) are rotatably connected to form a connecting rod group; the first connecting rod (55) is driven by a first motor (57) to rotate relative to the top mounting seat (51); The rotational movement of the second connecting rod (56) relative to the first connecting rod (55) is driven by a first pull rope (58) located on the outside of the connecting rod group and a first elastic rope (59) located on the inside of the connecting rod group; the rotational movement of the end seat (53) relative to the second connecting rod (56) is driven by a second pull rope (510) located on the outside of the connecting rod group and a second elastic rope (511) located on the inside of the connecting rod group; A middle transition seat (52) is fixed to the first connecting rod (55) at a hinged position between the first connecting rod and the second connecting rod (56); an inner transition wheel (512) and an outer transition wheel (513) are rotatably mounted on the middle transition seat (52), which are respectively located on the inner and outer sides of the connecting rod group; A first hoop body (514) is fixed to the second connecting rod (56), and a first winding wheel (516) capable of being driven and rotated by a second motor (515) is installed on the top mounting seat (51); one end of the first pull rope (58) is connected to the first hoop body (514), and the first pull rope (58) passes through the outer transition wheel (513) and the other end is wound around the first winding wheel (516); A second hoop body (517) is fixed on the first connecting rod (55), and the first elastic rope (59) connects the first hoop body (514) and the second hoop body (517), and the first elastic rope (59) passes through the inner transition wheel (512); The inner and outer sides of the end seat (53) are respectively provided with an inner ear portion (53a) and an outer ear portion (53b); the top mounting seat (51) is provided with a second winding wheel (519) that can be driven by a third motor (518); The outer ear (53b) is connected to one end of the second pull rope (510); the second pull rope (510) passes through the outer transition wheel (513), and the other end is wound around the second winding wheel (519); The second elastic cord (511) connects the inner ear portion (53a) and the second hoop body (517), and the second elastic cord (511) passes around the inner transition wheel (512).

2. The electrostatic air supply type target sprayer based on open-air target recognition according to claim 1 is characterized in that: The electrostatic air supply spray device (3) comprises a spray barrel (31) fixed on the end seat (53), an electrostatic ring is installed in the spray barrel (31), and the electrostatic ring is connected to a high-voltage electrostatic generator installed on the frame (11) via a wire.

3. The electrostatic air supply type target sprayer based on open-air target recognition according to claim 2 is characterized in that: An atomizer is also installed in the spray barrel (31), and the atomizer is connected to the liquid tank (4) via a liquid pipeline, and the liquid pipeline is provided with a liquid pump; the spray barrel (31) is connected to a fan (62) installed on the vehicle frame (11) via an air duct (61); the liquid pipeline is placed in the air duct (61).

4. The electrostatic air supply type target sprayer based on open-air target recognition according to claim 1 is characterized in that: A rotary sleeve (520) is mounted on the top mounting seat (51), a large gear (521) is mounted on the top of the rotary sleeve (520), and a small gear (522) is fixed on the output shaft of the rotary motor (54); the large gear (521) is meshed with the small gear (522).

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