Crawler-type spray-seeding machine and operation method thereof

Abstract

The invention discloses a crawler-type spray-seeding machine and an operation method thereof. The crawler-type spray-seeding machine comprises a chassis with a crawler assembly and a spraying assembly, a spray head at the output end of the spraying assembly comprises a connector and a plurality of flat discharging heads which are of rigid structures and are arranged in parallel at intervals. Springs are arranged between the flat discharging heads; electromagnets are fixedly arranged on the outer surfaces of the two flat discharging heads located on the outmost periphery respectively; the control circuit is used for controlling repeated power-on and power-off of the electromagnet; the optimal advancing path of the machine is generated by using a path planning algorithm, obstacles are avoided, the spraying coverage range is maximized, repeated coverage is reduced, and the working efficiency is improved. The flat discharge ports are controlled to swing up and down through the electromagnets and the springs, the spraying coverage area is adjusted, the spraying uniformity and accuracy are ensured, waste is reduced to the maximum extent, and particularly, the moving capacity, the spraying uniformity, the operation simplicity and convenience and the overall efficiency in rugged terrains and rock-soil environments around iron towers are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, in particular to a crawler-type spraying machine and an operating method thereof. Background Art

[0002] After the construction of infrastructure such as steel towers, bare land and damaged vegetation are usually left around them, especially on rugged or unstable terrain. The construction of steel towers not only affects the soil structure, but may also cause soil erosion and vegetation destruction, which requires effective supporting restoration work to restore the environment to its original state or improve soil conditions and promote vegetation regrowth.

[0003] At present, soil regreening technology mainly relies on manual or traditional mechanical equipment, but there are the following limitations:

[0004] Inefficiency: Manual spraying is inefficient and cannot cover large areas quickly, especially on irregular and rugged terrain;

[0005] Poor uniformity: Manual operation is difficult to ensure uniformity of spraying, which can easily lead to uneven regreening and affect the quality of vegetation restoration;

[0006] Poor adaptability: Ordinary seeding equipment (usually wheeled) is difficult to operate on uneven or rocky terrain, and it is difficult to adapt to the special terrain around the tower.

[0007] In order to solve the above problems, there is an urgent need to develop a spraying machine that is efficient, adaptable and can operate smoothly in complex terrain, so as to quickly carry out environmental restoration after the construction of the tower.

[0008] For example, the "spray seeder" with patent announcement number CN218277788U uses tracks to move in contact with the ground, making it easier to pass through obstacles and uneven and sloping ground; the front end of the seed spraying tube adopts a flat fan-shaped structure, so that the seeds are sprayed in a fan shape on the ground, and the electric extension makes the spraying more uniform.

[0009] For example, patent publication number CN116569709A "An intelligent spraying machine" can move in complex terrain, reducing the spraying machine's reliance on manual labor during the spraying process.

[0010] However, the existing sprayers are slow to adjust the spray coverage and direction, resulting in overlapping spray areas, wasting the mixture, and prolonging the operation time. Summary of the invention

[0011] The object of the present invention is to provide a crawler-type spraying machine and an operating method thereof to solve the problems raised in the above-mentioned background technology.

[0012] To achieve the above object, the present invention provides the following technical solutions:

[0013] A crawler-type spraying machine comprises a chassis with a crawler assembly;

[0014] Mixing tank: arranged in the center of the chassis, wherein a stirring mechanism is arranged in the mixing tank;

[0015] Operating platform: for operators to stand, on which a spray assembly is arranged, and the spray assembly is connected to a mixing tank;

[0016] Rotary tillage device: installed at the front end of the chassis;

[0017] The nozzle at the output end of the spray assembly includes a joint, and a plurality of rigid structures and flat discharge heads arranged in parallel and at intervals; each flat discharge head is connected to the joint through a flat rubber sleeve; a spring is arranged between each flat discharge head; an electromagnet is fixedly arranged on the outer surface of the two outermost flat discharge heads; the two electromagnets attract each other when energized, thereby squeezing all the flat discharge heads inward to reduce the distance between adjacent flat discharge heads;

[0018] The control circuit is used to control the electromagnet to repeatedly turn on and off power.

[0019] Preferably, the crawler assembly comprises:

[0020] Crawler belt body: The crawler belt body includes a plurality of crawler belt segments connected in series, each crawler belt segment is connected by a pin shaft to form a continuous closed loop structure;

[0021] Track driving wheel: located at the rear end of the track body, the track driving wheel surface has a gear-like protrusion, which engages with the groove on the track segment and drives the track body to move by rotating;

[0022] Track guide wheels and supporting rollers: The track guide wheels are located at the front end of the track body, and the supporting rollers are distributed on the upper surface of the lower part of the track body, contacting the track body to provide support and guidance;

[0023] Track tensioning device: includes a tensioning wheel located on the lower surface of the upper part of the track body, which controls the tension of the track body.

[0024] Preferably, the mixing tank comprises:

[0025] Tank: A closed container with a smooth interior and a conical or curved bottom.

[0026] Feed inlet and discharge port: the feed inlet is arranged at the top of the tank body and is provided with a sealing cover; the discharge port is located at the bottom of one side of the tank body and is connected to the injection assembly.

[0027] Preferably, the stirring mechanism includes one or more stirring paddles distributed inside the tank body; the stirring paddles include a stirring shaft and a plurality of stirring blades arranged on the stirring shaft, and the plurality of stirring blades are spirally arranged along the axis direction of the stirring shaft.

[0028] Preferably, the rotary tillage device is installed at the front end of the chassis through an adjustment mechanism, and the adjustment mechanism drives the rotary tillage device to deflect up and down;

[0029] The rotary tillage device comprises:

[0030] Rotating shaft: A plurality of rotary tilling blades are arranged on the rotating shaft along its axis;

[0031] The rotary tillage blade has wings distributed in a cross shape, and the front ends of adjacent wings are bent in opposite directions respectively.

[0032] Preferably, the injection assembly comprises:

[0033] Nozzle: The front end of the nozzle is detachably connected with a nozzle;

[0034] Feed pipe: connects the mixing tank and the spray pipe, with rotatable quick connectors at both ends; the two quick connectors are perpendicular to each other so that the spray pipe can be rotated in the up and down and horizontal directions;

[0035] Pumping system: connect the mixing tank and the feed pipe.

[0036] A method for operating a crawler-type spraying machine comprises the following steps:

[0037] The mixing tank is filled with soil, water and grass seeds and stirred to form a mixture;

[0038] Start the rotary tillage device to loosen and till the target area;

[0039] Adjust the angle and direction of the spray hose and activate the pumping system to spray the mixture into the target area.

[0040] An operating method of a crawler-type spraying machine, wherein the operating method can adopt manual control spraying or automatic spraying; the automatic spraying comprises the following steps:

[0041] Obtain the current content of the mixture in the mixing tank, obtain the terrain data T of the target area and the area A that needs to be covered;

[0042] Based on the terrain data T, a three-dimensional model of the target area is generated;

[0043] Use the path planning algorithm to generate the optimal travel path S of the crawler seed drill;

[0044] Use simulation technology to simulate the spraying effect under different spraying parameters, evaluate the coverage and uniformity of the mixture, and find the best parameters to minimize waste and maximize the effect;

[0045] The spraying operation of the target area is completed according to the planned optimal travel path S and spraying parameters.

[0046] Preferably, the optimal path p is calculated for each path node n i Topographic features of T i ;

[0047] According to the terrain data T, each terrain feature T i Determine the corresponding first weight function f(T i ) and the second weight function g(T i ), the terrain data T includes slope s, obstacle locations and surface conditions;

[0048] Dynamically adjust the injection pressure P based on real-time data i and nozzle angle θ i ;

[0049] P i =P min +(P max -P min )·f(T i )

[0050] Among them, f(T i ) is based on the terrain characteristics T i The first weight function calculated is used to adjust the pressure; P min and P max are the minimum and maximum values ​​of the injection pressure;

[0051] f(T i )=1+k·s;

[0052] Where: s is the measured value of slope, which indicates the degree of inclination of the terrain; k is a constant used to adjust the degree of influence of slope on pressure adjustment;

[0053] θ i =θ min +(θ mam -θ min )·g(T i )

[0054] Among them, g(T i ) is based on the terrain characteristics T i The second weight function calculated is used to adjust the nozzle angle; θ min and θ max are the minimum and maximum values ​​of the injection angle;

[0055] g(T i ) = 1 - k′·s;

[0056] Where: s is the measured value of the slope; k′ is an adjustment factor used to control the sensitivity of the slope to the nozzle angle adjustment.

[0057] Preferably, an electromagnet and a spring are used to control the up and down swing speed and amplitude of each flat discharge head to adjust the spray coverage area A0 per unit time;

[0058] Spraying coverage width d calculation formula:

[0059] d=d max ·h(P i ,θ i )

[0060] Among them, h(P i ,θ i ) is based on the current injection pressure P i and nozzle angle θ i Calculated coverage width adjustment function;

[0061] Where: c is a constant used to adjust the basic units and ratios of the formula to suit specific equipment and operating conditions; Indicates the effect of spray pressure on coverage width. Spray coverage distance is proportional to the square root of pressure. sin(θ i ) represents the effect of nozzle angle on coverage width, with larger angles providing wider coverage in the vertical direction;

[0062] Dynamically adjust the frequency f of the electromagnet based on real-time data e :

[0063] f e =f min +(f max -f min )·k(P i ,θ i ,v)

[0064] Among them, f e is the control frequency of the electromagnet, k(P i ,θ i ,v) is based on the injection pressure P i and nozzle angle θ i and the third weight function calculated by the travel speed v; f min and f max It is the minimum and maximum value of the electromagnetic control frequency.

[0065]

[0066] Among them: a, b, c are coefficients determined according to experimental data, which adjust the relative influence of pressure, angle and speed on the control frequency; P i is the spray pressure, which directly affects the intensity and distance of the spray, and affects the frequency in a linear manner; cos(θ i ) is a cosine function. The cosine function is used because when the nozzle angle tends to be horizontal, more frequent adjustments are required to maintain coverage, while when the angle is smaller, the effect is smaller; It is the reciprocal of the moving speed, which means that when the sprayer moves faster, the electromagnet needs to be adjusted more frequently to maintain the continuity and uniformity of spraying.

[0067] Preferably, the optimal parameters for minimizing waste and maximizing effect are calculated by optimizing the objective function, and the optimization objective function is:

[0068]

[0069] Among them, W is the total waste, C i is the difference between the coverage range of the i-th spraying point and the target range, L i is the mixture waste amount at the i-th spraying point.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] The present invention uses a path planning algorithm to generate the optimal travel path of the machine, avoid obstacles and maximize the spraying coverage, reduce duplicate coverage, and improve work efficiency.

[0072] The up and down swing of each flat discharge port is controlled by electromagnets and springs to adjust the spraying coverage area, ensure the uniformity and accuracy of spraying, and minimize waste.

[0073] Through the coordinated work of multiple discharge ports, a wide spraying belt is formed, covering a larger area in one spraying, reducing repeated coverage and improving spraying efficiency. The rapid response ability of the electromagnet and spring enables the discharge port to quickly adjust the spraying direction and width, significantly increasing the spraying speed and shortening the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0075] Figure 1 It is a schematic diagram of the structure of the present invention;

[0076] Figure 2It is a schematic diagram of the structure of the mixing tank of the present invention;

[0077] Figure 3 It is a schematic diagram of the structure of the stirring paddle of the present invention;

[0078] Figure 4 It is a schematic diagram of the structure of the crawler assembly of the present invention;

[0079] Figure 5 It is a structural schematic diagram of the rotary tillage device of the present invention;

[0080] Figure 6 This is a schematic diagram of the structure of the present invention after removing the operating platform;

[0081] Figure 7 It is a schematic diagram of the structure of the injection assembly of the present invention;

[0082] Figure 8 It is a schematic diagram of the structure of the nozzle of the present invention;

[0083] Fig. 9 It is a schematic diagram of the spraying belt that can be automatically sprayed in the same direction by the spray head of the present invention.

[0084] The reference numerals in the figure are as follows:

[0085] 1. Chassis; 2. Track assembly; 21. Track body; 22. Track drive wheel; 23. Track guide wheel; 24. Support wheel; 25. Tensioner; 3. Engine; 4. Mixing tank; 41. Tank body; 42. Agitator; 421. Agitator shaft; 422. Agitator blade; 43. Feed inlet; 44. Discharge outlet; 6. Operating platform; 7. Spray assembly; 71. Spray pipe; 72. Spray head; 721. Connector; 722. Flat discharge head; 723. Spring; 724. Electromagnet; 725. Flat rubber sleeve; 73. Feed pipe; 74. Quick connector; 75. High-pressure pump; 8. Rotary tillage device; 81. Rotating shaft; 82. Rotary tillage blade; 821. Wing; 83. Transmission system; 831. Motor; 832. Transmission shaft; 833. Gear box; 84. Connecting frame. DETAILED DESCRIPTION

[0086] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments 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.

[0087] Example:

[0088] As attached Figure 1-9 As shown:

[0089] A crawler-type sprayer for soil regreening on rough terrain, comprising:

[0090] Chassis 1, providing support and mobility, made of high-strength steel;

[0091] A track assembly 2, mounted below the chassis 1, for movement over rough terrain;

[0092] The engine 3 is installed in the center of the upper part of the chassis 1 to provide power for the track assembly 2;

[0093] A mixing tank 4, located in the center of the chassis 1, is used to mix soil, water and grass seeds;

[0094] A stirring mechanism, installed inside the mixing tank 4, for uniformly mixing the soil, water and grass seeds;

[0095] An operating platform 6 is arranged above the chassis 1 for an operator to stand on;

[0096] The spray assembly 7 is arranged on the operating platform 6 and connected to the mixing tank 4, and the angle and direction can be adjusted;

[0097] A rotary tillage device 8 is installed at the front end of the sprayer and is used for loosening the soil and tilling;

[0098] The control system controls the engine 3, the crawler assembly 2, the stirring mechanism 5, the injection assembly 7 and the rotary tillage device 8, and is equipped with a remote controller.

[0099] like Figure 4 As shown, the track assembly 2 includes:

[0100] Crawler belt body 21: The crawler belt body 21 includes a plurality of crawler belt segments connected in series, each crawler belt segment is connected by a pin shaft to form a continuous closed loop structure;

[0101] Track driving wheel 22: located at the rear end of the track body 21, the track driving wheel 22 has a gear-shaped protrusion on its surface, which engages with the groove on the track section and drives the track body 21 to move by rotating;

[0102] Track guide wheel 23 and track roller 24: The track guide wheel 23 is located at the front end of the track body 21, and the track roller 24 is distributed on the upper surface of the lower part of the track body 21 and contacts the track body 21 to provide support and guidance;

[0103] The track tensioning device comprises a tensioning wheel 25 located on the lower surface of the upper portion of the track body 21 to control the tension of the track body 21 .

[0104] like Figure 2 As shown, the mixing tank 4 comprises:

[0105] The tank body 41 is a closed container with a smooth interior and a bottom designed to be conical or arc-shaped;

[0106] Feed inlet 43 and discharge port 44: the feed inlet 43 is arranged at the top of the tank body 41 and has a sealing cover; the discharge port 44 is located at the bottom of one side of the tank body 41 and is connected to the feed pipe 73 of the injection assembly 7.

[0107] The stirring mechanism includes a plurality of stirring paddles 42 arranged in parallel with each other, the stirring paddles 42 are distributed inside the tank body 41, and the stirring paddles 42 include a stirring shaft 421 and a plurality of stirring blades 422 arranged on the stirring shaft 421; the stirring shaft 421 is connected to an external power device and can rotate;

[0108] like Figure 5 As shown, the rotary tillage device 8 comprises:

[0109] Rotating shaft 81: The rotating shaft 81 runs through the entire rotary tillage device 8, and the rotating shaft 81 is connected to the device housing through a bearing to ensure the smooth rotation of the rotating shaft 81;

[0110] Rotary tillage blade 82: The rotary tillage blade 82 has wings 821 distributed in a cross shape, and the front ends of adjacent wings 821 are bent in opposite directions respectively;

[0111] Transmission system 83: The transmission system includes a motor 831, a transmission shaft 832 and a gear box 833; the output end of the motor 831 is connected to the input end of the gear box 833 through the transmission shaft 832, and the output end of the gear box 833 is connected to one end of the rotating shaft 81, and the speed of the transmission shaft 832 is adjusted by changing the transmission ratio;

[0112] Adjustment mechanism: including a connecting frame 84 and a hydraulic device; the rotary tillage device 8 is hinged to the front end of the sprayer through the connecting frame 84, and the hydraulic device drives the rotary tillage device 8 to deflect up and down;

[0113] Protective cover: covers the outside of the rotary tillage blade 82 and is fixed on the frame of the rotary tillage device 8.

[0114] The rotary tillage blade 82 is used to loosen and till the soil, thereby improving the soil structure and making the soil more suitable for the growth of grass seeds.

[0115] like Figure 7 As shown, the injection assembly 7 includes:

[0116] Nozzle 71: The front end of the nozzle 71 is detachably connected with a nozzle 72;

[0117] Feed pipe 73: connects mixing tank 4 and nozzle 71, has smooth interior to reduce flow resistance of mixture, and has rotatable quick connectors 74 at both ends; two quick connectors 74 are perpendicular to each other so that nozzle 71 can rotate in up and down and horizontal directions;

[0118] The pumping system includes a high-pressure pump 75 , which is connected to the mixing tank 4 and the feed pipe 73 .

[0119] like Figure 8 As shown, the nozzle 72 includes a joint 721 that can be quickly connected to the front end of the nozzle 71, and a plurality of flat discharge heads 722 of a rigid structure arranged in parallel with each other at upper and lower intervals; each flat discharge head 722 is connected to the joint 721 through a flat rubber sleeve 725; a spring 723 is arranged between each flat discharge head 722; and an electromagnet 724 is fixedly arranged on the outer surfaces of the upper and lower outermost flat discharge heads 722;

[0120] The control circuit is used to control the electromagnet 724 to repeatedly turn on and off power;

[0121] When the two electromagnets 724 are energized, they attract each other and squeeze all the flat discharge heads 722 inward to reduce the distance between adjacent flat discharge heads 722 .

[0122] The working principle of the flat discharge port 722 combined with the electromagnet 724 and the spring 723 is as follows:

[0123] The flat discharge port 722 is designed as a plurality of parallel flat discharge ports, connected to the joint 721 through a flat rubber sleeve 725, and a spring 723 is arranged between each discharge port. Electromagnets 724 are respectively fixed to the outer surfaces of the upper and lower outermost flat discharge ports 722, and the up and down swing of each discharge port is controlled by turning the electromagnet 724 on and off.

[0124] When the electromagnet 724 is powered on, it generates attraction, causing all the flat outlets 722 to be squeezed inward, reducing the distance between adjacent flat outlets 722. When the electromagnet 724 is powered off, the spring 723 returns to its original state, restoring the distance between adjacent flat outlets 722 to its initial state. This process enables the flat outlets 722 to quickly adjust the coverage and direction of spraying in a short time, so that the spraying can be directly sprayed into a longitudinal spraying belt in the same direction.

[0125] The electromagnet 724 and the spring 723 are used to control the up and down swing of each flat discharge port 722, adjust the spraying coverage area, ensure the uniformity and accuracy of spraying, and minimize waste. Without changing the direction, the flat discharge port 722 controlled by the electromagnet 724 and the spring 723 can form a continuous longitudinal spraying belt in a short time, reduce the spraying time, and improve work efficiency.

[0126] A method for operating a crawler-type spraying machine comprises the following steps:

[0127] Arriving at the destination, including controlling the sprayer to move to the target area by remote control;

[0128] The preparation work includes checking that all components are intact, filling the mixing tank 4 with an appropriate amount of soil, water and grass seeds, setting the mixing time and the spraying intensity;

[0129] The rotary tillage operation includes starting the rotary tillage device 8 to loosen the soil and till the target area;

[0130] The spraying operation includes adjusting the angle and direction of the spray pipe 71, starting the spray assembly 7, and spraying the mixture to the target area;

[0131] After the operation is completed, the spray assembly 7 and the stirring mechanism are closed, and the mixing tank 4 and the spray pipe 71 are cleaned.

[0132] The spraying operation can be manually controlled or automatically performed.

[0133] The steps of automatic spraying are:

[0134] Step 1: Initialization

[0135] The current content of the mixture in the mixing tank 4 is read, the initial injection pressure P0 and the initial injection angle θ0 are set, and the terrain data T of the target area and the area A to be covered are obtained.

[0136] Step 2: Data preprocessing

[0137] Use sensors and cameras to scan the target area and obtain terrain data T, which includes slope s, obstacle locations and surface conditions; based on the terrain data T, generate a three-dimensional model of the target area;

[0138] Step 3: Path Planning

[0139] Use the path planning algorithm to generate the optimal travel path S of the crawler seeding machine to ensure that the crawler seeding machine can cover the entire target area and avoid obstacles; calculate the optimal travel path S for each path node n i Topographic features of T i , determine the appropriate injection pressure P i and nozzle angle θ i .

[0140] Step 4: Injection parameter optimization

[0141] Initialize the spray pressure P and nozzle angle θ. Based on the three-dimensional model of the terrain, use simulation technology to simulate the spraying effect under different spray parameters and evaluate the coverage and uniformity of the mixture. Use the optimization algorithm to adjust the spray pressure P and nozzle angle θ to optimize the objective function to calculate the best parameters to minimize waste and maximize the effect. The optimization objective function is:

[0142]

[0143] Among them, W is the total waste, C i is the difference between the coverage range of the i-th spraying point and the target range, L i is the mixture waste at the i-th spraying point;

[0144] The injection pressure P of the i-th spraying point i Calculation formula:

[0145] P i =P min +(P max -P min )·f(T i )

[0146] Among them, f(T i ) is based on the terrain characteristics T i The first weight function calculated is used to adjust the pressure; P min and P max are the minimum and maximum values ​​of the injection pressure;

[0147] f(T i )=1+k·s;

[0148] Where: s is the measured value of slope, which indicates the degree of inclination of the terrain; k is a constant used to adjust the degree of influence of slope on pressure adjustment;

[0149] The spray angle θ of the i-th spray point i Calculation formula:

[0150] θ i =θ min +(θ max -θ min )·g(T i )

[0151] Among them, g(T i ) is based on the terrain characteristics T i The second weight function calculated is used to adjust the injection angle; θ min and θ max are the minimum and maximum values ​​of the nozzle angle;

[0152] g(T i ) = 1 - k′·s;

[0153] Where: s is the measured value of the slope; k′ is an adjustment factor used to control the sensitivity of the slope to the nozzle angle adjustment.

[0154] Step 5: Spraying operation

[0155] According to the planned path S, the spraying pressure P and the nozzle angle θ, the spraying angle and the spraying pressure of the nozzle 71 in the spraying assembly 7 are controlled to start the spraying operation; the flow rate and pressure of the mixture during the spraying process are monitored in real time to ensure the uniformity of the spraying; the electromagnet 724 and the spring 723 are used to control the up and down swing speed and amplitude of each flat discharge head 722 to adjust the spraying coverage area A0 per unit time;

[0156] Spraying coverage width d calculation formula:

[0157] d=d max ·h(P i ,θ i )

[0158] Among them, h(P i ,θ i ) is based on the injection pressure P i and nozzle angle θ i Calculated coverage width adjustment function;

[0159]

[0160] Where: c is a constant used to adjust the basic units and ratios of the formula to suit specific equipment and operating conditions; Indicates the effect of spray pressure on coverage width. Spray coverage distance is proportional to the square root of pressure. sin(θ i ) represents the effect of nozzle angle on coverage width, with larger angles providing wider coverage in the vertical direction;

[0161] Electromagnet 724 control frequency adjustment formula:

[0162] f e =f min +(f max -f min )·k(P i ,θ i ,v)

[0163] Among them, f e is the control frequency of the electromagnet 724, k(P i ,θ i , v) is a third weight function calculated based on the injection pressure, injection angle and travel speed v; f min and f max The minimum and maximum values ​​of the control frequency of the electromagnet 724;

[0164]

[0165] Among them: a, b, c are coefficients determined according to experimental data, which adjust the relative influence of pressure, angle and speed on the control frequency; Pi is the spray pressure, which directly affects the intensity and distance of the spray, and affects the frequency in a linear manner; cos(θ i ) is a cosine function. The cosine function is used because when the nozzle angle tends to be horizontal, more frequent adjustments are required to maintain coverage, while when the angle is smaller, the effect is smaller; It is the reciprocal of the moving speed, which means that when the sprayer moves faster, the electromagnet needs to be adjusted more frequently to maintain the continuity and uniformity of spraying.

[0166] Step 6: Dynamic Adjustment

[0167] During the spraying process, real-time data is continuously collected; the spray pressure P is dynamically adjusted based on the real-time data i and nozzle angle θ i , and the frequency of the electromagnet 724 to ensure the best spraying effect; use a feedback control system to adjust the spraying path and speed v to avoid repeated spraying and waste;

[0168] Step 7: Finish spraying

[0169] Complete the spraying operation of the target area according to the planned path S, spray pressure P and nozzle angle θ;

[0170] Close the injection assembly 7 and the stirring mechanism 5;

[0171] Clean the mixing tank 4 and the spray pipe 71 to ensure that the equipment is clean and ready for the next operation.

[0172] Compared with the traditional cylindrical nozzle, the flat discharge port 722 has the following advantages:

[0173] Cylindrical nozzle: The mixture sprayed by the cylindrical nozzle usually forms a circular or fan-shaped coverage area. Since the spraying shape is more concentrated, the mixture in the coverage area is unevenly distributed, with less spraying at the edge and more spraying in the middle, resulting in uneven regreening effect.

[0174] The flat discharge port 722 can form a wide, continuous spraying belt through the control of the electromagnet 724 and the spring 723 to achieve a wider coverage. The flat discharge port 722 can quickly adjust the swing speed and amplitude to ensure that the spraying amount of each discharge port is consistent, the mixture in the spraying belt is evenly distributed, and the regreening effect is better.

[0175] Cylindrical nozzle: Due to the smaller coverage area, more time and paths are required to cover the target area. The spraying speed is slower, resulting in longer operation time.

[0176] Flat discharge port 722: Through the coordinated work of multiple flat discharge ports 722, a wide spraying belt is formed, which covers a larger area at one time, reduces repeated coverage, and improves spraying efficiency. The rapid response capability of the electromagnet 724 and the spring 723 enables the discharge port to quickly adjust the spraying direction and width, significantly improving the spraying speed and shortening the operation time.

[0177] Cylindrical nozzle: The spraying shape is fixed, the adaptability is poor, and it is difficult to cope with complex terrain and different operation requirements. The spraying angle and coverage cannot be flexibly adjusted, and the operational flexibility is poor.

[0178] Flat discharge port 722: can quickly adjust the spraying angle and coverage to adapt to various complex terrains and different operation requirements. It can dynamically adjust the spraying parameters according to real-time data to achieve flexible and accurate spraying operations with greater adaptability.

[0179] Cylindrical nozzle: Due to uneven spraying, there is a large waste of resources, and more mixture is required to achieve the desired effect. Overlap and waste during the spraying process lead to inefficient use of resources and are not conducive to environmental protection.

[0180] Flat discharge port 722: Spray evenly and cover a wide range, reduce repeated spraying and waste, and improve resource utilization. Precisely control the spraying volume and coverage, reduce the waste of the mixture, and achieve a more environmentally friendly operation.

[0181] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0182] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A crawler-type spraying machine, comprising a chassis (1) with a crawler assembly (2); A mixing tank (4) is arranged at the center of the chassis (1), and a stirring mechanism is arranged inside the mixing tank (4); An operating platform (6) is provided for an operator to stand on. A spray assembly (7) is arranged on the operating platform (6), and the spray assembly (7) is connected to the mixing tank (4); A rotary tillage device (8) is installed at the front end of the chassis (1); Features: The nozzle (72) at the output end of the injection assembly (7) comprises a joint (721) and a plurality of rigid structures and flat discharge heads (722) arranged in parallel and spaced apart from each other; each flat discharge head (722) is connected to the joint (721) via a flat rubber sleeve (725); a spring (723) is arranged between each flat discharge head (722); an electromagnet (724) is fixedly arranged on the outer surface of the two outermost flat discharge heads (722); the two electromagnets (724) attract each other when energized, thereby squeezing all the flat discharge heads (722) inwardly to reduce the distance between adjacent flat discharge heads (722); The control circuit is used to control the electromagnet (724) to repeatedly turn on and off power.

2. A crawler-type spraying machine according to claim 1, characterized in that: The crawler track assembly (2) comprises: Crawler belt body (21): the crawler belt body (21) comprises a plurality of crawler belt segments connected in series, each crawler belt segment is connected by a pin shaft to form a continuous closed loop structure; A crawler driving wheel (22) is located at the rear end of the crawler belt body (21). The crawler driving wheel (22) has a gear-shaped protrusion on its surface, which engages with the groove on the crawler belt section and drives the crawler belt body (21) to move by rotating. Track guide wheels (23) and supporting wheels (24): the track guide wheels (23) are located at the front end of the track body (21), and the supporting wheels (24) are distributed on the upper surface of the lower part of the track body (21), contacting the track body (21), and providing support and guidance; The crawler track tensioning device comprises a tensioning wheel (25) located on the lower surface of the upper part of the crawler track body (21) and controls the tension of the crawler track body (21).

3. A crawler-type spraying machine according to claim 1, characterized in that: The mixing tank (4) comprises: The tank body (41) is a closed container with a smooth interior. The bottom of the tank body (41) is designed to be conical or arc-shaped. A feed inlet (43) and a discharge outlet (44): the feed inlet (43) is arranged at the top of the tank body (41) and is provided with a sealing cover; the discharge outlet (44) is located at the bottom of one side of the tank body (41) and is connected to the injection assembly (7).

4. A crawler-type spraying machine according to claim 3, characterized in that: The stirring mechanism comprises one or more stirring paddles (42) distributed inside the tank body (41); the stirring paddles (42) comprise a stirring shaft (421) and a plurality of stirring blades (422) arranged on the stirring shaft (421); the plurality of stirring blades (422) are spirally arranged along the axis direction of the stirring shaft (421).

5. A crawler-type spraying machine according to claim 1, characterized in that: The rotary tillage device (8) is installed at the front end of the chassis (1) via an adjustment mechanism, and the adjustment mechanism drives the rotary tillage device (8) to deflect up and down; The rotary tillage device (8) comprises: Rotating shaft (81): a plurality of rotary tilling blades (82) are arranged on the rotating shaft (81) along its axis; The rotary tillage blade (82) has wings (821) distributed in a cross shape, and the front ends of adjacent wings (821) are bent in opposite directions respectively.

6. A crawler-type spraying machine according to claim 1, characterized in that: The injection assembly (7) comprises: Nozzle (71): the front end of the nozzle (71) is detachably connected to a nozzle (72); The feed pipe (73) is connected to the mixing tank (4) and the nozzle (71), and has rotatable quick connectors (74) at both ends; the two quick connectors (74) are perpendicular to each other so that the nozzle (71) can rotate in the vertical and horizontal directions; Pumping system: connects the mixing tank (4) and the material delivery pipe (73).

7. The method for operating a crawler-type sprayer according to any one of claims 1 to 6, characterized in that: The operation method can adopt manual control spraying or automatic spraying; the automatic spraying includes the following steps: Obtaining the current content of the mixture in the mixing tank (4), obtaining the topographic data T of the target area and the area A to be covered; Based on the terrain data T, a three-dimensional model of the target area is generated; Use the path planning algorithm to generate the optimal travel path S of the crawler seed drill; Use simulation technology to simulate the spraying effect under different spraying parameters, evaluate the coverage and uniformity of the mixture, and find the best parameters to minimize waste and maximize the effect; The spraying operation of the target area is completed according to the planned optimal travel path S and spraying parameters.

8. The operating method of a crawler-type spraying machine according to claim 7, characterized in that: Calculate the optimal travel path p for each path node n i Topographic features of T i ; According to the terrain data T, each terrain feature T i Determine the corresponding first weight function f(T i ) and the second weight function g(T i ), the terrain data T includes slope s, obstacle locations and surface conditions; Dynamically adjust the injection pressure P based on real-time data i and nozzle angle θ i ; P i =P min +(P max -P min )·f(T i ); Among them, f(T i ) is based on the terrain characteristics T i The first weight function calculated is used to adjust the pressure; P min and P max are the minimum and maximum values ​​of the injection pressure; f(T i )=1+k·s; Where s is a measure of slope, indicating the inclination of the terrain; k is a constant used to adjust the degree of influence of slope on pressure adjustment; i i =θ min +(θ max -θ min )·g(T i ); Among them, g(T i ) is based on the terrain characteristics T i The second weight function calculated is used to adjust the nozzle angle; θ min and θ max are the minimum and maximum values ​​of the injection angle; g(T i )=1-k′·s; Where s is the measured value of the slope and k′ is an adjustment factor used to control the sensitivity of the slope to the nozzle angle adjustment.

9. The operating method of a crawler-type spraying machine according to claim 8, characterized in that: The electromagnet (724) and the spring (723) are used to control the up and down swing speed and amplitude of each flat discharge head (722) to adjust the spraying coverage area A0 per unit time; Spraying coverage width d calculation formula: d=d max ·h(P i ,θ i ); Among them, h(P i ,θ i ) is based on the current injection pressure P i and nozzle angle θ i Calculated coverage width adjustment function; Where: c is a constant used to adjust the basic unit and ratio of the formula; Indicates the effect of spray pressure on coverage width. Spray coverage distance is proportional to the square root of pressure. sin(θ i ) represents the effect of nozzle angle on coverage width; Dynamically adjust the frequency f of the electromagnet (724) based on real-time data e : f e =f min +(f max -f min )·k(P i ,θ i ,v); Among them, f e is the control frequency of the electromagnet (724), k(P i ,θ i ,v) is based on the injection pressure P i and nozzle angle θ i and the third weight function calculated by the travel speed v; f min and f max The minimum and maximum values ​​of the control frequency of the electromagnet (724); Among them: a, b, c are coefficients; P i is the injection pressure; cos(θ i ) is the cosine function; It is the inverse of the movement speed.

10. The operating method of a crawler-type spraying machine according to claim 9, characterized in that: The optimal parameters for minimizing waste and maximizing effect are calculated by optimizing the objective function, and the optimization objective function is: Among them, W is the total waste, C i is the difference between the coverage range of the i-th spraying point and the target range, L i is the mixture waste amount at the i-th spraying point.

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