Self-propelled multifunctional spray test platform

Abstract

The invention discloses a self-propelled multifunctional spraying test platform, which relates to the technical field of agricultural machinery and comprises a rack, a walking system, a lifting adjusting device, a spraying system, a control box, a battery pack, a Beidou positioning system and an image processing system, the walking system comprises two electric wheel sets and two universal wheel sets, the two electric wheel sets are symmetrically and fixedly installed on the front side of the bottom of the rack, and the two universal wheel sets are symmetrically and fixedly installed on the rear side of the bottom of the rack. The self-propelled multifunctional spray test platform can realize automatic control and adjustment of spray height, nozzle spacing, spray pressure and operation speed, real-time monitoring of test parameters such as instantaneous spray amount, total spray amount, spray pressure and the like, and through integration of an electromagnetic valve nozzle group, a Beidou positioning system, an image acquisition system and the like, the test parameters of the spray height, the nozzle spacing, the spray pressure and the like can be monitored in real time. The device realizes the early-stage test work of target drug delivery and prescription drug delivery systems, and has the advantages of multiple functions, multiple purposes and convenience in research and development and rapid iteration.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a self-propelled multifunctional spray test platform. Background Art

[0002] Precision pesticide application technology is an important way to reduce the amount of pesticides used and improve the utilization rate of pesticides. Currently, there are two main routes: one is precision pesticide application technology based on geographic information systems, which uses the Beidou positioning system to obtain pest information based on remote sensing and drones, and pre-prepare pesticide prescription maps for spraying operations, so as to achieve precise spraying of pesticides in pest-infested areas; the other is precision pesticide application technology based on real-time sensors, which uses vision, laser and other sensors to obtain pest information in the field in real time, and make pesticide application decisions and spray execution, so as to achieve precise targeted pesticide application in pest-infested areas. In addition, unmanned autonomous navigation systems have also been applied in precision pesticide application. Using advanced navigation, perception and control technologies, path planning is carried out according to information such as farmland terrain and crop layout, ensuring that agricultural spray equipment can perform precise spraying according to the predetermined path, avoiding repeated spraying and omissions, and having better application scenarios in unmanned farms in the future. Therefore, the development of precision pesticide application technology is of great significance to the realization of intelligent field management and green and sustainable agriculture.

[0003] At present, scholars have conducted a lot of research on precision pesticide application technology, such as variable spray based on prescription map, target spray based on machine vision, etc. In the test stage of spray effect test, most of the existing research is installed on the existing boom sprayer for field test, which has problems such as inaccurate parameter adjustment, uncontrollable test factors, and low test efficiency. In addition, the cost of using the existing boom sprayer is high, the modification test cycle is long, and there is a lack of test platforms dedicated to precision pesticide application technology. Therefore, the present invention discloses a self-propelled multifunctional spray test platform, which can realize the rapid and accurate adjustment of operating parameters such as spray pressure, operating speed, spray height, and nozzle spacing during the spray process. The equipped solenoid valve nozzle group and Beidou navigation system can realize precision pesticide application functions such as spray based on prescription map and target spray based on real-time sensor, which can be used to study the spray effect of the precision pesticide application system under different test parameters, and provide a basis for the optimization, improvement and promotion and application of the subsequent precision pesticide application system.

[0004] Therefore, it is necessary to propose a self-propelled multifunctional spray test platform to solve the above problems. Summary of the invention

[0005] Technical problem to be solved: The purpose of the present invention is to provide a self-propelled multifunctional spray test platform to solve the problems of inaccurate parameter adjustment, uncontrollable test factors, low test efficiency and long modification test cycle in the existing spray test platform mentioned in the above background technology.

[0006] Technical solution: To achieve the above purpose, the present invention is implemented through the following technical solution: a self-propelled multifunctional spray test platform, including a frame, a walking system, a lifting and adjusting device, a spray system, a control box, a battery pack, a Beidou positioning system and an image processing system; The walking system includes two electric wheel sets and two universal wheel sets. The two electric wheel sets are symmetrically fixed on the front side of the bottom of the frame, and the two universal wheel sets are symmetrically fixed on the rear side of the bottom of the frame. When working, the control box controls the electric wheel sets as active wheels to control the moving speed and moving direction of the experimental platform; The lifting and adjusting device is arranged at the front side of the frame, the control box and the battery pack are both installed in the rear space of the frame, and the spray system includes a medicine box, a diaphragm pump, a medicine supply pipeline, a flow sensor, a pressure sensor, an overflow valve, and a pressure buffer tank fixedly installed in the front space of the frame, and also includes a spray rod arranged at the output end of the lifting and adjusting device, and a plurality of electromagnetic valve nozzle groups with adjustable spacing are arranged on the spray rod; The input end of the diaphragm pump is connected to the medicine box, and the output end is connected to multiple solenoid valve nozzle groups through the medicine supply pipeline. The flow sensor, pressure sensor, overflow valve, and pressure buffer tank are all installed in the medicine supply pipeline. During operation, the control box controls the diaphragm pump to transport the medicine solution to the solenoid valve nozzle group, and realizes precise variable application of medicine and unmanned autonomous operation through the Beidou positioning system and image processing system.

[0007] Preferably, the frame includes a mounting frame and four legs fixed to the bottom of the mounting frame, and the mounting frame is installed with baffles except for the top, and the four legs are symmetrically distributed in a rectangular shape. The electric wheel group includes a hub motor driving wheel, a T-shaped connecting plate, a transverse aluminum profile and a U-shaped mounting frame. The transverse aluminum profile is fixedly mounted on the lower end of the front leg of the frame through the T-shaped connecting plate, the U-shaped mounting frame is fixedly mounted on the bottom of the transverse aluminum profile, the hub motor driving wheel is mounted in the mounting frame, and the universal wheel group includes a universal wheel and a fixing seat, the fixing seat is fixedly mounted on the lower end of the rear leg of the frame, and the universal wheel is fixedly mounted on the bottom of the fixing seat.

[0008] Preferably, there are two lifting and adjusting devices, which are respectively mounted on the two legs on the front side of the frame. The lifting and adjusting devices include a spray rod mounting frame, a lifting and adjusting device mounting frame, a lifting base, an upper mounting plate, a lower mounting plate, a stepper motor, a plum blossom coupling, a screw rod, a lifting slider, a screw rod mounting frame and a spray rod connecting rod. The stepper motor driver and the stepper motor controller are integrated inside the control box. The lifting base is fixed to the legs through the lifting and adjusting device mounting frame, and the upper mounting plate and the lower mounting plate are respectively vertically mounted at both ends of the lifting base.

[0009] Preferably, the stepper motor is fixed on the top of the upper mounting plate, the screw mounting frame is installed on the front side of the lifting base, both ends of the screw are respectively installed on the lower mounting plate and the screw mounting frame through bearings, the screw and the stepper motor are connected by a plum blossom coupling, the lifting slider is installed on the lifting base along the vertical sliding path and is threadedly connected to the screw, and the spray rod connecting rod is installed on the lifting slider through the spray rod mounting frame.

[0010] Preferably, the spray system also includes a pump mounting base and a U-shaped medicine box base, the medicine box is mounted on the frame through the medicine box base, the diaphragm pump is mounted on the frame through the pump mounting base, the flow sensor, pressure sensor, overflow valve, and pressure buffer tank are all installed in the medicine supply pipeline through a three-way connector, and each pipeline is fixed to the frame with a cable tie.

[0011] Preferably, the solenoid valve nozzle group includes a nozzle, a solenoid valve, a nozzle group mounting frame, a nozzle, a nozzle slide rail, a nozzle slider, a control panel, a nozzle control box, a nozzle control box cover and an aviation plug. The nozzle slide rail is fixed on the spray rod, and a nozzle slider is slidably mounted on the nozzle slide rail, and a locking nut is provided on the nozzle slider; the nozzle is fixed to the front side of the nozzle slider through the nozzle group mounting frame, a solenoid valve is provided on the nozzle, and adjacent nozzles are connected by a hose, and one of the hoses is connected to the drug supply pipeline, the nozzle is installed in the lower port of the nozzle, the nozzle control box is fixedly installed on the solenoid valve body, the control panel is fixed in the nozzle control box, and the aviation plug is installed on the top of the nozzle control box and connected to the control box.

[0012] Preferably, the Beidou positioning system includes a positioning antenna, a directional antenna, a positioning antenna base and a directional antenna base. The positioning antenna base and the directional antenna base are in a "T" shape and are respectively fixed on the frame. The positioning antenna and the directional antenna are respectively adsorbed on the corresponding bases by magnetic attraction. The receiving controller of the Beidou positioning system is integrated inside the control box.

[0013] Preferably, the image processing system includes an industrial camera, a control box, a camera mounting frame, an angle adjustment device, a horizontal mounting frame and a vertical mounting frame, wherein the vertical mounting frame is vertically mounted at the middle position of the top of the spray boom, the horizontal mounting frame is vertically mounted on the top of the vertical mounting frame, the angle adjustment device is fixedly mounted on the bottom of the horizontal mounting frame away from one end of the vertical mounting frame, the industrial camera is fixed on the camera mounting frame and mounted on the angle adjustment device through the camera mounting frame; the angle adjustment device is fan-shaped, with an arc-shaped slot at the lower end and a circular hole in the center of the arc, the circular hole at the upper end of the camera mounting frame is fixed to the center hole of the angle adjustment device by bolts, and the circular hole at the lower end is fixed in the slot of the angle adjustment device by bolts.

[0014] Preferably, an L-shaped fixing plate is fixedly installed on the front side of the nozzle slider, a fixing cylinder is fixedly installed on the bottom of the other end of the L-shaped fixing plate, an arc-shaped driving groove is opened on the front side of the fixing cylinder, and a rotating tube with sealed ends is coaxially installed in the fixed cylinder; two connecting tubes are hingedly connected on the rotating tube at intervals along the circumference, and the other ends of the two connecting tubes extend out of the fixing cylinder through the arc-shaped driving groove, the nozzle is fixedly installed on the exposed end of the connecting tube, and the two connecting tubes are perpendicular to each other and can both rotate vertically.

[0015] Preferably, a driving motor is fixedly installed on the L-shaped fixed plate, the lower end of the output shaft of the driving motor passes through the L-shaped fixed plate and is fixedly installed with a third connecting rod, the other end of the third connecting rod is rotatably installed with a second connecting rod, the other end of the second connecting rod is rotatably installed with a first connecting rod, the other end of the first connecting rod is fixedly connected to the rotating tube, and the length of the first connecting rod is greater than the length of the third connecting rod.

[0016] Beneficial effects: Compared with the prior art, the present invention provides a self-propelled multifunctional spray test platform with a unique structure and easy use. The platform integrates multiple functions such as walking, lifting adjustment, spraying, positioning, and image processing, meeting the diverse needs of spray tests. When working, the medicine box provides liquid medicine, which is transported to the spray rod through a diaphragm pump and a medicine supply pipeline. The flow sensor and the pressure sensor monitor the flow and pressure in the pipeline in real time to ensure accurate control of the spray pressure. The solenoid valve nozzle group realizes intermittent operation by controlling the opening and closing of the solenoid valve, and the nozzle spacing and spray volume can be adjusted according to the experimental requirements; by controlling the two The hub motor drives the wheels to rotate differentially, realizing the platform's forward movement and left and right steering functions, and supports automatic mode and remote control mode. In automatic mode, the operating speed and trajectory are preset through the control box, and in remote control mode, it is controlled in real time through the wireless remote control; the stepper motor drives the lead screw to rotate, driving the lifting slider to move up and down, thereby adjusting the height of the spray boom to meet the needs of different spray heights; the Beidou positioning system is used to obtain the platform's coordinate position and heading angle in real time, combined with the pesticide prescription map, to achieve precise variable pesticide application or unmanned autonomous operation. At the same time, industrial cameras collect field information in real time, such as weeds and crop density, to provide data support for target spraying, row spraying, etc.

[0017] To sum up, the self-propelled multifunctional spray test platform provided in this embodiment can realize automatic control and adjustment of spray height, nozzle spacing, spray pressure, and operating speed, and all of them are realized through intelligent control. In addition, it can monitor the instantaneous spray volume, total spray volume, spray pressure and other test parameters in real time. In addition, by integrating the solenoid valve nozzle group and the Beidou positioning system, the image acquisition system, etc., it can realize the preliminary testing work of target spray test based on image processing, precise spray test based on prescription map, unmanned autonomous operation test, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional front view schematic diagram of the structure of the present invention; Figure 2 It is a three-dimensional top view schematic diagram of the structure of the present invention; Figure 3 It is a three-dimensional schematic diagram of the lifting and lowering adjustment device of the present invention; Figure 4 It is a three-dimensional schematic diagram of the universal wheel set of the present invention; Figure 5 It is a three-dimensional schematic diagram of the solenoid valve nozzle group of the present invention; Figure 6 is a three-dimensional schematic diagram of an image processing system of the present invention; Figure 7 It is a schematic diagram of the composition of the spray system of the present invention; Figure 8 It is a three-dimensional schematic diagram of the L-shaped fixing plate structure of the present invention; Fig. 9 It is a three-dimensional schematic diagram of the rotating tube structure of the present invention; Fig.10 It is a front view schematic diagram of the driving slot of the present invention.

[0019] In the figure: 1. Image processing system; 2. Lifting adjustment device; 3. Baffle; 4. Directional antenna; 5. Spray system; 6. Positioning antenna; 7. Rack; 8. Walking system; 9. Solenoid valve nozzle group; 10. Battery pack; 11. Directional antenna base; 12. Overflow valve; 13. Pressure sensor; 14. Diaphragm pump; 15. Pump mounting seat; 16. Positioning antenna base; 17. Medicine box base; 18. Medicine box; 19. Flow sensor; 20. Pressure buffer tank; 21. Control box; 22. Hub motor drive wheel; 23. T-type connecting plate; 24. Horizontal aluminum profile; 25. U-type mounting frame; 26. Fixed seat; 27. Universal wheel; 28. Lower mounting plate; 29. ​​Screw; 30. Spray rod connecting rod; 31. Screw mounting frame; 3 2. Stepper motor; 33. Upper mounting plate; 34. Lifting adjustment device mounting frame; 35. Lifting base; 36. Lifting slider; 37. Spray rod mounting frame; 38. Spray rod; 39. Nozzle slide rail; 40. Nozzle slider; 41. Nozzle; 42. Nozzle control box cover; 43. Aviation plug; 44. Control board; 45. Nozzle control box; 46. Nozzle; 47. Solenoid valve; 48. Nozzle group mounting frame; 49. Angle adjustment device; 50. Horizontal mounting frame; 51. Vertical mounting frame; 52. Industrial camera; 53. Camera mounting frame; 54. L-shaped fixing plate; 55. Driving motor; 56. Fixed cylinder; 57. Rotating tube; 58. Connecting tube; 59. Driving slot; 60. First connecting rod; 61. Second connecting rod; 62. Third connecting rod. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0021] Example 1: This example 1 provides a self-propelled multifunctional spray test platform, which is directly improved on the existing spray test platform and has a unique structure. Figure 1-7 As shown, it includes a frame 7, a walking system 8, a lifting and adjusting device 2, a spray system 5, a control box 21, a battery pack 10, a Beidou positioning system and an image processing system 1. The frame 7 is constructed of aluminum profiles, and each aluminum profile is fixed by a corner seat. The frame 7 includes a mounting frame and four legs fixed to the bottom of the mounting frame, and the mounting frame is equipped with a baffle 3 except the top. The four legs are symmetrically distributed in a rectangular shape. The control box 21 and the battery pack 10 are installed in the rear space of the mounting frame.

[0022] like Figure 3 and Figure 4 As shown, the walking system 8 includes an electric wheel group and a universal wheel group, the two electric wheel groups are symmetrically fixedly installed on the front side of the bottom of the frame 7, and the two universal wheel groups are symmetrically fixedly installed on the rear side of the bottom of the frame 7. The electric wheel group includes a hub motor driving wheel 22, a T-shaped connecting plate 23, a transverse aluminum profile 24 and a U-shaped mounting frame 25. The hub motor driver and the hub motor controller are integrated inside the control box 21. The transverse aluminum profile 24 is fixedly installed on the lower end of the front leg of the frame 7 through the T-shaped connecting plate 23. The U-shaped mounting frame 25 is fixedly installed at the bottom of the transverse aluminum profile 24. The hub motor driving wheel 22 is installed in the U-shaped mounting frame 25. There are many ways to install the U-shaped mounting frame 25, for example: the U-shaped mounting frame 25 is installed below the transverse aluminum profile 24 by bolts, and the hub motor driving wheel 22 is installed in the U-shaped mounting frame 25 by bolts.

[0023] The universal wheel assembly includes a universal wheel 27 and a fixed seat 26. The fixed seat 26 is fixedly mounted on the lower end of the rear support leg of the frame 7, and the universal wheel 27 is fixedly mounted on the bottom of the fixed seat 26. There are many ways to install the universal wheel 27, for example: the universal wheel 27 is fixed to the fixed seat 26 by bolts, and the universal wheel 27 rotates freely around the vertical direction. During operation, the two hub motor driving wheels 22 in front of the frame 7 serve as active wheels, and the two universal wheels 27 behind the frame 7 serve as driven wheels. By controlling the rotation speed of the left and right hub motor driving wheels 22, the two hub motor driving wheels 22 are made to rotate differentially, thereby realizing the functions of the test platform moving forward, turning left and turning right, so as to meet the different operation speed requirements of the spray test; the motion control of the walking system 8 includes an automatic mode and a remote control mode. In the automatic mode, the running speed and running trajectory of the test platform are pre-set through the human-machine interaction interface of the control box 21, and the hub motor controller autonomously controls the running parameters of the hub motor. In the remote control mode, the speed and trajectory of the test platform are controlled by the lever of the wireless remote control.

[0024] like Figure 3 As shown, the lifting and adjusting device 2 is arranged on the front side of the frame 7. There are two lifting and adjusting devices 2. The two lifting and adjusting devices 2 are respectively mounted on the two legs on the front side of the frame 7. The lifting and adjusting device 2 includes a spray rod mounting frame 37, a lifting and adjusting device mounting frame 34, a lifting base 35, an upper mounting plate 33, a lower mounting plate 28, a stepper motor 32, a plum blossom coupling 31, a screw 29, a lifting slider 36, a screw mounting frame 31 and a spray rod connecting rod 30. The stepper motor driver and the stepper motor controller are integrated in the control box 21. The lifting base 35 is fixed to the legs through the lifting and adjusting device mounting frame 34. The upper mounting plate 33 and the lower mounting plate 28 are respectively vertically mounted at both ends of the lifting base 35.

[0025] The stepper motor 32 is fixed on the top of the upper mounting plate 33, the screw mounting frame 31 is installed on the front side of the lifting base 35, the two ends of the screw 29 are respectively installed on the lower mounting plate 28 and the screw mounting frame 31 through bearings, the screw 29 and the stepper motor 32 are connected through a plum blossom coupling 31, the lifting slider 36 is installed on the lifting base 35 along the vertical sliding movement and is threadedly connected to the screw 29, and the spray rod connecting rod 30 is installed on the lifting slider 36 through the spray rod mounting frame 37; there are many ways to install the various components of the lifting adjustment device 2, for example: the stepper motor 32 is fixed above the upper mounting plate 33 by bolts, the screw mounting frame 31 is installed on the front side of the lifting base 35 by bolts, and the lifting slider 36 is opened A threaded hole is provided and is sleeved on the screw rod 29 through the threaded hole. The lifting slider 36 is slidably installed on the lifting base 35 through a guide rail, which is used to limit the freedom of the lifting slider 36 so that it can only move up and down along the lifting base 35. When the screw rod 29 rotates, it can drive the lifting slider 36 to move up and down. One end of the spray rod mounting bracket 37 is sleeved on the spray rod connecting rod 30, and the overlapping part of the spray rod mounting bracket 37 and the spray rod connecting rod 30 is fixed by screws, and the other end of the spray rod mounting bracket 37 is fixedly connected to the lifting slider 36 by bolts; when working, the stepper motor controller controls the stepper motor 32 to rotate forward or reverse, drives the screw rod 29 to rotate, and drives the spray rod connecting rod 30 to move up and down, thereby realizing the adjustment of different spray heights.

[0026] like Figure 2 and Figure 7As shown, the spray system 5 includes a medicine box 18 fixedly installed in the front space of the installation frame, a diaphragm pump 14, a medicine supply pipeline, a flow sensor 19, a pressure sensor 13, an overflow valve 12, and a pressure buffer tank 20, and also includes a spray rod 38 arranged on the output end of the lifting and adjusting device 2, and a plurality of electromagnetic valve nozzle groups 9 with adjustable spacing are arranged on the spray rod 38. There are many ways to install the components in the spray system 5, for example: the spray rod 38 is fixedly installed on two spray rod connecting rods 30, the medicine box base 17 is U-shaped and is installed at the rear of the frame 7 by bolts, the medicine box 18 is installed above the medicine box base 17, the pump mounting seat 15 is fixed to the rear of the frame 7 by bolts, the diaphragm pump 14 is installed at the pump mounting seat 15 by bolts, the flow sensor 19, the pressure sensor 13, the overflow valve 12, and the pressure buffer tank 20. The force sensor 13, the overflow valve 12, and the pressure buffer tank 20 are installed in the drug supply pipeline through a three-way connector, and each pipeline is fixed to the frame 7 by a cable tie; the flow sensor 19 and the pressure sensor 13 respectively obtain the real-time pressure and flow in the pipeline, and the pressure buffer tank 20 is used to compensate for the fluctuation of the pipeline pressure when the solenoid valve 47 is opened and closed. The diaphragm pump 14 is controlled by the single-chip microcomputer of the control box 21. During operation, the target spray pressure is set through the human-computer interaction interface, and the single-chip microcomputer obtains the pipeline pressure in real time through the pressure sensor 13. When the pipeline pressure is less than the target value, the diaphragm pump 14 is controlled to work, otherwise the diaphragm pump 14 is controlled to stop, thereby realizing accurate real-time control of the spray pressure, and the real-time application amount can be obtained through the flow sensor 19.

[0027] Further, such as Figure 5 As shown, the solenoid valve nozzle group 9 includes a nozzle 41, a solenoid valve 47, a nozzle group mounting frame 48, a nozzle 46, a nozzle slide rail 39, a nozzle slider 40, a control panel 44, a nozzle control box 45, a nozzle control box cover 42 and an aviation plug 43. The nozzle slide rail 39 is fixed on the spray rod 38, and a nozzle slider 40 is slidably mounted on the nozzle slide rail 39, and a locking nut is provided on the nozzle slider 40; the nozzle 41 is fixed to the front side of the nozzle slider 40 through the nozzle group mounting frame 48, and a solenoid valve 47 is provided on the nozzle 41. The adjacent two nozzles 41 are connected by a hose, and one of the hoses is connected to the drug supply pipeline. The nozzle 46 is installed in the lower port of the nozzle 41, the nozzle control box 45 is fixedly installed on the valve body of the solenoid valve 47, the control panel 44 is fixed in the nozzle control box 45, and the aviation plug 43 is installed on the top of the nozzle control box 45 and connected to the control box 21.

[0028] There are many ways to install the components of the solenoid valve nozzle group 9, for example: the nozzle slide rail 39 is fixed to the spray rod 38 by bolts, the nozzle slider 40 is mounted on the nozzle slide rail 39 and can move freely along the nozzle slide rail 39, the nozzle slider 40 can be fixed to the corresponding position of the nozzle slide rail 39 by a locking nut, the nozzle group mounting frame 48 is fixed in front of the nozzle slider 40 by bolts, the solenoid valve 47 is fixed in front of the nozzle group mounting frame 48 by bolts, and the nozzle control box 45 includes two upper and lower spaces, wherein the space below the nozzle control box 45 It is mounted on the valve body of the solenoid valve 47, the nozzle control box cover 42 is embedded in the top of the nozzle control box 45, the control board 44 is fixed to the inner side of the nozzle control box cover 42 by two hexagonal studs, the aviation plug 43 is installed above the nozzle control box cover 42 and connected to the control box 21, the solenoid valve nozzle group 9 can move freely along the nozzle slide rail 39, so that the spacing of the nozzles 46 can be changed according to the experimental requirements. In addition, by adopting PWM control or switch control to control the intermittent operation of the solenoid valve nozzle, variable dosage or target dosage can be tested.

[0029] like Figure 1 and Figure 2 As shown, the Beidou positioning system includes a positioning antenna 6, a directional antenna 4, a positioning antenna base 16 and a directional antenna base 11. The positioning antenna base 16 and the directional antenna base 11 are in a "T" shape and are respectively fixed on the frame 7. The positioning antenna 6 and the directional antenna 4 are respectively adsorbed on the corresponding bases by magnetic attraction. The receiving controller of the Beidou positioning system is integrated in the control box 21; there are many ways to install the positioning antenna base 16 and the directional antenna base 11, for example: the positioning antenna base 16 is fixed to the top of the upper beam on the rear side of the frame 7 by bolts, and the directional antenna base 11 is fixed to the top of the middle beam of the frame 7 by bolts; when performing precise spraying based on a prescription map or unmanned autonomous spraying operations, the Beidou positioning system is used to obtain the coordinate position of the nozzle and the heading angle of the test platform in real time, and the amount of pesticide application at the current position is obtained according to the previous pesticide application prescription map, so as to realize precise variable pesticide application, or perform unmanned autonomous operations through a planned path.

[0030] The image processing system 1 includes an industrial camera 52, a control box 21, a camera mounting frame 53, an angle adjustment device 49, a horizontal mounting frame 50 and a vertical mounting frame 51, wherein the vertical mounting frame 51 is vertically mounted at the middle position of the top of the spray rod 38, the horizontal mounting frame 50 is vertically mounted on the top of the vertical mounting frame 51, the angle adjustment device 49 is fixedly mounted at the bottom of the horizontal mounting frame 50 away from the vertical mounting frame 51, the industrial camera 52 is fixed on the camera mounting frame 53 and is mounted on the angle adjustment device 49 through the camera mounting frame 53; the angle adjustment device 49 is fan-shaped, with an arc-shaped slot at the lower end, a circular hole at the center of the arc, and the circular hole at the upper end of the camera mounting frame 53 is fixed to the center hole of the angle adjustment device 49 by bolts , the circular hole at the lower end is fixed in the slot of the angle adjustment device 49 by bolts; there are various ways to install the components in the image processing system 1, for example: the industrial camera 52 is fixed to the camera mounting bracket 53 by bolts, the angle adjustment device 49 is installed under the horizontal mounting bracket 50 by bolts, the horizontal mounting bracket 50 and the vertical mounting bracket 51 as well as the vertical mounting bracket 51 and the spray rod 38 are all fixedly connected by triangular feet, and the angle adjustment of the industrial camera 52 in the vertical direction is achieved by changing the relative position between the camera mounting bracket 53 and the angle adjustment device 49; the image processing system 1 can collect information such as field weeds and operation density in real time, and cooperate with the electromagnetic nozzle group to realize target spraying, row spraying, variable spraying and other experiments.

[0031] The self-propelled multifunctional spray test platform provided by the present invention can realize automatic control and adjustment of spray height, nozzle spacing, spray pressure, and operating speed, and real-time monitoring of test parameters such as instantaneous spray volume, total spray volume, and spray pressure. It can also realize preliminary testing of target spraying and prescription spraying systems by integrating the solenoid valve nozzle group 9, the Beidou positioning system, and the image processing system 1, and has the advantages of multi-function, multi-purpose, and rapid iteration.

[0032] Embodiment 2: Embodiment 2 is different from Embodiment 1 in that Figure 8-10As shown: Example 1 is suitable for when the plants are small. When the plants are large and the branches and leaves are luxuriant, the liquid medicine sprayed by the nozzle 46 will be blocked by the upper leaves, so that the liquid medicine cannot be sprayed to the middle and lower parts of the plant, thereby affecting the effect of the medicine. Therefore, we have fixedly installed an L-shaped fixing plate 54 on the front side of the nozzle slider 40, and a fixing cylinder 56 is fixedly installed at the bottom of the other end of the L-shaped fixing plate 54. An arc-shaped driving groove 59 is opened on the front side of the fixing cylinder 56, and a rotating tube 57 with sealed ends is coaxially installed in the fixing cylinder 56; two connecting tubes 58 are hingedly connected to the rotating tube 57 at intervals along the circumference, and the other ends of the two connecting tubes 58 extend out of the fixed cylinder 56 through the arc-shaped driving groove 59, and the nozzle 46 is fixedly installed at the exposed end of the connecting tube 58, and the two connecting tubes 58 are perpendicular to each other and can rotate vertically; there are many ways to connect the medicine supply pipeline with the nozzle 46, for example: the medicine supply pipeline and the rotating The interior of the tube 57 is connected, and the input end of the nozzle 46 is connected to a hose. The other end of the hose passes through the interior of the connecting tube 58 and is also connected to the interior of the rotating tube 57. A driving motor 55 is fixedly installed on the L-shaped fixing plate 54. The lower end of the output shaft of the driving motor 55 passes through the L-shaped fixing plate 54 and is fixedly installed with a third connecting rod 62. The other end of the third connecting rod 62 is rotatably installed with a second connecting rod 61. The other end of the second connecting rod 61 is rotatably installed with a first connecting rod 60. The other end of the first connecting rod 60 is fixedly connected to the rotating tube 57, and the length of the first connecting rod 60 is greater than the length of the third connecting rod 62. Therefore, when the driving motor 55 drives the third connecting rod 62 to rotate in a circle, the rotating tube 57 will reciprocate by 90°, so that the two connecting tubes 58 will move alternately from the lower part of the left and right sides to the upper part of the front side under the action of the arc-shaped driving groove 59, and then the liquid medicine is sprayed to the middle and lower part of the plant through both sides.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-propelled multifunctional spray test platform, comprising a frame (7), characterized in that: It also includes a walking system (8), a lifting and adjusting device (2), a spray system (5), a control box (21), a battery pack (10), a Beidou positioning system and an image processing system (1); The walking system (8) comprises two electric wheel groups and two universal wheel groups (27), wherein the two electric wheel groups are symmetrically fixedly mounted on the front side of the bottom of the frame (7), and the two universal wheel groups (27) are symmetrically fixedly mounted on the rear side of the bottom of the frame (7). When working, the control box (21) controls the electric wheel groups as active wheels to control the moving speed and moving direction of the experimental platform; The lifting and lowering adjustment device (2) is arranged on the front side of the frame (7), the control box (21) and the battery pack (10) are both installed in the rear space of the frame (7), and the spray system (5) includes a medicine box (18) fixedly installed in the front space of the frame (7), a diaphragm pump (14), a medicine supply pipeline, a flow sensor (19), a pressure sensor (13), an overflow valve (12), and a pressure buffer tank (20), and also includes a spray rod (38) arranged on the output end of the lifting and lowering adjustment device (2), and a plurality of electromagnetic valve nozzle groups (9) with adjustable spacing are provided on the spray rod (38); The input end of the diaphragm pump (14) is connected to the medicine box (18), and the output end is connected to a plurality of electromagnetic valve nozzle groups (9) via a medicine supply pipeline. A flow sensor (19), a pressure sensor (13), an overflow valve (12), and a pressure buffer tank (20) are all installed in the medicine supply pipeline. During operation, the control box (21) controls the diaphragm pump (14) to transport the medicine liquid to the electromagnetic valve nozzle group (9), and realizes precise variable-volume application and unmanned autonomous operation through a Beidou positioning system and an image processing system (1).

2. A self-propelled multifunctional spray test platform according to claim 1, characterized in that: The frame (7) comprises a mounting frame and four legs fixed to the bottom of the mounting frame, and the mounting frame is provided with a baffle (3) except for the top, and the four legs are symmetrically distributed in a rectangular shape. The electric wheel assembly comprises a hub motor driving wheel (22), a T-shaped connecting plate (23), a transverse aluminum profile (24) and a U-shaped mounting frame (25), wherein the transverse aluminum profile (24) is fixedly mounted on the lower end of the front leg of the frame (7) through the T-shaped connecting plate (23), the U-shaped mounting frame (25) is fixedly mounted on the bottom of the transverse aluminum profile (24), the hub motor driving wheel (22) is mounted in the mounting frame, and the universal wheel (27) assembly comprises a universal wheel (27) and a fixing seat (26), wherein the fixing seat is fixedly mounted on the lower end of the rear leg of the frame (7), and the universal wheel (27) is fixedly mounted on the bottom of the fixing seat (26).

3. A self-propelled multifunctional spray test platform according to claim 1, characterized in that: There are two lifting adjustment devices (2), and the two lifting adjustment devices (2) are respectively mounted on two legs on the front side of the frame (7). The lifting adjustment device (2) comprises a spray bar mounting frame (37), a lifting adjustment device mounting frame (34), a lifting base (35), an upper mounting plate (33), a lower mounting plate (28), a stepping motor (32), a plum blossom coupling, a screw (29), a lifting slider (36), a screw mounting frame (31) and a spray bar connecting rod (30). The lifting base (35) is fixed to the legs through the lifting adjustment device mounting frame (34), and the upper mounting plate (33) and the lower mounting plate (28) are respectively vertically mounted at two ends of the lifting base (35).

4. A self-propelled multifunctional spray test platform according to claim 3, characterized in that: The stepper motor (32) is fixed on the top of the upper mounting plate (33), the screw rod mounting frame (31) is mounted on the front side of the lifting base (35), the two ends of the screw rod (29) are respectively mounted on the lower mounting plate (28) and the screw rod mounting frame (31) through bearings, the screw rod (29) and the stepper motor (32) are connected through a plum blossom coupling, the lifting slide block (36) is mounted on the lifting base (35) along a vertical sliding direction and is threadedly connected to the screw rod (29), and the spray rod connecting rod (30) is mounted on the lifting slide block (36) through the spray rod mounting frame (37).

5. The self-propelled multifunctional spray test platform according to claim 1, characterized in that: The spray system (5) further comprises a pump mounting base (15) and a U-shaped medicine box base (17); the medicine box (18) is mounted on the frame (7) via the medicine box base (17); the diaphragm pump (14) is mounted on the frame (7) via the pump mounting base (15); the flow sensor (19), the pressure sensor (13), the overflow valve (12), and the pressure buffer tank (20) are all mounted in the medicine supply pipeline via a three-way connector; and each pipeline is fixed to the frame (7) via a cable tie.

6. The self-propelled multifunctional spray test platform according to claim 1, characterized in that: The solenoid valve nozzle assembly (9) comprises a nozzle (41), a solenoid valve (47), a nozzle assembly mounting frame (48), a nozzle (46), a nozzle slide rail (39), a nozzle slider (40), a control panel (44), a nozzle control box (45), a nozzle control box cover (42) and an aviation plug (43). The nozzle slide rail (39) is fixed on the spray rod (38). The nozzle slider (40) is slidably sleeved on the nozzle slide rail (39). The nozzle slider (40) is provided with a locking nut. The nozzle (41) is fixed to the nozzle assembly mounting frame (48). The mounting frame (48) is fixed on the front side of the nozzle slider (40), a solenoid valve (47) is provided on the nozzle (41), two adjacent nozzles (41) are connected by a hose, and one of the hoses is connected to the drug supply pipeline, the nozzle (46) is installed in the lower port of the nozzle (41), the nozzle control box (45) is fixedly installed on the valve body of the solenoid valve (47), the control panel (44) is fixed in the nozzle control box (45), and the aviation plug (43) is installed on the top of the nozzle control box (45) and connected to the control box (21).

7. The self-propelled multifunctional spray test platform according to claim 1, characterized in that: The Beidou positioning system comprises a positioning antenna (6), a directional antenna (4), a positioning antenna base (16) and a directional antenna base (11); the positioning antenna base (16) and the directional antenna base (11) are in a "T" shape and are respectively fixed on a frame (7); the positioning antenna (6) and the directional antenna (4) are respectively adsorbed on corresponding bases by means of magnetic attraction; and a receiving controller of the Beidou positioning system is integrated inside a control box (21).

8. The self-propelled multifunctional spray test platform according to claim 1, characterized in that: The image processing system (1) comprises an industrial camera (52), a control box (21), a camera mounting frame (53), an angle adjustment device (49), a horizontal mounting frame (50) and a vertical mounting frame (51), wherein the vertical mounting frame (51) is vertically mounted at the middle position of the top of the spray rod (38), the horizontal mounting frame (50) is vertically mounted at the top of the vertical mounting frame (51), the angle adjustment device (49) is fixedly mounted at the bottom of the horizontal mounting frame (50) away from the vertical mounting frame (51), the industrial camera (52) is fixed on the camera mounting frame (53) and mounted on the angle adjustment device (49) through the camera mounting frame (53); the angle adjustment device (49) is fan-shaped, with an arc-shaped slot hole at the lower end, and a circular hole at the center of the arc, the circular hole at the upper end of the camera mounting frame (53) and the center hole of the angle adjustment device (49) are fixed by bolts, and the circular hole at the lower end is fixed in the slot hole of the angle adjustment device (49) by bolts.

9. The self-propelled multifunctional spray test platform according to claim 1, characterized in that: An L-shaped fixing plate (54) is fixedly mounted on the front side of the nozzle slider (40), a fixing cylinder (56) is fixedly mounted on the bottom of the other end of the L-shaped fixing plate (54), an arc-shaped driving groove (59) is opened on the front side of the fixing cylinder (56), and a rotating tube (57) with sealed ends is coaxially mounted in the fixing cylinder (56); two connecting tubes (58) are hingedly mounted on the rotating tube (57) at intervals along the circumference, and the other ends of the two connecting tubes (58) extend out of the fixing cylinder (56) through the arc-shaped driving groove (59), and the nozzle (46) is fixedly mounted on the exposed end of the connecting tube (58), and the two connecting tubes (58) are perpendicular to each other and can rotate vertically.

10. The self-propelled multifunctional spray test platform according to claim 9, characterized in that: A driving motor (55) is fixedly mounted on the L-shaped fixing plate (54); the lower end of the output shaft of the driving motor (55) passes through the L-shaped fixing plate (54) and is fixedly mounted with a third connecting rod (62); the other end of the third connecting rod (62) is rotatably mounted with a second connecting rod (61); the other end of the second connecting rod (61) is rotatably mounted with a first connecting rod (60); the other end of the first connecting rod (60) is fixedly connected to the rotating tube (57); and the length of the first connecting rod (60) is greater than the length of the third connecting rod (62).

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