Automatically-driven agricultural pesticide spraying vehicle and system

Abstract

The invention relates to an automatic-driving agricultural pesticide spraying vehicle and system applied to the agricultural field, and the automatic-driving agricultural pesticide spraying vehicle comprises a self-propelled trolley running in a crop planting area during working, the output end of a driving motor is connected with a rotating rod, a dropper is installed on the outer side of the rotating rod, and a traction pipe is connected to the surface of the rotating rod in a winding mode; the top end of the second pipe body is fixedly sleeved with an extension plate, the bottom of the end, away from the second pipe body, of the extension plate is provided with a servo motor, the output end of the servo motor is connected with a winding rod, and the surface of the winding rod is wound with a movable cable with the tail end connected with the surface of the first spray head; through cooperation of a dropper, a traction pipe and a servo motor, pesticide spraying operation on the surfaces of upper-layer leaves at the top ends of crops can be achieved, meanwhile, comprehensive pesticide spraying management can be conducted on the surfaces of lower-layer leaves and the bottoms of the upper-layer leaves of the crops by means of tilting of a first spray head, and pesticide spraying comprehensiveness is achieved.

Description

Technical Field

[0001] The present invention relates to an agricultural spraying vehicle, and in particular to an automatically driven agricultural spraying vehicle and system used in the agricultural field. Background Art

[0002] Agricultural sprayer is a kind of mechanical equipment specially used for pest control of large-scale crops such as farmland and orchards. It is widely used in pest control in farmland, orchards, forests, nurseries and other places. At the same time, it can also be used for pest control and sanitation disinfection in urban green belts, garden flowers and trees, etc. It is of great significance to improve agricultural production efficiency and ensure the quality of agricultural products.

[0003] The specification of Chinese invention patent CN108902108B discloses a spraying device for farmland irrigation. The spraying mechanism includes a horizontal pipe, a plurality of spray holes are arranged on the lower side of the horizontal pipe, a spray head is connected to the spray holes, a clamp matching the "T"-shaped groove is arranged at one end of the horizontal pipe, a hose is connected to the end of the horizontal pipe, and the hose is connected to the water outlet of the water pump.

[0004] When the existing agricultural spraying device is working, it uses the horizontal pipes installed on both sides of the movable body to achieve efficient spraying treatment. However, during the actual operation of the spraying vehicle, the nozzles at the bottom of the horizontal pipes can only apply pesticides to the top of the crop and the upper leaf surface, resulting in the lower leaves of the crop and the bottom of the upper leaves being unable to be effectively covered with drugs, so the spraying effect is limited. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is how to provide corresponding improved treatment for crops on the sprayer so that the sprayer can cover the bottom of the lower leaves and the upper leaves of the crops with drugs when applying pesticides, thereby improving the spraying effect.

[0006] In order to solve the above problems, the present invention provides an automated agricultural spraying vehicle, comprising a self-propelled vehicle that travels in a crop planting area during operation, two symmetrically arranged obstacle avoidance radars are installed on the front of the self-propelled vehicle, a water tank is installed on the top of the self-propelled vehicle, rotating motors are installed on both sides of the self-propelled vehicle, and the two rotating motors are respectively located on both sides of the water tank, the output ends of the two rotating motors are connected to a lead screw, a moving sleeve is threadedly sleeved on the surface of the lead screw, a driving motor and an image collector located in front of the driving motor are installed on the surface of the moving sleeve, the output end of the driving motor is connected to a rotating rod, a dropper is installed on the outside of the rotating rod, and a plurality of small A stirring blade, a surface of a rotating rod is wound with a plurality of pulling tubes made of elastic material which are arranged at intervals with the small stirring blades, and the tail end of the pulling tube is connected to a first nozzle, the pulling tube comprises a first tube body and a second tube body which is through-connected with the tail end of the first tube body, an extension plate is fixedly sleeved on the outside of the top end of the second tube body, and a servo motor is installed at the bottom of one end of the extension plate which is away from the second tube body, the output end of the servo motor is connected to a winding rod, and a movable rope whose tail end is connected to the surface of the first nozzle is wound on the surface of the winding rod, the interiors of the first tube body and the second tube body are both filled with electrorheological fluid, and the pulling tube is sealed and slidably connected to the dropper, and conductive wires are installed inside the first tube body and the second tube body.

[0007] In the above-mentioned automated agricultural sprayer, the dropper, the pulling tube and the servo motor are used to cooperate to achieve the spraying operation on the surface of the upper leaves at the top of the crop. At the same time, by tilting the first nozzle, comprehensive spraying management can be carried out on the lower leaves of the crop and the bottom surface of the upper leaves, thereby achieving comprehensive spraying.

[0008] As a further improvement of the present application, a submersible pump is installed inside the water tank, the output end of the submersible pump is connected to a hose, and the tail end of the hose is movably connected to the dropper through a rotating joint.

[0009] As a further improvement of the present application, a displacement sensor is installed on the surface of the first nozzle, the first nozzle is connected to the inside of the dropper through an elastic tube, and the weight of the first nozzle, the extension plate and the servo motor is greater than the elastic force of the elastic tube.

[0010] As a further improvement of the present application, a controller is installed inside the self-propelled vehicle, and the controller includes an obstacle avoidance execution module, an image recognition module, an analysis and calculation module, and a switching execution module. The obstacle avoidance execution module is connected to the obstacle avoidance radar signal, and is used to assist the self-propelled vehicle to identify obstacles on the road and avoid obstacles. The image recognition module is connected to the image collector signal, and is used to obtain image data of crops on both sides of the self-propelled vehicle, and transmit the image data to the analysis and calculation module to obtain the height of the crops. The switching execution module is connected to the drive motor and servo motor signal, and is used to adjust the descent height and upward inclination degree of the first nozzle.

[0011] As a further improvement of the present application, the rotating rod is rotatably connected to the inner wall of the end of the dropper close to the driving motor.

[0012] As another improvement of the present application, a second nozzle and an elastic whisk plate are installed on the surface of the dropper, and the elastic whisk plate is located between the first nozzle and the second nozzle, and the arc length between the first nozzle and the second nozzle is less than half of the circumference of the dropper cross section.

[0013] As another improved supplement of the present application, the connection mode between the dropper and the rotating rod is replaced by a fixed connection, and in the initial state, the first nozzle is located directly below the bottom of the dropper.

[0014] As another improvement supplement of the present application, a micro vibrator is arranged on one side surface of the elastic whisk plate close to the second nozzle, and an isolation membrane made of hydrophobic material is installed on one side surface of the micro vibrator close to the second nozzle and the other side surface of the elastic whisk plate.

[0015] The present application provides an agricultural spraying system, including the agricultural spraying vehicle mentioned above.

[0016] To sum up, by using the cooperation of the dropper, the pulling tube and the servo motor, the pesticide application operation on the surface of the upper leaves at the top of the crop can be achieved. At the same time, by relying on the tilting of the first nozzle, the lower leaves of the crop and the bottom surface of the upper leaves can be comprehensively managed for spraying pesticides, thereby achieving comprehensive spraying. In addition, when it is necessary to avoid spraying pesticides on the top tender shoots, the drive motor can be started to drive the rotation of the dropper and the surface elastic brush plate to isolate the top tender shoots, and the drainage of the medicine on the outer surface of the leaves can be achieved through the toggle operation to make up for the problem of insufficient coverage of medicine in the overlapping projection area. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the first and second implementation modes of the present application; Figure 2 For this application Figure 1 A is an enlarged schematic diagram; Figure 3 This is a diagram showing the internal structure of a dropper according to a first embodiment of the present application; Figure 4 This is a schematic diagram of the installation of a dropper, a pulling tube, a first nozzle, and a servo motor according to the first embodiment of the present application; Figure 5 This is a diagram of the first nozzle in the first embodiment of the present application in a tilted state; Figure 6 This is an installation diagram of the first tube body, the second tube body and the extension plate in the first embodiment of the present application; Figure 7This is a state diagram of the first nozzle operating on the bottom surface of the blade in the first embodiment of the present application; Figure 8 This is a structural diagram of an elastic whisk plate and a second nozzle according to a second embodiment of the present application; Fig. 9 This is a structural diagram of an elastic floating plate according to a second embodiment of the present application; Fig.10 This is a working diagram of the elastic floating plate of the second embodiment of the present application; Fig.11 This is a diagram showing the liquid medicine drainage state of the blade surface of the second embodiment of the present application being on the outer surface of the blade; Description of the numbers in the figure: 1. Self-propelled trolley; 2. Water tank; 3. Obstacle avoidance radar; 4. Image collector; 5. Driving motor; 6. Lead screw; 7. Rotating motor; 8. Dropper; 81. Rotating rod; 9. Pulling tube; 91. First tube body; 92. Second tube body; 10. First nozzle; 101. Second nozzle; 11. Servo motor; 12. Movable rope; 13. Extension plate; 14. Elastic brush plate; 141. Isolation membrane; 142. Micro vibrator. DETAILED DESCRIPTION

[0018] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0019] The first implementation method: Figure 1-4 and Figure 6 An automated agricultural spraying vehicle is shown, comprising a self-propelled vehicle 1 that travels in a crop planting area during operation, two symmetrically arranged obstacle avoidance radars 3 are installed on the front of the self-propelled vehicle 1, a water tank 2 is installed on the top of the self-propelled vehicle 1, rotating motors 7 are installed on both sides of the self-propelled vehicle 1, and the two rotating motors 7 are respectively located on both sides of the water tank 2, the output ends of the two rotating motors 7 are connected to a lead screw 6, the surface of the lead screw 6 is threadedly sleeved with a moving sleeve, the surface of the moving sleeve is installed with a driving motor 5 and an image collector 4 located in front of the driving motor 5, the output end of the driving motor 5 is connected to a rotating rod 81, and the outer side of the rotating rod 81 is installed with a drip Tube 8, a plurality of small stirring blades are equidistantly arranged on the surface of the rotating rod 81, a plurality of pulling tubes 9 made of elastic material and arranged at intervals with the small stirring blades are wound around the surface of the rotating rod 81, and the tail end of the pulling tube 9 is connected to the first nozzle 10, the pulling tube 9 includes a first tube body 91 and a second tube body 92 which is through-connected to the tail end of the first tube body 91, an extension plate 13 is fixedly sleeved on the top outside of the second tube body 92, and a servo motor 11 is installed at the bottom of the end of the extension plate 13 away from the second tube body 92, the output end of the servo motor 11 is connected to a winding rod, and a movable rope 12 connected to the surface of the first nozzle 10 at the tail end is wound around the surface of the winding rod.

[0020] The first tube body 91 and the second tube body 92 are both filled with electrorheological fluid, and the pulling tube 9 and the dropper 8 are sealed and slidably connected, and conductive wires are installed inside the first tube body 91 and the second tube body 92.

[0021] A submersible pump is installed inside the water tank 2, and a hose is connected to the output end of the submersible pump, and the tail end of the hose is movably connected to the dropper 8 through a rotating joint.

[0022] The rotating rod 81 is rotatably connected to the inner wall of the end of the dropper 8 close to the driving motor 5 .

[0023] An agricultural spraying system is provided, comprising the agricultural spraying vehicle mentioned above.

[0024] Specifically, during the movement of the self-propelled trolley 1, the submersible pump can deliver the mixed and configured medicine in the water tank 2 to the dropper 8, and then the medicine in the dropper 8 is transferred to the first nozzle 10 through the elastic tube to slowly spray the medicine onto the leaf surface of the crop; When it is necessary to spray the lower leaves and the bottom of the leaves of the crop, the driving motor 5 can be used to rotate the rotating rod 81 in the reeling state, thereby releasing the pulling tube 9, so that the first nozzle 10 can be lowered (compared with the direct descent of the dropper 8, the pulling tube 9 and the first nozzle 10 have a smaller contact area with the leaves of the crop when falling, and can fall from the gap between the leaves of the crop, thereby avoiding downward pressure damage to the tender branches where the leaves of the crop are located during the falling process), so that the first nozzle 10 can fall to the lower area of ​​the crop, and then the servo motor 11 is started to drive the reeling rod to gradually reel in, and then drive the movable rope 12 to gradually reel in, which can drive the first nozzle 10 to gradually flip up (such as Figure 5 As shown in the figure), the surface of the lower leaves of the crop and the bottom of the leaves can be sprayed, so that the comprehensive treatment of the leaf surface can be achieved (as shown in the figure). Figure 7 shown); When it is necessary to move the first nozzle 10 upward, the servo motor 11 can be used to rotate in the reverse direction, so that the first nozzle 10 is restored from the tilted state to the vertical state (that is, directly below the dropper 8), and then the driving motor 5 is driven to rotate in the reverse direction to drive the pulling tube 9 to be reeled and pulled, so that the first nozzle 10 can be lifted above the crop and wait to follow the self-propelled trolley 1 to move to the next working area to perform the operation of applying pesticides above the crop.

[0025] In addition, the first tube body 91 and the second tube body 92 remain unpowered during the falling process of the first nozzle 10, and when the first nozzle 10 starts to rotate and adjust, the first tube body 91 is partially powered on and solidified, thereby providing stable support for the extension plate 13, ensuring that the subsequent adjustment of the first nozzle 10 is stable; When the first tube body 91 is rolled into the dropper 8 and the first nozzle 10 is directly below the dropper 8, the second tube body 92 is energized and solidified, thereby maintaining the vertical state of the first nozzle 10 and preventing the second tube body 92 from shaking when following the automatic trolley 1 when it is not solidified, thereby affecting the duration of the application range.

[0026] Moreover, the height of the dropper 8 can be adjusted by rotating the motor 7 and the lead screw 6 to adapt to crops with different application heights due to different types of action, that is, the application height of the first nozzle 10 can be adjusted when it is directly below the dropper 8.

[0027] A displacement sensor is installed on the surface of the first nozzle 10 . The first nozzle 10 is connected to the inside of the dropper 8 through an elastic tube. The weight of the first nozzle 10 , the extension plate 13 and the servo motor 11 is greater than the elastic force of the elastic tube.

[0028] Specifically, the displacement sensor can assist in understanding the specific falling distance of the first nozzle 10 when the first nozzle 10 falls to the lower area of ​​the crop, and realize the supply of medicine during the falling process of the first nozzle 10 through the elastic tube.

[0029] A controller is installed inside the self-propelled vehicle 1, and the controller includes an obstacle avoidance execution module, an image recognition module, an analysis and calculation module, and a switching execution module. The obstacle avoidance execution module is connected to the obstacle avoidance radar 3 by signal, and is used to assist the self-propelled vehicle 1 in identifying obstacles on the road and avoiding obstacles. The image recognition module is connected to the image collector 4 by signal, and is used to obtain image data of crops on both sides of the self-propelled vehicle 1, and transmit the image data to the analysis and calculation module to obtain the height of the crops. The switching execution module is connected to the drive motor 5 and the servo motor 11 by signal, and is used to adjust the descent height and upward inclination degree of the first nozzle 10.

[0030] Specifically, when avoiding obstacles, the obstacle avoidance radar 3 can be used to identify obstacles in the process of the self-propelled vehicle 1 moving, so as to avoid the obstacles; The image collector 4 is used to collect crop images on both sides of the self-propelled vehicle 1, and cooperate with the analysis and calculation module to determine the stretch degree of leaves on the crop surface and the vertical distance between two layers of leaves on the crop surface, thereby providing a reference basis for the subsequent falling distance of the first nozzle 10, and further providing a reference basis for the execution degree of the drive motor 5 and the servo motor 11 in the subsequent switching execution module.

[0031] The second implementation method: Figure 8-9 It is shown that the surface of the dropper 8 is installed with a second nozzle 101 and an elastic whisk plate 14 , and the elastic whisk plate 14 is located between the first nozzle 10 and the second nozzle 101 , and the arc length between the first nozzle 10 and the second nozzle 101 is less than half of the cross-sectional circumference of the dropper 8 .

[0032] The connection mode between the dropper 8 and the rotating rod 81 is replaced by a fixed connection, and the first nozzle 10 is located directly below the bottom of the dropper 8 in the initial state.

[0033] A micro vibrator 142 is arranged on one side of the elastic blowing plate 14 close to the second nozzle 101 , and an isolation membrane 141 made of a hydrophobic material is installed on one side of the micro vibrator 142 close to the second nozzle 101 and on the other side of the elastic blowing plate 14 .

[0034] Different from the first embodiment, this embodiment is mainly used for avoiding the top tender shoots during the spraying process to manage the application of pesticides. In this embodiment, the dropper 8 is fixedly connected to the rotating rod 81, which means that when the driving motor 5 drives the rotating rod 81 to rotate, the rotating rod 81 and the dropper 8 rotate synchronously.

[0035] Specifically, Fig.10 As shown, when the self-propelled trolley is about to move to the top tender bud position of the crop, the first nozzle 10 stops spraying and starts the driving motor 5 to drive the dropper 8 to rotate slightly, drive the elastic brush plate 14 to rotate, and the top tender bud of the crop is moved, which can cause the top part of the crop to tilt slightly. At this time, the second nozzle 101 is turned on and sprays the pesticide, which can avoid spraying the pesticide on the tender bud. Fig.11 It is shown that the leaves on the raised side of the crop can also be drained, so that the medicine dripped on the outer area of ​​the leaves can flow along the area of ​​the leaves close to the branches under the action of gravity, thereby increasing the medicine coverage rate on the leaf surface (because when spraying vertically, there is overlap in the projections of the upper and lower leaves, which will inevitably make it difficult for the overlapping area of ​​the lower leaf surface projection to be covered by the medicine, resulting in low quality of spraying).

[0036] Afterwards, the driving motor 5 continues to rotate, allowing the second nozzle 101 to pass over the top tender shoots of the crop. Then, the driving motor 5 rotates in the opposite direction, driving the elastic brush plate 14 to move the top tender shoots in the opposite direction. At this time, the first nozzle 10 is started and the second nozzle 101 is closed, so that the leaf surface on the other side of the crop can be drained of the medicine.

[0037] In this process, the design of the isolation membrane 141 can play a better isolation role and can isolate the medicine when the buds are moved. In this process, the micro vibrator 142 is started to drive the elastic brush plate 14 to vibrate, clean the medicine on the surface, and avoid contact with the surface of the buds when the buds are moved in the opposite direction.

[0038] When switching between the first embodiment and the second embodiment, a micro hydraulic rod located inside the dropper 8 can be installed on the surface of the rotating rod 81, and the movable end of the micro hydraulic rod can be plugged into the inside of the dropper 8 (the micro hydraulic rod is not shown). When the micro hydraulic rod is plugged into the inner wall of the dropper 8, the dropper 8 rotates synchronously with the rotating rod 81, otherwise the dropper 8 does not rotate when the rotating rod 81 rotates.

[0039] In summary, the present application utilizes the cooperation of the dropper 8, the pulling tube 9 and the servo motor 11 to realize the operation of applying pesticides on the surface of the upper leaves at the top of the crop. At the same time, by relying on the tilting of the first nozzle 10, it can carry out comprehensive spraying management on the lower leaves of the crop and the bottom surface of the upper leaves, thereby realizing comprehensive spraying. In addition, when it is necessary to avoid applying pesticides to the top tender shoots during spraying, the drive motor 5 can be started to drive the rotation of the dropper 8 and the surface elastic brush plate 14 to isolate the top tender shoots, and the drainage of the medicine on the outer surface of the leaves can be achieved through the toggling operation to make up for the problem of insufficient coverage of medicine in the overlapping projection area.

[0040] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An automated agricultural spraying vehicle, comprising a self-propelled vehicle (1) that travels within a crop planting area during operation, characterized in that: Two symmetrically arranged obstacle avoidance radars (3) are installed on the front of the self-propelled vehicle (1); a water tank (2) is installed on the top of the self-propelled vehicle (1); rotating motors (7) are installed on both sides of the self-propelled vehicle (1), and the two rotating motors (7) are respectively located on both sides of the water tank (2); the output ends of the two rotating motors (7) are connected to a lead screw (6); a movable sleeve is threadedly sleeved on the surface of the lead screw (6); a drive motor (5) and an image collector (4) located in front of the drive motor (5) are installed on the surface of the movable sleeve; the output end of the drive motor (5) is connected to a rotating rod (81); a dropper (8) is installed on the outside of the rotating rod (81); a plurality of small stirring blades are equidistantly arranged on the surface of the rotating rod (81); a plurality of small stirring blades are wound around the surface of the rotating rod (81) and are arranged at intervals from the small stirring blades. A pulling tube (9) is made of elastic material, and the tail end of the pulling tube (9) is connected to a first nozzle (10). The pulling tube (9) comprises a first tube body (91) and a second tube body (92) connected to the tail end of the first tube body (91). An extension plate (13) is fixedly sleeved on the top of the second tube body (92), and a servo motor (11) is installed at the bottom of the end of the extension plate (13) away from the second tube body (92). The output end of the servo motor (11) is connected to a winding rod, and a movable rope (12) whose tail end is connected to the surface of the first nozzle (10) is wound around the surface of the winding rod. The first tube body (91) and the second tube body (92) are filled with electrorheological fluid, and the pulling tube (9) is sealed and slidably connected to the dropper (8), and the first tube body (91) and the second tube body (92) are installed with conductive wires.

2. The automated agricultural spraying vehicle according to claim 1, characterized in that: A submersible pump is installed inside the water tank (2), the output end of the submersible pump is connected to a hose, and the tail end of the hose is movably connected to the dropper (8) via a rotating joint.

3. The automated agricultural spraying vehicle according to claim 1, characterized in that: A displacement sensor is installed on the surface of the first nozzle (10), the first nozzle (10) is connected to the inside of the drip tube (8) through an elastic tube, and the weight of the first nozzle (10), the extension plate (13) and the servo motor (11) is greater than the elastic force of the elastic tube.

4. The automated agricultural spraying vehicle according to claim 1, characterized in that: A controller is installed inside the self-propelled vehicle (1), and the controller includes an obstacle avoidance execution module, an image recognition module, an analysis and calculation module, and a switching execution module. The obstacle avoidance execution module is connected to the obstacle avoidance radar (3) by signal, and is used to assist the self-propelled vehicle (1) in identifying obstacles on the road and avoiding the obstacles. The image recognition module is connected to the image collector (4) by signal, and is used to obtain image data of crops on both sides of the self-propelled vehicle (1), and transmit the image data to the analysis and calculation module to obtain the height of the crops. The switching execution module is connected to the drive motor (5) and the servo motor (11) by signal, and is used to adjust the descending height and upward tilt degree of the first nozzle (10).

5. The automated agricultural spraying vehicle according to claim 1, characterized in that: The rotating rod (81) is rotatably connected to the inner wall of the end of the dropper (8) close to the driving motor (5).

6. The automated agricultural spraying vehicle according to claim 5, characterized in that: A second nozzle (101) and an elastic whisk plate (14) are installed on the surface of the drip tube (8), and the elastic whisk plate (14) is located between the first nozzle (10) and the second nozzle (101), and the arc length between the first nozzle (10) and the second nozzle (101) is less than half the circumference of the cross section of the drip tube (8).

7. The automated agricultural spraying vehicle according to claim 6, characterized in that: The connection mode between the dropper (8) and the rotating rod (81) is replaced by a fixed connection, and in the initial state, the first nozzle (10) is located directly below the bottom of the dropper (8).

8. The automated agricultural spraying vehicle according to claim 6, characterized in that: A micro vibrator (142) is arranged on a surface of one side of the elastic whisk plate (14) close to the second nozzle (101), and an isolation membrane (141) made of a hydrophobic material is installed on a surface of one side of the micro vibrator (142) close to the second nozzle (101) and on another surface of the elastic whisk plate (14).

9. An agricultural spraying system, characterized in that: An agricultural spraying vehicle comprising any one of claims 1 to 8.

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