An unmanned strip composite planting zonary sprayer

Abstract

This invention relates to the field of agricultural machinery technology, specifically to an unmanned strip-type sprayer for integrated crop planting. It includes three foldable spray booms, a boom lifting mechanism, and a chassis assembly. One end of the boom lifting mechanism is mounted in front of the chassis assembly, and the other end is used to mount the three foldable spray booms. Each foldable spray boom includes a side spray boom, a center spray boom, an electric telescopic boom, a nozzle assembly, and a spray boom mounting bracket. The center spray boom is located directly in front of the chassis assembly, and two sets of side spray booms are symmetrically arranged at both ends of the center spray boom and can rotate around its end. This invention achieves full-process automation, from warehousing and field operation to storage, effectively saving manpower and ensuring accurate and efficient pesticide spraying. The wheel track and operating parameters are adjustable, and combined with a range-extended mode, it further improves operating efficiency and machine performance, thereby enhancing the automation and intelligence level of the plant protection sprayer.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an unmanned strip-type sprayer for composite planting. Background Technology

[0002] Soybean-corn strip intercropping is an agricultural technology promoted by the Ministry of Agriculture and Rural Affairs in recent years. By adopting a wide-narrow row intercropping method, generally with 4-6 rows of soybeans and 2-4 rows of corn, it can give full play to the advantages of the high-position crops along the edge and expand the light-receiving space of the low-position crops, achieving a double harvest of soybeans and corn in one season, which is of great significance to ensuring soybean food security.

[0003] Plant protection spraying is a crucial step in ensuring the successful implementation of soybean-corn strip intercropping. Since soybeans and corn belong to different families, mixing herbicides after emergence can lead to severe phytotoxicity. Therefore, it is necessary to spray weeds separately on soybean and corn seedling strips. Patent publications CN112616802A, CN112753677A, and CN112088855A disclose a strip-type boom sprayer specifically designed for soybean-corn strip intercropping, which can basically meet the strip spraying requirements of this type of cropping. However, most of the aforementioned split-band boom sprayers are based on existing flat-operated boom sprayers with the addition of baffles. The overall structure is still mainly mechanical and manually operated, and the operation is mainly carried out by people. The level of electrification, automation and intelligence of the whole machine is not high. In addition, when storing the sprayer, the unfolded baffle will also take up a lot of space, making the machine inconvenient to store.

[0004] Therefore, there is an urgent need to design a fully electric and fully automated unmanned soybean-corn strip intercropping sprayer to improve operational efficiency and reduce labor costs. Summary of the Invention

[0005] To address the aforementioned deficiencies and problems, this invention provides an unmanned strip-type sprayer for integrated planting. Through full-process automation, from warehousing and field operations to storage, it effectively saves manpower and ensures accurate and efficient pesticide spraying. Furthermore, the wheel track and operating parameters are adjustable. Combined with the range extender mode, it further improves operating efficiency and machine performance, thereby enhancing the automation and intelligence level of the plant protection sprayer.

[0006] The solution adopted by this invention to solve its technical problem is: an unmanned strip-type sprayer for composite planting, comprising three foldable spray booms, a spray boom lifting mechanism, and a chassis assembly. One end of the spray boom lifting mechanism is installed in front of the chassis assembly, and the other end is used to install the three foldable spray booms. Each foldable spray boom includes a side spray boom, a center spray boom, an electric telescopic boom, a nozzle assembly, and a spray boom mounting bracket. The center spray boom is located directly in front of the chassis assembly. Two sets of side spray booms are symmetrically arranged at both ends of the center spray boom and can rotate around its ends. An electric telescopic boom mounting bracket is welded to the rear of the side spray booms and the center spray boom. Both ends of the telescopic boom are mounted on the electric telescopic boom mounting bracket via axle pins. Nozzle mounting pipes are installed below the side spray booms and center spray booms. The nozzle assembly is fixed to the three-section foldable spray boom via the nozzle mounting bracket, which is bolted to the rear of the spray boom profile. Baffle assemblies are installed on the three-section foldable spray booms, evenly distributed on both sides of the side spray booms and perpendicular to them, for blocking the spray. A baffle movable unit is installed on the three-section foldable spray booms to control the baffle assembly from the unfolded state to the folded state; this baffle movable unit is further divided into manual control and automatic drive.

[0007] Furthermore, a side spray bar limiting plate and a center spray bar limiting plate are respectively installed at the opposite ends of the side spray bar and the center spray bar, and the side spray bar limiting plate and the center spray bar limiting plate are installed through a cylindrical pin, so that the side spray bar and the center spray bar can rotate freely around the cylindrical pin. A limit switch is installed on the center spray bar limiting plate. When the side spray bar limiting plate is rotated and touches the limit switch, the side spray bar reaches the limit position of rotation.

[0008] Furthermore, the baffle assembly includes a folding baffle, which is composed of two symmetrically arranged sets of support frames and a flexible baffle. The flexible baffle is fixed inside the support frames, and the two sets of support frames are connected in the middle by a folding splice to form a complete folding baffle.

[0009] Furthermore, the baffle movable unit includes a manual folding mechanism, which includes a baffle mounting frame, an outer sleeve, and an inner sleeve. The baffle mounting frame is installed above the side spray bar profile with a clearance fit between the two. Fixed plates are symmetrically installed on both sides of the lower end of the baffle mounting frame. The outer sleeve is vertically welded to the bottom of the fixed plate, and the inner sleeve is fitted inside the outer sleeve. The inner corners of the folding baffle are respectively welded to the bottom of the two inner sleeves. Two bolt holes perpendicular to the axis and staggered by 90 degrees are opened on the outer sleeve, and one bolt hole perpendicular to the axis is opened on the inner sleeve. The outer sleeve and the inner sleeve are fixed by bolts.

[0010] Furthermore, the cylindrical pin includes a fixed pin seat fixed to the center spray bar limiting plate and a movable pin fixed to the side spray bar limiting plate. The movable pin is movably fitted inside the fixed pin seat. When the side spray bar is folded, the movable pin rotates inside the fixed pin seat, so that the side spray bar completes the rotation and folding.

[0011] Furthermore, the baffle assembly includes a rotating baffle, and the side spray bar has multiple perforated sleeves. The rotating baffle includes a central rotating shaft and a flat baffle. The central rotating shaft is rotatably fitted into the perforated sleeves, and the flat baffle is fixed on the central rotating shaft. A boss is fixed at the upper end of the central rotating shaft.

[0012] Furthermore, the baffle movable unit includes a linkage drive mechanism, which includes a hinge seat and a movable push rod. The hinge seats are fixed at the upper ends of the two bosses and the movable pin. The hinge seats at both ends are U-shaped seats with their openings facing each other. The hinge seat in the middle is set on the inner central rotating shaft and is I-shaped. A pin is provided at the end of each hinge seat. Adjacent hinge seats are connected by two parallel movable push rods. The movable push rods have flat holes at both ends, and the pins are located in the flat holes. Two parallelogram linkage mechanisms are formed by the hinge seats and the movable push rods.

[0013] Furthermore, the boom lifting mechanism includes a support plate assembly, an electro-hydraulic push rod, an upper connecting rod of the push rod, a lower connecting rod of the push rod, a push rod fixing frame, an upper connecting frame, and a lower connecting rod. The support plate assembly and the push rod fixing frame are welded and fixed to the two sides and the middle position of the front beam of the frame, respectively. The rear of the upper connecting frame is connected to the support plate assembly via a pin, and the front is installed to the boom mounting frame via a pin. The lower connecting rod is connected to the support plate assembly and the boom mounting frame via a pin. The upper connecting frame and the lower connecting rod are arranged parallel to each other and form a parallel linkage mechanism. The rear end of the upper connecting rod of the push rod is fixed to the push rod fixing frame via a pin. The lower end of the lower connecting rod of the push rod is installed on the upper connecting frame via a pin, and the upper connecting rod and the lower connecting rod of the push rod are connected by a pin. The upper end of the electro-hydraulic push rod is installed on the upper connecting rod of the push rod via a pin, and the lower end is installed on the push rod fixing frame via a pin.

[0014] Furthermore, the walking chassis assembly includes four wheel assemblies, a frame, a range extender, a power battery, and a range extender controller. The range extender, power battery, and range extender controller are respectively fixed to the top of the frame with bolts. The four wheel assemblies are respectively fixed to the four corners of the frame with bolts. A protective shell is installed on the top of the frame.

[0015] The wheel assembly includes a wheel, a hub motor, a rotating shaft, a hub support frame, a steering bracket, a worm gear reducer, a steering motor, and a motor base. The wheel and hub motor are fixed together by bolts and mounted on the hub support frame via the rotating shaft. The hub support frame is mounted on the steering bracket via bearings. The worm gear reducer is fixed on the steering bracket and connected to the shaft of the hub support frame below. The steering motor is mounted on the motor base and connected to the worm of the worm gear reducer.

[0016] Furthermore, it also includes a soybean and corn dual spray system and an unmanned driving control unit. The soybean and corn dual spray system includes two sets of medicine tanks, diaphragm pumps, spray valve groups, pipelines and nozzle assemblies. The medicine tanks, filters, diaphragm pumps, spray valve groups and nozzle assemblies are connected in sequence through pipelines to realize the flow of medicine from the medicine tanks to the nozzles.

[0017] The unmanned driving control unit includes a Beidou positioning system control terminal, a positioning antenna, a directional antenna, a gyroscope, and a main controller. The positioning antenna and the directional antenna are respectively installed at the front and rear of the machine. The directional antenna and the positioning antenna are combined to obtain the heading angle of the machine to realize the positioning and orientation function. The Beidou positioning system control terminal is installed at the left rear of the frame and integrates a display screen, a 4G communication module, and a Beidou navigation receiving module. The gyroscope is installed at the center of the front beam of the chassis to provide heading and attitude information. The main controller is installed at the front of the frame to receive signals from the Beidou positioning system control terminal and the gyroscope, and to send control signals to realize the drive control of the actuators.

[0018] The beneficial effects of the present invention are: (1) The range-extended hybrid power system is adopted, and the SOC power following strategy and fuzzy control energy management strategy are developed. According to the vehicle's operating status and needs, reasonable control rules are formulated to ensure that the range-extended engine works in the most economical working conditions while meeting the power demand. This eliminates the problems of high energy consumption and high environmental pollution caused by the internal combustion engine of the traditional boom sprayer, and avoids the problem of short driving time of the pure electric system.

[0019] (2) An independent drive system assembly with four-wheel motors and reducers was designed. Each wheel assembly can be independently steered and driven, which significantly improves transmission and drive efficiency. The four-wheel independent drive can realize the lateral movement of the whole vehicle and the four-wheel steering. The turning radius is smaller, making it more flexible and convenient to operate in scenarios such as turning at the edge of the field and when the road space is small. It also integrates an unmanned driving control unit and an automated control system. The control and operation of each actuator can be realized through remote control. In specific scenarios, it can realize the unmanned operation of the whole process from leaving the warehouse, field operation and entering the warehouse, effectively reducing the dependence on manual operation, improving the operation efficiency and intelligence level, and laying the foundation for the realization of unmanned farms in the future.

[0020] (3) Through the cooperation of electric actuators such as electric telescopic rods and electric hydraulic push rods, the automatic unfolding and folding of the spray bar and the automatic lifting of the spray bar are realized, thereby reducing manual operation and improving work efficiency; and a rotatable and foldable baffle assembly is designed. When the baffle assembly is in the unfolded state, it is used to isolate the herbicide in the corn seedling strip and the soybean seedling strip to avoid the drift of different herbicides and cause phytotoxicity; when the baffle assembly is in the folded state, it is parallel to the spray bar, reducing the overall space of the machine, improving the passability, and facilitating subsequent transportation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the spray boom lifting mechanism of the present invention;

[0023] Figure 3 This is a schematic diagram of the three-section foldable spray bar structure of the present invention;

[0024] Figure 4 for Figure 2 A magnified view of a section at point A in the middle;

[0025] Figure 5 This is a schematic diagram of the unfolded state of the folding baffle in this invention;

[0026] Figure 6 A schematic diagram of the folded state of the folding baffle in this invention;

[0027] Figure 7 This is a rear view of the chassis assembly of the present invention;

[0028] Figure 8 This is a three-dimensional structural diagram of the chassis assembly of the present invention;

[0029] Figure 9 This is a three-dimensional structural schematic diagram of the wheel assembly of the present invention;

[0030] Figure 10 This is a schematic diagram of the structure of the rotating baffle of the present invention before rotation;

[0031] Figure 11 Figure 10 A magnified view of a section at point B in the middle;

[0032] Figure 12 This is a schematic diagram of the cooperative structure of the rotating baffle and the three-section foldable spray bar of the present invention;

[0033] Figure 13 This is a schematic diagram of the rotational changes of the rotating baffle of the present invention;

[0034] Figure 14 This is a schematic diagram of the rotating baffle of the present invention after rotation;

[0035] Figure 15 This is a schematic diagram of the top baffle structure of the present invention;

[0036] Figure 16 This is a schematic diagram showing the folding changes of the top baffle of the present invention;

[0037] Figure 17 This is a schematic diagram of the structural composition of the soybean and corn dual-spray system of the present invention.

[0038] In the diagram: 1. Three-section foldable spray boom; 101. Center spray boom; 102. Side spray boom; 11. Spray boom mounting bracket; 12. Nozzle assembly; 13. Side spray boom limiting plate; 14. Center spray boom limiting plate; 15. Limit switch; 16. Cylindrical pin; 161. Fixed pin seat; 162. Movable pin; 17. Electric telescopic boom; 18. Electric telescopic boom mounting bracket; 19. Nozzle mounting bracket; 110. Nozzle mounting tube; 111. Hole sleeve;

[0039] 2. Baffle assembly; 2a. Folding baffle; 21. Support frame; 22. Flexible baffle; 23. Folding splice part; 2b. Rotating baffle; 24. Central pivot; 25. Flat baffle; 26. Boss; 27. Limiting flange; 2c. Top baffle; 28. V-shaped baffle; 29. ​​Straight groove part;

[0040] 3. Baffle movable unit; 3a. Manual folding mechanism; 31. Outer sleeve; 32. Inner sleeve; 33. Fixing plate; 34. Fastening bolt; 35. Baffle mounting bracket; 36. T-bolt; 3b. Linkage drive mechanism; 37. Hinge seat; 371. U-shaped seat; 372. I-shaped seat; 38. Movable push rod; 39. Flat hole;

[0041] 4. Boom lifting mechanism; 41. Upper connecting frame; 42. Support plate assembly; 43. Lower connecting rod of push rod; 44. Upper connecting rod of push rod; 45. Electro-hydraulic push rod; 46. Push rod fixing frame; 47. Lower connecting rod;

[0042] 5. Directional antenna; 6. Chassis assembly; 60. Protective shell; 61. Power battery; 62. Diaphragm pump I; 63. Medicine tank I; 64. Medicine tank II; 65. Range extender; 66. Beidou positioning system control terminal; 67. Range extender controller; 68. Diaphragm pump II; 69. Frame; 610. Gyroscope; 611. Spray valve assembly I; 612. Spray valve assembly II;

[0043] 7. Wheel assembly; 71. Wheel; 72. Rotating shaft; 73. Hub motor; 74. Hub support frame; 75. Steering bracket; 76. Steering motor; 77. Worm gear reducer; 78. Motor base; 79. Motor cover; 710. Main controller; 8. Positioning antenna. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0045] Please see Figure 1-17 This invention provides a technical solution for an unmanned strip-type sprayer for integrated crop planting. The unmanned soybean-corn strip-type sprayer of this invention automates the entire process, from warehousing and field operation to storage, effectively saving manpower and ensuring accurate and efficient pesticide spraying. The wheel track and operating parameters are adjustable, and with the range extender mode, the operating efficiency and machine performance are further improved. In addition, it can adapt to various planting modes, and the operation is highly flexible and efficient. Example 1

[0046] according to Figure 1 As shown, this embodiment provides an unmanned strip-type sprayer for integrated planting, including a three-section foldable spray bar 1, a spray bar lifting mechanism 4, a walking chassis assembly 6, a soybean and corn dual spraying system, and an unmanned driving control unit. One end of the spray bar lifting mechanism 4 is installed in front of the walking chassis assembly 6, and the other end is used to install the three-section foldable spray bar 1. A baffle assembly 2 is provided on the three-section foldable spray bar 1.

[0047] like Figure 1 , Figure 3 and Figure 4As shown, the three-section foldable spray boom 1 includes a side spray boom 102, a center spray boom 101, a side spray boom limiting plate 13, a center spray boom limiting plate 14, a limit switch 15, an electric telescopic boom 17, an electric telescopic boom mounting bracket 18, a spray boom mounting bracket 11, a cylindrical pin 16, a nozzle mounting tube 110, a nozzle mounting bracket 19, and a nozzle assembly 12. The side spray bar 102 and the center spray bar 101 are made of aluminum alloy profiles. The side spray bar limiting plate 13 and the center spray bar limiting plate 14 are fixed to the opposite ends of the side spray bar 102 and the center spray bar 101 respectively by bolts. A perforated cylinder is welded at the bend of the side spray bar limiting plate 13, and two perforated cylinders are welded at the bend of the center spray bar limiting plate 14. The length of the perforated cylinder on the side spray bar limiting plate 13 is the same as the length of the gap between the perforated cylinders on the center spray bar limiting plate 14. The two are installed by a cylindrical pin 16, so that the side spray bar 102 and the center spray bar 101 can rotate freely around the cylindrical pin. A limit switch 15 is installed on the center spray bar limit plate 14. When the side spray bar limit plate 13 is rotated and touches the limit switch 15, that is, when the side spray bar 102 rotates forward and is in the same straight line as the center spray bar 101, the side spray bar 102 reaches the limit position of rotation. The electric telescopic bar mounting bracket 18 is welded to the rear of the side spray bar 102 and the center spray bar 101. The cylindrical holes at both ends of the electric telescopic bar 17 are respectively installed in the U-shaped groove of the electric telescopic bar mounting bracket 18 through the shaft pin. A square nozzle mounting tube 110 is installed below the side spray bar 102 and the center spray bar 101. The nozzle assembly 12 is fixed to the three-section foldable spray bar 1 through the nozzle mounting bracket 19. The spray bar mounting bracket 11 is fixed to the rear of the spray bar profile by bolts. During operation, when the electric telescopic rod 17 extends, it drives the side spray rod 102 to rotate forward around the cylindrical shaft pin until the side spray rod limit plate 13 contacts the limit switch 15. At this time, the three-section foldable spray rod 1 is in the unfolded state. When the electric telescopic rod 17 shortens, the side spray rod 102 rotates backward around the cylindrical shaft pin until it reaches the shortest position of the electric telescopic rod 17. At this time, the three-section foldable spray rod 1 is in the folded state.

[0048] like Figure 3 , Figure 5 and Figure 6 As shown, the baffle assembly 2 includes a folding baffle 2a, which is fixed to the side spray bar 102 by bolts. The folding baffle 2a is composed of two sets of symmetrically arranged support frames 21 and flexible baffles 22. The support frames 21 are rectangular frames, and the flexible baffles 22 are fixed inside the support frames 21. The flexible baffles 22 are made of materials such as canvas and plastic sheeting. The two sets of support frames 21 are connected in the middle by a folding splice part 23 to form a complete folding baffle 2a. The flexible baffles 22 between the two support frames 21 are folded in the folded state and form a complete plane in the unfolded state.

[0049] Furthermore, the three-section foldable spray bar 1 is equipped with a manual folding mechanism 3a for controlling the folding baffle 2a to change from the unfolded state to the folded state, such as... Figure 5 and Figure 6 As shown, the manual folding mechanism 3a includes a baffle mounting bracket 35, a fixing plate 33, an outer sleeve 31, an inner sleeve 32, T-bolts 36, and fastening bolts 34. The baffle mounting bracket 35 is installed above the side spray bar 102 profile through a U-shaped gap, with the two fitting together. The front and rear sides of the baffle mounting bracket 35 are fixed by T-bolts 36 and fastening bolts 34, respectively. Fixing plates 33 are symmetrically installed on both sides of the lower end of the baffle mounting bracket 35. The fixing plates 33 are connected to the bolt holes on both sides of the baffle mounting bracket 35 by bolts. The outer sleeve 31 is vertically welded to the bottom of the fixing plate 33. The inner sleeve 32 is fitted inside the outer sleeve 31. The end corners of the two sets of support frames 21 are welded to the bottom of the two inner sleeves 32, respectively. Two bolt holes perpendicular to the axis and staggered by 90 degrees are opened on the outer sleeve 31. One bolt hole perpendicular to the axis is opened on the inner sleeve 32. The outer sleeve 31 and the inner sleeve 32 are fixed by bolts.

[0050] When in operation, the bolt holes of the inner sleeve 32 correspond to one of the bolt holes of the outer sleeve 31, and the flexible baffle 22 is in the unfolded state and vertically installed on the three-section foldable spray bar 1 to isolate different herbicides and prevent herbicide drift and damage. When the equipment is in transport or storage, the other bolt hole on the outer sleeve 31, which is offset by 90 degrees, is fixedly connected to the inner sleeve 32. At this time, the flexible baffle 22 is folded, and the direction of the flexible baffle 22 is consistent with the extension direction of the three-section foldable spray bar 1, which facilitates the folding and transport of the spray bar, reduces the overall space, and improves the passability.

[0051] like Figure 2As shown, the boom lifting mechanism 4 includes a support plate assembly 42, an electro-hydraulic push rod 45, an upper push rod connecting rod 44, a lower push rod connecting rod 43, a push rod fixing frame 46, an upper connecting frame 41, and a lower connecting rod 47. The support plate assembly 42 and the push rod fixing frame 46 are welded and fixed to the sides and middle of the front beam of the frame, respectively, providing stable support for the entire boom lifting mechanism 4. The upper connecting frame 41 is composed of multiple connecting rods welded together. The two rear mounting holes are connected to the support plate assembly 42 through pins, and the two front mounting holes are installed to the boom mounting frame 11 through pins. The upper connecting frame 41 can rotate freely around the pins with the middle spray boom 101 and the support plate assembly 42, respectively. The lower connecting rod... 47 is connected to the support plate assembly 42 and the spray boom mounting bracket 11 respectively via pins. The upper connecting bracket 41 and the lower connecting rod 47 are installed parallel to each other to form a parallel linkage mechanism, ensuring that the nozzle is always vertically downward during the lifting and lowering process of the spray boom. The rear end of the upper connecting rod 44 of the push rod is fixed to the push rod fixing bracket 46 via a pin. The lower end of the lower connecting rod 43 of the push rod is installed on the upper connecting bracket 41 via a pin. The upper connecting rod 44 and the lower connecting rod 43 of the push rod are connected by a pin. The upper end of the electro-hydraulic push rod 45 is installed in the middle hole of the upper connecting rod 44 of the push rod via a round pin. The lower end of the electro-hydraulic push rod 45 is installed on the push rod fixing bracket 46 via a pin. During operation, the motion is transmitted between the linkages. When the electro-hydraulic push rod 45 extends, it drives the entire spray boom to rise. When the electro-hydraulic push rod 45 retracts, it drives the entire spray boom to fall. In order to obtain the height information of the spray boom, a height sensor is installed below the middle spray boom 101.

[0052] like Figure 1 , 7 As shown in Figures 8 and 9, the chassis assembly 6 includes four wheel assemblies 7, a frame 69, a range extender 65, a power battery 61, a range extender controller, and a protective shell 60. The range extender 65, the power battery 61, and the range extender controller are respectively fixed to the top of the frame 69 with bolts. The protective shell 60 is installed on the top of the frame 69 to protect the internal parts and for aesthetic purposes. The four wheel assemblies 7 are respectively fixed to the four corners of the frame 69 with bolts. The frame 69 has multiple mounting holes. When the wheel assemblies 7 are aligned with different mounting holes, the wheel track can be adjusted to adapt to different operating requirements.

[0053] like Figure 8 , 9As shown, the wheel assembly 7 includes a wheel 71, a hub motor 73, a rotating shaft 72, a hub support frame 74, a steering bracket 75, a worm gear reducer 77, a steering motor 76, a motor cover 79, and a motor base 78. The wheel 71 is fixed to the hub motor 73 by bolts and is mounted on the hub support frame 74 via the rotating shaft 72. The wheel 71 is directly driven by the hub motor 73. The upper part of the hub support frame 74 is mounted on the steering bracket 75 via bearings. The worm gear reducer 77 is fixed to the steering bracket 75 by bolts and is connected to the shaft of the lower hub support frame 74. The steering motor 76 is mounted on the motor base 78 and is connected to the worm of the worm gear reducer 77. During normal operation, the left and right steering of the wheels 71 can be achieved by controlling the forward and reverse rotation of the steering motor 76; the four wheel assemblies 7 can independently drive the wheels 71 to move forward, backward and steer. Compared with the front wheel steering of the traditional boom sprayer, it can achieve parallel movement and steering of the four wheels, with a smaller turning radius, more flexible operation and more applicable scenarios.

[0054] The entire machine is powered by a range-extended hybrid system. In pure electric mode, the chassis assembly 6 is powered by the power battery 61, which powers the hub motor 73 and steering motor 76. In range-extended mode, the power is provided by the range extender 65, which provides the necessary power to the hub motor 73 and steering motor 76 and charges the power battery 61. In addition, in range-extended mode, two energy management strategies have been developed: a SOC power following strategy and a fuzzy control energy management strategy. These strategies can formulate reasonable control rules based on the vehicle's operating status and needs, ensuring that the range-extended system operates in the most economical working conditions while meeting power requirements.

[0055] like Figure 7 , 8 As shown in Figure 10, the soybean and corn dual-spray system includes a first chemical tank 63, a second chemical tank 64, a first diaphragm pump 62, a second diaphragm pump 68, a first spray valve assembly 611, a second spray valve assembly 612, and a pipeline and nozzle assembly 12. One end of the first diaphragm pump 62 is installed at the outlet of the filter via a water circuit, and the other end is connected to the spray valve assembly via a pipeline. The spray valve assembly integrates a solenoid valve switch, a pressure sensor, a flow sensor, a pressure stabilizing tank, and an overflow valve, used to obtain operational information such as pressure and flow rate, stabilize pipeline pressure, and protect pipeline safety. The chemical tank, filter, diaphragm pump, spray valve assembly, and nozzle assembly are connected sequentially via pipelines to realize the flow of liquid chemicals from the chemical tank to the nozzle. During operation, the spraying is started and stopped by controlling the solenoid valve switch on the spray valve assembly.

[0056] like Figure 1 , 7As shown, the unmanned driving control unit includes a Beidou positioning system control terminal 66, a positioning antenna 8, a directional antenna 5, a gyroscope 610, and a main controller 710. The positioning antenna 8 and the directional antenna 5 are magnetically fixed to the top of the protective shell 60. The positioning antenna 8 is located at the rear of the unit and is responsible for real-time acquisition of satellite positioning and speed information. The directional antenna 5 is located at the front. The directional antenna 5, in conjunction with the positioning antenna 8, obtains the heading angle of the vehicle to achieve positioning and orientation functions. The Beidou positioning system control terminal 66 is mounted on the left rear of the frame 69 via a bracket. The Beidou positioning system control terminal 66 integrates a display screen, a 4G communication module, and a Beidou navigation receiver module. It can receive signals from the mobile base station, supports human-machine interaction, provides users with an intuitive operating interface, and simultaneously receives signals from the main controller 710 and external sensors, sends commands to the main controller 710 or the working mechanism, and sets the navigation trajectory. The gyroscope 610 is installed at the center of the front beam of the chassis to provide heading and attitude information, and serves as backup navigation information when satellite signals are blocked, ensuring the continuity and accuracy of navigation. The main controller 710 is bolted to the front of the frame 69 to receive signals from the Beidou positioning system control terminal 66 and the gyroscope 610, and sends control signals to the main controller 710, spray valve assembly, electro-hydraulic push rod 45, and electric telescopic rod 17 to achieve precise control of actuators such as hub motor 73, steering motor 76, spray boom folding and unfolding, spray boom lifting and lowering, and spray system opening and closing.

[0057] The unmanned soybean-corn strip intercropping sprayer provided by this invention operates as follows in practical applications:

[0058] (1) Before operation: In response to the changes in row spacing under different crop planting patterns, the chassis wheel track is adjusted to ensure that the wheels 71 will not damage the crops, while ensuring that the spray can completely cover the plant area. The spacing of the folding baffles 2a is adjusted according to different soybean-corn intercropping patterns. When using the unmanned operation mode, users can easily set the working range, adjust the working speed, set the water pump pressure, plan the working trajectory and the automatic control distance of the spray bar to adapt to different operation needs and improve the accuracy and efficiency of the operation. In addition, according to the actual operation conditions, users can choose to enable the range extender controller and start the range extender mode to optimize energy consumption and improve operation performance.

[0059] (2) During operation: After the operation is started, the sprayer automatically performs the task according to the preset plot planning and operation parameters. The Beidou positioning control terminal can obtain the position of the sprayer in real time and send instructions to the walking chassis assembly 6 and the main controller 710 according to the preset movement trajectory to accurately control the operation of each working mechanism. At the same time, the system collects the operating status information of the sprayer in real time through pressure sensors, flow sensors, etc. After receiving this information, the Beidou positioning control terminal will automatically analyze and send adjustment instructions to the main controller 710, which will then control the walking chassis assembly 6 and the soybean and corn dual spraying system. During the walking process, the liquid medicine is drawn out from the medicine tank by the action of the diaphragm pump, and finally delivered to the nozzle for spraying through the spray valve group and pipeline.

[0060] (3) After operation: The plant protection vehicle will automatically reach the end of the planned route on the work site. At this time, the vehicle will autonomously control the retraction of the folding spray boom, folding the side spray boom 102 to reduce the width of the vehicle and improve the passability during transportation. At the same time, the vehicle will automatically shut off the water pump to prevent the pesticide from affecting other plots. If necessary, the operator can switch to remote control mode through the Beidou positioning control terminal to intervene manually, so as to ensure the flexibility and safety of the operation. Example 2

[0061] Based on Embodiment 1, the similarities between this embodiment and Embodiment 1 will not be repeated here. The differences are as follows: The manual folding mechanism 3a provided in Embodiment 1 is used to fold the folding baffle 2a, which requires manual operation and is time-consuming and labor-intensive. In order to solve this problem, this embodiment proposes another baffle assembly - a rotating baffle 2b and a baffle moving unit - a linkage drive mechanism 3b that works with it.

[0062] like Figure 10 , 11As shown in Figure 12, two perforated sleeves 111 are evenly provided on the side spray bar 102. The rotating baffle 2b includes a central rotating shaft 24 and a flat baffle 25. The central rotating shaft 24 is rotatably fitted into the perforated sleeve 111, and the flat baffle 25 is fixed on the central rotating shaft 24 to isolate the spray. A limiting flange 27 is provided on the central rotating shaft 24 above and below the perforated sleeve 111 to limit the central rotating shaft 24 to be fitted into the perforated sleeve 111. A boss 26 is fixed at the upper end of the central rotating shaft 24. The cylindrical pin 16 includes a fixed pin seat 161 fixed on the central spray bar limiting plate 14 and a movable pin 162 fixed on the side spray bar limiting plate 13. The movable pin 162 is movably fitted into the fixed pin seat 161. When the side spray bar 102 is folded, the movable pin 162 rotates in the fixed pin seat 161, so that the side spray bar 102 completes the rotation and folding. The linkage drive mechanism 3b includes a hinge seat 37, a movable push rod 38, and a flat hole 39. The upper ends of the two bosses 26 and the movable pin 162 are all fixed with hinge seats 37. The hinge seats 37 at both ends are respectively set on the upper ends of the outermost central rotating shaft 24 and the fixed pin seat 161, forming U-shaped seats 371 with opposite openings. The hinge seat 37 in the middle is set on the inner central rotating shaft 24 and forms an I-shaped seat 372. A pin is set at the end of each hinge seat 37. Adjacent hinge seats 37 are connected by two parallel movable push rods 38, and the two ends of the movable push rods 38 are provided with flat holes 39, with the pins located in the flat holes 39. Thus, two parallelogram linkage mechanisms are formed between the two central rotating shafts 24 and between the inner central rotating shaft 24 and the cylindrical pin 16 through the hinge seats 37 and the movable push rods 38.

[0063] In practical use, the unmanned strip-type sprayer for composite planting according to this invention, such as... Figure 13 As shown, when the electric telescopic rod 17 drives the side spray bar 102 to rotate inward around the cylindrical pin 16 and fold, the U-shaped seat 371 at the upper end of the cylindrical pin 16 remains fixed. Through the pulling action of the movable push rod 38 connected to it, the I-shaped seat 372 can be pulled to rotate, thereby driving the central rotating shaft 24 and the rotating baffle 2b to rotate. This causes the rotating baffle 2b to rotate in the same direction as the extension direction of the side spray bar 102 and gradually align with the direction of the side spray bar 102. Then, the rotation of the central I-shaped seat 372, through the movable push rod 38, pulls the outermost U-shaped seat 371 to rotate, simultaneously driving the outermost rotating baffle 2b to rotate. Under the linkage mechanism of the parallelogram linkage mechanism, when the side spray bar 102 is folded back, all the rotating baffles 2b can be pulled back to the same angle as the extension direction of the side spray bar 102, thereby realizing the linkage automatic retraction operation of the baffles without manual intervention, saving time and effort. Example 3

[0064] Based on Example 2, such as Figure 14 , 15As shown in Figure 16, in order to further improve the spray blocking effect of the baffle assembly, a top baffle 2c is also provided on the side spray bar 102. The top baffle 2c includes a V-shaped baffle 28 and a straight groove 29. The V-shaped baffle 28 is composed of two movable baffles with their ends hinged together. The lower end face of the movable baffle is fixedly provided with the straight groove 29, and the movable push rod 38 is inserted and fitted inside the straight groove 29, so that the top baffle 2c is installed above the side spray bar 102 and is driven by the linkage drive mechanism 3b to extend and retract synchronously.

[0065] In practical use, such as Figure 16 As shown, when the side spray bar 102 is in the extended state, the two movable push rods 38 of the parallelogram linkage mechanism of the linkage drive mechanism 3b maintain a certain distance. At this time, the V-shaped baffle 28 is in the unfolded state under the limiting support of the movable push rods 38 and is set directly above the side spray bar 102. Through the combined action of the top baffle 2c at the upper end and the rotating baffles 2b on both sides, the blocking effect of the spray is improved, preventing the spray from escaping to different crops around or nearby. When the parallelogram linkage mechanism of the linkage drive mechanism 3b drives the rotating baffle 2b to rotate and retract, the two parallel movable push rods 38 in the parallelogram linkage mechanism will move closer to each other and the distance between them will decrease. When the movable push rods 38 move closer to each other, with the cooperation of the straight groove 29, the V-shaped baffle 28 can be pushed to fold and retract by the movable push rods 38, reducing the space occupied by the top baffle 2c. Moreover, the top baffle 2c can synchronously change its state with the state of the rotating baffle 2b, further improving the automation level of the equipment.

[0066] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An unmanned strip-type sprayer for composite planting, comprising a three-section foldable spray boom (1), a spray boom lifting mechanism (4), and a walking chassis assembly (6), wherein one end of the spray boom lifting mechanism (4) is installed in front of the walking chassis assembly (6), and the other end is used to install the three-section foldable spray boom (1), characterized in that, The three-section foldable spray boom (1) includes a side spray boom (102), a center spray boom (101), an electric telescopic boom (17), a nozzle assembly (12), and a spray boom mounting bracket (11). The center spray boom (101) is located directly in front of the chassis assembly (6). Two sets of side spray booms (102) are symmetrically arranged at both ends of the center spray boom (101) and can rotate around the end of the center spray boom (101). An electric telescopic boom mounting bracket (18) is welded to the rear of the side spray booms (102) and the center spray boom (101). The two ends of the electric telescopic boom (17) are respectively mounted on the electric telescopic boom mounting bracket (18) through axle pins. A nozzle mounting pipe (110) is installed below the side spray booms (102) and the center spray boom (101). The nozzle assembly (12) is connected to the center spray boom. The nozzle mounting bracket (19) is fixed on the three-section foldable spray bar (1), and the spray bar mounting bracket (11) is fixed to the rear of the spray bar profile by bolts; the three-section foldable spray bar (1) is provided with a baffle assembly (2), the baffle assembly (2) is evenly distributed on the side spray bars (102) on both sides, and the baffle assembly (2) is set perpendicular to the side spray bars (102) for blocking the spray; the three-section foldable spray bar (1) is provided with a baffle moving unit (3) for controlling the baffle assembly (2) from unfolded state to folded state; when the baffle assembly (2) is unfolded, it is perpendicular to the side spray bars (102); when the baffle assembly (2) is folded, it is in the same direction as the side spray bars (102); the baffle moving unit (3) is further divided into manual control and automatic drive. The baffle assembly (2) includes a rotating baffle (2b), the baffle movable unit (3) includes a linkage drive mechanism (3b), and a top baffle (2c) is also provided on the side spray bar (102). The top baffle (2c) includes a V-shaped baffle (28) and a straight groove (29). The V-shaped baffle (28) is composed of two movable baffles with their ends hinged together. The lower end face of the movable baffle is fixedly provided with a straight groove (29), and the movable push rod (38) of the linkage drive mechanism (3b) is inserted and fitted inside the straight groove (29), so that the top baffle (2c) is installed above the side spray bar (102) and is driven by the linkage drive mechanism (3b) to extend and retract synchronously.

2. The unmanned strip-type sprayer for composite planting according to claim 1, characterized in that, The side spray bar (102) and the center spray bar (101) are respectively equipped with a side spray bar limiting plate (13) and a center spray bar limiting plate (14) at their opposite ends. The side spray bar limiting plate (13) and the center spray bar limiting plate (14) are connected by a cylindrical pin (16) so that the side spray bar (102) and the center spray bar (101) can rotate freely around the cylindrical pin (16). A limit switch (15) is installed on the center spray bar limiting plate (14). When the side spray bar limiting plate (13) is rotated and touches the limit switch (15), the side spray bar (102) reaches the limit position of rotation.

3. The unmanned strip-type sprayer for composite planting according to claim 1, characterized in that, The baffle assembly (2) includes a folding baffle (2a), which is composed of two sets of symmetrically arranged support frames (21) and a flexible baffle (22). The flexible baffle (22) is fixed inside the support frame (21), and the two sets of support frames (21) are connected in the middle by a folding splice part (23) to form a complete folding baffle (2a).

4. The unmanned strip-type sprayer for composite planting according to claim 3, characterized in that, The baffle movable unit (3) includes a manual folding mechanism (3a). The manual folding mechanism (3a) includes a baffle mounting bracket (35), an outer sleeve (31), and an inner sleeve (32). The baffle mounting bracket (35) is installed above the side spray bar (102) profile and the two are fitted with a clearance. Fixing plates (33) are symmetrically installed on both sides of the lower end of the baffle mounting bracket (35). The outer sleeve (31) is vertically welded to the bottom of the fixing plate (33). The inner sleeve (32) is fitted inside the outer sleeve (31). The inner corners of the folding baffle (2a) are respectively welded to the bottom of the two inner sleeves (32). Two bolt holes perpendicular to the axis and staggered by 90 degrees are opened on the outer sleeve (31). One bolt hole perpendicular to the axis is opened on the inner sleeve (32). The outer sleeve (31) and the inner sleeve (32) are fixed by bolt limit.

5. The unmanned strip-type sprayer for composite planting according to claim 2, characterized in that, The cylindrical pin (16) includes a fixed pin seat (161) fixed on the center spray bar limiting plate (14) and a movable pin (162) fixed on the side spray bar limiting plate (13). The movable pin (162) is movably fitted inside the fixed pin seat (161). When the side spray bar (102) is folded, the movable pin (162) rotates inside the fixed pin seat (161), so that the side spray bar (102) completes the rotation and folding.

6. The unmanned strip-type sprayer for composite planting according to claim 5, characterized in that, The side spray bar (102) is provided with multiple perforated sleeves (111). The rotating baffle (2b) includes a central rotating shaft (24) and a flat baffle (25). The central rotating shaft (24) is rotatably fitted inside the perforated sleeves (111), and the flat baffle (25) is fixed on the central rotating shaft (24). A boss (26) is fixed at the upper end of the central rotating shaft (24).

7. The unmanned strip-type sprayer for composite planting according to claim 6, characterized in that, The linkage drive mechanism (3b) includes a hinge seat (37) and a movable push rod (38). The upper ends of the two bosses (26) and the movable pin (162) are fixed with hinge seats (37). The hinge seats (37) at both ends are U-shaped seats (371) with their openings facing each other. The hinge seat (37) in the middle is set on the inner central rotating shaft (24) and is an I-shaped seat (372). A pin is provided at the end of each hinge seat (37). Adjacent hinge seats (37) are connected by two parallel movable push rods (38). Flat holes (39) are opened at both ends of the movable push rods (38). The pin is located in the flat holes (39). Two parallelogram linkage mechanisms are formed by the hinge seats (37) and the movable push rods (38).

8. The unmanned strip-type sprayer for composite planting according to claim 1, characterized in that, The boom lifting mechanism (4) includes a support plate assembly (42), an electric hydraulic push rod (45), an upper connecting rod (44), a lower connecting rod (43), a push rod fixing frame (46), an upper connecting frame (41), and a lower connecting rod (47). The support plate assembly (42) and the push rod fixing frame (46) are welded and fixed to the two sides and the middle of the front beam of the frame (69), respectively. The rear of the upper connecting frame (41) is connected to the support plate assembly (42) by a pin, and the front is installed to the boom mounting frame (11) by a pin. The lower connecting rod (47) is connected to the support plate assembly by a pin. (42) and the spray bar mounting bracket (11), the upper connecting bracket (41) and the lower connecting rod (47) are arranged in parallel to each other to form a parallel linkage mechanism. The rear end of the upper connecting rod (44) of the push rod is fixed on the push rod fixing bracket (46) by a pin. The lower end of the lower connecting rod (43) of the push rod is installed on the upper connecting bracket (41) by a pin. The upper connecting rod (44) and the lower connecting rod (43) of the push rod are connected by a pin. The upper end of the electric hydraulic push rod (45) is installed on the upper connecting rod (44) of the push rod by a pin, and the lower end is installed on the push rod fixing bracket (46) by a pin.

9. The unmanned strip-type sprayer for composite planting according to claim 1, characterized in that, The chassis assembly (6) includes four wheel assemblies (7), a frame (69), a range extender (65), a power battery (61), and a range extender controller. The range extender (65), the power battery (61), and the range extender controller are respectively fixed to the frame (69) with bolts. The four wheel assemblies (7) are respectively fixed to the four corners of the frame (69) with bolts. A protective shell (60) is installed on the frame (69). The wheel assembly (7) includes a wheel (71), a hub motor (73), a rotating shaft (72), a hub support frame (74), a steering bracket (75), a worm gear reducer (77), a steering motor (76), and a motor base (78). The wheel (71) is fixed to the hub motor (73) by bolts and is mounted on the hub support frame (74) via the rotating shaft (72). The hub support frame (74) is mounted on the steering bracket (75) via a bearing. The worm gear reducer (77) is fixed on the steering bracket (75) and connected to the shaft of the hub support frame (74) below. The steering motor (76) is mounted on the motor base (78) and connected to the worm of the worm gear reducer (77).

10. The unmanned strip-type sprayer for composite planting according to claim 1, characterized in that, It also includes a soybean and corn dual spray system and an unmanned driving control unit. The soybean and corn dual spray system includes two sets of medicine tanks, diaphragm pumps, spray valve groups, pipelines and nozzle assemblies (12). The medicine tanks, filters, diaphragm pumps, spray valve groups and nozzle assemblies (12) are connected in sequence through pipelines to realize the flow of medicine from the medicine tanks to the nozzles. The unmanned driving control unit includes a Beidou positioning system control terminal (66), a positioning antenna (8), a directional antenna (5), a gyroscope (610), and a main controller (710). The positioning antenna (8) and the directional antenna (5) are respectively installed at the front and rear of the whole machine. The directional antenna (5) and the positioning antenna (8) are combined to obtain the heading angle of the machine and realize the positioning and orientation function. The Beidou positioning system control terminal (66) is installed on the left rear of the frame (69) and integrates a display screen, a 4G communication module, and a Beidou navigation receiving module. The gyroscope (610) is installed at the center of the front beam of the chassis to provide heading and attitude information. The main controller (710) is installed at the front of the frame (69) to receive signals from the Beidou positioning system control terminal (66) and the gyroscope (610) and send control signals to realize the drive control of the actuator.

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