Ultrasonic insect expelling system

Abstract

The invention provides an ultrasonic insect expelling system, and belongs to the technical field of insect control, the ultrasonic insect expelling system comprises a mobile chassis, a vehicle body, a turntable, a spray head, an ultrasonic emitter, a first rotating block, a clamping hand and a water leakage plate, the vehicle body is driven by the mobile chassis to run along the length direction of a water channel, and the spray head pumps water in the water channel and sprays the water into a field; an ultrasonic emitter emits ultrasonic waves to the field to expel the pests in the field, a water leakage plate blocks and scrapes obstacles in a water channel in the running process of the vehicle body, and when the vehicle body runs to the position where a supporting rod is transversely reinforced on the water channel, a clamping hand downwards clamps the supporting rod, so that the water leakage plate stops the obstacles in the water channel. The first rotating block rotates the vehicle body out of the canal, the vehicle body rotates to the position in front of the supporting rod clamped by the clamping hand, the first rotating block rotates the vehicle body into the canal in front of the supporting rod clamped by the clamping hand, the clamping hand is loosened from the supporting rod, and the vehicle body continues to be driven by the movable chassis to run in the length direction of the canal.

Description

Technical Field

[0001] The present invention belongs to the technical field of pest control, and particularly relates to an ultrasonic pest repellent system. Background Art

[0002] Ultrasonic waves are sound waves with a frequency exceeding 20 kHz, beyond the range of human hearing. However, many agricultural pests can perceive and respond to them. By creating a spatial environment that is not conducive to the survival of pests, ultrasonic waves force pests to escape or reduce their damage to crops.

[0003] When driving pests in the field, a support rod is horizontally arranged on the water channel in the field. The support rod is used to reinforce the horizontal support force of the water channel in the field, thereby preventing the water channel from collapsing.

[0004] The Chinese invention patent with the publication number of "CN106577625A" discloses a "sound wave pest repellent, sterilization, and virus inhibition system". When the vehicle is driving on the road, the sound wave pest repellent wings on both sides should be disassembled first, and then they should be respectively hung on the left and right fixed hangers of the vehicle body. After arriving at the operation area, the sound wave pest repellent wings should be installed on the wing installation part in advance, so that it can be in the operation state. Connect the wiring terminals of the sound wave irradiator on the sound wave pest repellent wing and the sound wave generator belonging to the vehicle body. Operate the generator switch button on the large field vehicle to turn on the power supply of the sound wave function system. At this time, the sound wave generator starts to irradiate, and the large field vehicle can be used for ultrasonic sterilization and virus inhibition work in the field. The driver of the large field vehicle is in the cab, and one person controls the driving and the sound wave emission and irradiation pest repellent functions. The driver operator of the large field vehicle adjusts the height of the double wings according to the height of the plants or the growth trend and the specific situation of pest infection of the crops. This adjustment can be achieved by adjusting the wing lifting height measurement system to adapt to the required complexity. The large field vehicle drives in the crop field to drive and kill pests. The large wheels of the large field vehicle drive along the row wheel ruts of the large field agricultural machinery for sowing and transplanting in the land. The wings of the large field vehicle pass over the rice crops with high humidity in the air, and the pests can be driven and killed. However, when driving pests, the large field vehicle of this invention drives in the field. Such a driving method not only compacts the soil near the rice crops, affecting the growth of the roots of the rice crops, but also easily damages the rice crops in the large field by the wheels.

[0005] Therefore, its disadvantage is that when using ultrasonic waves to drive pests, this invention will affect and even damage the growth of rice crops. Summary of the Invention

[0006] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide an ultrasonic pest repellent system to solve the problem that the growth of rice crops will be affected and even damaged when driving pests in the prior art.

[0007] To achieve the above and other related objectives, the present invention provides an ultrasonic pest control system, which includes: A mobile chassis, a vehicle body and a turntable. The vehicle body is mounted on the mobile chassis, and the turntable is rotatably mounted on the vehicle body. The mobile chassis drives the vehicle body to travel along the length direction of the water channel in the field. A water spraying unit, which includes a nozzle. The nozzle is arranged on the turntable, and the nozzle sprays water into the field to startle the pests in the field. An ultrasonic pest control unit, which includes an ultrasonic emitter. The ultrasonic emitter is arranged on the turntable, and the ultrasonic emitter emits ultrasonic waves into the field to drive away the pests in the field. Two flipping units, both of which are mounted on the vehicle body and located at both ends in the length direction of the vehicle body. Each flipping unit includes a first rotating block and a clamping hand. The first rotating block is rotatably arranged on the vehicle body, and the rotation axis of the first rotating block is parallel to the length direction of the vehicle body. The clamping hand is rotatably arranged on the first rotating block, and the rotation axis of the clamping hand is parallel to the width direction of the vehicle body. The clamping hand can clamp downward on the crosswise reinforced support rod on the water channel.

[0008] As an optional solution, the system further includes a first rotating power source, a first gear, a second gear, a second rotating block and an annular groove; The first gear is fixedly mounted on the turntable. The rotation axis of the first gear is perpendicular to the upper end surface of the vehicle body, and the rotation axis of the first gear is consistent with the rotation axis of the turntable; A second rotating block is fixedly connected to the turntable. The rotation axis of the second rotating block is consistent with the rotation axis of the turntable. An annular groove is formed on the vehicle body, and the second rotating block is rotatably engaged in the annular groove; The fixed end of the first rotating power source is fixedly mounted on the vehicle body. The second gear is fixedly connected to the rotating end of the first rotating power source, and the second gear remains meshed with the first gear; The orientations of the ultrasonic emitter and the nozzle are parallel and on the same side, and the distance between the ultrasonic emitter and the rotation axis of the turntable along the length direction of the vehicle body is less than the distance between the nozzle and the rotation axis of the turntable along the length direction of the vehicle body.

[0009] As an optional solution, the water spraying unit further includes a through groove, a hose, a solenoid valve, a hard pipe, a permeable water tank and a water pump; The water pump is installed on a mobile chassis. The permeable water tank is fixedly installed at the lower end of the mobile chassis. The water suction end of the water pump extends into the permeable water tank. The water outlet end of the water pump is communicated with one end of a hard pipe. The solenoid valve is installed on the hard pipe. A through groove is formed through the upper and lower ends of the vehicle body. The diameter of the through groove is smaller than the inner diameter of the annular groove. The other end of the hard pipe extends into the through groove and is communicated with one end of a flexible pipe. The flexible pipe penetrates through the turntable and is communicated with the water inlet end of the nozzle. The connection between the flexible pipe and the turntable is fixedly connected.

[0010] As an alternative, the ultrasonic pest repelling unit further includes an ultrasonic mounting seat, a rotating shaft, a third gear, a second rotating power source, a fourth gear, and a mounting post; The ultrasonic emitter is fixedly installed on the ultrasonic mounting seat. The rotating shaft is horizontally fixedly connected to the ultrasonic mounting seat. One end of the rotating shaft extends out of the side wall of the ultrasonic mounting seat and is fixedly connected to one end of the third gear. The rotation axis of the rotating shaft is the same as the rotation axis of the third gear. The other end of the third gear is fixedly connected to the rotating end of the second rotating power source. The fixed end of the second rotating power source is fixedly installed on the turntable; One end of the fourth gear close to the ultrasonic emitter rotatably extends into the mounting post. The mounting post is fixedly installed on the turntable. The end of the fourth gear away from the ultrasonic emitter is fixedly connected to the side wall of the nozzle. The rotation axis of the fourth gear is parallel to the rotation axis of the third gear, and the fourth gear meshes with the third gear.

[0011] As an alternative, each of the flipping units further includes a first mounting block and a third rotating power source; The rotating end of the third rotating power source is fixedly connected to the first rotating block. The third rotating power source is horizontally fixedly connected to the first mounting block. The rotation axis of the third rotating power source is perpendicular to the length direction of the vehicle body; The first rotating block rotates under the action of the third rotating power source to drive the vehicle body and the mobile chassis to flip.

[0012] As an alternative, each of the flipping units further includes a fourth rotating power source; The rotating end of the fourth rotating power source is fixedly connected to the vehicle body. The fixed end of the fourth rotating power source is fixedly installed on the first rotating block. The rotation axis of the fourth rotating power source is perpendicular to the rotation axis of the third rotating power source.

[0013] As an alternative, each of the flipping units further includes a limiting groove, a limiting block, and a first telescopic power source; A limiting groove is formed on the side wall of the first rotating block. The fixed end of the first telescopic power source is fixedly connected to the first mounting block. The extending end of the first telescopic power source is fixedly connected to the limiting block. The size of the limiting block is the same as that of the limiting groove; When the vehicle body rotates 90° in the water channel under the action of the fourth rotation power source, the limit block extends into the limit groove under the action of the first telescopic power source to fix the attitude of the vehicle body after rotation.

[0014] As an alternative, the number of grippers in each of the flipping units is two, and the two grippers are oppositely installed on the first mounting block along the width direction of the vehicle body. Each gripper includes two clamping mechanisms, a second mounting block, and a second telescopic power source; The fixed end of the second telescopic power source is fixedly installed on the first mounting block. The telescopic axis of the second telescopic power source is parallel to the height direction of the vehicle body, and the second mounting block is fixedly installed at the telescopic end of the second telescopic power source; The two clamping mechanisms are rotatably installed on the second mounting block oppositely along the length direction of the vehicle body, and the rotation axes of the two clamping mechanisms are both consistent with the width direction of the support rod.

[0015] As an alternative, each clamping mechanism includes a fifth rotation power source, a clamping block, a pressing block, a guiding inclined surface, a spring, a sliding groove, and a ball; One end of the clamping block is fixedly installed at the rotating end of the fifth rotation power source. The fifth rotation power source is horizontally fixedly connected to the second mounting block, and the rotation axis of the fifth rotation power source is perpendicular to the rotation axis of the fourth rotation power source; The ball is fixedly installed on the side wall of the clamping block away from the fifth rotation power source. When the clamping block rotates to support the upper end surfaces at both ends in the width direction of the water channel under the action of the fifth telescopic power source, the ball remains in contact with the upper end surfaces at both ends in the width direction of the water channel, and the mobile chassis is located between the balls on both sides in the length direction of the vehicle body; Sliding grooves are formed in the adjacent side walls of the clamping blocks in the length direction of the vehicle body. The sliding guiding direction of the sliding groove is parallel to the rotation axis of the fifth rotation power source. One end of a spring is fixedly connected in each sliding groove. The spring is horizontally arranged, and the other end of the spring is fixedly connected to the pressing block. Guiding inclined surfaces are formed in the opposite end faces of the adjacent pressing blocks in the length direction of the vehicle body. The pressing block can slide along the sliding guiding direction of the sliding groove to move out of or into the sliding groove; When the vehicle body travels to a position where the support rod is between the clamping blocks adjacent to each other in the length direction of the vehicle body, the four clamping blocks are rotated by the corresponding fifth rotation power sources to clamp the side walls along both sides in the length direction of the support block, so as to clamp the support rod through the pressing blocks on the clamping blocks.

[0016] As an alternative, the system further includes two obstacle blocking units, both of which are disposed on the vehicle body and located at both ends in the length direction of the vehicle body. The obstacle blocking units are both located below the flipping unit. Each obstacle blocking unit includes a water leakage plate, a pressure sensor, a third rotating block, and a sixth rotating power source; One end of the third rotating block is fixedly connected to the water leakage plate, and the other end of the third rotating block is fixedly connected to the rotating end of the sixth rotating power source. The rotation axis of the sixth rotating power source is parallel to the width direction of the vehicle body, and the fixed end of the sixth rotating power source is fixedly connected to the vehicle body; The water leakage plate is horizontally arranged in the water channel along the width direction of the water channel. When the mobile chassis drives the vehicle body to travel in the water channel in the field, the water leakage plate blocks the obstacles in the water channel; The gripper is rotationally supported on the upper end surfaces at both ends in the width direction of the water channel through balls to drive the mobile chassis and the vehicle body to move upward. When the mobile chassis and the vehicle body move upward under the action of the gripper, the water leakage plate rotates to scrape the obstacles to the rear of the traveling direction of the mobile chassis; The pressure sensor is fixedly installed at the connection between the third rotating block and the water leakage plate, and the pressure sensor detects the pressure on the water leakage plate.

[0017] As described above, an ultrasonic pest control system of the present invention has at least the following beneficial effects: 1. The vehicle body of the present invention can travel in the water channel in the field driven by the mobile chassis. While traveling, water in the water channel is extracted through the nozzle to spray the field to startle the pests in the field, and the ultrasonic transmitter emits ultrasonic waves to the field to drive the pests in the field. When the vehicle body encounters the crosswise reinforced struts on the water channel, the gripper can clamp down on the struts. The first rotating block rotates the vehicle body and the mobile base out of the water channel along the rotation axis of the gripper. Then the vehicle body drives the mobile chassis to rotate together along the rotation axis of the first rotating block to the front of the strut clamped by the gripper. Then the first rotating block rotates the vehicle body and the mobile base to the water channel in front of the strut clamped by the gripper along the rotation axis of the gripper to realize the flipping of the vehicle body on the strut. The flipped vehicle body continues to travel along the length direction of the water channel driven by the mobile chassis, so that the pests in the field can be continuously driven without the vehicle body traveling in the field, and the growth of the rice crops in the field will not be affected and damaged during the driving.

[0018] 2. The distance between the ultrasonic emitter of the present invention and the axis of rotation of the turntable along the length direction of the vehicle body is less than the distance between the nozzle and the axis of rotation of the turntable along the length direction of the vehicle body. The orientations of the ultrasonic emitter and the nozzle are parallel and on the same side, so that when driving away pests, the first rotary power source can rotate forward to first spray the fields on both sides in the width direction of the water channel through the nozzle, and then emit ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic emitter. In this way, the pests in the fields can be startled by the water sprayed from the nozzle first, and then the pests startled by the water sprayed from the nozzle can be immediately driven away by the ultrasonic waves emitted by the ultrasonic emitter. Then the first rotary power source rotates in reverse, so as to first emit ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic emitter, and then spray the fields on both sides in the width direction of the water channel through the nozzle. In this way, the pests in the fields can be driven away by the ultrasonic waves emitted by the ultrasonic emitter first, and then the pests not completely driven away by the ultrasonic waves can be immediately startled by the water sprayed from the nozzle. Repeat the above steps, so as to drive away pests repeatedly and alternately by the ultrasonic emitter and the nozzle.

[0019] 3. When there are farmlands on both sides in the width direction of the water channel, the first rotary power source can drive the nozzle to rotate 360 degrees through the turntable to spray the fields on both sides through the nozzle and drive away pests through the ultrasonic emitter. When there is only farmland on one side in the width direction of the water channel, the first rotary power source can drive the nozzle to rotate 180 degrees through the turntable to spray the fields on this side through the nozzle and drive away pests through the ultrasonic emitter.

[0020] 4. The third gear and the fourth gear of the present invention drive the ultrasonic emitter and the nozzle to rotate alternately under the action of the second rotary power source, so as to drive away pests at various positions in the field. When the nozzle rotates to the highest position under the action of the second rotary power source, that is, when the angle with the horizontal plane is 30 degrees, the solenoid valve can adjust the water flow through the hard pipe to the maximum, so that the water sprayed from the nozzle can be sprayed farther, so that the pests at positions farther from the water channel in the field can be startled by the nozzle with a large water flow.

[0021] 5. The water leakage plate of the present invention can not only block the obstacles in the water channel during the driving of the vehicle body, but also when the pressure sensor detects that the water leakage plate blocks too many obstacles, the second telescopic power source can drive the ball to fit with the upper end surfaces at both ends in the width direction of the water channel through telescopic movement, and the fifth rotary power source rotates to make the ball on the clamping plate rotate to drive the vehicle body and the mobile chassis to move upward, and at the same time the water leakage plate also moves upward. The water leakage plate can scrape the obstacles blocked by the water leakage plate in the reverse direction of the driving direction of the vehicle body under the action of the sixth rotary power source, and the scraped obstacles will flow away with the water flow in the water channel, so as to ensure that the resistance of the vehicle body when driving in the water channel will not hinder the driving of the vehicle body. Description of the Drawings

[0022] Figure 1 Shown is a schematic three-dimensional structure diagram of the present invention; Figure 2 Shown is a schematic structure diagram of the present invention with farmlands on both sides of the water channel; Figure 3 Shown is a partial cross-sectional view related to the interior of the vehicle body of the present invention; Figure 4 Shown is an exploded view related to the water spraying unit and the ultrasonic insect repelling unit of the present invention; Figure 5 Shown is an exploded view related to the flipping unit of the present invention; Figure 6 Shown is an exploded view related to the limiting groove, the limiting block and the clamping hand of the present invention; Figure 7 Shown is an exploded view related to the pressing block and the clamping block of the present invention.

[0023] In the figure: 101, mobile chassis; 102, vehicle body; 103, turntable; 201, nozzle; 202, through groove; 203, hose; 204, solenoid valve; 205, rigid pipe; 206, permeable water tank; 207, water pump; 301, ultrasonic transmitter; 302, ultrasonic mounting seat; 303, rotating shaft; 304, third gear; 305, second rotating power source; 306, fourth gear; 307, mounting post; 401, first rotating block; 402, first mounting block; 403, third rotating power source; 404, fourth rotating power source; 501, first rotating power source; 502, first gear; 503, second gear; 504, second rotating block; 505, annular groove; 601, limiting groove; 602, limiting block; 603, first telescopic power source; 701, second mounting block; 702, second telescopic power source; 703, fifth rotating power source; 704, clamping block; 705, pressing block; 706, guiding inclined surface; 707, spring; 708, sliding groove; 709, ball; 801, water leakage plate; 802, pressure sensor; 803, third rotating block; 804, sixth rotating power source. Detailed implementation manners

[0024] The following specific embodiments illustrate the implementation manners of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0025] Please refer to Figures 1 to 7It should be noted that the structures, ratios, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration and are not used to limit the scope for the implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope within which the present invention can be implemented.

[0026] The following various embodiments are only for illustration. Combinations can be made between the various embodiments, and it is not limited to the content shown in the following single embodiment.

[0027] Please refer to Figure 1 and Figure 2 , the present invention provides an ultrasonic pest control system, and the system includes: A mobile chassis 101, a vehicle body 102, and a turntable 103. The vehicle body 102 is installed on the mobile chassis 101, and the turntable 103 is rotatably installed on the vehicle body 102. The mobile chassis 101 drives the vehicle body 102 to travel along the length direction of the water channel in the field water channel; A water spraying unit, the water spraying unit includes a spray head 201. The spray head 201 is arranged on the turntable 103, and the spray head 201 sprays water into the field to startle the pests in the field; An ultrasonic pest control unit, the ultrasonic pest control unit includes an ultrasonic emitter 301. The ultrasonic emitter 301 is arranged on the turntable 103, and the ultrasonic emitter 301 emits ultrasonic waves into the field to drive the pests in the field; Two flipping units, both of the two flipping units are installed on the vehicle body 102 and are located at both ends in the length direction of the vehicle body 102. Each flipping unit includes a first rotating block 401 and a clamping hand. The first rotating block 401 is rotatably arranged on the vehicle body 102, and the rotation axis of the first rotating block 401 is parallel to the length direction of the vehicle body 102. The clamping hand is rotatably arranged on the first rotating block 401, and the rotation axis of the clamping hand is parallel to the width direction of the vehicle body 102. The clamping hand can clamp downward on the strut horizontally reinforced on the water channel.

[0028] In this embodiment, when the vehicle body 102 travels along the length direction of the water channel driven by the mobile chassis 101, the sprinkler head 201 extracts water from the water channel to spray the field, so as to startle the pests in the field. The ultrasonic transmitter 301 emits ultrasonic waves to the field to drive the pests in the field. When the vehicle body 102 travels to the crosswise reinforced strut on the water channel, the vehicle body 102 needs to climb over the crosswise reinforced strut on the water channel and continue to move forward. At this time, the clamping hand clamps down on the crosswise reinforced strut on the water channel, and then the first rotating block 401 rotates the vehicle body 102 and the mobile base out of the water channel along the rotation axis of the clamping hand. After that, the vehicle body 102 drives the mobile chassis 101 to rotate together along the rotation axis of the first rotating block 401 to the front of the strut clamped by the clamping hand. Then, the first rotating block 401 rotates the vehicle body 102 and the mobile base into the water channel in front of the strut clamped by the clamping hand along the rotation axis of the clamping hand. The clamping hand releases from the strut, and the vehicle body 102 continues to travel along the length direction of the water channel driven by the mobile chassis 101 to complete the driving of the pests in the field.

[0029] The vehicle body 102 of the present invention can travel in the water channel in the field driven by the mobile chassis 101. While traveling, the sprinkler head 201 extracts water from the water channel to spray the field to startle the pests in the field. The ultrasonic transmitter 301 emits ultrasonic waves to the field to drive the pests in the field. When the vehicle body 102 encounters the crosswise reinforced strut on the water channel, the clamping hand can clamp down on the strut. The first rotating block 401 rotates the vehicle body 102 and the mobile base out of the water channel along the rotation axis of the clamping hand. After that, the vehicle body 102 drives the mobile chassis 101 to rotate together along the rotation axis of the first rotating block 401 to the front of the strut clamped by the clamping hand. Then, the first rotating block 401 rotates the vehicle body 102 and the mobile base into the water channel in front of the strut clamped by the clamping hand along the rotation axis of the clamping hand to achieve flipping on the strut. The flipped vehicle body 102 continues to travel along the length direction of the water channel driven by the mobile chassis 101, so that it is not necessary for the vehicle body 102 to travel in the field to continuously complete the driving of the pests in the field, and the growth of the rice crops in the field will not be damaged during the driving.

[0030] Please refer to Figure 1 and Figure 3 The system further includes a first rotary power source 501, a first gear 502, a second gear 503, a second rotating block 504 and an annular groove 505; The first rotary power source 501 is not limited here. Its function is to provide the rotary power for forward and reverse rotation, and it can be an AC motor, a stepping motor, etc.; The first gear 502 is fixedly installed on the turntable 103. The rotation axis of the first gear 502 is perpendicular to the upper end surface of the vehicle body 102, and the rotation axis of the first gear 502 is consistent with the rotation axis of the turntable 103; A second rotating block 504 is fixedly connected to the turntable 103. The rotation axis of the second rotating block 504 is the same as that of the turntable 103. An annular groove 505 is formed in the vehicle body 102, and the second rotating block 504 rotates and is engaged in the annular groove 505. The fixed end of the first rotating power source 501 is fixedly installed on the vehicle body 102. The second gear 503 is fixedly connected to the rotating end of the first rotating power source 501, and the second gear 503 remains engaged with the first gear 502. The orientations of the ultrasonic transmitter 301 and the nozzle 201 are parallel and on the same side, and the distance between the ultrasonic transmitter 301 and the rotation axis of the turntable 103 in the length direction of the vehicle body 102 is less than the distance between the nozzle 201 and the rotation axis of the turntable 103 in the length direction of the vehicle body 102.

[0031] In this embodiment, the vehicle body 102 slowly travels along the length direction of the water channel. While the nozzle 201 sprays water into the field and the ultrasonic transmitter 301 emits ultrasonic waves, the first rotating power source 501 first rotates forward 360 degrees to first spray the fields on both sides in the width direction of the water channel through the nozzle 201, and then emits ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic transmitter 301. Then the first rotating power source 501 rotates backward 360 degrees to first emit ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic transmitter 301, and then spray the fields on both sides in the width direction of the water channel through the nozzle 201. When there is only farmland on one side in the width direction of the water channel, the vehicle body 102 slowly travels along the length direction of the water channel. While the nozzle 201 sprays water into the field and the ultrasonic transmitter 301 emits ultrasonic waves, the first rotating power source 501 first rotates forward 180 degrees toward the side with farmland to control the nozzle 201 to spray the field where there is only farmland on one side in the width direction of the water channel, and then emits ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic transmitter 301. Then the first rotating power source 501 rotates backward 180 degrees to first emit ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic transmitter 301, and then spray the fields on both sides in the width direction of the water channel through the nozzle 201.

[0032] The distance between the rotation axis of the ultrasonic emitter 301 of the present invention and the length direction of the vehicle body 102 is less than the distance between the rotation axis of the nozzle 201 and the length direction of the vehicle body 102 along the length direction of the vehicle body 102, and the orientations of the ultrasonic emitter 301 and the nozzle 201 are kept parallel and on the same side. When driving away pests, the first rotation power source 501 can rotate forward to first spray the fields on both sides in the width direction of the water channel through the nozzle 201, and then emit ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic emitter 301. In this way, the pests in the fields can be startled by spraying water through the nozzle 201 first, and then the pests startled by the water sprayed by the nozzle 201 can be immediately driven away by the ultrasonic waves emitted by the ultrasonic emitter 301. Then the first rotation power source 501 rotates in reverse, so as to first emit ultrasonic waves to the fields on both sides in the width direction of the water channel through the ultrasonic emitter 301, and then spray the fields on both sides in the width direction of the water channel through the nozzle 201. In this way, the pests in the fields can be driven away by the ultrasonic waves emitted by the ultrasonic emitter 301 first, and then the pests that are not completely driven away by the ultrasonic waves can be immediately startled by spraying water through the nozzle 201. By repeating the above steps, the pests can be repeatedly driven away alternately by the ultrasonic emitter 301 and the nozzle 201. And when there are farmlands on both sides in the width direction of the water channel, the first rotation power source 501 can rotate the nozzle 201 by 360 degrees to spray the fields on both sides through the nozzle 201 and drive away pests by the ultrasonic emitter 301. When there is a farmland on one side in the width direction of the water channel, the first rotation power source 501 can rotate the nozzle 201 by 180 degrees to spray the fields on this side through the nozzle 201 and drive away pests by the ultrasonic emitter 301.

[0033] Please refer to Figure 1 、 Figure 3 and Figure 4 The water spraying unit further includes a through groove 202, a hose 203, a solenoid valve 204, a hard pipe 205, a permeable water tank 206 and a water pump 207; The water pump 207 is installed on the mobile chassis 101, the permeable water tank 206 is fixedly installed at the lower end of the mobile chassis 101, the water suction end of the water pump 207 extends into the permeable water tank 206, the water outlet end of the water pump 207 is communicated with one end of the hard pipe 205, the solenoid valve 204 is installed on the hard pipe 205, a through groove 202 is formed through the upper and lower ends of the vehicle body 102, the diameter of the through groove 202 is smaller than the inner diameter of the annular groove 505, the other end of the hard pipe 205 extends into the through groove 202 and is communicated with one end of the hose 203, the hose 203 penetrates through the turntable 103 and is communicated with the water inlet end of the nozzle 201, and the connection part of the hose 203 and the turntable 103 is fixedly connected.

[0034] In this embodiment, the vehicle body 102 travels slowly along the length direction of the water channel. When the nozzle 201 needs to spray water into the field, the water pump 207 pumps water from the water channel in the permeable water tank 206. The pumped water passes through the hard pipe 205, the solenoid valve 204, and the hose 203 in sequence and then sprays out from the nozzle 201. When the spraying direction of the nozzle 201 rotates to the water channel driven by the first rotation power source 501, the solenoid valve 204 closes and the water pump 207 stops pumping water. When the spraying direction of the nozzle 201 rotates to the fields on both sides in the width direction of the water channel driven by the first rotation power source 501, the solenoid valve 204 opens and the water pump 207 pumps water to spray water into the field through the nozzle 201.

[0035] When the present invention sprays water into the field through the nozzle 201, when the spraying direction of the nozzle 201 passes through the water channel, the solenoid valve 204 closes and the water pump 207 stops pumping water. Thus, the solenoid valve 204 can be used to control the nozzle 201 to stop spraying water in the direction where spraying is not required and spray water in the direction where spraying is required, and the structural design is ingenious.

[0036] Please refer to Figure 4 , the ultrasonic insect repelling unit further includes an ultrasonic mounting seat 302, a rotating shaft 303, a third gear 304, a second rotation power source 305, a fourth gear 306, and a mounting post 307; The second rotation power source 305 is not limited herein. Its function is to provide rotational power for forward and reverse rotation, and it can be an AC motor, a stepping motor, etc.; The ultrasonic emitter 301 is fixedly installed on the ultrasonic mounting seat 302. The rotating shaft 303 is horizontally and fixedly connected to the ultrasonic mounting seat 302. One end of the rotating shaft 303 extends out of the side wall of the ultrasonic mounting seat 302 and is fixedly connected to one end of the third gear 304. The rotation axis of the rotating shaft 303 is the same as the rotation axis of the third gear 304. The other end of the third gear 304 is fixedly connected to the rotating end of the second rotation power source 305. The fixed end of the second rotation power source 305 is fixedly installed on the turntable 103; One end of the fourth gear 306 close to the ultrasonic emitter 301 rotates and extends into the mounting post 307. The mounting post 307 is fixedly installed on the turntable 103. The other end of the fourth gear 306 away from the ultrasonic emitter 301 is fixedly connected to the side wall of the nozzle 201. The rotation axis of the fourth gear 306 is parallel to the rotation axis of the third gear 304, and the fourth gear 306 is kept engaged with the third gear 304.

[0037] In this embodiment, while the vehicle body 102 travels slowly along the length direction of the water channel, the ultrasonic transmitter 301 emits sound waves, the nozzle 201 sprays water under the action of the water pump 207, and the first rotary power source 501 drives the ultrasonic transmitter 301 and the nozzle 201 to rotate through the turntable 103. At the same time, the second rotary power source 305 rotates forward 60 degrees first, so that the nozzle 201 rotates downward 60 degrees from the highest position driven by the fourth gear 306, and the ultrasonic transmitter 301 rotates upward 60 degrees from the lowest position under the action of the rotating shaft 303. At this time, both the ultrasonic transmitter 301 and the nozzle 201 form an angle of 30 degrees with the horizontal plane. Then, the second rotary power source 305 rotates backward 60 degrees, so that the nozzle 201 rotates upward 60 degrees from the lowest position driven by the fourth gear 306, and the ultrasonic transmitter 301 rotates downward 60 degrees from the highest position under the action of the rotating shaft 303. Repeat the above operations to realize the insect repellent work at various positions in the field.

[0038] In the present invention, the third gear 304 and the fourth gear 306 drive the ultrasonic transmitter 301 and the nozzle 201 to rotate alternately under the action of the second rotary power source 305, so as to perform insect repellent at various positions in the field. When the nozzle 201 rotates to the highest position under the action of the second rotary power source 305, that is, when it forms an angle of 30 degrees with the horizontal plane, the solenoid valve 204 can adjust the water flow passing through the rigid pipe 205 to the maximum, so that the water sprayed by the nozzle 201 can be sprayed farther, thereby realizing the insect repellent work at positions farther from the water channel in the field.

[0039] Please refer to Figure 1 、 Figure 2 and Figure 5 Each of the flipping units further includes a first mounting block 402 and a third rotary power source 403; The third rotary power source 403 is not limited here. Its function is to provide rotary power, which can be an AC motor, a stepper motor, etc.; The rotating end of the third rotary power source 403 is fixedly connected to the first rotating block 401. The third rotary power source 403 is horizontally fixedly connected to the first mounting block 402, and the rotation axis of the third rotary power source 403 is perpendicular to the length direction of the vehicle body 102; The first rotating block 401 rotates under the action of the third rotary power source 403 to drive the vehicle body 102 and the mobile chassis 101 to flip.

[0040] In this embodiment, when the clamp holds down the strut in the traveling forward direction of the vehicle body 102, the first rotating block 401 rotates 90 degrees under the action of the third rotary power source 403 to drive the vehicle body 102 and the mobile chassis 101 to flip 90 degrees out of the water channel, that is, to flip above the water channel and wait for subsequent operations.

[0041] When the present invention crosses the strut laterally reinforced on the water channel, after the clamping hand clamps the strut in the traveling forward direction of the vehicle body 102 downward, the third rotating power source 403 drives the whole vehicle body 102 to turn over, and the structural design is ingenious.

[0042] Please refer to Figure 1 and Figure 5 , each of the turning units further includes a fourth rotating power source 404; No limitation is imposed on the fourth rotating power source 404 here, and its function is to provide rotational power, which can be an AC motor, a stepper motor, etc.; The rotating end of the fourth rotating power source 404 is fixedly connected to the vehicle body 102, the fixed end of the fourth rotating power source 404 is fixedly installed on the first rotating block 401, and the rotating axis of the fourth rotating power source 404 is perpendicular to the rotating axis of the third rotating power source 403.

[0043] In this embodiment, after the clamping hand clamps the strut in the traveling forward direction of the vehicle body 102 downward, at this time, the vehicle body 102 is located behind the strut clamped by the clamping hand. The first rotating block 401 rotates 90 degrees under the action of the third rotating power source 403 to drive the vehicle body 102 and the mobile chassis 101 to turn over 90 degrees from the water channel, that is, to turn over above the water channel. At this time, the rotating axis of the fourth rotating power source 404 rotates from being parallel to the length direction of the water channel to being parallel to the height direction of the water channel. Then, the vehicle body 102 and the chassis rotate 180 degrees under the action of the fourth rotating power source 404 to drive the vehicle body 102 to cross over the strut. Then, the first rotating block 401 continues to rotate 90 degrees in the same rotating direction under the action of the third rotating power source 403 to drive the vehicle body 102 and the mobile chassis 101 to turn over 90 degrees from above the water channel, that is, to turn over into the water channel. At this time, the vehicle body 102 is located in front of the strut clamped by the clamping hand, thereby completing the overall turning over of the vehicle body 102 and the mobile chassis 101.

[0044] When the first rotating block 401 of the present invention drives the vehicle body 102 to turn over 90 degrees under the action of the third rotating power source 403, that is, when the vehicle body 102 is turned over from the water channel to above the water channel, the vehicle body 102 drives the vehicle body 102 to turn over 180 degrees under the action of the fourth rotating power source 404, that is, to drive the vehicle body 102 to cross over the strut. Then, the first rotating block 401 drives the vehicle body 102 to turn over 90 degrees in the same rotating direction under the action of the third rotating power source 403, that is, to turn over into the water channel, completing the turning over of the vehicle body 102 to achieve the function of the vehicle body 102 crossing over the strut, and the cooperation between the structures is ingenious.

[0045] Please refer to Figure 1 、 Figure 2 and Figure 6, each of the flipping units further includes a limiting groove 601, a limiting block 602, and a first telescopic power source 603; The first telescopic power source 603 is not limited herein, and its function is to provide telescopic power, which can be a cylinder, a hydraulic cylinder, etc.; A limiting groove 601 is formed on the side wall of the first rotating block 401. The fixed end of the first telescopic power source 603 is fixedly connected to the first mounting block 402, and the extending end of the first telescopic power source 603 is fixedly connected to a limiting block 602. The size of the limiting block 602 is the same as that of the limiting groove 601; When the vehicle body 102 rotates 90° from the water channel under the action of the fourth rotating power source 404, the limiting block 602 extends into the limiting groove 601 under the action of the first telescopic power source 603 to fix the posture of the vehicle body 102 after rotation.

[0046] In this embodiment, when the gripper clamps the strut in the traveling forward direction of the vehicle body 102 downward, at this time, the vehicle body 102 is located behind the strut clamped by the gripper. The first rotating block 401 rotates 90 degrees under the action of the third rotating power source 403 to drive the vehicle body 102 and the mobile chassis 101 to flip 90 degrees together from the water channel, that is, when flipped above the water channel, the limiting block 602 extends into the limiting groove 601 under the action of the first telescopic power source 603 to fix the posture of the vehicle body 102 after rotating 90 degrees. After the vehicle body 102 rotates 180 degrees under the action of the fourth rotating power source 404, the limiting block 602 moves out of the limiting groove 601 under the action of the first telescopic power source 603, and the first rotating block 401 continues to rotate 90 degrees in the same direction under the action of the third rotating power source 403 to drive the vehicle body 102 and the mobile chassis 101 to flip 90 degrees together from above the water channel, that is, flip into the water channel. At this time, the vehicle body 102 is located in front of the strut clamped by the gripper, thus completing the overall flipping of the vehicle body 102 and the mobile chassis 101.

[0047] When the first rotating block 401 of the present invention rotates 90 degrees under the action of the third rotating power source 403, that is, when the vehicle body 102 flips from the water channel to above the water channel, at this time, the limiting block 602 extends into the limiting groove 601 installed on the first rotating block 401 under the action of the first telescopic power source 603, so as to ensure that the first rotating block 401 does not shake when the vehicle body 102 rotates 180 degrees under the action of the fourth rotating power source 404. The stability of the first rotating block 401 when the fourth rotating power source 404 rotates can be achieved by the limiting block 602 extending into the limiting groove 601.

[0048] Please refer to Figure 1 、 Figure 2 and Figure 6, the number of grippers in each flip unit is two, and the two grippers are mounted on the first mounting block 402 opposite to each other along the width direction of the vehicle body 102, and each gripper includes two clamping mechanisms, a second mounting block 701, and a second telescopic power source 702; The second telescopic power source 702 is not limited here, and its function is to provide telescopic power, and it can be a cylinder, a hydraulic cylinder, etc.; The fixed end of the second telescopic power source 702 is fixedly mounted on the first mounting block 402, the telescopic axis of the second telescopic power source 702 is parallel to the height direction of the vehicle body 102, and the second mounting block 701 is fixedly mounted on the telescopic end of the second telescopic power source 702; The two clamping mechanisms are relatively rotatably mounted on the second mounting block 701 along the length direction of the vehicle body 102 , and the rotation axes of the two clamping mechanisms are consistent with the width direction of the support rod.

[0049] In this embodiment, when the vehicle body 102 travels in the canal until the front support pole is located at the lower end surface of the second mounting block 701 in the forward direction of the vehicle body 102, the two clamping hands in the forward direction of the vehicle body 102 both rotate downward through the two clamping mechanisms to clamp the support pole in front of the vehicle body 102. During the rotation, the second telescopic power source 702 drives the clamping mechanism to move downward, thereby enabling the clamping mechanism to clamp the support pole in front of the vehicle body 102.

[0050] Each flipping unit of the present invention has two grippers, and the two grippers are installed on the first mounting block 402 opposite to each other along the width direction of the vehicle body 102, so that the grippers are located on both sides of the width direction of the vehicle body 102. After each gripper rotates and clamps the support rod through two clamping mechanisms, the vehicle body 102 is turned over the support rod between the two grippers. When the two grippers clamp the support rod, the vehicle body 102 has good stability during the process of turning over the support rod.

[0051] See also Figure 1 , Figure 2 , Figure 6 and Figure 7 Each of the clamping mechanisms includes a fifth rotational power source 703, a clamping block 704, a pressing block 705, a guide slope 706, a spring 707, a slide groove 708 and a ball 709; The fifth rotation power source 703 is not limited here, and its function is to provide power for forward and reverse rotation, and can be an AC motor, a stepping motor, etc.; One end of the clamp block 704 is fixedly mounted on the rotating end of the fifth rotating power source 703, the fifth rotating power source 703 is horizontally fixed on the second mounting block 701, and the rotating axis of the fifth rotating power source 703 is perpendicular to the rotating axis of the fourth rotating power source 404; The ball 709 is fixedly installed on the side wall of the clamping block 704 away from the fifth rotary power source 703. When the clamping block 704 rotates under the action of the fifth telescopic power source to support the upper end faces at both ends in the width direction of the water channel, the ball 709 remains in contact with the upper end faces at both ends in the width direction of the water channel. The moving chassis 101 is located between the balls 709 on both sides in the length direction of the vehicle body 102; Sliding grooves 708 are formed in the side walls of two adjacent clamping blocks 704 in the length direction of the vehicle body 102. The sliding guiding direction of the sliding grooves 708 is parallel to the rotation axis of the fifth rotary power source 703. One end of a spring 707 is fixedly connected in each sliding groove 708. The spring 707 is horizontally arranged. The other end of the spring 707 is fixedly connected to a pressing block 705. Guide inclined surfaces 706 are formed in the opposite end faces of two adjacent pressing blocks 705 in the length direction of the vehicle body 102. The pressing block 705 can slide along the sliding guiding direction of the sliding groove 708 to move out of or into the sliding groove 708; When the vehicle body 102 travels to a position where the support rod is located between two adjacent clamping blocks 704 in the length direction of the vehicle body 102, the four clamping blocks 704 clamp the side walls along both sides in the length direction of the vehicle body 102 by corresponding support blocks under the rotation of the corresponding fifth rotary power source 703, so as to clamp the support rod through the pressing blocks 705 on the clamping blocks 704.

[0052] In this embodiment, when the vehicle body 102 travels in the water channel to a position where the front support rod is located at the lower end face of the second mounting block 701 in the forward direction of the vehicle body 102, the clamping blocks 704 in the forward direction of the vehicle body 102 all rotate downward by 90 degrees in the horizontal direction under the action of the forward rotation of the fifth rotary power source 703, so that the clamping blocks 704 clamp the front support rod of the vehicle body 102 in the vertical direction. While rotating, the second telescopic power sources 702 along both sides in the width direction of the vehicle body 102 in the forward direction of the vehicle body 102 drive the clamping blocks 704 to move downward. During this process, the clamping blocks 704 first contact and press the side walls along the length direction of the support rod through the guiding inclined surfaces on the pressing blocks 705, and then the pressing blocks 705 compress the springs 707 so that the pressing blocks 705 clamp the side walls along the length direction of the support rod, and finally clamp the support rod through the compressed pressing blocks 705, waiting for the subsequent operation of the vehicle body 102 to climb over the support rod. When the vehicle body 102 climbs over the support rod and enters the front of the support rod, the fifth rotary power source 703 rotates 90 degrees in the opposite direction, and at the same time the second telescopic power source 702 moves in the opposite direction, so that the clamping blocks 704 return from the vertical direction to the horizontal direction again and are both located above the support rod; When there is an uneven connection between two sections of the water channel and steps are required in the upper water channel, the balls 709 at the front end of the vehicle body 102 in the advancing direction first fit against the upper end surfaces at both ends in the width direction of the higher water channel under the action of the second telescopic power source 702. Then, the fifth rotation power source 703 rotates the clamping block 704 at the front end of the vehicle body 102 downward from the horizontal position. At this time, the balls 709 at the front end of the vehicle body 102 support the vehicle body 102 and the mobile chassis 101, and the front wheels of the mobile chassis 101 move up to the lower end surface in the higher water channel. Then, the rear wheels of the mobile chassis 101 continue to move forward. When the rear wheels need to climb the steps, the balls 709 at the rear end of the vehicle body 102 in the advancing direction first fit against the upper end surfaces at both ends in the width direction of the lower water channel under the action of the second telescopic power source 702. Then, the fifth rotation power source 703 rotates the clamping block 704 at the rear end of the vehicle body 102 downward from the horizontal position. At this time, the balls 709 at the rear end of the vehicle body 102 support the vehicle body 102 and the mobile chassis 101, and the rear wheels of the mobile chassis 101 move up to the lower end surface in the higher water channel. At this time, the fifth rotation power source 703 rotates the clamping block 704 at the front end of the vehicle body 102 back to the horizontal position. Then, the balls 709 at the front end of the vehicle body 102 in the advancing direction move to the initial position under the action of the second telescopic power source 702. At this time, the front wheels of the mobile chassis 101 will contact the lower end surface in the higher water channel, and then the front wheels of the mobile chassis 101 continue to move forward. When the rear wheels of the mobile chassis 101 contact the lower end surface in the higher water channel, at this time, the fifth rotation power source 703 rotates the clamping block 704 at the rear end of the vehicle body 102 back to the horizontal position. Then, the balls 709 at the rear end of the vehicle body 102 in the advancing direction move to the initial position under the action of the second telescopic power source 702, thus enabling the vehicle body 102 to climb the steps in the water channel; When there is an uneven connection between two sections of the water channel and steps are required inside the lower water channel, the balls 709 at the front end of the vehicle body 102 in the advancing direction first come into contact with the upper end surfaces at both ends in the width direction of the lower water channel under the action of the second telescopic power source 702. Then, the fifth rotary power source 703 rotates the clamping block 704 at the front end of the vehicle body 102 downward from the horizontal position. At this time, the balls 709 at the front end of the vehicle body 102 support the vehicle body 102 and the mobile chassis 101. Then, the rear wheels of the mobile chassis 101 continue to move forward. When the rear wheels need to go down the steps, the balls 709 at the rear end of the vehicle body 102 in the advancing direction first come into contact with the upper end surfaces at both ends in the width direction of the lower water channel under the action of the second telescopic power source 702. Then, the fifth rotary power source 703 rotates the clamping block 704 at the rear end of the vehicle body 102 downward from the horizontal position. At this time, the balls 709 at the rear end of the vehicle body 102 support the vehicle body 102 and the mobile chassis 101. At this time, the fifth rotary power source 703 rotates the clamping block 704 at the front end of the vehicle body 102 back to the horizontal position. Then, the balls 709 at the front end of the vehicle body 102 in the advancing direction move to the initial position under the action of the second telescopic power source 702. At this time, the front wheels of the vehicle body 102 come into contact with the lower end surface inside the lower water channel. Then, the front wheels of the vehicle body 102 continue to move forward. When the rear wheels of the mobile chassis 101 are directly above the lower water channel, the fifth rotary power source 703 rotates the clamping block 704 at the rear end of the vehicle body 102 back to the horizontal position. Then, the balls 709 at the rear end of the vehicle body 102 in the advancing direction move to the initial position under the action of the second telescopic power source 702. At this time, the rear wheels of the mobile chassis 101 will come into contact with the lower end surface inside the lower water channel. Then, the front wheels of the mobile chassis 101 continue to move forward. When the rear wheels of the mobile chassis 101 come into contact with the lower end surface inside the upper water channel, at this time, the fifth rotary power source 703 rotates the clamping block 704 at the rear end of the vehicle body 102 back to the horizontal position. Then, the balls 709 at the rear end of the vehicle body 102 in the advancing direction move to the initial position under the action of the second telescopic power source 702. The rear wheels of the mobile chassis 101 will come into contact with the lower end surface inside the lower water channel, thus enabling the vehicle body 102 to go down the steps inside the water channel.

[0053] When the clamping block 704 clamps the support rod in the present invention, it is achieved by the fifth rotation power source 703 rotating 90 degrees and the second telescopic power source 702 moving the clamping block 704 downward. In this way, when the support rod needs to be clamped, the clamping block 704 can rotate from above the support rod to clamp the support rod. When clamping the support rod, the clamping block 704 clamps the side wall of the support rod along the length direction of the vehicle body 102 by means of the pressing block 705 installed on it and being squeezed by the support rod during the rotation of the pressing block 705. When the vehicle body 102 needs to continue moving forward after flipping, the fifth rotation power source 703 rotates 90 degrees in the opposite direction, and at the same time, the second telescopic power source 702 moves in the opposite direction, which can make the clamping block 704 rotate back to the support rod again, so that the vehicle body 102 will not be blocked by the support rod and unable to move during the forward movement. Moreover, the ball 709 of the present invention can support the vehicle body 102 and the moving chassis 101 under the action of the fifth rotation power source 703 when passing through the steps. When the moving chassis 101 continues to move forward, the vehicle body 102 can go up and down the steps. Therefore, this system can be applied to the water channels with steps inside, and the structural design is ingenious.

[0054] Please refer to Figure 1 、 Figure 2 and Figure 6 As shown in, the system further includes two obstacle blocking units. Both of the two obstacle blocking units are arranged on the vehicle body 102 and are located at both ends of the vehicle body 102 in the length direction. The obstacle blocking units are both located below the flipping unit. Each obstacle blocking unit includes a water leakage plate 801, a pressure sensor 802, a third rotating block 803, and a sixth rotation power source 804; The sixth rotation power source 804 is not limited here. Its function is to provide the power for forward and reverse rotation, which can be an AC motor, a stepping motor, etc.; One end of the third rotating block 803 is fixedly connected to the water leakage plate 801, and the other end of the third rotating block 803 is fixedly connected to the rotating end of the sixth rotation power source 804. The rotation axis of the sixth rotation power source 804 is parallel to the width direction of the vehicle body 102, and the fixed end of the sixth rotation power source 804 is fixedly connected to the vehicle body 102; The water leakage plate 801 is horizontally arranged in the water channel along the width direction of the water channel. When the moving chassis 101 drives the vehicle body 102 to travel in the water channel in the field, the water leakage plate 801 blocks the obstacles in the water channel; The gripper is rotationally supported on the upper end surfaces at both ends of the water channel in the width direction by the balls 709 to drive the moving chassis 101 and the vehicle body 102 to move upward. When the moving chassis 101 and the vehicle body 102 move upward under the action of the gripper, the water leakage plate 801 rotates to scrape the obstacles to the rear of the traveling direction of the moving chassis 101; The pressure sensor 802 is fixedly installed at the connection between the third rotating block 803 and the water leakage plate 801, and the pressure sensor 802 detects the pressure on the water leakage plate 801.

[0055] In this embodiment, when the vehicle body 102 advances in the water channel, the vehicle body 102 travels in the water channel in a direction opposite to the flow direction of the water flow in the water channel driven by the moving chassis 101. The water leakage plate 801 in the advancing direction of the vehicle body 102 blocks the obstacles in the water flow during the traveling process. When the pressure sensor 802 detects that the pressure on the water leakage plate 801 is too high, that is, when there are too many obstacles blocked on the water leakage plate 801, at this time, all the second telescopic power sources 702 first move downward until the lower end surface of the horizontally arranged clamp block 704 fits with the upper end surfaces at both ends in the width direction of the water channel. At this time, the balls 709 on the clamp block 704 fit with the upper end surfaces at both ends in the width direction of the water channel. Then, all the fifth rotary power sources 703 rotate their corresponding clamp blocks 704 downward from the horizontal position. At this time, the balls 709 support the vehicle body 102 and the moving chassis 101, and the water leakage plate 801 also lifts a certain distance from the water channel. A part of the obstacles on the water leakage plate 801 fall below the water leakage plate 801. Then, the water leakage plate 801 in the advancing direction of the vehicle body 102 rotates in the reverse direction of the traveling direction of the vehicle body 102 under the action of the sixth rotary power source 804 fixedly connected thereto, so that the water leakage plate 801 scrapes the obstacles below the water leakage plate 801 in the reverse direction of the traveling direction of the vehicle body 102. The fifth rotary power source 703 rotates its corresponding clamp block 704 downward from the horizontal position continuously. At this time, the position where the balls 709 support the vehicle body 102 and the moving chassis 101 is higher than just now. Then, when the water leakage plate 801 in the advancing direction of the vehicle body 102 rotates back to the initial position in the forward direction of the traveling direction of the vehicle body 102 under the action of the sixth rotary power source 804 fixedly connected thereto at this time, the obstacles on the water leakage plate 801 are scraped repeatedly.

[0056] The water leakage plate 801 of the present invention can not only block the obstacles in the water channel during the traveling process of the vehicle body 102, but also when the pressure sensor 802 detects that the water leakage plate 801 blocks too many obstacles, the rotation of the fifth rotary power source 703 causes the balls 709 on the clamping plate to rotate and drive the vehicle body 102 and the moving chassis 101 to move upward. At the same time, the water leakage plate 801 also moves upward. Under the action of the sixth rotary power source 804, the water leakage plate 801 can scrape the obstacles blocked by the water leakage plate 801 in the reverse direction of the traveling direction of the vehicle body 102 to ensure that the resistance of the vehicle body 102 traveling in the water channel will not hinder the traveling of the vehicle body 102.

[0057] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An ultrasonic insect repellent system, characterized in that: The system comprises: A mobile chassis, a vehicle body and a turntable, wherein the vehicle body is mounted on the mobile chassis, and the turntable is rotatably mounted on the vehicle body, and the mobile chassis drives the vehicle body to travel in the canal in the field along the length direction of the canal; A water spray unit, the water spray unit comprising a spray head, the spray head being arranged on a rotating disk, the spray head spraying water into the field to scare away the pests in the field; An ultrasonic pest repellent unit, the ultrasonic pest repellent unit comprising an ultrasonic transmitter, the ultrasonic transmitter being arranged on a rotating disk, the ultrasonic transmitter emitting ultrasonic waves to the field to repel pests in the field; Two flipping units, both of which are installed on the vehicle body and located at both ends of the length direction of the vehicle body, each of which includes a first rotating block and a clamping hand, the first rotating block is rotatably set on the vehicle body, the rotation axis of the first rotating block is parallel to the length direction of the vehicle body, the clamping hand is rotatably set on the first rotating block, the rotation axis of the clamping hand is parallel to the width direction of the vehicle body, and the clamping hand can be clamped downward on the laterally reinforced support rod on the canal.

2. The ultrasonic insect repellent system according to claim 1, characterized in that: The system also includes a first rotating power source, a first gear, a second gear, a second rotating block and an annular groove; The first gear is fixedly mounted on the turntable, the rotation axis of the first gear is perpendicular to the upper end surface of the vehicle body, and the rotation axis of the first gear is consistent with the rotation axis of the turntable; A second rotating block is fixedly connected to the rotating disk, the rotating axis of the second rotating block is consistent with the rotating axis of the rotating disk, an annular groove is provided on the vehicle body, and the second rotating block is rotatably engaged in the annular groove; The fixed end of the first rotating power source is fixedly mounted on the vehicle body, the second gear is fixedly connected to the rotating end of the first rotating power source, and the second gear is meshed with the first gear; The ultrasonic transmitter and the nozzle are oriented parallel and located on the same side, and the distance between the ultrasonic transmitter and the rotation axis of the turntable along the length direction of the vehicle body is smaller than the distance between the nozzle and the rotation axis of the turntable along the length direction of the vehicle body.

3. The ultrasonic insect repellent system according to claim 2, characterized in that: The water spray unit also includes a through slot, a hose, a solenoid valve, a hard pipe, a water permeable box and a water pump; The water pump is installed on the mobile chassis, the water permeable box is fixedly installed at the lower end of the mobile chassis, the water pumping end of the water pump extends into the water permeable box, the water outlet end of the water pump is connected with one end of a hard pipe, the solenoid valve is installed on the hard pipe, the upper and lower ends of the vehicle body are penetrated by through grooves, the diameter of the through groove is smaller than the inner diameter of the annular groove, the other end of the hard pipe extends into the through groove and is connected with one end of a hose, the hose passes through the turntable and is connected with the water inlet end of the nozzle, and the junction of the hose and the turntable is fixedly connected.

4. The ultrasonic insect repellent system according to claim 1, characterized in that: The ultrasonic insect repellent unit also includes an ultrasonic mounting seat, a rotating shaft, a third gear, a second rotating power source, a fourth gear, and a mounting column; The ultrasonic transmitter is fixedly mounted on the ultrasonic mounting seat, the rotating shaft is horizontally fixedly connected to the ultrasonic mounting seat, one end of the rotating shaft extends out of the side wall of the ultrasonic mounting seat and is fixedly connected to one end of the third gear, the rotating axis of the rotating shaft is consistent with the rotating axis of the third gear, the other end of the third gear is fixedly connected to the rotating end of the second rotating power source, and the fixed end of the second rotating power source is fixedly mounted on the turntable; The end of the fourth gear close to the ultrasonic transmitter rotates and extends into the mounting column, and the mounting column is fixedly mounted on the turntable. The end of the fourth gear away from the ultrasonic transmitter is fixedly connected to the side wall of the nozzle. The fourth gear is parallel to the rotation axis of the third gear, and the fourth gear is meshed with the third gear.

5. The ultrasonic insect repellent system according to claim 1, characterized in that: Each of the flipping units also includes a first mounting block and a third rotation power source; The rotating end of the third rotating power source is fixedly connected to the first rotating block, the third rotating power source is horizontally fixedly connected to the first mounting block, and the rotating axis of the third rotating power source is perpendicular to the length direction of the vehicle body; The first rotating block rotates under the action of the third rotating power source to drive the vehicle body and the moving chassis to turn over.

6. The ultrasonic insect repellent system according to claim 5, characterized in that: Each of the flipping units also includes a fourth rotation power source; The rotating end of the fourth rotating power source is fixedly connected to the vehicle body, the fixed end of the fourth rotating power source is fixedly installed on the first rotating block, and the rotating axis of the fourth rotating power source is perpendicular to the rotating axis of the third rotating power source.

7. The ultrasonic insect repellent system according to claim 5, characterized in that: Each of the flipping units also includes a limiting groove, a limiting block and a first telescopic power source; A limiting groove is provided on the side wall of the first rotating block, a fixed end of the first telescopic power source is fixedly connected to the first mounting block, an extended end of the first telescopic power source is fixedly connected to the limiting block, and a size of the limiting block is consistent with the limiting groove; When the vehicle body rotates 90 degrees from the water channel under the action of the fourth rotating power source, the limiting block extends into the limiting groove under the action of the first telescopic power source to fix the posture of the vehicle body after rotation.

8. The ultrasonic insect repellent system according to claim 5, characterized in that: There are two grippers in each of the flipping units, and the two grippers are mounted on the first mounting block opposite to each other along the width direction of the vehicle body, and each gripper includes two clamping mechanisms, a second mounting block, and a second telescopic power source; The fixed end of the second telescopic power source is fixedly mounted on the first mounting block, the telescopic axis of the second telescopic power source is parallel to the height direction of the vehicle body, and the second mounting block is fixedly mounted on the telescopic end of the second telescopic power source; The two clamping mechanisms are relatively rotatably mounted on the second mounting block along the length direction of the vehicle body, and the rotation axes of the two clamping mechanisms are consistent with the width direction of the support rod.

9. The ultrasonic insect repellent system according to claim 8, characterized in that: Each of the clamping mechanisms comprises a fifth rotational power source, a clamping block, a pressing block, a guide slope, a spring, a slide groove and a ball; One end of the clamping block is fixedly mounted on the rotating end of the fifth rotating power source, the fifth rotating power source is horizontally fixedly connected to the second mounting block, and the rotating axis of the fifth rotating power source is perpendicular to the rotating axis of the fourth rotating power source; The ball bearings are fixedly mounted on the side wall of the clamping block away from the fifth rotating power source. When the clamping block rotates under the action of the fifth telescopic power source to support the upper end surfaces at both ends of the water channel in the width direction, the ball bearings maintain contact with the upper end surfaces at both ends of the water channel in the width direction. The movable chassis is located between the ball bearings on both sides in the length direction of the vehicle body. The side walls of two adjacent clamping blocks in the length direction of the vehicle body are each provided with a slide groove, the sliding guide direction of the slide groove is parallel to the rotation axis of the fifth rotary power source, one end of a spring is fixedly connected in each of the slide grooves, the spring is horizontally arranged, and the other end of the spring is fixedly connected to the pressing block, and the opposite end faces of the two adjacent pressing blocks in the length direction of the vehicle body are each provided with a guiding inclined surface, and the pressing block can slide along the sliding guide direction of the slide groove to move out of or extend into the slide groove; When the vehicle body moves to a position where the support rod is located between adjacent clamping blocks in the length direction of the vehicle body, the four clamping blocks correspondingly clamp the side walls of the support block along the length direction of the vehicle body under the rotation of the corresponding fifth rotating power source, so as to clamp the support rod through the pressing blocks on the clamping blocks.

10. The ultrasonic insect repellent system according to claim 9, characterized in that: The system further comprises two obstacle blocking units, both of which are arranged on the vehicle body and located at both ends of the vehicle body in the length direction, and both of which are located below the flip unit, and each of which comprises a water leakage plate, a pressure sensor, a third rotating block and a sixth rotating power source; One end of the third rotating block is fixedly connected to the water leakage plate, and the other end of the third rotating block is fixedly connected to the rotating end of the sixth rotating power source, the rotating axis of the sixth rotating power source is parallel to the width direction of the vehicle body, and the fixed end of the sixth rotating power source is fixedly connected to the vehicle body; The water leakage board is arranged in the water channel transversely along the width direction of the water channel. When the mobile chassis drives the vehicle body to travel in the water channel in the field, the water leakage board blocks obstacles in the water channel. The clamping hand is supported on the upper end surfaces at both ends of the water channel in the width direction by ball bearing rotation, so as to drive the mobile chassis and the vehicle body to move upward. When the mobile chassis and the vehicle body move upward under the action of the clamping hand, the leaking plate rotates to scrape the obstacles to the rear of the moving direction of the mobile chassis; The pressure sensor is fixedly mounted at the connection between the third rotating block and the water leakage plate, and the pressure sensor detects the pressure on the water leakage plate.

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