An ultrasonic wave pest control system

Abstract

The application provides an ultrasonic pest repelling system, belonging to the technical field of pest control, comprising a mobile chassis, a vehicle body, a turntable, a spray head, an ultrasonic transmitter, a first rotating block, a clamping hand and a water leakage plate. The vehicle body is driven by the mobile chassis to travel along the length direction of the water channel. The spray head extracts water in the water channel to spray the field to scare the pests in the field. The ultrasonic transmitter emits ultrasonic waves to the field to repel the pests in the field. The water leakage plate blocks the obstacles in the water channel during the travel of the vehicle body and then scrapes off the obstacles. When the vehicle body travels to the water channel with a support rod laterally reinforced, the clamping hand clamps the support rod downward. The first rotating block turns the vehicle body out of the water channel. The vehicle body is turned to the front of the support rod clamped by the clamping hand. The first rotating block turns the vehicle body into the water channel in front of the support rod clamped by the clamping hand. The clamping hand is released from the support rod. The vehicle body continues to travel along the length direction of the water channel driven by the mobile chassis.

Description

Technical Field

[0001] This invention belongs to the field of pest control technology, and in particular relates to an ultrasonic insect repellent system. Background Technology

[0002] Ultrasound is a sound wave with a frequency exceeding 20 kHz, which is beyond the range of human hearing, but many agricultural pests can sense it and react to it. Ultrasound creates a spatial environment that is unfavorable to the survival of pests, forcing them to escape or reducing their damage to crops.

[0003] When driving away pests in the field, horizontal support rods are installed on the irrigation ditches to reinforce the lateral support of the irrigation ditches and prevent them from collapsing.

[0004] Chinese invention patent CN106577625A discloses a "Sonic Insect Repellent, Sterilization, and Virus Inhibition System." When the device is in operation, the left and right acoustic insect repellent wings should be detached and hung on fixed brackets on the left and right sides of the vehicle. Upon arrival at the work area, the wings are pre-installed on their mounting points, putting the device into operation. The terminals of the acoustic irradiator on the wings and the acoustic generator within the vehicle are connected. The generator switch on the field vehicle is then activated, powering on the acoustic system. The acoustic generator then begins irradiation, allowing the field vehicle to perform ultrasonic sterilization and virus inhibition in the field. The driver operates the vehicle from the cab, controlling both driving and the acoustic irradiation insect repellent function. The operator adjusts the height of the wings according to plant height, crop growth, and specific pest infestation conditions. This adjustment can be achieved by adjusting the wing height measurement system to accommodate varying levels of complexity. The field-driving vehicle travels through crop fields to drive away and kill pests. Its large wheels follow the tracks used by other agricultural machinery for sowing and transplanting. The vehicle's flaps pass over the rice crops in the humid air, effectively killing pests. However, because this invention involves driving away pests, the field-driving vehicle travels within the field. This method of travel not only compacts the soil around the rice crops, affecting root growth, but also easily damages the rice crops due to the wheels crushing them.

[0005] Therefore, its drawback is that when using ultrasound to drive away pests, the invention can affect or even destroy the growth of rice crops. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an ultrasonic insect repellent system to solve the problem that repelling pests in the prior art can affect or even destroy the growth of rice crops.

[0007] To achieve the above and other related objectives, the present invention provides an ultrasonic insect repellent system, the system comprising:

[0008] A mobile chassis, a vehicle body, and a turntable are provided. 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 of the irrigation ditch in the field.

[0009] A water spraying unit, comprising a nozzle mounted on a turntable, which sprays water into the field to startle pests in the field.

[0010] An ultrasonic pest control unit includes an ultrasonic transmitter mounted on a turntable. The ultrasonic transmitter emits ultrasonic waves into the field to drive away pests.

[0011] Two flipping units are mounted on the vehicle body and located at both ends of the vehicle body's length direction. Each flipping unit includes a first rotating block and a gripper. The first rotating block is rotatably mounted on the vehicle body, and its rotation axis is parallel to the length direction of the vehicle body. The gripper is rotatably mounted on the first rotating block, and its rotation axis is parallel to the width direction of the vehicle body. The gripper can grip the horizontally reinforced support rod on the water channel downwards.

[0012] As an optional solution, the system further includes a first rotary power source, a first gear, a second gear, a second rotating block, and an annular groove;

[0013] The first gear is fixedly mounted on the turntable. The rotation axis of the first gear is perpendicular to the upper surface of the vehicle body, and the rotation axis of the first gear is consistent with the rotation axis of the turntable.

[0014] A second rotating block is fixedly connected to the turntable, and the rotation axis of the second rotating block is consistent with the rotation axis of the turntable. An annular groove is provided on the vehicle body, and the second rotating block is engaged in the annular groove during rotation.

[0015] The fixed end of the first rotary power source is fixedly mounted on the vehicle body, and the second gear is fixedly connected to the rotating end of the first rotary power source, with the second gear meshing with the first gear;

[0016] The ultrasonic transmitter and the nozzle are parallel and located on the same side, and the distance between the rotation axis of the ultrasonic transmitter and the turntable along the length of the vehicle body is less than the distance between the rotation axis of the nozzle and the turntable along the length of the vehicle body.

[0017] As an optional solution, the water spraying unit also includes a through channel, a hose, a solenoid valve, a rigid pipe, a permeable tank, and a water pump;

[0018] The water pump is mounted on a mobile chassis, and the permeable tank is fixedly mounted on the lower end of the mobile chassis. The pump's suction end extends into the permeable tank, and the pump's outlet end is connected to one end of a rigid pipe. The solenoid valve is mounted on the rigid pipe. A through groove is formed at 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 rigid pipe extends into the through groove and is connected to one end of a flexible hose. The flexible hose passes through the turntable and is connected to the water inlet end of the nozzle. The junction of the flexible hose and the turntable is fixedly connected.

[0019] As an optional solution, the ultrasonic insect repellent unit also includes an ultrasonic mounting base, a rotating shaft, a third gear, a second rotating power source, a fourth gear, and a mounting column;

[0020] The ultrasonic transmitter is fixedly mounted on the ultrasonic mounting base. The rotating shaft is horizontally fixedly connected to the ultrasonic mounting base. One end of the rotating shaft extends out of the side wall of the ultrasonic mounting base and is fixedly connected to one end of the third gear. The rotation axis of the rotating shaft is consistent with 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 mounted on the turntable.

[0021] The end of the fourth gear closest to the ultrasonic transmitter rotates into the mounting column, which is fixedly mounted on the turntable. The end of the fourth gear furthest from the ultrasonic transmitter is fixedly connected to the side wall of the nozzle. The rotation axis of the fourth gear is parallel to that of the third gear, and the fourth gear and the third gear are engaged.

[0022] As an optional solution, each of the flipping units further includes a first mounting block and a third rotational power source;

[0023] The rotating end of the third rotary power source is fixedly connected to the first rotating block, the third rotary power source is horizontally fixed to the first mounting block, and the rotation axis of the third rotary power source is perpendicular to the length direction of the vehicle body.

[0024] The first rotating block rotates under the action of the third rotational power source, thereby causing the vehicle body and the mobile chassis to flip.

[0025] As an optional solution, each of the flipping units also includes a fourth rotational power source;

[0026] The rotating end of the fourth rotary power source is fixedly connected to the vehicle body, the fixed end of the fourth rotary power source is fixedly installed on the first rotating block, and the rotation axis of the fourth rotary power source is perpendicular to the rotation axis of the third rotary power source.

[0027] As an optional solution, each of the flipping units further includes a limiting groove, a limiting block, and a first telescopic power source;

[0028] The side wall of the first rotating block is provided with a limiting groove, the fixed end of the first telescopic power source is fixedly connected to the first mounting block, and the extended end of the first telescopic power source is fixedly connected to a limiting block. The size of the limiting block is the same as that of the limiting groove.

[0029] When the vehicle body rotates 90° from the water channel under the action of the fourth rotational 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.

[0030] As an optional solution, each of the flipping units has two grippers, which are mounted opposite each other 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.

[0031] 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. The second mounting block is fixedly installed on the telescopic end of the second telescopic power source.

[0032] The two clamping mechanisms are rotatably mounted on the second mounting block along the length of the vehicle body, and the rotation axes of the two clamping mechanisms are consistent with the width direction of the support rod.

[0033] As an optional solution, each of the clamping mechanisms includes a fifth rotary power source, a clamping block, a pressing block, a guide ramp, a spring, a slide groove, and a ball bearing;

[0034] One end of the clamping block is fixedly installed on the rotating end of the fifth rotary power source, the fifth rotary power source is horizontally fixed on the second mounting block, and the rotation axis of the fifth rotary power source is perpendicular to the rotation axis of the fourth rotary power source.

[0035] The ball bearings are fixedly installed on the side wall of the clamping block away from the fifth rotary power source. When the clamping block rotates to support the upper end face at both ends of the water channel width direction under the action of the fifth telescopic power source, the ball bearings maintain contact with the upper end face at both ends of the water channel width direction. The movable chassis is located between the ball bearings on both sides of the vehicle body length direction.

[0036] The side walls of two adjacent clamping blocks along the length of the vehicle body are provided with sliding grooves. The sliding guide direction of the sliding grooves is parallel to the rotation axis of the fifth rotary power source. One end of a spring is fixed in each sliding groove. The springs are horizontally arranged, and the other end of the springs is fixed to the pressing block. The opposite end faces of two adjacent pressing blocks along the length of the vehicle body are provided with guide slopes. The pressing blocks can slide along the sliding guide direction of the sliding grooves to move out of or into the sliding grooves.

[0037] When the vehicle body travels to the position where the strut is located between adjacent clamping blocks in the length direction of the vehicle body, the four clamping blocks, under the rotation of the corresponding fifth rotary power source, clamp the side walls of the support block on both sides along the length direction of the vehicle body, so as to clamp the strut by pressing blocks on the clamping blocks.

[0038] As an optional solution, the system also includes two obstacle blocking units, both of which are mounted on the vehicle body and located at both ends of the vehicle body in the length direction. The obstacle blocking units are located below the flipping unit. Each obstacle blocking unit includes a water leakage plate, a pressure sensor, a third rotating block, and a sixth rotational power source.

[0039] 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.

[0040] The drainage plate is horizontally installed in the water channel along the width direction. When the mobile chassis drives the vehicle body in the water channel in the field, the drainage plate blocks obstacles in the water channel.

[0041] The gripper is supported on the upper surface of both ends of the water channel by the rotation of the ball bearings, so as to drive the mobile chassis and vehicle body to move upward. When the mobile chassis and vehicle body move upward under the action of the gripper, the water leakage plate rotates and scrapes the obstacle to the rear of the mobile chassis in the direction of travel.

[0042] The pressure sensor is fixedly installed at the connection between the third rotating block and the leaking plate, and the pressure sensor detects the pressure on the leaking plate.

[0043] As described above, the ultrasonic insect repellent system of the present invention has at least the following beneficial effects:

[0044] 1. The vehicle body of this invention can travel in the irrigation ditch in the field under the drive of the mobile chassis. While traveling, water is drawn from the ditch through the nozzles and sprayed into the field to startle pests. The ultrasonic transmitter emits ultrasonic waves into the field to drive away pests. When the vehicle body encounters a horizontally reinforced support rod in the irrigation ditch, the gripper can grip the support rod downwards. The first rotating block rotates the vehicle body and the mobile base out of the irrigation ditch 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 support rod held by the gripper. Then, the first rotating block rotates the vehicle body and the mobile base into the irrigation ditch in front of the support rod held by the gripper along the rotation axis of the gripper, so as to realize the flipping of the vehicle body on the support rod. After flipping, the vehicle body continues to travel along the length of the irrigation ditch under the drive of the mobile chassis. Thus, the pests can be continuously driven away in the field without the vehicle body traveling in the field. The driving away will not affect or damage the growth of rice crops in the field.

[0045] 2. In this invention, the distance between the rotation axis of the ultrasonic transmitter and the turntable along the length of the vehicle body is less than the distance between the rotation axis of the nozzle and the turntable along the length of the vehicle body. The ultrasonic transmitter and the nozzle are parallel and located on the same side, so that when driving away pests, the first rotating power source can be rotated forward to first spray the fields on both sides of the width of the irrigation ditch through the nozzle, and then the ultrasonic transmitter can emit ultrasonic waves to the fields on both sides of the width of the irrigation ditch. In this way, the pests in the field can be startled by spraying water through the nozzle, and then the ultrasonic waves can be emitted immediately. The ultrasonic waves emitted by the transmitter drive away pests startled by the water spray from the nozzle. Then, the first rotating power source reverses, so that the ultrasonic transmitter first emits ultrasonic waves into the fields on both sides of the width of the irrigation canal, and then the nozzle sprays water into the fields on both sides of the width of the irrigation canal. In this way, the ultrasonic waves emitted by the transmitter drive away pests in the fields, and then the water spray from the nozzle immediately startles the pests that have not been completely driven away by the ultrasonic waves. The above steps are repeated, so that the ultrasonic transmitter and the nozzle alternately drive away pests repeatedly.

[0046] 3. When there are farmlands on both sides of the irrigation canal in the width direction, the first rotary power source can drive the nozzle to rotate 360 ​​degrees through the turntable to spray the fields on both sides and drive away pests through the ultrasonic transmitter. When there are farmlands on only one side of the irrigation canal in the width direction, the first rotary power source can drive the nozzle to rotate 180 degrees through the turntable to spray the fields on that side and drive away pests through the ultrasonic transmitter.

[0047] 4. Under the action of the second rotary power source, the third and fourth gears of the present invention drive the ultrasonic transmitter and the nozzle to rotate alternately, so as to repel insects in various locations in the field. When the nozzle rotates to the highest position under the action of the second rotary power source, that is, when it is at a 30-degree angle with the horizontal plane, the solenoid valve adjusts the water flow through the rigid pipe to the maximum, so that the water sprayed by the nozzle can spray further. Thus, the nozzle with a large water flow can startle pests in the field that are far away from the irrigation ditch.

[0048] 5. The water-draining plate of the present invention can not only block obstacles in the water channel during vehicle movement, but also, when the pressure sensor detects that the water-draining plate is blocking too many obstacles, the second telescopic power source extends and retracts to drive the ball bearings to fit against the upper surfaces of both ends of the water channel in the width direction. The fifth rotary power source rotates to make the ball bearings on the clamp rotate, causing the vehicle body and the moving chassis to move upward. At the same time, the water-draining plate will also move upward. Under the action of the sixth rotary power source, the water-draining plate can scrape the obstacles blocked by the water-draining plate in the opposite direction of vehicle movement. The scraped-away obstacles will flow away with the water flow in the water channel, thereby ensuring that the resistance of the vehicle body in the water channel will not hinder the vehicle body's movement. Attached Figure Description

[0049] Figure 1 The diagram shown is a three-dimensional structural schematic of the present invention.

[0050] Figure 2 The diagram shows a structural schematic of the water channel of the present invention, which has farmland on both sides.

[0051] Figure 3 The view shown is a partial sectional view of the interior of the vehicle body of the present invention.

[0052] Figure 4 The diagram shown is an exploded view of the water spray unit and ultrasonic insect repellent unit of the present invention.

[0053] Figure 5 The diagram shown is an exploded view related to the flipping unit of this invention.

[0054] Figure 6 The diagram shown is an exploded view of the limiting groove, limiting block, and gripper of the present invention.

[0055] Figure 7 The diagram shown is an exploded view of the pressing block and clamping block of this invention.

[0056] In the diagram: 101. Mobile chassis; 102. Vehicle body; 103. Turntable;

[0057] 201. Nozzle; 202. Through-slot; 203. Flexible hose; 204. Solenoid valve; 205. Rigid pipe; 206. Permeable tank; 207. Water pump;

[0058] 301. Ultrasonic transmitter; 302. Ultrasonic mounting base; 303. Rotating shaft; 304. Third gear; 305. Second rotational power source; 306. Fourth gear; 307. Mounting column;

[0059] 401. First rotating block; 402. First mounting block; 403. Third rotational power source; 404. Fourth rotational power source;

[0060] 501. First rotary power source; 502. First gear; 503. Second gear; 504. Second rotating block; 505. Annular groove;

[0061] 601. Limiting groove; 602. Limiting block; 603. First telescopic power source;

[0062] 701. Second mounting block; 702. Second telescopic power source; 703. Fifth rotational power source; 704. Clamping block; 705. Pressing block; 706. Guide slope; 707. Spring; 708. Slide groove; 709. Ball bearing;

[0063] 801. Leakage plate; 802. Pressure sensor; 803. Third rotating block; 804. Sixth rotational power source. Detailed Implementation

[0064] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0065] Please see Figures 1 to 7 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0066] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0067] Please see Figure 1 and Figure 2 The present invention provides an ultrasonic insect repellent system, the system comprising:

[0068] The mobile chassis 101, vehicle body 102, and turntable 103 are provided. The vehicle body 102 is mounted on the mobile chassis 101, and the turntable 103 is rotatably mounted on the vehicle body 102. The mobile chassis 101 drives the vehicle body 102 to travel along the length of the irrigation ditch in the field.

[0069] A water spraying unit, which includes a nozzle 201, is mounted on a turntable 103 and sprays water into the field to startle pests in the field.

[0070] An ultrasonic insect repelling unit includes an ultrasonic transmitter 301, which is mounted on a turntable 103. The ultrasonic transmitter 301 emits ultrasonic waves into the field to repel pests in the field.

[0071] Two flipping units are mounted on the vehicle body 102 and located at both ends of the vehicle body 102 in the length direction. Each flipping unit includes a first rotating block 401 and a gripper. The first rotating block 401 is rotatably mounted 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 gripper is rotatably mounted on the first rotating block 401, and the rotation axis of the gripper is parallel to the width direction of the vehicle body 102. The gripper can grip the horizontally reinforced support rod on the water channel downwards.

[0072] In this embodiment, when the vehicle body 102 travels along the length of the irrigation ditch under the drive of the mobile chassis 101, the nozzle 201 draws water from the ditch and sprays it onto the field to startle pests. The ultrasonic transmitter 301 emits ultrasonic waves into the field to drive away pests. When the vehicle body 102 reaches the horizontally reinforced support pole on the irrigation ditch, the vehicle body 102 needs to climb over the horizontally reinforced support pole to continue moving forward. At this time, the gripper grips the horizontally reinforced support pole on the irrigation ditch downwards, and then the first rotating block 40... 1. The vehicle body 102 and the movable base are rotated out of the ditch along the rotation axis of the gripper. Then, the vehicle body 102 drives the movable chassis 101 to rotate together along the rotation axis of the first rotating block 401 to the front of the support rod held by the gripper. Then, the first rotating block 401 rotates the vehicle body 102 and the movable base to the ditch in front of the support rod held by the gripper along the rotation axis of the gripper. The gripper is released from the support rod. The vehicle body 102 continues to travel along the length of the ditch under the drive of the movable chassis 101 to complete the driving away of pests in the field.

[0073] The vehicle body 102 of this invention can travel in irrigation ditches in the field under the drive of the mobile chassis 101. While traveling, water is drawn from the ditch by the nozzle 201 and sprayed into the field to startle pests. The ultrasonic transmitter 301 emits ultrasonic waves into the field to drive away pests. When the vehicle body 102 encounters a horizontally reinforced support rod in the irrigation ditch, the gripper can clamp the support rod downwards. The first rotating block 401 rotates the vehicle body 102 and the mobile base out of the irrigation ditch along the rotation axis of the gripper. Then the vehicle body 102 rotates along the first rotating block 401. The rotation axis of block 401 drives the movable chassis 101 to rotate together to the front of the support rod held by the gripper. Then, the first rotating block 401 rotates the vehicle body 102 and the movable base along the rotation axis of the gripper to the water channel in front of the support rod held by the gripper, so as to achieve flipping on the support rod. After flipping, the vehicle body 102 continues to travel along the length of the water channel under the drive of the movable chassis 101, so that the vehicle body 102 does not need to travel in the field to continuously drive away the pests in the field, and the growth of rice crops in the field will not be damaged during the driving away.

[0074] Please see Figure 1 and Figure 3 The system also 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;

[0075] The first rotary power source 501 is not limited here. Its function is to provide rotary power for forward and reverse rotation. It can be an AC motor, a stepper motor, etc.

[0076] The first gear 502 is fixedly mounted on the turntable 103. The rotation axis of the first gear 502 is perpendicular to the upper end face of the vehicle body 102, and the rotation axis of the first gear 502 is consistent with the rotation axis of the turntable 103.

[0077] A second rotating block 504 is fixedly connected to the turntable 103. The rotation axis of the second rotating block 504 is consistent with the rotation axis of the turntable 103. An annular groove 505 is provided on the vehicle body 102. The second rotating block 504 is rotated and engaged in the annular groove 505.

[0078] The fixed end of the first rotary power source 501 is fixedly mounted on the vehicle body 102, and the second gear 503 is fixedly connected to the rotating end of the first rotary power source 501. The second gear 503 and the first gear 502 are meshed.

[0079] The ultrasonic transmitter 301 and the nozzle 201 are parallel and located on the same side, and the distance between the rotation axis of the ultrasonic transmitter 301 and the turntable 103 along the length of the vehicle body 102 is less than the distance between the rotation axis of the nozzle 201 and the turntable 103 along the length of the vehicle body 102.

[0080] In this embodiment, the vehicle body 102 slowly travels along the length of the irrigation canal. 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 360 degrees clockwise to spray water into the field on both sides of the width of the irrigation canal through the nozzle 201, and then emits ultrasonic waves into the field on both sides of the width of the irrigation canal through the ultrasonic transmitter 301. Then the first rotating power source 501 rotates 360 degrees counterclockwise to emit ultrasonic waves into the field on both sides of the width of the irrigation canal through the ultrasonic transmitter 301, and then spray water into the field on both sides of the width of the irrigation canal through the nozzle 201.

[0081] When there is farmland only on one side of the irrigation canal, the vehicle body 102 slowly moves along the length of the irrigation canal. While the nozzle 201 sprays water into the field and the ultrasonic transmitter 301 emits ultrasonic waves, the first rotary power source 501 first rotates 180 degrees clockwise towards the side with farmland to control the nozzle 201 to spray the field where there is farmland only on one side of the irrigation canal. Then, the ultrasonic transmitter 301 emits ultrasonic waves into the fields on both sides of the irrigation canal. Then, the first rotary power source 501 reverses 180 degrees to achieve the same effect: first, the ultrasonic transmitter 301 emits ultrasonic waves into the fields on both sides of the irrigation canal, and then the nozzle 201 sprays the fields on both sides of the irrigation canal.

[0082] In this invention, the distance between the rotation axis of the ultrasonic transmitter 301 and the turntable 103 along the length of the vehicle body 102 is less than the distance between the rotation axis of the nozzle 201 and the turntable 103 along the length of the vehicle body 102. Furthermore, the ultrasonic transmitter 301 and the nozzle 201 are parallel and located on the same side. This allows for the repelling of pests by first rotating the first rotary power source 501 clockwise to spray the fields on both sides of the irrigation ditch width direction using the nozzle 201, followed by the ultrasonic transmitter 301 emitting ultrasonic waves into the fields on both sides of the irrigation ditch width direction. This firstly, the water sprayed by the nozzle 201 startles the pests in the fields, and then the ultrasonic waves emitted by the ultrasonic transmitter 301 immediately drive away the pests startled by the water spray. Then, the first rotary power source 501 reverses direction, achieving the same effect of first spraying the fields on both sides of the irrigation ditch width direction using the ultrasonic transmitter 301. Ultrasonic waves are emitted and then sprayed onto the fields on both sides of the irrigation ditch via nozzle 201. This allows the ultrasonic waves emitted by the ultrasonic transmitter 301 to first drive away pests in the fields, and then the water sprayed by the nozzle 201 to startle any pests that were not completely driven away by the ultrasonic waves. This process is repeated, allowing the ultrasonic transmitter 301 and nozzle 201 to alternately drive away pests. When there are farmlands on both sides of the irrigation ditch, the first rotary power source 501 can rotate the nozzle 201 360 degrees to spray onto both sides of the fields and drive away pests via the ultrasonic transmitter 301. When there are farmlands on one side of the irrigation ditch, the first rotary power source 501 can rotate the nozzle 201 180 degrees to spray onto that side of the field and drive away pests via the ultrasonic transmitter 301.

[0083] Please see Figure 1 , Figure 3 and Figure 4 The water spraying unit also includes a through groove 202, a hose 203, a solenoid valve 204, a rigid pipe 205, a water permeable tank 206, and a water pump 207;

[0084] The water pump 207 is mounted on the mobile chassis 101, and the permeable tank 206 is fixedly mounted on the lower end of the mobile chassis 101. The water pump 207 extends into the permeable tank 206, and the water pump 207 is connected to one end of the rigid pipe 205. The solenoid valve 204 is mounted on the rigid pipe 205. The upper and lower ends of the vehicle body 102 are provided with through grooves 202. The diameter of the through grooves 202 is smaller than the inner diameter of the annular groove 505. The other end of the rigid pipe 205 extends into the through grooves 202 and is connected to one end of the flexible hose 203. The flexible hose 203 passes through the turntable 103 and is connected to the water inlet of the nozzle 201. The junction of the flexible hose 203 and the turntable 103 is fixedly connected.

[0085] In this embodiment, the vehicle body 102 slowly travels along the length of the irrigation canal. When the nozzle 201 needs to spray water into the field, the water pump 207 draws water from the irrigation canal in the permeable tank 206. The drawn water passes through the rigid pipe 205, the solenoid valve 204 and the flexible hose 203 in sequence before being sprayed out from the nozzle 201. When the spray direction of the nozzle 201 is rotated to the irrigation canal by the first rotary power source 501, the solenoid valve 204 closes and the water pump 207 stops pumping water. When the spray direction of the nozzle 201 is rotated to the field on both sides of the width of the irrigation canal by the first rotary 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.

[0086] When the present invention sprays water into the field through the nozzle 201, the solenoid valve 204 closes and the water pump 207 stops pumping water when the spray direction of the nozzle 201 passes through the water channel. Thus, the solenoid valve 204 can control the nozzle 201 to stop spraying water in the direction where water is not needed and to spray water in the direction where water is needed. The structure is ingeniously designed.

[0087] Please see Figure 4 The ultrasonic insect repellent unit also includes an ultrasonic mounting base 302, a rotating shaft 303, a third gear 304, a second rotating power source 305, a fourth gear 306, and a mounting column 307.

[0088] The second rotary power source 305 is not limited here. Its function is to provide rotary power for forward and reverse rotation. It can be an AC motor, a stepper motor, etc.

[0089] The ultrasonic transmitter 301 is fixedly mounted on the ultrasonic mounting base 302. The rotating shaft 303 is horizontally fixedly connected to the ultrasonic mounting base 302. One end of the rotating shaft 303 extends out of the side wall of the ultrasonic mounting base 302 and is fixedly connected to one end of the third gear 304. The rotation axis of the rotating shaft 303 is consistent with 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 rotary power source 305. The fixed end of the second rotary power source 305 is fixedly mounted on the turntable 103.

[0090] The end of the fourth gear 306 near the ultrasonic transmitter 301 rotates and extends into the mounting post 307, which is fixedly mounted on the turntable 103. The end of the fourth gear 306 away from the ultrasonic transmitter 301 is fixedly connected to the side wall of the nozzle 201. The rotation axis of the fourth gear 306 is parallel to that of the third gear 304, and the fourth gear 306 and the third gear 304 are engaged.

[0091] In this embodiment, the vehicle body 102 slowly travels along the length of the irrigation canal. 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 first rotates forward 60 degrees, so that the nozzle 201 rotates downward 60 degrees from the highest position under the action of 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, the ultrasonic transmitter 301 and the nozzle 201 are both at a 30-degree angle to the horizontal plane. Then the second rotary power source 305 reverses 60 degrees, so that the nozzle 201 rotates upward 60 degrees from the lowest position under the action of 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. The above work is repeated to achieve insect control in various locations in the field.

[0092] Under the action of the second rotary power source 305, the third gear 304 and the fourth gear 306 of the present invention drive the ultrasonic transmitter 301 and the nozzle 201 to rotate alternately so as to repel insects in various locations 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 is at a 30-degree angle with the horizontal plane, the solenoid valve 204 adjusts the water flow that can pass through the rigid pipe 205 to the maximum, so that the water sprayed by the nozzle 201 can spray further, thereby realizing the insect repellent work in locations in the field that are far away from the irrigation canal.

[0093] Please see Figure 1 , Figure 2 and Figure 5 Each of the flipping units further includes a first mounting block 402 and a third rotational power source 403;

[0094] The third rotary power source 403 is not limited here; its function is to provide rotary power, and it can be an AC motor, a stepper motor, etc.

[0095] 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 fixed to the first mounting block 402. The rotation axis of the third rotary power source 403 is perpendicular to the length direction of the vehicle body 102.

[0096] The first rotating block 401 rotates under the action of the third rotating power source 403, so as to drive the vehicle body 102 and the mobile chassis 101 to flip.

[0097] In this embodiment, when the gripper clamps the support rod in the direction of travel of the vehicle body 102 downwards, the first rotating block 401 rotates 90 degrees under the action of the third rotating power source 403, so as to drive the vehicle body 102 and the mobile chassis 101 to flip 90 degrees from the water channel, that is, flip to the top of the water channel, and wait for subsequent operations.

[0098] When the present invention crosses the horizontally reinforced support rods on the water channel, after the clamping hand grips the support rod in the direction of the vehicle body 102's forward movement, the third rotary power source 403 drives the entire vehicle body 102 to flip over, which is a clever structural design.

[0099] Please see Figure 1 and Figure 5 Each of the flipping units further includes a fourth rotational power source 404;

[0100] The fourth rotary power source 404 is not limited here; its function is to provide rotary power, and it can be an AC motor, a stepper motor, etc.

[0101] The rotating end of the fourth rotary power source 404 is fixedly connected to the vehicle body 102, and the fixed end of the fourth rotary power source 404 is fixedly installed on the first rotating block 401. The rotation axis of the fourth rotary power source 404 is perpendicular to the rotation axis of the third rotary power source 403.

[0102] In this embodiment, when the gripper clamps the support rod in the forward direction of the vehicle body 102, the vehicle body 102 is located behind the support rod gripped by the gripper. The first rotating block 401 rotates 90 degrees under the action of the third rotating power source 403, so as to drive the vehicle body 102 and the movable chassis 101 to flip 90 degrees from inside the water channel, that is, flip to the top of the water channel. At this time, the rotation 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 to the left and right under the fourth rotary power source 404 to drive the vehicle body 102 over the support rod. Then, the first rotating block 401 continues to rotate 90 degrees in the same direction under the action of the third rotary power source 403 to drive the vehicle body 102 and the movable chassis 101 to flip 90 degrees from above the water channel, that is, flip into the water channel. At this time, the vehicle body 102 is in front of the support rod clamped by the gripper, thus completing the overall flipping of the vehicle body 102 and the movable chassis 101.

[0103] When the first rotating block 401 of the present invention rotates the vehicle body 102 by 90 degrees under the action of the third rotating power source 403, that is, when the vehicle body 102 is rotated from inside the water channel to above the water channel, the vehicle body 102 rotates 180 degrees under the action of the fourth rotating power source 404, that is, when the vehicle body 102 passes over the support rod, and then the first rotating block 401 rotates the vehicle body 102 by 90 degrees in the same direction of rotation under the action of the third rotating power source 403, that is, when it is rotated into the water channel, completing the rotation of the vehicle body 102, so as to realize the function of the vehicle body 102 passing over the support rod. The structure is cleverly coordinated.

[0104] Please see 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;

[0105] The first telescopic power source 603 is not limited here; its function is to provide telescopic power, and it can be a cylinder, hydraulic cylinder, etc.

[0106] The side wall of the first rotating block 401 is provided with a limiting groove 601, the fixed end of the first telescopic power source 603 is fixedly connected to the first mounting block 402, and the extended end of the first telescopic power source 603 is fixedly connected to the limiting block 602. The size of the limiting block 602 is the same as that of the limiting groove 601.

[0107] When the vehicle body 102 rotates 90° from the water channel under the action of the fourth rotary 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.

[0108] In this embodiment, when the gripper clamps the support rod in the direction of travel of the vehicle body 102 downwards, the vehicle body 102 is located behind the support rod clamped by the gripper. The first rotating block 401 rotates 90 degrees under the action of the third rotating power source 403, so as to drive the vehicle body 102 and the movable chassis 101 to flip 90 degrees from the water channel together, that is, when flipped to the top of the water channel, the limiting block 602 extends into the limiting groove 601 under the action of the first telescopic power source 603, so as 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 rotary power source 404, the limiting block 602 moves out of the limiting groove 601 under the action of the first telescopic power source 603. The first rotating block 401 continues to rotate 90 degrees in the same direction under the action of the third rotary power source 403, so as to drive the vehicle body 102 and the mobile chassis 101 to flip 90 degrees from above the water channel, that is, flip into the water channel. At this time, the vehicle body 102 is in front of the support rod clamped by the gripper, thus completing the overall flipping of the vehicle body 102 and the mobile chassis 101.

[0109] 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 inside the water channel to above the water channel, the limiting block 602 extends into the limiting groove 601 installed in the first rotating block 401 under the action of the first telescopic power source 603, thereby ensuring that the first rotating block 401 will 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.

[0110] Please see Figure 1 , Figure 2 and Figure 6 Each of the flipping units has two grippers, which are mounted opposite each other on the first mounting block 402 along the width direction of the vehicle body 102. Each gripper includes two clamping mechanisms, a second mounting block 701, and a second telescopic power source 702.

[0111] The second telescopic power source 702 is not limited here; its function is to provide telescopic power, and it can be a cylinder, hydraulic cylinder, etc.

[0112] The fixed end of the second telescopic power source 702 is fixedly installed 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. The second mounting block 701 is fixedly installed on the telescopic end of the second telescopic power source 702.

[0113] The two clamping mechanisms are rotatably mounted on the second mounting block 701 along the length of the vehicle body 102, and the rotation axes of the two clamping mechanisms are consistent with the width direction of the support rod.

[0114] In this embodiment, when the vehicle body 102 travels in the water channel and 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 two grippers in the forward direction of the vehicle body 102 clamp the front support rod of the vehicle body 102 by rotating downward through the two clamping mechanisms. During the rotation, the second telescopic power source 702 drives the clamping mechanism to move downward, thereby realizing that the clamping mechanism clamps the front support rod of the vehicle body 102.

[0115] In this invention, each flipping unit has two grippers, and the two grippers are mounted opposite each other on the first mounting block 402 along the width direction of the vehicle body 102. Thus, 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 flips over the support rod between the two grippers. When the two grippers hold the support rod, the stability of the vehicle body 102 during the flipping over of the support rod is good.

[0116] Please see Figure 1 , Figure 2 , Figure 6 and Figure 7 Each of the clamping mechanisms includes a fifth rotary power source 703, a clamping block 704, a pressing block 705, a guide ramp 706, a spring 707, a slide groove 708, and a ball bearing 709.

[0117] The fifth rotary power source 703 is not limited here. Its function is to provide power for forward and reverse rotation. It can be an AC motor, a stepper motor, etc.

[0118] One end of the clamping block 704 is fixedly installed on the rotating end of the fifth rotary power source 703. The fifth rotary power source 703 is horizontally fixed on the second mounting block 701. The rotation axis of the fifth rotary power source 703 is perpendicular to the rotation axis of the fourth rotary power source 404.

[0119] The ball bearing 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 to support the upper end face at both ends of the water channel width direction under the action of the fifth telescopic power source, the ball bearing 709 keeps in contact with the upper end face at both ends of the water channel width direction. The movable chassis 101 is located between the ball bearings 709 on both sides of the vehicle body 102 in the length direction.

[0120] The two adjacent clamping blocks 704 along the length of the vehicle body 102 are provided with sliding grooves 708 on their adjacent side walls. The sliding guide 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 springs 707 are horizontally arranged. The other end of the springs 707 is fixedly connected to the pressing block 705. The opposite end faces of the two adjacent pressing blocks 705 along the length of the vehicle body 102 are provided with guide slopes 706. The pressing blocks 705 can slide along the sliding guide direction of the sliding grooves 708 to move out of or into the sliding grooves 708.

[0121] When the vehicle body 102 travels to the position where the strut is located between adjacent clamping blocks 704 in the length direction of the vehicle body 102, the four clamping blocks 704 clamp the side walls of the support block along both sides of the length direction of the vehicle body 102 under the rotation of the corresponding fifth rotary power source 703, so as to clamp the strut through the pressing block 705 on the clamping block 704.

[0122] In this embodiment, when the vehicle body 102 travels in the water channel until 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 90 degrees downward in the horizontal direction under the action 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. At the same time as the rotation, the second telescopic power sources 702 on both sides of the forward direction of the vehicle body 102 along the width direction of the vehicle body 102 drive the clamping blocks 704 to move downward. During this process, the clamping blocks 704 first pass through the wire on the pressing block 705 at an angle. The surface of the support rod contacts and presses against the two side walls along the length of the vehicle body 102. Then, the pressing block 705 compresses the spring 707, causing the pressing block 705 to clamp the support rod along the two side walls along the length of the vehicle body 102. Finally, the compressed pressing block 705 clamps the support rod, waiting for the subsequent operation of the vehicle body 102 to flip over the support rod. When the vehicle body 102 flips 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 block 704 returns from the vertical direction to the horizontal direction, and both are located above the support rod.

[0123] When the connection between two sections of the canal is uneven and a step needs to be climbed, the ball bearings 709 at the front of the vehicle body 102 in the forward direction first come into contact with the upper surfaces of both ends of the canal in the width direction 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 of the vehicle body 102 downward from the horizontal position. At this time, the ball bearings 709 at the front of the vehicle body 102 support the vehicle body 102 and the movable chassis 101. The front wheels of the movable chassis 101 move up to the lower surface of the canal in the upper position. Then, the rear wheels of the movable chassis 101 continue to move forward. When the rear wheels need to climb a step, the ball bearings 709 at the rear of the vehicle body 102 in the forward direction first come into contact with the upper surfaces of both ends of the canal in the width direction 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 of the vehicle body 102 downward from the horizontal position. At this time, the ball bearings 709 at the rear of the vehicle body 102 in the forward direction first come into contact with the upper surfaces of both ends of the canal in the width direction 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 of the vehicle body 102 downward from the horizontal position. The ball bearings 709 at the rear end of vehicle 102 support the vehicle body 102 and the mobile chassis 101. The rear wheels of the mobile chassis 101 move up to the lower end of the high water channel. At this time, the fifth rotary power source 703 rotates the clamping block 704 at the front end of vehicle 102 back to the horizontal position. Then, the ball bearings 709 at the front end of vehicle 102 in the forward 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 of the high water channel. 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 of the high water channel, the fifth rotary power source 703 rotates the clamping block 704 at the rear end of vehicle 102 back to the horizontal position. Then, the ball bearings 709 at the rear end of vehicle 102 in the forward direction move to the initial position under the action of the second telescopic power source 702, thereby realizing the step in the water channel for vehicle 102.

[0124] When the junction of two water channels is uneven and it is necessary to descend into the steps within the water channel, the ball bearings 709 at the front end of the vehicle body 102 in the forward direction first come into contact with the upper surfaces of both ends of the lower water channel in the width direction under the action of the second telescopic power source 702. Then, the fifth rotational 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 ball bearings 709 at the front end of the vehicle body 102 support the vehicle body 102 and the movable chassis 101. Then, the rear wheels of the movable chassis 101 continue to move forward. When the rear wheels need to descend the steps, The ball bearings 709 at the rear end of the vehicle body 102 in the forward direction first come into contact with the upper surfaces of both ends 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 ball bearings 709 at the rear end of the vehicle body 102 support the vehicle body 102 and the movable chassis 101. Then, 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 ball bearings 709 at the front end of the vehicle body 102 in the forward direction are... Under the action of the telescopic power source 702, the vehicle body 102 moves to its initial position. At this time, the front wheel of the vehicle body 102 contacts the lower end surface of the water channel. Then, the front wheel of the vehicle body 102 continues to move forward. When the rear wheel of the mobile chassis 101 is directly above the water channel, the fifth rotational power source 703 rotates the clamping block 704 at the rear end of the vehicle body 102 back to the horizontal position. Then, the ball bearing 709 at the rear end of the vehicle body 102 in the forward direction moves to its initial position under the action of the second telescopic power source 702. At this time, the rear wheel of the mobile chassis 101... The vehicle body 102 will contact the lower end of the water channel. Then, the front wheels of the moving chassis 101 will continue to move forward. When the rear wheels of the moving chassis 101 contact the lower end of the water channel, the fifth rotary power source 703 will rotate the clamping block 704 at the rear end of the vehicle body 102 back to the horizontal position. Then, the ball bearing 709 at the rear end of the vehicle body 102 in the forward direction will move to the initial position under the action of the second telescopic power source 702. The rear wheels of the moving chassis 101 will then contact the lower end of the water channel, thereby enabling the vehicle body 102 to descend into the water channel.

[0125] In this invention, when the clamping block 704 clamps the support rod, it is achieved by the fifth rotary power source 703 rotating 90 degrees and the second telescopic power source 702 moving the clamping block 704 downward. This allows the clamping block 704 to rotate from above the support rod to clamp it when needed. When clamping the support rod, the clamping block 704, through the installed pressing block 705, clamps the support rod along the side wall of the vehicle body 102 by being pressed by the support rod during the rotation of the pressing block 705. When the vehicle body 102 needs to continue moving forward after being flipped, the fifth rotary power source 703... Rotating 90 degrees in the opposite direction, while the second telescopic power source 702 moves in the opposite direction, can cause the clamping block 704 to rotate back to the support rod mode, so that the vehicle body 102 will not be blocked by the support rod during forward travel and will not be unable to move. In addition, when the ball bearing 709 of the present invention passes through the steps, it can support the vehicle body 102 and the movable chassis 101 under the action of the fifth rotational power source 703. When the movable chassis 101 continues to move, the vehicle body 102 can go up and down the steps. Therefore, this system can be applied to water channels with internal steps, and the structural design is ingenious.

[0126] Please see Figure 1 , Figure 2 and Figure 6 The system also includes two obstacle blocking units, both of which are mounted on the vehicle body 102 and located at both ends of the vehicle body 102 in the length direction. The obstacle blocking units are 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 rotating power source 804.

[0127] The sixth rotary power source 804 is not limited here. Its function is to provide power for forward and reverse rotation. It can be an AC motor, a stepper motor, etc.

[0128] 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 rotating power source 804. The rotation axis of the sixth rotating power source 804 is parallel to the width direction of the vehicle body 102, and the fixed end of the sixth rotating power source 804 is fixedly connected to the vehicle body 102.

[0129] The drainage plate 801 is horizontally installed in the water channel along the width direction. When the mobile chassis 101 drives the vehicle body 102 in the water channel in the field, the drainage plate 801 blocks obstacles in the water channel.

[0130] The gripper is supported by the ball bearing 709 at both ends of the upper surface in the width direction of the water channel, so as to drive the mobile chassis 101 and the vehicle body 102 to move upward. When the mobile chassis 101 and the vehicle body 102 move upward under the action of the gripper, the drain plate 801 rotates and scrapes the obstacle to the rear of the mobile chassis 101 in the direction of travel.

[0131] 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.

[0132] In this embodiment, as the vehicle body 102 moves forward in the water channel, driven by the movable chassis 101, it travels in the water channel in the opposite direction to the water flow. The water-draining plate 801 in the forward direction of the vehicle body 102 blocks obstacles in the water flow. When the pressure sensor 802 detects excessive pressure on the water-draining plate 801, indicating too many obstacles are blocked, all the second telescopic power sources 702 first move downwards until the lower end face of the horizontally positioned clamping block 704 is in contact with the upper end faces at both ends of the water channel width direction. At this time, the ball bearings 709 on the clamping block 704 are in contact with the upper end faces at both ends of the water channel width direction. Then, all the fifth rotary power sources 703 rotate their corresponding clamping blocks 704 downwards from the horizontal position. At this time, the ball bearings 709 support the vehicle body 102 and the movable chassis 101. As the water level rises, the drain plate 801 is also lifted a certain distance from the water channel. Some of the obstacles on the drain plate 801 fall below it. Then, under the action of the sixth rotary power source 804 fixed to it, the drain plate 801 in the forward direction of the vehicle body 102 rotates in the opposite direction of the vehicle body 102's travel direction, causing the drain plate 801 to scrape the obstacles below it in the opposite direction of the vehicle body 102's travel direction. The fifth rotary power source 703 continues to rotate its corresponding clamping block 704 from the horizontal position downward. At this time, the ball bearing 709 supports the vehicle body 102 and the mobile chassis 101 at a higher position than before. Then, under the action of the sixth rotary power source 804 fixed to it at this time, the drain plate 801 in the forward direction of the vehicle body 102 rotates back to its initial position in the forward direction of the vehicle body 102's travel direction, repeatedly scraping away the obstacles on the drain plate 801.

[0133] The drain plate 801 of the present invention can not only block obstacles in the water channel during the movement of the vehicle body 102, but also, when the pressure sensor 802 detects that the drain plate 801 blocks too many obstacles, the fifth rotary power source 703 rotates to make the ball bearings 709 on the clamp rotate, causing the vehicle body 102 and the moving chassis 101 to move upward. At the same time, the drain plate 801 will also move upward. Under the action of the sixth rotary power source 804, the drain plate 801 can be blocked and scraped in the opposite direction of the movement of the vehicle body 102, so as to ensure that the resistance of the vehicle body 102 in the water channel will not hinder the movement of the vehicle body 102.

[0134] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in 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 includes: A mobile chassis, a vehicle body, and a turntable are provided. 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 of the irrigation ditch in the field. A water spraying unit, comprising a nozzle mounted on a turntable, which sprays water into the field to startle pests in the field. An ultrasonic pest control unit includes an ultrasonic transmitter mounted on a turntable. The ultrasonic transmitter emits ultrasonic waves into the field to drive away pests. Two flipping units are mounted on the vehicle body and located at both ends of the vehicle body's length direction. Each flipping unit includes a first rotating block and a gripper. The first rotating block is rotatably mounted on the vehicle body, and the rotation axis of the first rotating block is parallel to the length direction of the vehicle body. The gripper is rotatably mounted on the first rotating block, and the rotation axis of the gripper is parallel to the width direction of the vehicle body. The gripper can grip downwards on the horizontally reinforced support rods on the water channel. The system also includes a first rotary 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 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, and the rotation axis of the second rotating block is consistent with the rotation axis of the turntable. An annular groove is provided on the vehicle body, and the second rotating block is engaged in the annular groove during rotation. The fixed end of the first rotary power source is fixedly mounted on the vehicle body, and the second gear is fixedly connected to the rotating end of the first rotary power source, with the second gear meshing with the first gear; The ultrasonic transmitter and the nozzle are parallel and located on the same side, and the distance between the ultrasonic transmitter and the rotation axis of the turntable along the length of the vehicle body is less than the distance between the nozzle and the rotation axis of the turntable along the length of the vehicle body. Each of the flipping units also includes a first mounting block and a third rotational power source; The rotating end of the third rotary power source is fixedly connected to the first rotating block, the third rotary power source is horizontally fixed to the first mounting block, and the rotation axis of the third rotary power source is perpendicular to the length direction of the vehicle body. The first rotating block rotates under the action of the third rotational power source, thereby causing the vehicle body and the mobile chassis to flip. Each of the aforementioned flipping units also includes a fourth rotational power source; The rotating end of the fourth rotary power source is fixedly connected to the vehicle body, the fixed end of the fourth rotary power source is fixedly installed on the first rotating block, and the rotation axis of the fourth rotary power source is perpendicular to the rotation axis of the third rotary power source. Each of the flipping units further includes a limiting groove, a limiting block, and a first telescopic power source; The side wall of the first rotating block is provided with a limiting groove, the fixed end of the first telescopic power source is fixedly connected to the first mounting block, and the extended end of the first telescopic power source is fixedly connected to a limiting block. The size of the limiting block is the same as that of the limiting groove. When the vehicle body rotates 90° from the water channel under the action of the fourth rotational 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. Each of the flipping units has two grippers, which are mounted opposite each other 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. The second mounting block is fixedly installed on the telescopic end of the second telescopic power source. The two clamping mechanisms are rotatably mounted on the second mounting block along the length of the vehicle body, and the rotation axes of the two clamping mechanisms are consistent with the width direction of the support rod. Each of the clamping mechanisms includes a fifth rotary power source, a clamping block, a pressing block, a guide ramp, a spring, a slide groove, and a ball bearing; One end of the clamping block is fixedly installed on the rotating end of the fifth rotary power source, the fifth rotary power source is horizontally fixed on the second mounting block, and the rotation axis of the fifth rotary power source is perpendicular to the rotation axis of the fourth rotary power source. The ball bearings are fixedly installed on the side wall of the clamping block away from the fifth rotary power source. When the clamping block rotates to support the upper end face at both ends of the water channel width direction under the action of the fifth telescopic power source, the ball bearings maintain contact with the upper end face at both ends of the water channel width direction. The movable chassis is located between the ball bearings on both sides of the vehicle body length direction. The side walls of two adjacent clamping blocks along the length of the vehicle body are provided with sliding grooves. The sliding guide direction of the sliding grooves is parallel to the rotation axis of the fifth rotary power source. One end of a spring is fixed in each sliding groove. The springs are horizontally arranged, and the other end of the springs is fixed to the pressing block. The opposite end faces of two adjacent pressing blocks along the length of the vehicle body are provided with guide slopes. The pressing blocks can slide along the sliding guide direction of the sliding grooves to move out of or into the sliding grooves. When the vehicle body travels to the position where the strut is located between adjacent clamping blocks in the length direction of the vehicle body, the four clamping blocks, under the rotation of the corresponding fifth rotary power source, clamp the side walls of the support block on both sides along the length direction of the vehicle body, so as to clamp the strut by pressing blocks on the clamping blocks.

2. The ultrasonic insect repellent system according to claim 1, characterized in that: The water spray unit also includes a through channel, a hose, a solenoid valve, a rigid pipe, a permeable tank, and a water pump; The water pump is mounted on a mobile chassis, and the permeable tank is fixedly mounted on the lower end of the mobile chassis. The pump's suction end extends into the permeable tank, and the pump's outlet end is connected to one end of a rigid pipe. The solenoid valve is mounted on the rigid pipe. A through groove is formed at 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 rigid pipe extends into the through groove and is connected to one end of a flexible hose. The flexible hose passes through the turntable and is connected to the water inlet end of the nozzle. The junction of the flexible hose and the turntable is fixedly connected.

3. The ultrasonic insect repellent system according to claim 1, characterized in that: The ultrasonic insect repellent unit also includes an ultrasonic mounting base, 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 base. The rotating shaft is horizontally fixedly connected to the ultrasonic mounting base. One end of the rotating shaft extends out of the side wall of the ultrasonic mounting base and is fixedly connected to one end of the third gear. The rotation axis of the rotating shaft is consistent with 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 mounted on the turntable. The end of the fourth gear closest to the ultrasonic transmitter rotates into the mounting column, which is fixedly mounted on the turntable. The end of the fourth gear furthest from the ultrasonic transmitter is fixedly connected to the side wall of the nozzle. The rotation axis of the fourth gear is parallel to that of the third gear, and the fourth gear and the third gear are engaged.

4. The ultrasonic insect repellent system according to claim 1, characterized in that: The system also includes two obstacle blocking units, both of which are mounted on the vehicle body and located at both ends of the vehicle body in the length direction. The obstacle blocking units are 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 drainage plate is horizontally installed in the water channel along the width direction. When the mobile chassis drives the vehicle body in the water channel in the field, the drainage plate blocks obstacles in the water channel. The gripper is supported on the upper surface of both ends of the water channel by the rotation of the ball bearings, so as to drive the mobile chassis and vehicle body to move upward. When the mobile chassis and vehicle body move upward under the action of the gripper, the water leakage plate rotates and scrapes the obstacle to the rear of the mobile chassis in the direction of travel. The pressure sensor is fixedly installed at the connection between the third rotating block and the leaking plate, and the pressure sensor detects the pressure on the leaking plate.

Images