Modularization-based floating operation platform and load cooperative control method thereof

Abstract

The invention discloses a modularization-based floating work platform and a load cooperative control method thereof, and belongs to the field of crop plant protection, the modularization-based floating work platform comprises a platform frame, a pesticide spraying module arranged on the surface of the platform frame and a weeding module mounted in the middle of the platform frame, and the surfaces of the pesticide spraying module and the weeding module are jointly provided with a linkage module; the two sides of the platform frame are jointly provided with an adjusting module, and the pesticide spraying module comprises storage boxes fixedly connected to the surface of the platform frame in a path array. Through cooperative use of all the devices, when crops need to be weeded, based on mutual cooperation of a servo motor and a driving gear, a driving toothed plate drives a pesticide spraying module to move upwards and a weeding module to move downwards, stretching of the weeding module is achieved, and rotating blades are driven to move based on the driving motor and a mechanical arm; weeds in crops are cleaned, and the positions of the pesticide spraying module and the weeding module are automatically adjusted in the moving process of the platform frame.

Description

Technical Field

[0001] The present invention relates to the technical field of crop plant protection, and in particular to a modular floating work platform and a load coordinated control method thereof. Background Art

[0002] Plant protection, a Chinese word, is the abbreviation of "plant protection". It belongs to agricultural science terms and refers to the technical system for ensuring the normal growth of plants by preventing and controlling pests such as diseases, insects, weeds, and rodents. This discipline is based on agricultural biological sciences and ecology, and involves the application of pest identification, monitoring, and control technologies. It follows the principle of "prevention first, integrated control". Its professional direction aims to cultivate talents who master agricultural policies and regulations and cutting-edge disciplinary technologies. The core content includes the use of cultivation measures to enhance crop resistance, the implementation of plant quarantine systems, and the integration of biological / physical / chemical control methods. As a standardized term, "plant protection" has stable pinyin and phonetic notation in the Chinese language system, and its semantic accuracy has been verified through multilingual dictionaries.

[0003] In recent years, drone plant protection technology has developed rapidly. With its advantages of flexibility, strong terrain adaptability, high operation precision and high degree of automation, it has shown great potential in plant protection of small and medium-sized plots and complex terrains.

[0004] Drone crop protection technology generally uses drones equipped with floating work platforms to achieve effects such as spraying pesticides and weeding on crops. However, when using existing floating work platforms, mainstream multi-rotor drones generally have core bottlenecks such as short flight time (usually only 15-30 minutes) and limited payload (drug load is mostly in the range of 10-30 kilograms). This results in a small single operating area and requires frequent return flights to replace batteries and refill pesticides. The efficiency is severely restricted in large-scale, continuous operation scenarios. At the same time, the downwash airflow generated by its small rotors may cause physical damage to tall or fragile crops.

[0005] Therefore, in order to solve the limitations of aerial work platforms, airships and aerial work platforms are used in conjunction with each other in the field of crop plant protection. Most of the existing aerial work platforms generally achieve the effects of spraying and weeding crops through pesticide spraying modules and weeding modules. When different effects are required on crops, the aerial work platform needs to be shut down and the pesticide spraying module needs to be replaced so that the aerial work platform can achieve the weeding effect on crops, which leads to a reduction in the efficiency of spraying and weeding during the crop plant protection process.

[0006] Therefore, the present invention provides a modular floating work platform and a load coordinated control method thereof to solve the above problems. Summary of the Invention

[0007] (1) Technical problems solved

[0008] The present invention provides a modular floating work platform and a load coordinated control method thereof, aiming to solve the problems raised in the background technology.

[0009] (2) Technical solution

[0010] To achieve the above objectives, the present invention provides the following technical solution: a modular floating work platform comprising a platform frame, a spraying module disposed on the surface of the platform frame, and a weeding module installed in the middle of the platform frame; a linkage module is installed on the surfaces of the spraying module and the weeding module; and adjustment modules are installed on both sides of the platform frame;

[0011] The spraying module includes storage boxes fixedly connected to the surface of the platform frame in a path array, a water pump with an input end connected to the storage box fixedly connected to one side of the storage box, and a delivery pipe fixedly connected to the output end of the water pump. The surface of the delivery pipe is fixedly connected to a telescopic rod connected to the delivery pipe in a path array, and the surface of the telescopic rod is threadedly connected to an extension tube connected to the telescopic rod. The surfaces of the extension tube and the telescopic rod are both fixedly connected to spray heads connected to the corresponding extension tubes and telescopic rods, and the surfaces of several of the telescopic rods are fixedly connected to a connecting plate.

[0012] As a preferred technical solution of the present application, the weeding module includes a supporting plate slidably connected to the middle part of the platform frame, the surface of the supporting plate is fixedly connected to a protective box in a path array, the interior of the protective box is fixedly connected to a drive motor, the output end of the drive motor is fixedly connected to a robotic arm, and the end effector of the robotic arm is fixedly connected to an electric push rod by bolts.

[0013] As a preferred technical solution of the present application, the weeding module also includes a connecting piece fixedly connected to the output end of the electric push rod by bolts, the surface of the connecting piece is fixedly connected to a mounting plate, the lower surface of the mounting plate is fixedly connected to rotating blades for weeding in a circular array, based on the setting of the bolts, the electric push rod model can be replaced, and isolation modules corresponding to the rotating blades and the robotic arm are installed on both sides of the lower surface of the platform frame.

[0014] As a preferred technical solution of the present application, the linkage module includes driving tooth plates fixedly connected to the connecting plate and both sides of the load-bearing plate in a path array, the opposite sides of every two adjacent driving tooth plates are commonly engaged with driving gears, and the surfaces of every two corresponding driving gears are commonly fixedly connected to a driving rod, and one end of the driving rod is fixedly connected to a servo motor fixedly connected to the platform frame.

[0015] As a preferred technical solution of the present application, the adjustment module includes mounting seats fixedly connected to both sides of the platform frame in a path array, the upper surface of the mounting seat is fixedly connected to an air collecting pipe in a path array, the lower surface of the mounting seat is fixedly connected to an air supply pipe connected to several air collecting pipes, a temperature control module is installed on the surface of the air supply pipe, and the surface of the air supply pipe is fixedly connected to an exhaust pipe in a path array.

[0016] As a preferred technical solution of the present application, the adjustment module also includes a connecting seat that is commonly fixedly connected to one end of several exhaust pipes, the surface of the connecting seat is threadedly connected to an auxiliary pipe in a path array, the surfaces of the auxiliary pipe and the exhaust pipe are both fixedly connected to the spray pipes corresponding to the sprinkler heads in a path array, the surfaces of several of the auxiliary pipes are commonly fixedly connected to a linkage pipe, and one end of the linkage pipe is fixedly connected to an air collecting assembly.

[0017] As a preferred technical solution of the present application, the temperature control module includes a hollow box fixedly connected to the lower surface of the mounting base, and a Peltier semiconductor refrigeration module is fixedly connected to the interior of the hollow box. The initial state of the Peltier semiconductor refrigeration module is that the hot end is in contact with the air supply pipe, and the Peltier semiconductor refrigeration module is electrically connected to the existing power supply through a wire.

[0018] As a preferred technical solution of the present application, the isolation module includes fixed plates fixedly connected to the lower surface of the platform frame in a land-based array, and the surfaces of every two corresponding fixed plates are rotatably connected to isolation plates corresponding to rotating blades. The interior of the isolation plate is fixedly connected to a rotating rod rotatably connected to the fixed plate, and one end of the rotating rod is fixedly connected to a DC motor fixedly connected to the fixed plate.

[0019] As a preferred technical solution of the present application, the surface of the supporting plate is slidingly sleeved with a protective shell fixedly connected to the platform frame, the upper surface of the protective shell is fixedly connected to a control box for controlling the electrical components in the modular floating work platform, the upper surface of the protective shell is provided with through grooves corresponding to the driving gear plates in a rectangular array, and the surface of the platform frame is fixedly connected to a number of propellers corresponding to the platform frame.

[0020] A load coordination control method for a modular floating work platform, applied to any one of the above-mentioned modular floating work platforms, comprises the following steps:

[0021] S1: Buoyancy airbags propel the platform frame and other modules through the air. A water pump delivers the pesticide solution from the storage tank to a delivery pipe and telescopic rod. Depending on the desired crop area, an extension pipe is connected to the telescopic rod to expand the spraying module's spraying range. The spray nozzle then sprays the pesticide solution from the delivery pipe onto the crops.

[0022] S2: Based on the setting of the linkage module, when crops need to be weeded, the servo motor drives the drive gear to rotate, causing the corresponding drive gear plate to move in the opposite direction, driving the spraying module to move upward and the weeding module to move downward, so that the weeding module is extended to achieve the subsequent weeding effect;

[0023] S3: After the weeding module is extended, the drive motor and the robotic arm drive the electric push rod and the mounting plate to rotate and extend and retract, synchronously starting the rotating blades, causing the rotating blades to rotate and cut the weeds in the crops. At the same time, based on the settings of the bolts and the electric push rod, the electric push rod is replaced with a length corresponding to the weeding range according to the weeding range of the crops, thereby adjusting the working range of the weeding module;

[0024] S4: At the same time, when the aerostat drives the platform frame and other modules to move, the air flow speed increases during flight, causing the air to enter the air collecting pipe and then be sent to the air supply pipe and exhaust pipe through the air collecting pipe. The air is then sprayed above the sprinkler head through the sprinkler pipe, guiding and pressing down the sprayed liquid, accelerating the descent of the liquid.

[0025] S5: Based on the ambient temperature during crop spraying, the Peltier semiconductor refrigeration module is activated so that its hot end heats the air supply pipe and heats the air entering the air supply pipe. By reversely energizing the Peltier semiconductor refrigeration module, the hot end and cold end of the Peltier semiconductor refrigeration module are exchanged, the air entering the air supply pipe is cooled, and the temperature of the air is controlled.

[0026] (3) Beneficial effects

[0027] Based on the mutual cooperation of structures such as the spraying module, the weeding module and the linkage module, the spraying module and the weeding module are driven to move simultaneously by the airship and the platform frame, and the effect of spraying liquid on crops is achieved based on the spraying module, and the liquid load of the platform frame is increased by the provision of multiple storage boxes. When it is necessary to weed the crops, based on the mutual cooperation of the servo motor and the driving gear, the driving gear plate drives the spraying module to move upward and the weeding module to move downward, so as to extend the weeding module, and based on the driving motor and the mechanical arm, the rotating blades are driven to move to clean the weeds in the crops. During the movement of the platform frame, the positions of the spraying module and the weeding module are automatically adjusted, and the spraying and weeding functions can be replaced without stopping the machine, thereby improving the efficiency of crop protection.

[0028] Based on the mutual cooperation of the telescopic rod, the extension tube and the electric push rod, the extension tube is installed on the surface of the telescopic rod according to the required spraying range of the crops, so as to expand the spraying range, thereby making the modular floating work platform applicable to crops of different ranges. In addition, based on the mutual cooperation of the electric push rod and the bolts, the electric push rods of different lengths can be replaced according to the weeding range required by the crops, and the working radius of the mounting plate and the rotating blade can be adjusted so that the weeding module can be adjusted according to the requirements of the weeding range, making the modular floating work platform more convenient to use.

[0029] Based on the mutual coordination of the spraying module, weeding module and adjustment module, the modularization of the floating work platform makes it more convenient to perform maintenance on different modules later.

[0030] Based on the mutual cooperation of the adjustment module and other structures, when the aerostat drives the platform frame to move, the wind enters the interior of the air supply pipe through the air collecting pipe, so that the wind enters the interior of the spray pipe through the exhaust pipe and is sprayed above the spray head through the spray pipe, blowing the liquid sprayed from the spray head so that the liquid quickly lands on the leaves of the crops, avoiding the liquid staying in the air for a long time, which may cause the liquid to evaporate or be blown away by the wind in the environment, affecting the effect of the liquid on the crops. In addition, through the mutual cooperation of the auxiliary pipe and the air collecting component, the adjustment module can adjust the guidance range according to the range of the spraying module, thereby avoiding the adjustment module being unable to accurately guide the spraying module.

[0031] Based on the mutual cooperation of structures such as the temperature control module and the isolation module, the Peltier semiconductor refrigeration module is started according to the temperature in the environment to heat the position where the air supply pipe and the hot end are attached, and the air inside the air supply pipe is heated. By reverse power supply, the hot end and the cold end of the Peltier semiconductor refrigeration module are replaced, so that the cold end cools the air inside the air supply pipe, thereby adjusting the temperature of the air inside the air supply pipe, so that the temperature of the wind controls the temperature of the liquid sprayed from the sprinkler head, avoiding the decrease in pesticide activity and condensation and agglomeration of droplets due to low temperature, while reducing the evaporation rate of droplets through cold air flow and reducing the loss of pesticide volatilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of a modular floating work platform and its load coordinated control method;

[0033] Figure 2 A schematic structural diagram of a modular floating work platform and its load collaborative control method from a second perspective;

[0034] Figure 3 The figure is a schematic structural diagram of a weeding module and a platform frame in a modular floating work platform and a load coordinated control method thereof;

[0035] Figure 4 The figure is a schematic diagram of the structure of the platform frame and the spraying module in the modular floating work platform and its load coordinated control method;

[0036] Figure 5 The figure is a schematic diagram of the structure of the regulating module in the modular floating work platform and its load coordinated control method;

[0037] Figure 6 It is a structural diagram of the spraying module in the modular floating work platform and its load coordinated control method;

[0038] Figure 7 This is a schematic diagram of the structure of the spraying module and the weeding module in the modular floating work platform and its load coordinated control method;

[0039] Figure 8 The figure is a schematic diagram of the structure of the delivery pipe, sprinkler head and linkage module in the modular floating work platform and its load coordinated control method;

[0040] Figure 9 A modular floating work platform and its load coordinated control method Figure 2 A in the middle is an enlarged structural diagram;

[0041] Figure 10 This is a structural schematic diagram of the mounting base, wind collecting pipe auxiliary pipe and wind collecting assembly in the modular floating work platform and its load coordinated control method.

[0042] In the picture:

[0043] 1. Platform framework;

[0044] 2. Spraying module; 201. Storage tank; 202. Water pump; 203. Delivery pipe; 204. Telescopic rod; 205. Extension pipe; 206. Sprinkler head; 207. Connecting plate;

[0045] 3. Weeding module; 301. Carrying plate; 302. Protective box; 303. Drive motor; 304. Robotic arm; 305. Electric push rod; 306. Connector; 307. Mounting plate; 308. Rotating blade;

[0046] 4. Linkage module; 401. Driving gear plate; 402. Driving gear; 403. Driving rod; 404. Servo motor;

[0047] 5. Adjustment module; 501. Mounting base; 502. Air collecting pipe; 503. Air supply pipe; 504. Exhaust pipe; 505. Connecting base; 506. Auxiliary pipe; 507. Linkage pipe; 508. Air collecting assembly;

[0048] 6. Isolation module; 601. Fixed plate; 602. Isolation plate; 603. Rotating rod; 604. DC motor;

[0049] 7. Temperature control module; 701. Hollow box; 702. Peltier semiconductor refrigeration module;

[0050] 8. Protective shell;

[0051] 9. Control box. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] The present invention provides a modular floating work platform and a load coordinated control method thereof, referring to Figures 1-10 As shown, three embodiments are provided:

[0054] Example 1:

[0055] The modular floating work platform includes a platform frame 1, a spraying module 2 arranged on the surface of the platform frame 1, and a weeding module 3 installed in the middle of the platform frame 1. The surfaces of the spraying module 2 and the weeding module 3 are commonly installed with a linkage module 4, and both sides of the platform frame 1 are commonly installed with an adjustment module 5; the spraying module 2 includes storage boxes 201 fixedly connected to the surface of the platform frame 1 in a path array, one side of the storage box 201 is fixedly connected to a water pump 202 whose input end is connected to the storage box 201, and the output end of the water pump 202 is fixedly connected to a delivery pipe 203, and the surface of the delivery pipe 203 is fixedly connected to a telescopic rod 204 connected to the delivery pipe 203 in a path array, and the surface of the telescopic rod 204 is threadedly connected to an extension pipe 205 connected to the telescopic rod 204, and the surfaces of the extension pipe 205 and the telescopic rod 204 are fixedly connected to a spray head 206 connected to the corresponding extension pipe 205 and the telescopic rod 204, and the surfaces of several telescopic rods 204 are commonly fixedly connected to a connecting plate 207;

[0056] The storage tank 201 is used to store the liquid medicine. The arrangement of multiple storage tanks 201 can increase the liquid medicine load.

[0057] Among them, the water pump 202 and the delivery pipe 203 provide power for the liquid medicine;

[0058] The telescopic rod 204 and the extension tube 205 are used to adjust the position and range of the liquid spraying;

[0059] The spraying head 206 is used to atomize the pesticide and spray out;

[0060] The connecting plate 207 is used to connect the linkage module 4;

[0061] Specifically, based on the movement of the airship to drive the platform frame 1, the pesticide spraying module 2 moves following, the water pump 202 is started to make the pesticide in the storage tank 201 enter the telescopic rod 204 through the conveying pipe 203, so that the pesticide can be sprayed on crops through the spraying head 206 on the telescopic rod 204;

[0062] Based on the cooperation of the extension pipe 205 and the telescopic rod 204, according to the required pesticide spraying range of crops, the extension pipe 205 is screwed on the telescopic rod 204, so that the pesticide can enter the extension pipe 205 through the telescopic rod 204, thereby improving the pesticide spraying range of the pesticide spraying module 2, so that the pesticide spraying module 2 can be adjusted according to the pesticide spraying range;

[0063] The weeding module 3 includes a bearing plate 301 slidingly connected to the middle part of the platform frame 1, the surface of the bearing plate 301 is fixedly connected with a protective box 302 in a path array, the inside of the protective box 302 is fixedly connected with a driving motor 303, the output end of the driving motor 303 is fixedly connected with a mechanical arm 304, and the end effector of the mechanical arm 304 is fixedly connected with an electric push rod 305 through bolts;

[0064] The bearing plate 301 is used to install the weeding module 3;

[0065] The protective box 302 is used to protect the driving motor 303;

[0066] The driving motor 303 is used to drive the mechanical arm 304 to rotate;

[0067] The electric push rod 305 is used to adjust the position of the mounting plate 307;

[0068] The weeding module 3 further includes a connecting piece 306 fixedly connected to the output end of the electric push rod 305 through bolts, the surface of the connecting piece 306 is fixedly connected with a mounting plate 307, and the lower surface of the mounting plate 307 is fixedly connected with rotating blades 308 for weeding in a ring array. Based on the setting of the bolts, the type of the electric push rod 305 is replaced, and the lower surface of the platform frame 1 is provided with isolation modules 6 corresponding to the rotating blades 308 and the mechanical arm 304 on both sides;

[0069] The connecting piece 306 is used to fix the mounting plate 307 and the rotating blades 308;

[0070] Specifically, when it is necessary to weed the crops, the carrying plate 301 drives the mechanical arm 304 to move downward, and the mechanical arm 304 is started, so that its end effector drives the electric push rod 305 to move, so that the connecting piece 306 and the mounting plate 307 move accordingly, and the position of the rotating blade 308 is adjusted, so as to clean the weeds at different positions. Moreover, through the mutual cooperation of the bolts and the electric push rod 305, the electric push rod 305 of different lengths can be replaced, so that the electric push rod 305 can drive the mounting plate 307 and the position of the rotating blade 308 to extend, thereby adjusting the weeding range of the weeding module 3;

[0071] The linkage module 4 includes drive gear plates 401 fixedly connected to the connecting plate 207 and both sides of the carrier plate 301 in a path array. The opposite sides of every two adjacent drive gear plates 401 are commonly meshed with a drive gear 402. The surfaces of every two corresponding drive gears 402 are commonly fixedly connected to a drive rod 403. One end of the drive rod 403 is fixedly connected to a servo motor 404 fixedly connected to the platform frame 1.

[0072] The driving gear plate 401 is used to drive the connecting plate 207 and the carrying plate 301 to move;

[0073] The driving gear 402, the driving rod 403 and the servo motor 404 are used to provide power for driving the gear plate 401;

[0074] Specifically, when the weeding module 3 and the spraying module 2 need to be replaced, the servo motor 404 is started so that its output end drives the driving rod 403 to rotate, causing the corresponding driving gear 402 to rotate, thereby causing the corresponding driving tooth plate 401 to move in the opposite direction, driving the connecting plate 207 and the supporting plate 301 to move in the opposite direction, and adjusting the position of the spraying module 2 and the weeding module 3, thereby realizing the replacement of the spraying and weeding functions without stopping the machine, thereby improving the efficiency of crop protection.

[0075] Embodiment 2, based on embodiment 1, further, the adjustment module 5 includes mounting bases 501 fixedly connected to both sides of the platform frame 1 in a path array, the upper surface of the mounting base 501 is fixedly connected to an air collecting pipe 502 in a path array, the lower surface of the mounting base 501 is fixedly connected to an air supply pipe 503 connected to the plurality of air collecting pipes 502, the surface of the air supply pipe 503 is mounted with a temperature control module 7, and the surface of the air supply pipe 503 is fixedly connected to an exhaust pipe 504 in a path array;

[0076] The mounting base 501 is used to mount the adjustment module 5 on the platform frame 1;

[0077] The wind collecting pipe 502 is used to collect wind;

[0078] Among them, the air supply pipe 503 is used to transport air;

[0079] The exhaust pipe 504 is used to spray air above the sprinkler head 206;

[0080] The regulating module 5 also includes a connecting seat 505 fixedly connected to one end of several exhaust pipes 504. The surface of the connecting seat 505 is threadedly connected to an auxiliary pipe 506 in a path array. The surfaces of the auxiliary pipe 506 and the exhaust pipe 504 are fixedly connected to the spray pipes corresponding to the sprinkler heads 206 in a path array. The surfaces of the several auxiliary pipes 506 are fixedly connected to a linkage pipe 507. One end of the linkage pipe 507 is fixedly connected to an air collection component 508.

[0081] The connecting seat 505 is used to install the auxiliary pipe 506;

[0082] The auxiliary pipe 506 is used to extend the exhaust pipe 504 and increase the length of the exhaust pipe 504;

[0083] Among them, the sprinkler pipe is used to discharge the wind;

[0084] The linkage pipe 507 and the wind collecting assembly 508 are used to collect wind and increase the air volume;

[0085] The air collecting assembly 508 includes an air collecting pipe 502 and an air supply pipe 503;

[0086] Specifically, when the aerostat drives the platform frame 1 and multiple modules to move, wind enters the air supply pipe 503 through the air collecting pipe 502, allowing the wind to enter the exhaust pipe 504, and then spray the wind above the sprinkler head 206 through the sprinkler pipe, blowing the liquid medicine sprayed by the sprinkler head 206 so that the liquid medicine quickly lands on the leaves of the crops, thereby preventing the liquid medicine from staying in the air for a long time, which may cause the liquid medicine to evaporate or be blown away by the wind in the environment, affecting the effect of the liquid medicine on the crops.

[0087] At the same time, according to the spraying range of the spraying module 2, the auxiliary pipe 506 is installed on the connecting seat 505, and the length of the exhaust pipe 504 is extended to make it correspond to the range of the spraying module 2, thereby avoiding the adjustment module 5 from being unable to accurately guide the spraying module 2.

[0088] Example 3, based on Example 1 and Example 2, further, the temperature control module 7 includes a hollow box 701 fixedly connected to the lower surface of the mounting base 501, and a Peltier semiconductor cooling module 702 is fixedly connected to the interior of the hollow box 701. The initial state of the Peltier semiconductor cooling module 702 is that the hot end is in contact with the air supply pipe 503, and the Peltier semiconductor cooling module 702 is electrically connected to the existing power supply via a wire;

[0089] The hollow box 701 is used to protect the Peltier semiconductor refrigeration module 702 and keep the temperature at a constant temperature.

[0090] The Peltier semiconductor refrigeration module 702 is used to control the temperature of the air inside the air supply pipe 503;

[0091] Specifically, according to the ambient temperature, the Peltier semiconductor refrigeration module 702 is activated to heat the position where the air supply pipe 503 and the hot end are attached, thereby heating the air inside the air supply pipe 503. By reversely energizing, the hot end and the cold end of the Peltier semiconductor refrigeration module 702 are exchanged, so that the cold end cools the air inside the air supply pipe 503, thereby adjusting the temperature of the air inside the air supply pipe 503. The temperature of the air controls the temperature of the liquid medicine sprayed from the spray head 206, thereby preventing the pesticide activity from decreasing and the droplets from condensing and agglomerating due to low temperature. At the same time, the cold air flow reduces the evaporation rate of the droplets, thereby reducing the loss of pesticide volatilization.

[0092] The isolation module 6 includes fixed plates 601 fixedly connected to the lower surface of the platform frame 1 in a land-based array. An isolation plate 602 corresponding to the rotating blade 308 is rotatably connected to the surfaces of each two corresponding fixed plates 601. A rotating rod 603 rotatably connected to the fixed plate 601 is fixedly connected to the interior of the isolation plate 602. One end of the rotating rod 603 is fixedly connected to a DC motor 604 fixedly connected to the fixed plate 601.

[0093] Among them, the fixing plate 601 is used to install the isolation plate 602;

[0094] The isolation plate 602 is used to isolate the liquid medicine to prevent the liquid medicine from directly falling on the robotic arm 304, causing the liquid medicine to adhere to the robotic arm 304 and cause waste of the liquid medicine;

[0095] The rotating rod 603 and the DC motor 604 are used to drive the isolation plate 602 to rotate;

[0096] Specifically, the liquid medicine is isolated by the isolation plate 602. When weeding is required, the DC motor 604 is started, so that its output end drives the rotating rod 603 and the isolation plate 602 to rotate between the corresponding fixed plates 601, so that the isolation plate 602 is close to the platform frame 1, thereby preventing the isolation plate 602 from causing movement obstruction to the weeding module 3; the surface of the carrier plate 301 is slidably sleeved with a protective shell 8 fixedly connected to the platform frame 1, and the upper surface of the protective shell 8 is fixedly connected to a control box 9 for controlling the electrical components of the modular floating work platform. The upper surface of the protective shell 8 is provided with a rectangular array of through grooves corresponding to the driving gear plate 401, and the surface of the platform frame 1 is fixedly connected to a plurality of propellers corresponding to the platform frame 1;

[0097] The protective shell 8 is used to protect the linkage module 4 from direct contact with the external environment.

[0098] The control box 9 is used to control the electrical elements.

[0099] The through slot is used to drive the sliding of the driving tooth plate 401, avoiding the movement of the driving tooth plate 401 being hindered by the protective shell 8.

[0100] The propeller is driven by wind to rotate inside the storage box 201, avoiding the effect of the liquid medicine being affected by sedimentation.

[0101] The load cooperative control method of the modular floating operation platform is applied to any one of the modular floating operation platforms described above, and includes the following steps:

[0102] S1: Based on the buoyancy air bag, the platform frame 1 and other modules are moved in the air. Based on the water pump 202, the liquid medicine in the storage box 201 is transported to the delivery pipe 203 and the telescopic rod 204. According to the range of crops that need to be sprayed, the extension pipe 205 is connected to the surface of the telescopic rod 204, the spraying range of the spraying module 2 is increased, and then the liquid medicine transported by the delivery pipe 203 is sprayed on the crops through the spray head 206.

[0103] S2: Based on the setting of the linkage module 4, when the crops need to be weeded, the driving gear 402 is driven to rotate based on the servo motor 404, so that the corresponding driving tooth plate 401 moves in the opposite direction, driving the spraying module 2 to move upwards and the weeding module 3 to move downwards, so that the weeding module 3 is extended to achieve the subsequent weeding effect.

[0104] S3: After the weeding module 3 is extended, the driving motor 303 and the mechanical arm 304 drive the electric push rod 305 and the mounting plate 307 to rotate and extend or contract, and the rotating blade 308 is started synchronously, so that the rotating blade 308 rotates to cut the weeds in the crops. At the same time, based on the setting of the bolt and the electric push rod 305, according to the weeding range of the crops, the electric push rod 305 corresponding to the length and the weeding range is replaced, and the working range of the weeding module 3 is adjusted.

[0105] S4: At the same time, when the platform frame 1 and other modules are moved by the airship, the air flow speed increases during flight, so that the air enters the air collecting pipe 502 and is sent to the air supply pipe 503 and the air exhaust pipe 504 through the air collecting pipe 502, so that the wind is sprayed on the spray head 206 through the spray pipe, guiding and pressing the liquid medicine sprayed by the spray head 206, and accelerating the speed of the liquid medicine.

[0106] S5: Based on the ambient temperature during crop spraying, the Peltier semiconductor refrigeration module 702 is activated so that its hot end heats the air supply pipe 503 and heats the air entering the air supply pipe 503. Furthermore, by reversely energizing the Peltier semiconductor refrigeration module 702, the hot end and the cold end of the Peltier semiconductor refrigeration module 702 are exchanged, and the air entering the air supply pipe 503 is cooled, thereby achieving temperature control of the air.

[0107] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. Based on modular floating work platform, it is characterized by: The invention comprises a platform frame (1), a spraying module (2) arranged on the surface of the platform frame (1), and a weeding module (3) installed in the middle of the platform frame (1); a linkage module (4) is installed on the surfaces of the spraying module (2) and the weeding module (3); and an adjustment module (5) is installed on both sides of the platform frame (1); The spraying module (2) comprises a storage box (201) fixedly connected to the surface of the platform frame (1) in a path array, one side of the storage box (201) is fixedly connected to a water pump (202) whose input end is connected to the storage box (201), the output end of the water pump (202) is fixedly connected to a delivery pipe (203), the surface of the delivery pipe (203) is fixedly connected to a telescopic rod (204) connected to the delivery pipe (203) in a path array, the surface of the telescopic rod (204) is threadedly connected to an extension tube (205) connected to the telescopic rod (204), the surfaces of the extension tube (205) and the telescopic rod (204) are fixedly connected to a spray head (206) connected to the corresponding extension tube (205) and the telescopic rod (204), and the surfaces of several telescopic rods (204) are fixedly connected to a connecting plate (207).

2. The modular floating work platform according to claim 1, characterized in that: The weeding module (3) comprises a supporting plate (301) slidably connected to the middle of the platform frame (1); a protective box (302) is fixedly connected to the surface of the supporting plate (301) in a path array; a driving motor (303) is fixedly connected to the interior of the protective box (302); an output end of the driving motor (303) is fixedly connected to a mechanical arm (304); and an end effector of the mechanical arm (304) is fixedly connected to an electric push rod (305) via bolts.

3. The modular floating work platform according to claim 2, characterized in that: The weeding module (3) further comprises a connecting member (306) fixedly connected to the output end of the electric push rod (305) by means of bolts, a mounting plate (307) being fixedly connected to the surface of the connecting member (306), and a rotating blade (308) for weeding being fixedly connected in an annular array on the lower surface of the mounting plate (307). Based on the arrangement of the bolts, the model of the electric push rod (305) can be replaced, and isolation modules (6) corresponding to the rotating blade (308) and the mechanical arm (304) are installed on both sides of the lower surface of the platform frame (1).

4. The modular floating work platform according to claim 3, characterized in that: The linkage module (4) includes drive tooth plates (401) fixedly connected to the connecting plate (207) and the two sides of the carrier plate (301) in a path array, and the opposite sides of each two adjacent drive tooth plates (401) are commonly engaged with a drive gear (402), and the surfaces of each two corresponding drive gears (402) are commonly fixedly connected to a drive rod (403), and one end of the drive rod (403) is fixedly connected to a servo motor (404) fixedly connected to the platform frame (1).

5. The modular floating work platform according to claim 1, characterized in that: The regulating module (5) comprises mounting seats (501) fixedly connected to both sides of the platform frame (1) in a path array, the upper surface of the mounting seat (501) is fixedly connected to an air collecting pipe (502) in a path array, the lower surface of the mounting seat (501) is fixedly connected to an air supply pipe (503) connected to a plurality of air collecting pipes (502), the surface of the air supply pipe (503) is mounted with a temperature control module (7), and the surface of the air supply pipe (503) is fixedly connected to an exhaust pipe (504) in a path array.

6. The modular floating work platform according to claim 5, characterized in that: The regulating module (5) further comprises a connecting seat (505) fixedly connected to one end of a plurality of exhaust pipes (504); the surface of the connecting seat (505) is threadedly connected to an auxiliary pipe (506) in a path array; the surfaces of the auxiliary pipe (506) and the exhaust pipe (504) are fixedly connected to a spray pipe corresponding to the spray head (206) in a path array; the surfaces of the plurality of auxiliary pipes (506) are fixedly connected to a linkage pipe (507); one end of the linkage pipe (507) is fixedly connected to an air collecting assembly (508).

7. The modular floating work platform according to claim 5, characterized in that: The temperature control module (7) comprises a hollow box (701) fixedly connected to the lower surface of the mounting seat (501); a Peltier semiconductor refrigeration module (702) is fixedly connected to the interior of the hollow box (701); the initial state of the Peltier semiconductor refrigeration module (702) is that the hot end is in contact with the air supply pipe (503); and the Peltier semiconductor refrigeration module (702) is electrically connected to an existing power supply via a wire.

8. The modular floating work platform according to claim 3, characterized in that: The isolation module (6) comprises fixed plates (601) fixedly connected to the lower surface of the platform frame (1) in a land-based array, and the surfaces of every two corresponding fixed plates (601) are connected in common rotation with an isolation plate (602) corresponding to the rotating blade (308), and the interior of the isolation plate (602) is fixedly connected with a rotating rod (603) that is rotatably connected to the fixed plate (601), and one end of the rotating rod (603) is fixedly connected to a DC motor (604) that is fixedly connected to the fixed plate (601).

9. The modular floating work platform according to claim 4, characterized in that: The surface of the carrier plate (301) is slidably connected to a protective shell (8) fixedly connected to the platform frame (1); the upper surface of the protective shell (8) is fixedly connected to a control box (9) for controlling electrical components in the modular floating work platform; the upper surface of the protective shell (8) is provided with through slots corresponding to the driving gear plate (401) in a rectangular array; the surface of the platform frame (1) is fixedly connected to a plurality of propellers corresponding to the platform frame (1).

10. A load coordination control method for a modular floating work platform, applied to the modular floating work platform according to any one of claims 1 to 9, characterized in that: The specific steps include: S1: Based on the buoyancy airbag, the platform frame (1) and other modules are driven to move in the air. Based on the water pump (202), the liquid medicine in the storage box (201) is transported to the delivery pipe (203) and the telescopic rod (204). According to the range of crops to be sprayed, an extension pipe (205) is connected to the surface of the telescopic rod (204) to increase the spraying range of the spraying module (2). Then, the liquid medicine transported by the delivery pipe (203) is sprayed on the crops through the spray head (206); S2: Based on the setting of the linkage module (4), when it is necessary to weed the crops, the servo motor (404) drives the driving gear (402) to rotate, causing the corresponding driving tooth plate (401) to move in the opposite direction, driving the spraying module (2) to move upward and the weeding module (3) to move downward, so that the weeding module (3) is extended to achieve the subsequent weeding effect; S3: After the weeding module (3) is extended, the driving motor (303) and the mechanical arm (304) drive the electric push rod (305) and the mounting plate (307) to rotate and extend and contract, and the rotating blades (308) are started synchronously, so that the rotating blades (308) rotate to cut the weeds in the crops. At the same time, based on the setting of the bolts and the electric push rod (305), according to the weeding range of the crops, the electric push rod (305) is replaced with a length corresponding to the weeding range to adjust the working range of the weeding module (3); S4: At the same time, when the aerostat drives the platform frame (1) and other modules to move, the air flow rate is accelerated during the flight, so that the air enters the air collecting pipe (502) and is sent to the air supply pipe (503) and the exhaust pipe (504) through the air collecting pipe (502), so that the air is sprayed above the spray head (206) through the spray pipe, guiding and pressing down the liquid medicine sprayed from the spray head (206), thereby accelerating the speed of the liquid medicine falling; S5: According to the ambient temperature when spraying pesticides on crops, the Peltier semiconductor refrigeration module (702) is started, so that its hot end heats the air supply pipe (503) and heats the air entering the air supply pipe (503). In addition, by reversely energizing the Peltier semiconductor refrigeration module (702), the hot end and the cold end of the Peltier semiconductor refrigeration module (702) are exchanged, the air entering the air supply pipe (503) is cooled, and the temperature of the air is controlled.

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