CN110187710B - Intelligent pesticide spraying vehicle for agricultural greenhouse and method thereof - Google Patents
Intelligent pesticide spraying vehicle for agricultural greenhouse and method thereof Download PDFInfo
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- CN110187710B CN110187710B CN201910585664.1A CN201910585664A CN110187710B CN 110187710 B CN110187710 B CN 110187710B CN 201910585664 A CN201910585664 A CN 201910585664A CN 110187710 B CN110187710 B CN 110187710B
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- 238000005507 spraying Methods 0.000 title claims abstract description 42
- 239000000575 pesticide Substances 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims abstract description 71
- 239000003814 drug Substances 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 238000001816 cooling Methods 0.000 claims description 3
- 239000008141 laxative Substances 0.000 claims 1
- 230000002475 laxative effect Effects 0.000 claims 1
- 239000007921 spray Substances 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 7
- 230000006378 damage Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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Abstract
The invention discloses a pesticide spraying intelligent vehicle for an agricultural greenhouse and a method thereof.A front rubber roller is arranged at the front side of the axis of a front wheel of a vehicle body and is driven by a front driving motor, a rear rubber roller is arranged at the rear side of the axis of a rear wheel of the vehicle body and is driven by a rear driving motor, all motors of the vehicle body are powered by a storage battery, a driving module is cooperatively completed by the above parts, the vehicle body is provided with an ultrasonic sensor, an acceleration sensor and a camera sensor so as to prevent the vehicle from colliding with other objects and being capable of monitoring the positions, a fan is arranged on the side face of the vehicle body so as to regulate the temperature of the vehicle body, and all the control of the vehicle body is controlled by a controller, so that the vehicle body runs smoothly. The invention can automatically, conveniently, rapidly and accurately move to a designated place on the ground, enter a track without interruption and stably run, master and adjust the running speed in real time, and the pesticide spraying mechanism can automatically detect the plant height and the like and automatically and accurately spray pesticide.
Description
Technical Field
The invention relates to an intelligent vehicle capable of moving in all directions, in particular to an intelligent vehicle capable of spraying pesticides for agricultural greenhouses with a track and ground dual purposes and a method thereof.
Background
The existing intelligent vehicle for spraying pesticides generally moves a vehicle body on the ground in a manual control mode, and in actual control, the vehicle is laborious to operate and has a large turning radius when turning, so that the intelligent vehicle is not suitable for agricultural greenhouses with limited space.
Secondly, the vehicle body is aligned with the preset track and checked by adopting a manual mode so as to ensure that the vehicle body can enter the track correctly, the work load is large, the control is complex, the accuracy is required to be confirmed repeatedly, the efficiency is low, the time is consumed, and unnecessary troubles are generated for operators.
The existing equipment adopts a manpower and power driven car body in the process of spraying the pesticide, and the mode is a traditional operation mode, so that the pesticide sprayed out partially in the working process can generate health potential safety hazard to human bodies, and the pesticide spraying equipment is also a waste of manpower and material resources.
The track and ground dual-purpose intelligent vehicle for spraying pesticides solves the adverse conditions in the background technology, can automatically operate, comprises three movement modes of on-ground track, up-down track and track operation, greatly saves investment, improves working efficiency, and does not generate any potential safety hazard to operators.
Disclosure of Invention
The invention aims to provide a pesticide spraying intelligent vehicle for an agricultural greenhouse and a method thereof, which are used for overcoming the defects of complex turning path, low working efficiency, harm to human bodies and the like in the moving process of small vehicles in the prior art.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
An intelligent pesticide spraying vehicle for an agricultural greenhouse comprises a vehicle body and pesticide spraying equipment for spraying pesticides, wherein the vehicle body comprises:
a plurality of wheels driving the intelligent vehicle to move in all directions on the ground, wherein each wheel is connected with an independent driving wheel motor;
The at least two rollers driving the intelligent vehicle to enter the track motion comprise a front roller positioned at the front side of the vehicle body and a rear roller positioned at the rear side of the vehicle body, and are respectively connected with a front roller driving motor and a rear roller driving motor;
A controller for controlling the wheels to move and controlling the rollers to enter the track or the lower track, and connected with each driving wheel motor, the front roller driving motor and the rear roller driving motor respectively;
The at least one acceleration sensor is connected with the controller, the acceleration sensor collects vehicle body acceleration signals of the roller entering the track or the lower track and generates voltage signals, the voltage signals are output to the main controller, the main controller sends out control instructions of entering the track or the lower track to control the corresponding roller driving motors to operate, and the roller takes over the wheels to provide forward power for the intelligent vehicle.
Preferably, the wheels comprise four Mecanum wheels, namely a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the front roller and the rear roller are rubber rollers; the left front wheel and the right front wheel are symmetrically distributed on the left side and the right side of the front part of the vehicle body, and the left rear wheel and the right rear wheel are symmetrically distributed on the left side and the right side of the rear part of the vehicle body; the front roller is located on the front side of the left and right front wheel axes, and the rear roller is located on the rear side of the left and right rear wheel axes.
Preferably, the vehicle body is provided with a plurality of camera sensors, including a front camera sensor at the front lower part of the vehicle body and a rear camera sensor at the rear lower part of the vehicle body; the controller is connected with the camera sensor, receives information sent by the camera sensor when the two-dimensional code at the entrance or the end of the track is scanned, and controls the intelligent vehicle to enter the track or go down the track.
Preferably, the two acceleration sensors are respectively a front acceleration sensor positioned at the front side of the vehicle body and a rear acceleration sensor positioned at the rear side of the vehicle body, and are connected with the controller; when the intelligent vehicle enters a track, the left front wheel and the right front wheel gradually advance, when the front roller starts to contact the track, acceleration of the vehicle body suddenly changes, the front acceleration sensor collects acceleration signals at the moment and generates corresponding voltage signals which are transmitted to the main controller, and the main controller controls the front roller driving motor to rotate, so that the front roller runs to replace the left front wheel and the right front wheel, and forward power is provided for the intelligent vehicle;
The left rear wheel and the right rear wheel of the intelligent vehicle gradually advance, so that when the rear roller starts to contact the track, acceleration of the vehicle body suddenly changes, the rear acceleration sensor collects acceleration signals at the moment, corresponding voltage signals are generated and transmitted to the main controller, the main controller controls the rear roller driving motor to rotate, the rear roller runs to replace the left rear wheel and the right rear wheel, forward power is provided for the intelligent vehicle, and the intelligent vehicle enters the track;
When the front roller touches and climbs the track, the first driving wheel motor for driving the left front wheel and the second driving wheel motor for driving the right front wheel are in a stop rotation state, and the left front wheel and the right front wheel are in a stop motion state;
When the rear roller touches and climbs onto the track, the third driving wheel motor for driving the left rear wheel and the fourth driving wheel motor for driving the right rear wheel are in a stop rotation state, and the left rear wheel and the right rear wheel are in a stop motion state.
Preferably, when the intelligent vehicle returns to the beginning of the track, and when the rear roller starts to move down the track, the vehicle body generates sudden change of acceleration, the rear acceleration sensor collects acceleration signals at the moment, generates corresponding voltage signals and transmits the voltage signals to the main controller, the main controller controls the rear roller driving motor to stop rotating, and simultaneously controls the left rear wheel and the right rear wheel to start rotating, and the left rear wheel, the right rear wheel and the front roller are matched to provide continuous power for the intelligent vehicle;
When the front roller starts to lower the track, acceleration suddenly changes, the front acceleration sensor collects acceleration signals at the moment, generates corresponding voltage signals and transmits the voltage signals to the main controller, the main controller controls the front roller driving motor to stop rotating and simultaneously controls the left front wheel and the right front wheel to start rotating, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are matched to provide continuous power for the intelligent vehicle.
Preferably, the car body is provided with a plurality of ultrasonic sensors for preventing the intelligent car from colliding with other objects, and the ultrasonic sensors are connected with the main controller.
Preferably, the plurality of ultrasonic sensors include four ultrasonic sensors distributed on the peripheral edge of the vehicle body, namely a front ultrasonic sensor located right in front of the vehicle body, a rear ultrasonic sensor located right behind the vehicle body, a left ultrasonic sensor located on the left side of the vehicle body and a right ultrasonic sensor located on the right side of the vehicle body.
Preferably, a storage battery for supplying electric power to all the motors is arranged on the vehicle body.
Preferably, a fan serving as a vehicle body cooling device is arranged on the side surface of the vehicle body.
The invention also provides a using method of the intelligent pesticide spraying vehicle for the agricultural greenhouse, which comprises the following steps of:
the controller on the body of the intelligent vehicle is used for driving and controlling each independent driving wheel motor to control the corresponding front wheels and rear wheels to move, so that the intelligent vehicle can run on the ground in all directions;
After the front camera sensor and the rear camera sensor respectively scan the two-dimensional codes which are attached to the track inlet in advance, the main controller controls the intelligent vehicle to start entering the track;
When the intelligent vehicle starts to enter the track, the front wheel of the intelligent vehicle gradually advances, the vehicle body generates sudden change of acceleration when the front roller starts to contact the track, the front acceleration sensor acquires acceleration signals at the moment, corresponding voltage signals are generated and transmitted to the main controller, and the main controller controls the front roller driving motor to rotate, so that the front roller runs to replace the front wheel, and forward power is provided for the intelligent vehicle;
When the rear roller of the intelligent vehicle gradually advances to enable the rear roller to start to contact the track, acceleration suddenly changes, a rear acceleration sensor collects acceleration signals at the moment, corresponding voltage signals are generated and transmitted to the main controller, the main controller controls the rear roller driving motor to rotate, the rear roller is enabled to operate to replace the rear roller, forward power is provided for the intelligent vehicle, and the intelligent vehicle successfully enters the track;
spraying the medicine by the medicine spraying equipment on the intelligent vehicle;
when the intelligent vehicle advances to the position of the end of the track, the front camera sensor scans a two-dimensional code, the main controller controls the front roller driving motor and the rear roller driving motor to rotate reversely, and meanwhile, the medicine spraying equipment stops spraying medicine, and the intelligent vehicle starts to return and finally returns to the beginning of the track;
When the intelligent vehicle returns to the beginning of the track, the rear roller starts to run when the rear roller falls down the track, and the rear roller is matched with the front roller to provide continuous power for the intelligent vehicle;
when the front roller is arranged on the lower track, the front wheel starts to operate and is matched with the rear wheel to provide continuous power for the intelligent vehicle.
Compared with the prior art, the invention has the beneficial effects that: (1) The intelligent vehicle can automatically, conveniently, quickly and accurately move to a designated place on the ground, can enter a track without interruption and stably run, can master and adjust the running speed in real time, ensures the running state of the intelligent vehicle, and can automatically detect the plant height and the like and automatically and accurately spray pesticides by a pesticide spraying mechanism; (2) The track-running medicine spraying intelligent vehicle provided with the Mecanum wheels is characterized in that four motors are respectively driven by a main controller on the ground to be matched with each other so as to control the left front wheel, the left rear wheel, the right front wheel and the right rear wheel to realize omnibearing movement; (3) In the process that the intelligent vehicle starts to enter the track and runs on the track, the trolley is driven to stably enter the track through the mutual matching of the front roller, the rear roller and the four Mecanum wheels; (4) The front camera sensor and the rear camera sensor of the invention determine the running track of the trolley and the accurate points of the upper and lower tracks through the scanning of the two-dimensional codes preset at the inlet and outlet and the end of the track, so as to ensure that the intelligent vehicle can correctly enter the tracks without deviation or slipping, namely, the accurate positions of the intelligent vehicle when moving on and off the tracks are determined; (5) The ultrasonic waves are connected with the main controller and are used for preventing the collision between the body of the intelligent vehicle and other objects.
Drawings
FIG. 1 is a top view of a pesticide spraying intelligent car for an agricultural greenhouse;
Fig. 2 is a left side view of the intelligent pesticide spraying vehicle for the agricultural greenhouse.
In the figure: 1. a front ultrasonic sensor; 2. a front acceleration sensor; 3. a front rubber roller; 4. a bearing; 5. a front camera sensor; 6. a first motor (upper left); 7. mecanum wheel (upper left); 8. a storage battery; 9. a left ultrasonic sensor; 10. a vehicle body; 11. a second motor (lower left); 12. mecanum wheel (lower left); 13. a rear rubber roller; 14. a rear acceleration sensor; 15. a rear ultrasonic sensor; 16. a rear camera sensor; 17. a third motor (rear drum); 18. mecanum wheel (lower right); 19. a fourth motor (lower right); 20. a fan; 21. a main controller; 22. a right ultrasonic sensor; an LED lamp strip; 24. mecanum wheel (upper right); 25. a fifth motor (upper right); 26. a sixth motor (front drum); 27. a cartridge; 28. a height sensor; 29. a cartridge controller; 30. and (3) a nozzle.
Detailed Description
The features, objects and advantages of the present invention will become more apparent from a reading of the detailed description of the non-limiting embodiment, which is given with reference to fig. 1-2. Referring to fig. 1-2, which illustrate embodiments of the present invention, the present invention will be described in more detail below. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
As shown in fig. 1-2, the invention provides a track and ground dual-purpose intelligent pesticide spraying vehicle with Mecanum wheels, which mainly comprises a vehicle body 10 and pesticide spraying equipment. The vehicle body 10 includes: four Mecanum wheels, respectively, mecanum wheel 7 (also called left front wheel), 24 (also called right front wheel), 12 (also called left rear wheel) and 18 (also called right rear wheel); the two rollers are respectively a front rubber roller 3 and a rear rubber roller 13.
The intelligent vehicle can move in all directions on the ground through the four Mecanum wheels. The four mecanum wheels are connected with the two rollers and respectively connected with six motors (a first motor 6, a second motor 11, a third motor 17, a fourth motor 19, a fifth motor 25 and a sixth motor 26) to form a set of power device, so as to provide power required by the movement for the intelligent vehicle.
Each mecanum wheel is individually driven by the same independent motor, specifically, the first motor 6 is connected with the mecanum wheel 7, the second motor 11 is connected with the mecanum wheel 12, the fourth motor 19 is connected with the mecanum wheel 18, the fifth motor 25 is connected with the mecanum wheel 24, meanwhile, the independent motors corresponding to the mecanum wheels are connected with a controller 21, and the main controller 21 is used for controlling the independent motors (the first motor 6, the second motor 11, the fourth motor 19 and the fifth motor 25) to rotate so as to drive the mecanum wheels, so that the intelligent vehicle can move in all directions on the ground.
The left front wheel 7 and the right front wheel 24 are symmetrically distributed on the left and right sides of the front part of the vehicle body 10, the front rubber roller 3 is positioned on the front side of the front wheel axis of the vehicle body 10, and the front rubber roller 3 is connected with a sixth motor 26 (also called front roller driving motor) and driven by the sixth motor 26. Similarly, the left rear wheel 12 and the right rear wheel 18 are symmetrically distributed on the left and right sides of the rear part of the vehicle body 10, the rear rubber roller 13 is positioned on the rear side of the rear wheel axis of the vehicle body 10, and the rear rubber roller 13 is connected with a third motor 17 (also called a rear roller driving motor) and is driven by the third motor 17. Meanwhile, the independent motors corresponding to the rollers are connected with the controller 21, and the related control instructions of the controller 21 are received to control and drive the independent motors (the third motor 17 and the sixth motor 26) to rotate so as to drive the rollers.
In this embodiment, bearings 4 are respectively disposed on the front rubber roller 3 and the rear rubber roller 13, so as to support the front rubber roller 3 and the rear rubber roller 13, reduce friction coefficient during movement, and ensure rotation accuracy.
The motors are mutually driven and matched to provide the power required by the intelligent vehicle; in the process that the intelligent vehicle enters the track, all rollers and Mecanum wheels are mutually matched to drive so that the intelligent vehicle stably enters the track.
Two camera sensors are respectively arranged on the front side and the rear side of the lower part of the vehicle body 10, namely a front camera sensor 5 arranged on the front lower part of the vehicle body and a rear camera sensor 16 arranged on the rear lower part of the vehicle body, and the running track of the trolley and the accurate points of the upper and lower tracks are determined by scanning two-dimensional codes preset at the track inlet and outlet or the end of the trolley so as to ensure that the intelligent vehicle can correctly enter the tracks without deviation or slipping, namely the accurate positions of the intelligent vehicle when moving up and down the tracks are determined. The front camera sensor 5 and the rear camera sensor 16 are connected with the main controller 21, and after the front camera sensor 5 and the rear camera sensor 16 respectively scan two-dimensional codes attached to an inlet and an outlet of a track or a dead end in advance, the main controller 21 receives information corresponding to the camera sensors and then controls the intelligent vehicle to start entering the track or the lower track.
When the intelligent vehicle enters the track, the vehicle body has an abrupt change of acceleration, two acceleration sensors are respectively arranged at the front edge and the rear edge of the vehicle body 10, namely a front acceleration sensor 2 right in front of the vehicle body and a rear acceleration sensor 14 right behind the vehicle body, and are used for detecting the acceleration of the vehicle body 10; the front acceleration sensor 2 and the rear acceleration sensor 14 are connected with the main controller 21, and each acceleration sensor generates a corresponding voltage signal after collecting acceleration signals of the vehicle body and transmits the voltage signal to the main controller 21, and the main controller 21 sends corresponding control instructions to drive a corresponding motor to rotate, so that the cooperation working relationship between the roller and the driving wheel is driven in real time, and the intelligent vehicle is ensured to run stably.
All motors in this embodiment are powered by a battery 8 on the vehicle body.
Four ultrasonic sensors are distributed on the peripheral edge of the vehicle body 10, namely a front ultrasonic sensor 1 right in front of the vehicle body, a rear ultrasonic sensor 15 right behind the vehicle body, a left ultrasonic sensor 9 on the left side of the vehicle body and a right ultrasonic sensor 22 on the right side of the vehicle body, all of the ultrasonic sensors are connected with a main controller 21, the main controller 21 receives signals of all of the ultrasonic sensors and processes the signals, converts the signals into distance information of the obstacle, and the controller 21 analyzes and judges whether the vehicle body 10 of the intelligent vehicle collides with other objects according to the distance information of the obstacle, so that corresponding control instructions are sent to control the action of the intelligent vehicle, the intelligent vehicle is prevented from colliding with other objects, namely, collision damage can be avoided by safely stopping when the camera sensor cannot sweep a two-dimensional code successfully.
As shown in fig. 1-2, the side of the vehicle body is provided with a fan 20 that serves as a cooling means to ensure that the temperature of the vehicle body is not too high.
Preferably, the present invention also decorates the LED light strip 23 around the vehicle body 10.
As shown in fig. 2, the pesticide spraying device of the present invention is composed of a cartridge 27, a nozzle 30, a cartridge controller 29 and a height sensor 28 for spraying a pesticide, for example, the cartridge 27 contains the pesticide, and the height sensor 28 detects the height of the plant, so that the nozzle 30 and the cartridge controller 29 cooperate to automatically spray the pesticide. Specifically, a height sensor 28 above the cartridge 27 continuously monitors crop height and translates the crop height into an available output signal that is transmitted to a cartridge controller 29, which cartridge controller 29 selectively opens and closes four nozzles 30 to spray the pesticide in response to the received signal. The device for dispensing may be of prior art type and the invention is not focused on.
In this embodiment, the intelligent vehicle drives the four motors individually through the controller 21 to control the corresponding four mecanum wheels, so as to realize omnibearing operation on the ground, so that the front camera sensor 5 and the rear camera sensor 16 scan two-dimensional codes attached to the track inlet in advance respectively, and the main controller 21 on the vehicle body 10 controls the intelligent vehicle to start entering the track after receiving the corresponding information, and the left front wheel 7, the right front wheel 24 and the front rubber roller 3 coordinate with each other when starting to get on the track. When the intelligent vehicle starts to enter the track, the left front wheel 7 and the right front wheel 24 gradually advance, the vehicle body 10 has an abrupt change of acceleration when the front rubber roller 3 starts to contact the track, a voltage signal is generated after the front acceleration sensor 2 collects the acceleration signal at the moment and is transmitted to the main controller 21, and the main controller 21 sends a command to drive the sixth motor 26 of the front rubber roller 3 to start rotating, so that the front rubber roller 3 starts to operate to take over the left front wheel 7 and the right front wheel 24, and forward power is provided for the intelligent vehicle.
Similarly, when the left rear wheel 12 and the right rear wheel 18 of the intelligent vehicle gradually advance, the vehicle body 10 has an abrupt change in acceleration when the rear rubber roller 13 starts to contact the rail, a voltage signal is generated after the rear acceleration sensor 14 collects the acceleration signal at the time and is transmitted to the main controller 21, and the main controller 21 sends a command to drive the third motor 17 of the rear rubber roller 13 to start rotating, so that the rear rubber roller 13 starts to operate to take over the left rear wheel 12 and the right rear wheel 18, and forward power is provided for the intelligent vehicle; the intelligent vehicle has successfully entered the track so far, and the driving mode has been changed to rely on the front rubber roller 3 and the rear rubber roller 13 to jointly apply the power for advancing the intelligent vehicle.
The first motor 6 and the fifth motor 25 for driving the left front wheel 7 and the right front wheel 24 simultaneously stop rotating at the moment when the front rubber roller 3 touches and climbs the track, the left front wheel 7 and the right front wheel 24 are in a stopped state, and the second motor 11 and the fourth motor 19 for driving the left rear wheel 12 and the right rear wheel 18 simultaneously stop rotating at the moment when the rear rubber roller 13 touches and climbs the track, and the left rear wheel 12 and the right rear wheel 18 are in a stopped state.
From the above, the intelligent vehicle of the invention is driven by the front rubber roller 3 and the rear rubber roller 13 to advance by applying the forward power of the intelligent vehicle, and the medicine spraying device arranged on the intelligent vehicle starts spraying medicine in the process; when the intelligent vehicle advances to the track end, the front camera sensor 5 scans the two-dimensional code at the track end attached in advance, at the moment, the main controller 21 receives signal transmission and starts to control the sixth motor 26 of the front rubber roller 3 and the third motor 17 of the rear rubber roller 13 to be driven to rotate reversely, meanwhile, the medicine spraying device stops spraying medicine, and the intelligent vehicle starts and finally returns to the track start end.
When the intelligent vehicle returns to the beginning of the track, when the rear rubber roller 13 starts to move down the track, the vehicle body 10 has an abrupt change of acceleration, a voltage signal is generated after the rear acceleration sensor 14 collects the acceleration signal at the moment and is transmitted to the main controller 21, the main controller 21 sends out an instruction to stop the rotation of the third motor 17 driving the rear rubber roller 13, and simultaneously, the second motor 11 and the fourth motor 19 driving the left rear wheel 12 and the right rear wheel 18 start to rotate at the same time, so that the left rear wheel 12 and the right rear wheel 18 start to operate and cooperate with the front rubber roller 3 to provide continuous power for the intelligent vehicle; then, when the front rubber roller 3 starts to lower the track, the vehicle body 10 has an abrupt change of acceleration, a voltage signal is generated after the front acceleration sensor 2 collects the acceleration signal at the moment and is transmitted to the main controller 21, the main controller 21 sends out an instruction to stop rotating the sixth motor 26 driving the front rubber roller 3 and simultaneously start rotating the first motor 6 and the fifth motor 25 driving the left front wheel 7 and the right front wheel 24, so that the left front wheel 7 and the right front wheel 24 start to operate and cooperate with the left rear wheel 12 and the right rear wheel 18 to provide continuous power for the intelligent vehicle, and finally the intelligent vehicle successfully lower the track, and the driving mode is changed to rely on the Mecanm wheel to jointly apply the forward power of the intelligent vehicle.
When the front camera sensor 5 scans the two-dimension code again, the intelligent vehicle starts to run to the vicinity of the beginning of the next track, starts the next round of medicine spraying, and repeats the steps to continue working. Therefore, the invention can enter the track without interruption and stably run, and can master and adjust the running speed in real time, so that the running state of the track is ensured.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (6)
1. The utility model provides an intelligent car of spraying medicine for green house which characterized in that contains the automobile body and is used for spraying the laxative equipment of pesticide, the automobile body contains:
a plurality of wheels driving the intelligent vehicle to move in all directions on the ground, wherein each wheel is connected with an independent driving wheel motor;
The at least two rollers driving the intelligent vehicle to enter the track motion comprise a front roller positioned at the front side of the vehicle body and a rear roller positioned at the rear side of the vehicle body, and are respectively connected with a front roller driving motor and a rear roller driving motor;
the wheels comprise four Mecanum wheels, namely a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, the front roller and the rear roller are rubber rollers,
The left front wheel and the right front wheel are symmetrically distributed on the left side and the right side of the front part of the vehicle body, the left rear wheel and the right rear wheel are symmetrically distributed on the left side and the right side of the rear part of the vehicle body,
The front roller is positioned at the front side of the left front wheel and the right front wheel axis, and the rear roller is positioned at the rear side of the left rear wheel and the right rear wheel axis;
A controller for controlling the wheels to move and controlling the rollers to enter the track or the lower track, and connected with each driving wheel motor, the front roller driving motor and the rear roller driving motor respectively;
The acceleration sensor is connected with the controller, acquires a vehicle body acceleration signal of the roller entering the track or the lower track, generates a voltage signal, outputs the voltage signal to the main controller, and the main controller sends a control instruction of entering the track or the lower track to control the corresponding roller driving motor to operate, and the roller takes over the wheel to provide forward power for the intelligent vehicle;
the vehicle body is provided with a plurality of camera sensors, including a front camera sensor at the front lower part of the vehicle body and a rear camera sensor at the rear lower part of the vehicle body;
The controller is connected with the camera sensor, receives information sent by the camera sensor when the two-dimensional code at the entrance or the end of the track is scanned, and controls the intelligent vehicle to enter the track or go down the track;
The two acceleration sensors are respectively a front acceleration sensor positioned at the front side of the vehicle body and a rear acceleration sensor positioned at the rear side of the vehicle body, and are connected with the controller;
When the intelligent vehicle enters a track, the left front wheel and the right front wheel gradually advance, when the front roller starts to contact the track, acceleration of the vehicle body suddenly changes, the front acceleration sensor collects acceleration signals at the moment and generates corresponding voltage signals which are transmitted to the main controller, and the main controller controls the front roller driving motor to rotate, so that the front roller runs to replace the left front wheel and the right front wheel, and forward power is provided for the intelligent vehicle;
The left rear wheel and the right rear wheel of the intelligent vehicle gradually advance, so that when the rear roller starts to contact the track, acceleration of the vehicle body suddenly changes, the rear acceleration sensor collects acceleration signals at the moment, corresponding voltage signals are generated and transmitted to the main controller, the main controller controls the rear roller driving motor to rotate, the rear roller runs to replace the left rear wheel and the right rear wheel, forward power is provided for the intelligent vehicle, and the intelligent vehicle enters the track;
When the front roller touches and climbs the track, the first driving wheel motor for driving the left front wheel and the second driving wheel motor for driving the right front wheel are in a stop rotation state, and the left front wheel and the right front wheel are in a stop motion state;
When the rear roller touches and climbs onto a track, a third driving wheel motor for driving the left rear wheel and a fourth driving wheel motor for driving the right rear wheel are in a stop rotation state, and the left rear wheel and the right rear wheel are in a stop motion state;
When the intelligent vehicle returns to the beginning of a track, the vehicle body generates sudden change of acceleration when the rear roller starts to move down the track, the rear acceleration sensor collects acceleration signals at the moment, generates corresponding voltage signals and transmits the voltage signals to the main controller, the main controller controls the rear roller driving motor to stop rotating and simultaneously controls the left rear wheel and the right rear wheel to start rotating, and the left rear wheel, the right rear wheel and the front roller are matched to provide continuous power for the intelligent vehicle;
When the front roller starts to lower the track, acceleration suddenly changes, the front acceleration sensor collects acceleration signals at the moment, generates corresponding voltage signals and transmits the voltage signals to the main controller, the main controller controls the front roller driving motor to stop rotating and simultaneously controls the left front wheel and the right front wheel to start rotating, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are matched to provide continuous power for the intelligent vehicle.
2. The intelligent pesticide spraying vehicle for the agricultural greenhouse according to claim 1, wherein,
The intelligent car is characterized in that a plurality of ultrasonic sensors for preventing the intelligent car from colliding with other objects are arranged on the car body and are connected with the main controller.
3. The intelligent pesticide spraying vehicle for the agricultural greenhouse according to claim 2, wherein,
The ultrasonic sensors comprise four ultrasonic sensors distributed on the periphery of the vehicle body, namely a front ultrasonic sensor positioned right in front of the vehicle body, a rear ultrasonic sensor positioned right behind the vehicle body, a left ultrasonic sensor positioned on the left side of the vehicle body and a right ultrasonic sensor positioned on the right side of the vehicle body.
4. The intelligent pesticide spraying vehicle for the agricultural greenhouse according to claim 1, wherein,
The vehicle body is provided with a storage battery for supplying electric energy to all motors.
5. The intelligent pesticide spraying vehicle for the agricultural greenhouse according to claim 1, wherein,
The side of the car body is provided with a fan serving as a car body cooling device.
6. A method of using a pesticide spraying intelligent car for agricultural greenhouses as claimed in any one of claims 1 to 5, comprising the steps of:
the controller on the body of the intelligent vehicle is used for driving and controlling each independent driving wheel motor to control the corresponding front wheels and rear wheels to move, so that the intelligent vehicle can run on the ground in all directions;
After the front camera sensor and the rear camera sensor respectively scan the two-dimensional codes which are attached to the track inlet in advance, the main controller controls the intelligent vehicle to start entering the track;
When the intelligent vehicle starts to enter the track, the front wheel of the intelligent vehicle gradually advances, the vehicle body generates sudden change of acceleration when the front roller starts to contact the track, the front acceleration sensor acquires acceleration signals at the moment, corresponding voltage signals are generated and transmitted to the main controller, and the main controller controls the front roller driving motor to rotate, so that the front roller runs to replace the front wheel, and forward power is provided for the intelligent vehicle;
When the rear roller of the intelligent vehicle gradually advances to enable the rear roller to start to contact the track, acceleration suddenly changes, a rear acceleration sensor collects acceleration signals at the moment, corresponding voltage signals are generated and transmitted to the main controller, the main controller controls the rear roller driving motor to rotate, the rear roller is enabled to operate to replace the rear roller, forward power is provided for the intelligent vehicle, and the intelligent vehicle successfully enters the track;
spraying the medicine by the medicine spraying equipment on the intelligent vehicle;
when the intelligent vehicle advances to the position of the end of the track, the front camera sensor scans a two-dimensional code, the main controller controls the front roller driving motor and the rear roller driving motor to rotate reversely, and meanwhile, the medicine spraying equipment stops spraying medicine, and the intelligent vehicle starts to return and finally returns to the beginning of the track;
When the intelligent vehicle returns to the beginning of the track, the rear roller starts to run when the rear roller falls down the track, and the rear roller is matched with the front roller to provide continuous power for the intelligent vehicle;
when the front roller is arranged on the lower track, the front wheel starts to operate and is matched with the rear wheel to provide continuous power for the intelligent vehicle.
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