CN111264506A

CN111264506A - Intelligent pesticide spraying robot

Info

Publication number: CN111264506A
Application number: CN202010242945.XA
Authority: CN
Inventors: 周新征; 刘志平
Original assignee: Huadian Zhongzi Beijing Technology Co Ltd
Current assignee: College of resources and environment, Shanxi Agricultural University
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-12
Anticipated expiration: 2040-03-31
Also published as: CN111264506B

Abstract

The invention relates to an intelligent pesticide spraying robot which comprises a rack and a guide rail, wherein a pesticide box is arranged in the rack, guide wheels walking on the guide rail are arranged at the bottom of the rack, storage batteries are arranged on two sides of the bottom of the rack, a main control box and a power motor are arranged on the side portion of the rack, a pesticide spraying motor is arranged on the rack on one side of the main control box and connected with a water pump, a water inlet pipe of the water pump is connected with the pesticide box through a pipeline, a water outlet pipe of the water pump is connected with a water inlet of a row-type nozzle, the lower end of the row-type nozzle is respectively connected with the upper end of a nozzle swing arm, the swing arm motor is arranged on the rack, a power wheel is fixed on a power output shaft of the power motor, the power wheel is arranged on the front side of the rack, so that the robot walks on the guide rail, the. The intelligent pesticide spraying robot solves the problems of danger and heavy work of manual pesticide spraying, performs intelligent spraying, reduces the cost and improves the efficiency.

Description

Intelligent pesticide spraying robot

Technical Field

The invention relates to the technical field of agricultural intelligent pesticide spraying equipment, in particular to an intelligent pesticide spraying robot.

Background

Pesticide spraying is an essential link in agricultural production and is used for killing or controlling pests, germs, weeds and the like of crops.

China is a big agricultural country, spraying of pesticides is mainly completed through manpower at present, time and labor are wasted, in the production process, due to the fact that equipment and technology are backward, airtight and not tight, phenomena of running, overflowing, dripping, leaking and the like are prone to occurring, pesticide spraying is uneven and pesticide is wasted, in addition, in the use of the pesticides, farmers lack personal protection consciousness, or the pesticides enter human bodies through respiratory tracts or skins due to improper use methods, and pesticide poisoning is caused. In recent years, unmanned aerial vehicles have faster pesticide spraying development, but the unmanned aerial vehicles need professional teams to complete the pesticide spraying, so that the production cost of crops is increased.

Disclosure of Invention

The invention aims to provide an intelligent pesticide spraying robot, which solves the problems of danger and heavy work of manual pesticide spraying, performs intelligent spraying, reduces the cost and improves the efficiency.

The technical scheme of the invention is as follows: an intelligent pesticide spraying robot comprises a rack and a guide rail, wherein a pesticide box is arranged in the rack, guide wheels walking on the guide rail are arranged at the bottom of the rack, support legs are arranged at the bottom of the guide rail, balance retaining wheels are respectively arranged at the bottoms of the racks at two sides of the guide rail, storage batteries are respectively arranged at two sides of the bottom of the rack, a main control box and a power motor are arranged at the side part of the rack, a pesticide spraying motor is arranged on the rack at one side of the main control box and is connected with a water pump, a water inlet pipe of the water pump is connected with the pesticide box through a pipeline, a water outlet pipe is connected with a water inlet of a row-type nozzle, the row-type nozzle is correspondingly provided with two row-type nozzles, the lower ends of the row-type nozzles are respectively connected with the upper ends of nozzle swing arms, the inner sides of the middle parts of the, the swing arm motor sets up in the frame, motor power fixes in the frame, fixes the power wheel on motor power output shaft, and the power wheel setting makes the robot walk on the guide rail in the front side of frame, the storage battery all with spout medicine motor, swing arm motor, motor power electricity and be connected, it all with master control case control connection to spout medicine motor, swing arm motor, motor power, master control case and remote controller signal transmission are connected, be equipped with display screen and button on the remote controller.

Preferably, the main control box comprises a main control module, a power supply processing module, an ultrasonic ranging module, a motor driving module, a Hall detection module and a communication module;

the main control module comprises a main control chip U1, the main control chip U1 is a chip 15W4K61S4, the main control chip U1 is in control connection with the power supply processing module, the ultrasonic ranging module, the power motor driving module, the pesticide spraying motor driving module, the swing arm motor driving module, the Hall detection module and the communication module, and pins P30 and P31 of the main control chip U1 are connected with pins RXD and TXD of an external interface J1.

The power supply processing module comprises a chip U2, a filter inductor L1, a high-precision voltage stabilizer U3, a filter capacitor C2 and a filter capacitor C3, wherein the chip U2 is a chip 34063, a pin 6 of the chip U2 is divided into two paths, one path is connected with a cathode of a diode D6, the other path is connected with a pin 1 of a chip U2 through a resistor R28, an anode of a diode D6 is connected with an anode end of a power supply BT1 through a power switch S1 to supply power to the power supply processing module,

pins

7 and 8 are connected with the pin 1, anode ends of capacitors C3 and C2 are respectively connected with two sides of a diode D6, a cathode end is grounded, a pin 4 of the chip U2 is grounded, a pin 3 is grounded through a capacitor C4, a pin 2 is connected with one end of the filter inductor L1, the other end of the filter inductor L1 is connected with a voltage input end of the high-precision voltage stabilizer U1, the diode D1 is reversely connected with the pin 2 and a ground end, the serially connected with the other ends of the capacitors, pin 5 is connected between resistance R29 and resistance R30, and the output of high accuracy stabiliser U3 connects the power VCC, and electric capacity C7 connects in parallel at the output and the ground terminal of high accuracy stabiliser U3.

The ultrasonic ranging module comprises ultrasonic ranging modules M1 and M2, wherein M1 is used for detecting whether an obstacle exists in front of the walking of the vehicle, M2 is a medicine box water level detection module, pins TXD and RXD of the ultrasonic ranging module M1 are connected to a power supply VCC through pull-up resistors R4 and R3 respectively and are connected with RXD3 and TXD3 of a main control single chip microcomputer U1, and pins TXD and RXD of the ultrasonic ranging module M2 are connected to the power supply VCC through pull-up resistors R6 and R5 respectively and are connected with RXD4 and TXD4 of the main control single chip microcomputer U1.

The power motor driving module comprises driving modules M3, M4 and M5, wherein M3 is a power motor driving module, M4 is a pesticide spraying motor driving module, M5 is a swing arm motor driving module, pins IN1 and IN2 of M3 are respectively connected with pins P07 and P06 of a main control chip U1, pin PWM is connected with pin PWM3 of the main control chip U1, pins M + and M-are respectively connected with the positive end and the negative end of a power motor E1, a power supply pin is respectively connected with the positive end and the negative end of a power supply BT1 through a switch and a grounding pin, pins IN1 and IN2 of M4 are respectively connected with pins P14 and P13 of a main control chip U1, pin PWM is connected with pin 13 of the main control chip U13, pins M + and M-are respectively connected with the pesticide spraying end of the power motor E13, and the power supply pin is respectively connected with the positive end and the negative end of the power supply BT 72 through the; pins IN1 and IN2 of M5 are respectively connected with pins P15 and P16 of a main control chip U1, pin PWM is connected with pin PWM5 of a main control chip U1, pins M + and M-are respectively connected with the positive end and the negative end of a swing arm motor E3, and power supply pins are respectively connected with the positive electrode and the negative electrode of a power supply BT1 through a switch and a grounding pin.

The Hall detection module comprises a Hall sensor M7 and an operational comparator U5, a pin OUT of the Hall sensor M7 is connected with a + end of the operational comparator U5 through R17, a-end of the operational comparator U5 is respectively connected with a power supply VCC and GND through voltage division R15 and R16, an output end of the operational comparator U5 is connected with a pin P45 of the main control chip U1, and the operational comparator U5 is LM 393.

The communication module comprises a wireless communication chip M6, a pin EN of an operation comparator U5 is connected with a pin P42 of a main control chip U1, pins RXD and TXD are respectively connected with pins TXD _2 and RXD _2 of the main control chip U1, and a pin SET is connected with a pin P35 of the main control chip U1.

The remote controller comprises a core control module, a power supply processing module, a communication module, a key module, a storage module and a display module;

the core control module comprises a chip U1, the chip U1 is a chip IAP15W413AS, and the chip U1 is in signal connection with the power supply processing module, the communication module, the key module, the storage module and the display module;

the power supply processing module comprises a chip U4, resistors R1, R2, R3 and R4, capacitors C1, C2, C3, C4 and C5, a filter inductor L1, the chip U4 is a chip 34063, a pin 6 of the chip U4 is connected with a positive terminal of a power supply BT1 through a resistor R3 and a power switch S1, a pin 4 is connected with a negative terminal of the power supply BT1, resistors R1 and R2 are connected in series and then connected with two ends of the power supply BT1, a capacitor C1 is connected with a resistor R2 in parallel, a voltage acquisition point between a resistor R1 and a resistor R2 is connected with a pin P10 of the chip U1,

pins

7 and 8 of the chip U4 are connected with the pin 6 through a resistor R4, a pin 3 is connected with the negative terminal of the power supply BT 4 through a capacitor C4, a pin 2 is connected with one end of an inductor L4, a diode D4 is reversely connected between the pin 2 and the negative terminal of the power supply, the capacitors C4 and the C4 are sequentially connected with resistors R4 and R4 in parallel, and a pin 5 of the chip U4 is.

The communication module comprises a wireless communication module M1, pins VCC and GND of M1 are respectively connected with the positive electrode and the negative electrode of a power supply, a pin EN is connected with a pin P32 of the chip U1, pins RXD and TXD are respectively connected with pins P31 and P30 of the chip U1, and a pin SET is connected with a pin P11 of the chip U1.

The key module comprises keys K1-K12, and the keys K1-K12 are connected to pins P37 and P12-P17 of the chip U1 through four rows and three columns of 7 line acquisition signals.

The memory module comprises a memory chip U2, wherein the chip U2 is a chip FM24C04,

pins

1, 2, 3, 4 and 7 of the chip U2 are connected with a ground wire, a pin 8 is a chip power supply pin, and

pins

5 and 6 are connected with pins P54 and P55 of the chip U1.

The display module comprises a Liquid Crystal Display (LCD) 1 and a chip U3, the chip U3 is a chip HT1621 special for driving the liquid crystal display, pins COMO 0-COMO 3 are connected with segment codes of the LCD1, pins SEG0-SEG31 are connected with bit codes of the LCD1, a pin VDD is connected with a power supply VCC, a pin CS is connected with a pin P36 of the chip U1, a pin RD is connected with a pin P35 of the chip U1, a pin WD is connected with a pin P34 of the chip U1, and a pin DATA is connected with a pin P33 of the chip U1.

Preferably, the guide wheels are provided with two guide wheels, namely a front guide wheel and a rear guide wheel.

Preferably, the medicine chest is provided with an air inlet valve, so that liquid can flow out smoothly.

Preferably, the power motor box is arranged at the periphery of the power motor, so that the use safety is ensured.

Preferably, pins P23, P22, P21, P42, P37, P36 and P35 of a main control chip U1 in a main control module of the main control box are respectively connected to a power VCC through pull-up resistors R18, R19, R20, R24, R22, R23 and R21, so as to ensure the stability of the operation of the pins.

Preferably, the pins P30-P32 of the chip U1 in the core control module of the remote controller are respectively connected with pull-up resistors R14-R16, so that the working stability of the pins is ensured.

Preferably, pins P37 and P12-P17 of a chip U1 in a core control module of the remote controller are respectively connected with pull-up resistors R13-R7, and the pull-up resistor of a pin P11 is R21, so that the working stability of the pins is ensured.

Preferably, the buttons of the remote controller comprise a vehicle speed control increasing button and a vehicle speed reducing button, the pesticide spraying vehicle starts a stop button, the pump pressure control increasing button and the vehicle speed reducing button, the water pump starts the stop button, the pesticide spraying swing arm swinging frequency setting button, the pesticide spraying swing arm operation/stop button, the intelligent pesticide spraying robot working mode setting button is divided into a continuous mode and an intermittent mode, and all functions of the whole vehicle are started at the same time to stop the button.

The intelligent pesticide spraying robot is convenient to use in any farmland needing pesticide spraying, intelligent control is carried out through the remote controller, starting and stopping of the vehicle, vehicle speed, pesticide spraying amount and pesticide spraying mode are controlled, pesticide spraying in a large range is achieved by controlling swinging of the spray head swing arm, the swinging frequency of the spray head swing arm can be controlled according to actual conditions, and working efficiency is improved.

The intelligent pesticide spraying robot is simple in structure and convenient to use, large-range intelligent control is achieved, manual direct pesticide contact is avoided, manual safety is guaranteed, meanwhile, operation is not required to be carried out by professional personnel, and great convenience is brought to users.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the spraying side structure of the present invention;

FIG. 3 is a perspective view of the structure of the present invention;

FIG. 4 is a schematic diagram of the inventive control box circuit;

FIG. 5 is a schematic diagram of a remote control circuit according to the present invention;

in the figure: 1-frame, 2-battery jar, 3-balance block wheel, 4-water outlet pipe, 5-electric water pump, 6-guide rail, 7-medicine box, 8-air inlet valve, 9-main control box, 10-front guide wheel, 11-row type nozzle, 12-nozzle swing arm, 13-power pull rod, 14-transmission rod, 15-power motor, 16-rear guide wheel, 17-power wheel, 18-power motor box, 19-remote controller, 20-display screen and 21-button.

Detailed Description

The technical scheme of the invention is further described in detail in the following with reference to the attached drawings:

as shown in fig. 1 and fig. 2, an intelligent pesticide spraying robot comprises a frame 1 and a guide rail 6, a pesticide box 7 is arranged inside the frame 1, guide wheels walking on the guide rail 6 are arranged at the bottom of the frame, support legs are arranged at the bottom of the guide rail 6, balance catch wheels 3 are respectively arranged at the bottom of the frame at two sides of the guide rail 6, the guide wheels comprise a front guide wheel 10 and a rear guide wheel 16, storage batteries 2 are arranged at two sides of the bottom of the frame 1, a main control box 9 and a power motor 15 are arranged at the side part of the frame 1, a pesticide spraying motor is arranged on the frame at one side of the main control box 9 and connected with an electric water pump 5, a water inlet pipe of the electric water pump 5 is connected with the pesticide box 7 through a pipeline, a water outlet pipe is connected with a water inlet of a row-type nozzle 11, the row-type nozzle 11 is relatively provided with two row-type nozzles 11, the, the equal swing joint transfer line 14 of the other end of power pull rod 13, the lower extreme difference swing joint of nozzle swing arm 12 is in the side of advancing of frame 1, swing arm motor is connected to transfer line 14, swing arm motor sets up in frame 1, motor power 15 is fixed in on frame 1, is fixed with power wheel 17 on motor power 15's the power output shaft, and power wheel 17 sets up and makes the robot walk on guide rail 6 in the front side of frame 1, and motor power 15 periphery is equipped with motor power case 18, storage battery 2 all is connected with medicine motor, swing arm motor, motor power 15 electricity, it all is connected with master control case 9 control to spout medicine motor, swing arm motor, motor power 15, master control case 9 and remote controller 19 signal transmission connection, be equipped with display screen 20 and button 21 on the remote controller 19.

Further, as shown in fig. 4, the master control box includes a master control module, a power processing module, an ultrasonic ranging module, a motor driving module, a hall detection module, and a communication module;

the main control module comprises a main control chip U1, the main control chip U1 is a chip 15W4K61S4, the main control chip U1 is in control connection with the power supply processing module, the ultrasonic ranging module, the power motor driving module, the pesticide spraying motor driving module, the swing arm motor driving module, the Hall detection module and the communication module, and pins P30 and P31 of the main control chip U1 are connected with pins RXD and TXD of an external interface J1; serial ports RXD3 and TXD3 of a main control chip U1 of the main control module are connected to the front obstacle detection module and are used for reading the distance between the front end and the obstacle. Serial ports RXD4 and TXD4 of the U1 are connected to a water level detection module for reading the water amount of the medicine boxes. PWM3, PWM4 and PWM5 of the main control chip U1 are respectively connected to three motor driving modules and used for providing PWM signals for the motor driving modules, R18-R20 are pull-up resistors of three port lines, RXD and TXD are connected to an external port J1 and used for filling programs into a single chip microcomputer. R25 and R26 are pull-up resistors of two port wires, and the pins P37/TXD _2 and P36/RXD _2 are connected with the wireless communication module and are used for communicating with an external remote control.

pins

7 and 8 are connected with the pin 1, anode ends of capacitors C3 and C2 are respectively connected with two sides of a diode D6, a cathode end is grounded, a pin 4 of the chip U2 is grounded, a pin 3 is grounded through a capacitor C4, a pin 2 is connected with one end of the filter inductor L1, the other end of the filter inductor L1 is connected with a voltage input end of the high-precision voltage stabilizer U1, the diode D1 is reversely connected with the pin 2 and a ground end, the serially connected with the other ends of the capacitors, the pin 5 is connected between the resistor R29 and the resistor R30, the output end of the high-precision voltage stabilizer U3 is connected with a power supply VCC, and the capacitor C7 is connected in parallel with the output end and the grounding end of the high-precision voltage stabilizer U3; the power supply processing module is used for converting an externally supplied DC24V power supply VCC into a voltage required by a control circuit, firstly 12V provided by a device power supply end is limited by R27, after filtering by C2, after filtering by a diode D6, after low-frequency filtering by C3, a relatively stable 24V power supply is obtained, a power supply processing chip U2 is supplied, R28 is an overload protection sampling resistor, when an output load current is too large, the chip U2 can cut off the whole power supply, C4 is an operating frequency setting capacitor of the chip and is used for setting the operating frequency of the chip, after the chip normally operates, a current is output by a pin 2 of the chip U2, D7 is a freewheeling diode of the power supply and is used for ensuring that a relatively stable current flows at an L1 end, L1 is a filter inductor, the output voltage is sent to positive ends of capacitors C5 and C6, after filtering, a voltage of 6.8V is output, R29 and R30 are sampling resistors, and sending the sampled voltage back to the 5 th pin of the voltage acquisition of the power supply processing chip U2 to ensure the stability of the output voltage. The 6.8V voltage is sent to the input end of the chip high-precision voltage stabilizer U3, and the high-precision 5V voltage is output by the output end, so that a stable power supply is provided for the whole machine.

The ultrasonic ranging module comprises ultrasonic ranging modules M1 and M2, M1 is used for detecting whether an obstacle exists in front of the walking of the vehicle, M2 is a medicine box water level detection module, pins TXD and RXD of the ultrasonic ranging module M1 are connected to a power supply VCC through pull-up resistors R4 and R3 respectively and are connected with RXD3 and TXD3 of a main control single chip microcomputer U1, and pins TXD and RXD of the ultrasonic ranging module M2 are connected to the power supply VCC through pull-up resistors R6 and R5 respectively and are connected with RXD4 and TXD4 of a main control single chip microcomputer U1; the ultrasonic ranging module M1 is used for detecting whether an obstacle is in front of the vehicle, if so, the vehicle stops, spraying is stopped, and processing is waited. The ultrasonic ranging module M2 is a medicine box water level detection module and is used for monitoring the water level.

The power motor driving module comprises driving modules M3, M4 and M5, wherein M3 is a power motor driving module, M4 is a pesticide spraying motor driving module, M5 is a swing arm motor driving module, pins IN1 and IN2 of M3 are respectively connected with pins P07 and P06 of a main control chip U1, pin PWM is connected with pin PWM3 of the main control chip U1, pins M + and M-are respectively connected with the positive end and the negative end of a power motor E1, a power supply pin is respectively connected with the positive end and the negative end of a power supply BT1 through a switch and a grounding pin, pins IN1 and IN2 of M4 are respectively connected with pins P14 and P13 of a main control chip U1, pin PWM is connected with pin 13 of the main control chip U13, pins M + and M-are respectively connected with the pesticide spraying end of the power motor E13, and the power supply pin is respectively connected with the positive end and the negative end of the power supply BT 72 through the; pins IN1 and IN2 of M5 are respectively connected with pins P15 and P16 of a main control chip U1, pin PWM is connected with pin PWM5 of a main control chip U1, pins M + and M-are respectively connected with the positive end and the negative end of a swing arm motor E3, and power supply pins are respectively connected with the positive electrode and the negative electrode of a power supply BT1 through a switch and a grounding pin; the PWM is a control end of the module and is used for controlling the walking speed of the vehicle. IN2 of M3 is used to control the direction of travel of the vehicle. The IN1 of M3 is used for controlling the output of the power motor driving module, the low-level power of the pin gives the output, and the high-level power stops outputting. The output of M4 is connected to the spray motor to control the spray size, the IN1 of M4 is used to control the output of the spray motor driving module, the low level power of the pin gives the output, and the high level stops the output. The output of M5 is connected to the swing arm motor to control the swinging frequency of the nozzle, the IN1 of M5 is used to control the output of the swing arm motor driving module, the low level power of the pin gives the output, and the high level stops the output.

The Hall detection module comprises a Hall sensor M7 and an operational comparator U5, a pin OUT of the Hall sensor M7 is connected with a + end of the operational comparator U5 through R17, a-end of the operational comparator U5 is respectively connected with a power supply VCC and GND through voltage division R15 and R16, an output end of the operational comparator U5 is connected with a pin P45 of the main control chip U1, and the operational comparator U5 is LM 393. The Hall detection module is used for detecting an external magnet, when a vehicle travels to a certain position and needs to stop, a magnet can be placed at the position of a track, when the vehicle travels to the position, a Hall sensor circuit can detect a signal, the output end of the M7 module outputs the signal and sends the signal to the + end of a comparator U5, the negative end of the comparator is provided after voltage division is carried out on the signal by R15 and R16, the output end of the comparator U5 is directly connected to the P46 of a chip U1, the signal is sent to the interior of a main control chip U1 for judgment, and response is made.

The communication module comprises a wireless communication module M6, a pin EN of the operation comparator U5 is connected with a pin P42 of a main control chip U1, pins RXD and TXD are respectively connected with pins TXD _2 and RXD _2 of the main control chip U1, and a pin SET is connected with a pin P35 of the main control chip U1. The wireless communication module M6 has 7 pins, wherein VCC and GND are power supply terminals of the module. The EN is the chip selection end of the module, and the EN pin can be arranged at 1 by using an opening line of the singlechip when the module is not in communication, so that the module can enter a sleep mode to save electric quantity. During communication, the pin is pulled down by the singlechip port line. The EN pin is directly connected to a P42 port of the main control chip U1, and a pull-up resistor R24 is connected to ensure the stability of the port line. RXD of the M6 wireless communication module is a data input port, TXD is a data output port, the RXD is respectively connected with P36 and P37 of the main control U1, and two port lines are respectively provided with pull-up resistors R14 and R15. The SET is a setting port of the wireless communication module and is directly connected to a pin P35 of the U1 main control chip, and R21 is a pull-up resistor of the P35 port.

As shown in fig. 5, the remote controller includes a core control module, a power processing module, a communication module, a key module, a storage module, and a display module;

the core control module comprises a chip U1, the chip U1 is a chip IAP15W413AS, and the chip U1 is in signal connection with the power supply processing module, the communication module, the key module, the storage module and the display module and is used for collecting voltage signals, key signals, communication signals, reading and writing the memory and controlling the display of the liquid crystal screen.

The power supply processing module comprises a chip U4, resistors R1, R2, R3 and R4, capacitors C1, C2, C3, C4 and C5, a filter inductor L1, the chip U4 is a chip 34063, a pin 6 of the chip U4 is connected with a positive terminal of a power supply BT1 through a resistor R3 and a power switch S1, a pin 4 is connected with a negative terminal of the power supply BT1, resistors R1 and R2 are connected in series and then connected with two ends of the power supply BT1, a capacitor C1 is connected with a resistor R2 in parallel, a voltage acquisition point between a resistor R1 and a resistor R2 is connected with a pin P10 of the chip U1, pins 7 and 8 of the chip U4 are connected with the pin 6 through a resistor R4, a pin 3 is connected with the negative terminal of the power supply BT 4 through a capacitor C4, a pin 2 is connected with one end of an inductor L4, a diode D4 is reversely connected between the pin 2 and the negative terminal of the power supply, the capacitors C4 and the C4 are sequentially connected with resistors R4 and R4 in parallel, and a pin 5 of the chip U4 is. The power supply processing module is used for converting DC6.0V voltage supplied by the battery BT1 into voltage required by the control circuit. Firstly, after the 6.0V voltage provided by the power supply end of the device is subjected to current limiting through a resistor R3 and low-frequency filtering through a C2, a relatively stable 6.0V power supply is obtained and is supplied to a power supply processing chip U6. R4 is an overload protection sampling resistor, when the output load current is too large, the chip will cut off the power supply of the whole machine. C3 is the operating frequency setting capacitance of the chip. For setting the operating frequency of the chip. After the chip normally works, the current is output by a pin 2 of the chip, D6 is a freewheeling diode of the power supply and is used for ensuring that relatively stable current flows through the end of the filter inductor L2, the output voltage is sent to the positive ends of C4 and C5 by the filter inductor L2, and after filtering, stable 3.3V voltage is provided for the whole machine. R5 and R6 are voltage dividing and sampling resistors, and the sampled voltage is sent back to the voltage acquisition pin P5 of the power processing chip U4 to ensure the stability of the output voltage. The R1 and the R2 are collecting ends of power supply voltage, the power supply voltage is firstly subjected to voltage division through R1 and R2, the collected voltage is sent to an A/D input end P10 of a chip U1, then operation is carried out through a chip U1, and then the residual electric quantity of the remote controller is displayed on a liquid crystal screen.

The communication module comprises a wireless communication module M1, pins VCC and GND of M1 are respectively connected with the positive electrode and the negative electrode of a power supply, a pin EN is connected with a pin P32 of the chip U1, pins RXD and TXD are respectively connected with pins P31 and P30 of the chip U1, and a pin SET is connected with a pin P11 of the chip U1. Wireless communication module M1 has 7 pins, and wherein VCC, GND are the feeder ear of this module, and EN is the chip selection end of this module, can utilize the oral siphon of singlechip to put 1 the EN pin when not communicating, can make this module get into dormant mode to save the electric quantity. During communication, the pin is pulled low by the port line of the chip U1. The EN pin is directly connected to the pin P32 of the chip U1, and a pull-up resistor R16 is connected for ensuring the stability of the port line. RXD of the M1 wireless communication module is a data input port, TXD is a data output port, and the RXD is respectively connected with pins P31 and P30 of the chip U1, and the pins P31 and P30 are respectively provided with pull-up resistors R15 and R14. The SET is a SET port of the wireless communication module, and is directly connected to the pin P11 of the chip U1, and R21 is a pull-up resistor of the pin P11.

The key module comprises keys K1-K12, and the keys K1-K12 are connected to pins P37 and P12-P17 of the chip U1 through four rows, three columns and 7 line acquisition signals; k1 and K2 are respectively an increase key and a decrease key for setting the vehicle speed, and K3 is a vehicle start-stop key which can control the start and stop of the pesticide spraying vehicle. K4, K5 are the setting button of water pump voltage, are used for setting for the voltage of water pump, and the voltage is higher, and the water pump spouts the medicine dynamics and is bigger. K6 is the start stop button of water pump, is used for controlling the start-stop of spouting medicine. K7 and K8 are oscillation frequency setting buttons of the spraying swing arm, and K9 is an operation/stop control button of the spraying swing arm. K10 and K11 are set keys for controlling the working mode of the pesticide spraying vehicle and are divided into a continuous mode and an intermittent mode. K12 is the key for starting and stopping the whole vehicle simultaneously.

The memory module comprises a memory chip U2, wherein the chip U2 is a chip FM24C04, pins 1, 2, 3, 4 and 7 of the chip U2 are connected with a ground wire, a pin 8 is a chip power supply pin, and pins 5 and 6 are connected with pins P54 and P55 of the chip U1.

The display module comprises a Liquid Crystal Display (LCD) 1 and a chip U3, the chip U3 is a chip HT1621 special for driving the liquid crystal display, pins COMO 0-COMO 3 are connected with segment codes of the LCD1, pins SEG0-SEG31 are connected with bit codes of the LCD1, a pin VDD is connected with a power supply VCC, a pin CS is connected with a pin P36 of the chip U1, a pin RD is connected with a pin P35 of the chip U1, a pin WD is connected with a pin P34 of the chip U1, and a pin DATA is connected with a pin P33 of the chip U1. The LCD1 has four rows and four digits display, namely vehicle speed display, water pump voltage display, pesticide spraying swing arm swinging frequency display and pesticide spraying vehicle storage battery electric quantity display; the following is the selection of the operation mode: continuous and batch. The lower right corner of the liquid crystal screen is provided with the remote control electric quantity indication. VDD of the chip U3 is a power supply pin, CS is a chip selection end of the chip, and RD is a control end for reading data of the liquid crystal screen and is used for reading the data of the liquid crystal screen. WR is a write control terminal for writing DATA to the liquid crystal panel, and DATA is a DATA terminal for transmitting DATA.

Furthermore, pins P23, P22, P21, P42, P37, P36 and P35 of a main control chip U1 in the main control module of the main control box are respectively connected with a power VCC through pull-up resistors R18, R19, R20, R24, R22, R23 and R21, so that the stability of the operation of the pins is ensured.

In specific implementation, the guide rail 6 is placed in a field to be sprayed with liquid medicine, the liquid medicine is filled in the medicine box 7, the walking speed of the medicine spraying robot, the voltage of a water pump, the swinging frequency of a spray head and the medicine spraying mode are set through the remote controller 16, the starting button 21 is pressed, a power wheel of the robot is driven by the power motor 15 to drive the robot to walk forwards along the guide rail 6, the medicine spraying motor drives the electric water pump 5 to pump the liquid in the medicine box 7 into a water outlet pipe, air enters the medicine box 7 through the air inlet valve 8 along with the descending of the liquid level, the auxiliary liquid smoothly flows out, the swing arm motor drives the transmission rod 14 to rotate, the transmission rod 14 drives the power pull rod 13 to pull the nozzle swing arm 12 to swing up and down within a certain range, the liquid is uniformly sprayed on crops on two sides of the guide rail 6 through the row-type nozzle 11 on the upper end of the nozzle swing arm 12, the spraying of the liquid medicine is finished, the working mode of, the people can operate at a certain distance, and convenient and fast, the display screen 20 on the remote controller 19 displays the speed of a vehicle, the voltage of a water pump, the swing frequency of a swing motor and the power supply electric quantity of the robot.

Claims

1. An intelligent pesticide spraying robot is characterized by comprising a rack and a guide rail, wherein a pesticide box is arranged in the rack, guide wheels walking on the guide rail are arranged at the bottom of the rack, supporting legs are arranged at the bottom of the guide rail, balance retaining wheels are respectively arranged at the bottoms of the rack on two sides of the guide rail, storage batteries are respectively arranged on two sides of the bottom of the rack, a main control box and a power motor are arranged on the side part of the rack, a pesticide spraying motor is arranged on the rack on one side of the main control box and is connected with a water pump, a water inlet pipe of the water pump is connected with the pesticide box through a pipeline, a water outlet pipe is connected with a water inlet of a row-type nozzle, the row-type nozzle is correspondingly provided with two row-type nozzles, the lower ends of the row-type nozzles are respectively connected with the upper ends of nozzle swing arms, the inner sides, the swing arm motor is connected to the transfer line, the swing arm motor sets up in the frame, motor power fixes in the frame, the last fixed power wheel of motor power's power output shaft, and the power wheel setting makes the robot walk on the guide rail in the front side of frame, the storage battery all with spout medicine motor, swing arm motor, motor power electricity and be connected, it all is connected with master control case control to spout medicine motor, swing arm motor, motor power, master control case and remote controller signal transmission are connected, be equipped with display screen and button on the remote controller.

2. The intelligent pesticide spraying robot as claimed in claim 1, wherein the master control box comprises a master control module, a power processing module, an ultrasonic ranging module, a motor driving module, a hall detection module and a communication module;

the main control module comprises a main control chip U1, the main control chip U1 is a chip 15W4K61S4, the main control chip U1 is in control connection with the power supply processing module, the ultrasonic ranging module, the power motor driving module, the pesticide spraying motor driving module, the swing arm motor driving module, the Hall detection module and the communication module, and pins P30 and P31 of the main control chip U1 are connected with pins RXD and TXD of an external interface J1;

the power supply processing module comprises a chip U2, a filter inductor L1, a high-precision voltage stabilizer U3, a filter capacitor C2 and a filter capacitor C3, wherein the chip U2 is a chip 34063, a pin 6 of the chip U2 is divided into two paths, one path is connected with a cathode of a diode D6, the other path is connected with a pin 1 of a chip U2 through a resistor R28, an anode of a diode D6 is connected with an anode end of a power supply BT1 through a power switch S1 to supply power to the power supply processing module, pins 7 and 8 are connected with the pin 1, anode ends of capacitors C3 and C2 are respectively connected with two sides of a diode D6, a cathode end is grounded, a pin 4 of the chip U2 is grounded, a pin 3 is grounded through a capacitor C4, a pin 2 is connected with one end of the filter inductor L1, the other end of the filter inductor L1 is connected with a voltage input end of the high-precision voltage stabilizer U1, the diode D1 is reversely connected with the pin 2 and a ground end, the serially connected with the other ends of the capacitors, the pin 5 is connected between the resistor R29 and the resistor R30, the output end of the high-precision voltage stabilizer U3 is connected with a power supply VCC, and the capacitor C7 is connected in parallel with the output end and the grounding end of the high-precision voltage stabilizer U3;

the ultrasonic ranging module comprises ultrasonic ranging modules M1 and M2, M1 is used for detecting whether an obstacle exists in front of the walking of the vehicle, M2 is a medicine box water level detection module, pins TXD and RXD of the ultrasonic ranging module M1 are connected to a power supply VCC through pull-up resistors R4 and R3 respectively and are connected with RXD3 and TXD3 of a main control single chip microcomputer U1, and pins TXD and RXD of the ultrasonic ranging module M2 are connected to the power supply VCC through pull-up resistors R6 and R5 respectively and are connected with RXD4 and TXD4 of a main control single chip microcomputer U1;

the power motor driving module comprises driving modules M3, M4 and M5, wherein M3 is a power motor driving module, M4 is a pesticide spraying motor driving module, M5 is a swing arm motor driving module, pins IN1 and IN2 of M3 are respectively connected with pins P07 and P06 of a main control chip U1, pin PWM is connected with pin PWM3 of the main control chip U1, pins M + and M-are respectively connected with the positive end and the negative end of a power motor E1, a power supply pin is respectively connected with the positive end and the negative end of a power supply BT1 through a switch and a grounding pin, pins IN1 and IN2 of M4 are respectively connected with pins P14 and P13 of a main control chip U1, pin PWM is connected with pin 13 of the main control chip U13, pins M + and M-are respectively connected with the pesticide spraying end of the power motor E13, and the power supply pin is respectively connected with the positive end and the negative end of the power supply BT 72 through the; pins IN1 and IN2 of M5 are respectively connected with pins P15 and P16 of a main control chip U1, pin PWM is connected with pin PWM5 of a main control chip U1, pins M + and M-are respectively connected with the positive end and the negative end of a swing arm motor E3, and power supply pins are respectively connected with the positive electrode and the negative electrode of a power supply BT1 through a switch and a grounding pin;

the Hall detection module comprises a Hall sensor M7 and an operational comparator U5, a pin OUT of the Hall sensor M7 is connected with a + end of the operational comparator U5 through R17, a-end of the operational comparator U5 is respectively connected with a power supply VCC and GND through voltage division R15 and R16, an output end of the operational comparator U5 is connected with a pin P45 of the main control chip U1, and the operational comparator U5 is LM 393;

3. The intelligent pesticide spraying robot as claimed in claim 1, wherein the remote controller comprises a core control module, a power supply processing module, a communication module, a key module, a storage module and a display module;

the power supply processing module comprises a chip U4, resistors R1, R2, R3 and R4, capacitors C1, C2, C3, C4 and C5, a filter inductor L1, the chip U4 is a chip 34063, a pin 6 of the chip U4 is connected with a positive terminal of a power supply BT1 through a resistor R3 and a power switch S1, a pin 4 is connected with a negative terminal of the power supply BT1, resistors R1 and R2 are connected in series and then are connected with two ends of the power supply BT1, a capacitor C1 is connected with a resistor R2 in parallel, a voltage acquisition point between a resistor R1 and a resistor R2 is connected with a pin P10 of the chip U1, pins 7 and 8 of the chip U4 are connected with the pin 6 through a resistor R4, a pin 3 is connected with the negative terminal of the power supply BT 4 through a capacitor C4, a pin 2 is connected with one end of an inductor L4, a diode D4 is reversely connected between the pin 2 and the negative terminal of the power supply, the capacitors C4 and the C4 are sequentially connected with resistors R4 and R4 in parallel, and a pin 5 of the chip U4;

the communication module comprises a wireless communication module M1, pins VCC and GND of M1 are respectively connected with the positive electrode and the negative electrode of a power supply, a pin EN is connected with a pin P32 of the chip U1, pins RXD and TXD are respectively connected with pins P31 and P30 of the chip U1, and a pin SET is connected with a pin P11 of the chip U1;

the key module comprises keys K1-K12, and the keys K1-K12 are connected to pins P37 and P12-P17 of the chip U1 through four rows, three columns and 7 line acquisition signals;

the memory module comprises a memory chip U2, wherein the chip U2 is a chip FM24C04, pins 1, 2, 3, 4 and 7 of the chip U2 are connected with a ground wire, a pin 8 is a chip power supply pin, and pins 5 and 6 are connected with pins P54 and P55 of the chip U1;

4. The intelligent pesticide spraying robot as claimed in claim 1, wherein the guide wheels are provided in two, a front guide wheel and a rear guide wheel.

5. An intelligent pesticide spraying robot as claimed in claim 1, wherein the pesticide box is provided with a gas inlet valve to facilitate smooth outflow of liquid.

6. The intelligent pesticide spraying robot as claimed in claim 1, wherein a power motor box is arranged outside the power motor, so that the use safety is ensured.

7. The intelligent pesticide spraying robot as claimed in claim 1, wherein the remote controller has keys for controlling increase and decrease of vehicle speed, start/stop key of pesticide spraying vehicle, increase and decrease of pump pressure, start/stop key of water pump, swing frequency setting key of pesticide spraying swing arm, operation/stop key of pesticide spraying swing arm, and setting keys for operating mode of intelligent pesticide spraying robot, which are continuous mode and intermittent mode, and all functions of the whole vehicle start and stop keys simultaneously.

8. The intelligent pesticide spraying robot as claimed in claim 2, wherein pins P23, P22, P21, P42, P37, P36 and P35 of a main control chip U1 in the main control module of the main control box are respectively connected with a power source VCC through pull-up resistors R18, R19, R20, R24, R22, R23 and R21, so that the stability of the operation of the pins is ensured.

9. The intelligent pesticide spraying robot as claimed in claim 3, wherein the pins P30-P32 of the chip U1 in the core control module of the remote controller are respectively connected with pull-up resistors R14-R16, so as to ensure the stability of the operation of the pins.

10. The intelligent pesticide spraying robot as claimed in claim 3, wherein the pins P37 and P12-P17 of the chip U1 in the core control module of the remote controller are respectively connected with pull-up resistors R13-R7, and the pull-up resistor of the pin P11 is R21, so as to ensure the stability of the operation of the pin.