本發明屬(shu)于農業機械(xie)，具體地說，涉及一(yi)種(zhong)復合種(zhong)植(zhi)的全(quan)向移動噴藥植(zhi)保機及其(qi)行走(zou)糾(jiu)偏方法。

背景技術：

1、噴(pen)藥(yao)(yao)植(zhi)保(bao)機是一種用于農(nong)業種植(zhi)中對農(nong)作物進行噴(pen)藥(yao)(yao)去除雜(za)草、蟲害的(de)設(she)備，植(zhi)保(bao)機在(zai)農(nong)田(tian)中移(yi)動(dong)的(de)同時(shi)進行噴(pen)藥(yao)(yao)，避免了(le)人工噴(pen)藥(yao)(yao)導致的(de)工作量巨大的(de)問(wen)題，并且(qie)復合種植(zhi)技術現逐步在(zai)農(nong)田(tian)種植(zhi)中推廣，復合種植(zhi)通過改變(bian)田(tian)間作物的(de)配置方式，提高了(le)農(nong)作物產(chan)量的(de)同時(shi)也(ye)保(bao)障了(le)土地(di)資(zi)源的(de)利用效率。

2、現(xian)有技(ji)術(shu)中復(fu)(fu)合種(zhong)植多(duo)為玉米(mi)(mi)大豆(dou)帶(dai)(dai)(dai)狀(zhuang)復(fu)(fu)合種(zhong)植，玉米(mi)(mi)大豆(dou)帶(dai)(dai)(dai)狀(zhuang)復(fu)(fu)合種(zhong)植技(ji)術(shu)是(shi)在傳(chuan)統(tong)間(jian)(jian)套(tao)作的基礎(chu)上創(chuang)新發展(zhan)而(er)來；通過改變田間(jian)(jian)作物的配(pei)置方式，采用2-4行玉米(mi)(mi)帶(dai)(dai)(dai)與2-6行大豆(dou)帶(dai)(dai)(dai)間(jian)(jian)作套(tao)種(zhong)，以(yi)適應機(ji)械化作業并實(shi)現(xian)作物間(jian)(jian)的和諧共生，玉米(mi)(mi)大豆(dou)帶(dai)(dai)(dai)狀(zhuang)復(fu)(fu)合種(zhong)植技(ji)術(shu)的推廣使用，可(ke)以(yi)提(ti)高(gao)土地產出(chu)率，實(shi)現(xian)玉米(mi)(mi)不減(jian)產的同時多(duo)收一(yi)季大豆(dou)。

3、但是由于玉米是單子葉(xie)植(zhi)(zhi)物，而(er)大豆(dou)(dou)是雙子葉(xie)植(zhi)(zhi)物；它(ta)們對(dui)(dui)除(chu)(chu)草(cao)(cao)劑的敏感性不同，玉米用(yong)的除(chu)(chu)草(cao)(cao)劑可能會殺死大豆(dou)(dou)植(zhi)(zhi)株(zhu)，反之亦然(ran)。傳統的噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)植(zhi)(zhi)保機(ji)(ji)(ji)難以(yi)(yi)對(dui)(dui)復合種植(zhi)(zhi)的農(nong)(nong)(nong)作(zuo)(zuo)(zuo)物實施(shi)噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)，如(ru)(ru)cn104705280a公(gong)開了一種自(zi)走式植(zhi)(zhi)保噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)機(ji)(ji)(ji)，該(gai)(gai)(gai)噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)機(ji)(ji)(ji)包括車架(jia)(jia)以(yi)(yi)及(ji)裝配在(zai)(zai)車架(jia)(jia)尾部(bu)(bu)的噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)組(zu)件，噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)組(zu)件包括藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)筒(tong)、噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)架(jia)(jia)，與(yu)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)筒(tong)下部(bu)(bu)出(chu)(chu)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)口連接(jie)(jie)(jie)(jie)(jie)的出(chu)(chu)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)管，與(yu)出(chu)(chu)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)管連接(jie)(jie)(jie)(jie)(jie)的打(da)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)泵(beng)(beng)，與(yu)打(da)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)泵(beng)(beng)連接(jie)(jie)(jie)(jie)(jie)的打(da)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)管核對(dui)(dui)回藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)管，出(chu)(chu)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)泵(beng)(beng)工作(zuo)(zuo)(zuo)將藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)水通(tong)過(guo)出(chu)(chu)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)管噴(pen)(pen)(pen)(pen)出(chu)(chu)以(yi)(yi)對(dui)(dui)農(nong)(nong)(nong)作(zuo)(zuo)(zuo)物進行(xing)噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)，雖(sui)然(ran)該(gai)(gai)(gai)植(zhi)(zhi)保噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)機(ji)(ji)(ji)能夠實現噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)作(zuo)(zuo)(zuo)業，但是在(zai)(zai)實際使(shi)用(yong)中還存在(zai)(zai)如(ru)(ru)下不便：該(gai)(gai)(gai)植(zhi)(zhi)保噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)機(ji)(ji)(ji)無法調整對(dui)(dui)農(nong)(nong)(nong)作(zuo)(zuo)(zuo)物的噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)范(fan)圍從而(er)降(jiang)低了對(dui)(dui)農(nong)(nong)(nong)作(zuo)(zuo)(zuo)物的噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)效率，為了解決(jue)該(gai)(gai)(gai)問題(ti)，cn109832252a公(gong)開了一種植(zhi)(zhi)保機(ji)(ji)(ji)噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)機(ji)(ji)(ji)構，該(gai)(gai)(gai)噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)機(ji)(ji)(ji)構包括藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)箱，農(nong)(nong)(nong)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)抽(chou)取(qu)(qu)(qu)泵(beng)(beng)、分(fen)(fen)流盤(pan)(pan)、橫(heng)向(xiang)伸(shen)縮臂(bei)(bei)、l型接(jie)(jie)(jie)(jie)(jie)頭、縱向(xiang)伸(shen)縮臂(bei)(bei)以(yi)(yi)及(ji)噴(pen)(pen)(pen)(pen)頭，要想(xiang)頂(ding)部(bu)(bu)連接(jie)(jie)(jie)(jie)(jie)農(nong)(nong)(nong)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)抽(chou)取(qu)(qu)(qu)泵(beng)(beng)，農(nong)(nong)(nong)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)抽(chou)取(qu)(qu)(qu)泵(beng)(beng)頂(ding)部(bu)(bu)連接(jie)(jie)(jie)(jie)(jie)分(fen)(fen)流盤(pan)(pan)，分(fen)(fen)流盤(pan)(pan)上可拆卸連接(jie)(jie)(jie)(jie)(jie)有(you)橫(heng)向(xiang)伸(shen)縮臂(bei)(bei)，橫(heng)向(xiang)伸(shen)縮臂(bei)(bei)連接(jie)(jie)(jie)(jie)(jie)有(you)l型接(jie)(jie)(jie)(jie)(jie)頭，并且縱向(xiang)伸(shen)縮臂(bei)(bei)與(yu)l型接(jie)(jie)(jie)(jie)(jie)頭連接(jie)(jie)(jie)(jie)(jie)，農(nong)(nong)(nong)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)抽(chou)取(qu)(qu)(qu)泵(beng)(beng)抽(chou)取(qu)(qu)(qu)農(nong)(nong)(nong)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)以(yi)(yi)后(hou)在(zai)(zai)分(fen)(fen)流盤(pan)(pan)內分(fen)(fen)流，分(fen)(fen)流以(yi)(yi)后(hou)通(tong)過(guo)橫(heng)向(xiang)伸(shen)縮臂(bei)(bei)以(yi)(yi)及(ji)縱向(xiang)伸(shen)縮臂(bei)(bei)將農(nong)(nong)(nong)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)從噴(pen)(pen)(pen)(pen)頭噴(pen)(pen)(pen)(pen)出(chu)(chu)，從而(er)達到對(dui)(dui)農(nong)(nong)(nong)作(zuo)(zuo)(zuo)物進行(xing)噴(pen)(pen)(pen)(pen)藥(yao)(yao)(yao)(yao)(yao)(yao)(yao)(yao)的目的。

4、雖然(ran)上述的(de)(de)植(zhi)保機(ji)(ji)噴(pen)藥(yao)(yao)(yao)機(ji)(ji)構能(neng)夠通過橫向(xiang)伸(shen)縮臂(bei)的(de)(de)長度(du)調(diao)節改變了噴(pen)藥(yao)(yao)(yao)范圍，并(bing)且通過縱向(xiang)伸(shen)縮臂(bei)調(diao)整了噴(pen)藥(yao)(yao)(yao)的(de)(de)高(gao)度(du)，但是(shi)上述的(de)(de)植(zhi)保機(ji)(ji)噴(pen)藥(yao)(yao)(yao)機(ji)(ji)構在(zai)(zai)使(shi)用中還存在(zai)(zai)如下的(de)(de)不便：該噴(pen)藥(yao)(yao)(yao)機(ji)(ji)只能(neng)調(diao)整噴(pen)藥(yao)(yao)(yao)的(de)(de)范圍，但是(shi)在(zai)(zai)復合種植(zhi)技(ji)術領域(yu)中，由(you)于農作物(wu)種類的(de)(de)不同(tong)對(dui)(dui)藥(yao)(yao)(yao)也具(ju)有不同(tong)的(de)(de)敏感性，該噴(pen)藥(yao)(yao)(yao)機(ji)(ji)構無法分(fen)區(qu)對(dui)(dui)農作物(wu)進行(xing)噴(pen)藥(yao)(yao)(yao)，因此噴(pen)出的(de)(de)藥(yao)(yao)(yao)液容易(yi)覆蓋不同(tong)的(de)(de)區(qu)域(yu)，容易(yi)導致(zhi)其他農作物(wu)發生死亡或者減產的(de)(de)情況，使(shi)用中存在(zai)(zai)一定的(de)(de)不便。

技術實現思路

1、本(ben)部(bu)分的(de)(de)目的(de)(de)在于(yu)(yu)概述本(ben)發(fa)明(ming)的(de)(de)實施例的(de)(de)一些方面以及簡(jian)要(yao)介紹一些較(jiao)佳實施例。在本(ben)部(bu)分以及本(ben)技術的(de)(de)說明(ming)書摘(zhai)要(yao)和(he)發(fa)明(ming)名(ming)稱中可(ke)能會做些簡(jian)化(hua)或(huo)省(sheng)略(lve)以避免使本(ben)部(bu)分、說明(ming)書摘(zhai)要(yao)和(he)發(fa)明(ming)名(ming)稱的(de)(de)目的(de)(de)模糊(hu)，而這種簡(jian)化(hua)或(huo)省(sheng)略(lve)不能用于(yu)(yu)限(xian)制本(ben)發(fa)明(ming)的(de)(de)范圍(wei)。

2、為(wei)解決現(xian)有技(ji)術中植(zhi)保機無法解決分區(qu)噴(pen)藥(yao)的問題，本(ben)發(fa)明采用如下的技(ji)術方案。

3、一(yi)種(zhong)復合(he)種(zhong)植(zhi)的(de)(de)全(quan)向移動(dong)噴(pen)藥(yao)植(zhi)保機(ji)(ji)，包括框架(jia)結(jie)構(gou)(gou)，框架(jia)結(jie)構(gou)(gou)上放置(zhi)(zhi)(zhi)有(you)多(duo)個(ge)藥(yao)箱，框架(jia)結(jie)構(gou)(gou)的(de)(de)底部設(she)置(zhi)(zhi)(zhi)有(you)行走輪(lun)，行走輪(lun)通過外(wai)(wai)(wai)部動(dong)力可以帶動(dong)噴(pen)藥(yao)植(zhi)保機(ji)(ji)在農(nong)田中(zhong)行走，框架(jia)結(jie)構(gou)(gou)的(de)(de)兩側設(she)置(zhi)(zhi)(zhi)有(you)內(nei)(nei)防護(hu)(hu)機(ji)(ji)構(gou)(gou)以及外(wai)(wai)(wai)防護(hu)(hu)機(ji)(ji)構(gou)(gou)，內(nei)(nei)防護(hu)(hu)機(ji)(ji)構(gou)(gou)之間圍合(he)形成內(nei)(nei)空(kong)腔，外(wai)(wai)(wai)防護(hu)(hu)機(ji)(ji)構(gou)(gou)與內(nei)(nei)防護(hu)(hu)機(ji)(ji)構(gou)(gou)之間圍合(he)形成外(wai)(wai)(wai)空(kong)腔，內(nei)(nei)空(kong)腔與外(wai)(wai)(wai)空(kong)腔分(fen)別覆蓋不(bu)同(tong)的(de)(de)農(nong)作物區域，框架(jia)結(jie)構(gou)(gou)的(de)(de)底部位(wei)于(yu)內(nei)(nei)空(kong)腔中(zhong)設(she)置(zhi)(zhi)(zhi)有(you)內(nei)(nei)噴(pen)藥(yao)管，框架(jia)結(jie)構(gou)(gou)的(de)(de)外(wai)(wai)(wai)側位(wei)于(yu)外(wai)(wai)(wai)空(kong)腔內(nei)(nei)設(she)置(zhi)(zhi)(zhi)有(you)外(wai)(wai)(wai)噴(pen)藥(yao)管，內(nei)(nei)噴(pen)藥(yao)管與外(wai)(wai)(wai)噴(pen)藥(yao)管分(fen)別連接在不(bu)同(tong)藥(yao)箱的(de)(de)抽取泵上，通過抽取泵將藥(yao)液通過內(nei)(nei)噴(pen)藥(yao)管與外(wai)(wai)(wai)噴(pen)藥(yao)管分(fen)別噴(pen)灑在內(nei)(nei)空(kong)腔以及外(wai)(wai)(wai)空(kong)腔的(de)(de)農(nong)作物上。

4、優選地，上述噴藥植保機(ji)(ji)中，內(nei)防護機(ji)(ji)構包(bao)括(kuo)收卷(juan)(juan)輥(gun)，收卷(juan)(juan)輥(gun)轉(zhuan)動(dong)(dong)(dong)安裝在框架結構的一側，并且通過外部(bu)的動(dong)(dong)(dong)力機(ji)(ji)構可(ke)以驅使收卷(juan)(juan)輥(gun)轉(zhuan)動(dong)(dong)(dong)，收卷(juan)(juan)輥(gun)上連(lian)接(jie)有防護薄膜，收卷(juan)(juan)輥(gun)轉(zhuan)動(dong)(dong)(dong)可(ke)以對(dui)防護薄膜進(jin)行收卷(juan)(juan)。

5、優選地，上述噴藥植保機中(zhong)，防護(hu)薄膜的端部(bu)連接有配重塊(kuai)，配重塊(kuai)使得(de)防護(hu)薄膜處于豎直狀態。

6、優選地，上述噴(pen)(pen)(pen)藥植保(bao)機中，內(nei)(nei)噴(pen)(pen)(pen)藥管(guan)通過伸縮管(guan)道與藥箱的(de)(de)抽取泵(beng)的(de)(de)出藥口連接，并且(qie)內(nei)(nei)噴(pen)(pen)(pen)藥管(guan)上還設置有高度(du)(du)調(diao)(diao)節器(qi)，高度(du)(du)調(diao)(diao)節器(qi)裝配(pei)在(zai)框架結構的(de)(de)下(xia)表面，通過高度(du)(du)調(diao)(diao)節器(qi)工(gong)作(zuo)可以調(diao)(diao)節內(nei)(nei)噴(pen)(pen)(pen)藥管(guan)的(de)(de)高度(du)(du)以改(gai)變內(nei)(nei)噴(pen)(pen)(pen)藥管(guan)的(de)(de)噴(pen)(pen)(pen)藥范(fan)圍。

7、優選地，上述噴藥植保機中，行走輪(lun)(lun)通(tong)(tong)過輪(lun)(lun)距調(diao)節(jie)組(zu)件裝配在框架(jia)結(jie)構的(de)下(xia)表(biao)面，通(tong)(tong)過輪(lun)(lun)距調(diao)節(jie)組(zu)件用于(yu)調(diao)整行走輪(lun)(lun)之(zhi)(zhi)間的(de)距離(li)(li)，使(shi)得行走輪(lun)(lun)之(zhi)(zhi)間的(de)距離(li)(li)能(neng)夠滿足農(nong)作(zuo)物(wu)的(de)間距。

8、優選地(di)，上述(shu)噴藥植(zhi)保機(ji)中(zhong)，所述(shu)的輪(lun)(lun)距(ju)調(diao)(diao)節組件包括滑(hua)軌(gui)(gui)、推(tui)(tui)桿(gan)電(dian)機(ji)以及滑(hua)塊，框架(jia)結構的下(xia)表面固定(ding)(ding)(ding)連接(jie)有(you)固定(ding)(ding)(ding)板，固定(ding)(ding)(ding)板上設置(zhi)有(you)滑(hua)軌(gui)(gui)，并(bing)且(qie)滑(hua)軌(gui)(gui)上滑(hua)動(dong)(dong)裝配有(you)滑(hua)塊，固定(ding)(ding)(ding)板上還設置(zhi)有(you)推(tui)(tui)桿(gan)電(dian)機(ji)，推(tui)(tui)桿(gan)電(dian)機(ji)的動(dong)(dong)力(li)端與滑(hua)塊裝配，推(tui)(tui)桿(gan)電(dian)機(ji)工作(zuo)可以驅(qu)使滑(hua)塊沿著(zhu)滑(hua)軌(gui)(gui)的長度方(fang)向移(yi)動(dong)(dong)，行(xing)走(zou)輪(lun)(lun)裝配在滑(hua)塊上，通過滑(hua)塊移(yi)動(dong)(dong)帶動(dong)(dong)行(xing)走(zou)輪(lun)(lun)移(yi)動(dong)(dong)從而(er)調(diao)(diao)節行(xing)走(zou)輪(lun)(lun)之間的輪(lun)(lun)距(ju)。

9、優(you)選地，上述(shu)的噴藥植保機(ji)(ji)中(zhong)，行(xing)走(zou)(zou)(zou)輪(lun)通過轉向(xiang)機(ji)(ji)構(gou)裝配在(zai)滑(hua)塊上，通過轉向(xiang)機(ji)(ji)構(gou)可(ke)以(yi)改變行(xing)走(zou)(zou)(zou)輪(lun)的行(xing)走(zou)(zou)(zou)方向(xiang)以(yi)避免行(xing)走(zou)(zou)(zou)輪(lun)與農作物之間(jian)碾壓(ya)。

10、優(you)選(xuan)地，上述的噴藥(yao)植保機(ji)(ji)中，轉(zhuan)(zhuan)向機(ji)(ji)構包(bao)括防(fang)(fang)護(hu)殼、諧(xie)波減速機(ji)(ji)以(yi)(yi)及安裝(zhuang)架(jia)(jia)，防(fang)(fang)護(hu)殼固定(ding)安裝(zhuang)在滑塊的下表面并(bing)且防(fang)(fang)護(hu)殼內置有驅動(dong)(dong)電(dian)機(ji)(ji)，防(fang)(fang)護(hu)殼的下表面安裝(zhuang)有諧(xie)波減速機(ji)(ji)，并(bing)且諧(xie)波減速機(ji)(ji)上轉(zhuan)(zhuan)動(dong)(dong)裝(zhuang)配有安裝(zhuang)架(jia)(jia)，驅動(dong)(dong)電(dian)機(ji)(ji)的動(dong)(dong)力(li)端通過(guo)諧(xie)波減速機(ji)(ji)與安裝(zhuang)架(jia)(jia)連接，通過(guo)驅動(dong)(dong)電(dian)機(ji)(ji)工作可(ke)(ke)以(yi)(yi)驅使(shi)安裝(zhuang)架(jia)(jia)發生轉(zhuan)(zhuan)動(dong)(dong)，行走輪(lun)裝(zhuang)配在安裝(zhuang)架(jia)(jia)上，通過(guo)安裝(zhuang)架(jia)(jia)的轉(zhuan)(zhuan)動(dong)(dong)可(ke)(ke)以(yi)(yi)驅使(shi)行走輪(lun)行走方向發生改變。

11、本(ben)發明另(ling)一方面提供了上述噴藥植保(bao)機的行走(zou)糾偏方法，采用了如下技術(shu)方案。

12、上述植(zhi)保機的行走糾偏方法，包(bao)括如下步(bu)驟：

13、通(tong)(tong)過設置在防護殼(ke)上(shang)的工業相機拍(pai)攝圖(tu)像并通(tong)(tong)過控制(zhi)中央采集圖(tu)像信(xin)息構建坐(zuo)標系；

14、根(gen)據圖(tu)像信息擬合(he)農作物邊線并確定安(an)全(quan)距離d1構建(jian)安(an)全(quan)范圍，通過(guo)構建(jian)的(de)(de)坐標系擬合(he)得到(dao)作物間中線的(de)(de)函數；

15、通過防護(hu)(hu)薄膜的(de)行(xing)(xing)走路徑與安全范圍邊線的(de)交(jiao)點(dian)(dian)確定(ding)防護(hu)(hu)薄膜的(de)當前(qian)位(wei)置(zhi)與交(jiao)點(dian)(dian)的(de)距離為(wei)h，并且通過坐標(biao)(biao)系得到行(xing)(xing)走輪(lun)當前(qian)的(de)中心點(dian)(dian)坐標(biao)(biao)為(wei)(x0，y0)，防護(hu)(hu)薄膜對應橫坐標(biao)(biao)為(wei)x0的(de)坐標(biao)(biao)為(wei)(x0，y1)；

16、通過(guo)轉向(xiang)機構驅(qu)使(shi)行(xing)走(zou)輪轉向(xiang)。

17、優選地(di)，上述的行走(zou)糾偏方法，行走(zou)輪轉向的角度根據如(ru)下公式得到(dao)；

18、

19、其中，α為通過(guo)轉(zhuan)向機構調整(zheng)行走輪(lun)的(de)轉(zhuan)向角度；

20、y1為防護薄膜對應橫坐標(biao)為x0的(de)縱(zong)坐標(biao)；

21、yr為作物間(jian)中線對應橫坐標為x0的縱坐標；

22、|y1-yr|為y1與(yu)yr之間差(cha)值的絕對值，即為行走輪的偏(pian)移量；

23、h為防護薄膜202在(zai)當前位置與交點(dian)之間(jian)的距(ju)離，即為行走(zou)輪的行走(zou)路程。

24、相比于現有技術，本發明的(de)有益效果為：

25、(1)本發明中的噴(pen)(pen)(pen)藥(yao)植(zhi)保(bao)(bao)機(ji)(ji)，包括框架(jia)結(jie)構(gou)(gou)以及設置(zhi)在框架(jia)結(jie)構(gou)(gou)兩(liang)側的內(nei)防(fang)護(hu)機(ji)(ji)構(gou)(gou)與(yu)外(wai)(wai)防(fang)護(hu)機(ji)(ji)構(gou)(gou)，內(nei)防(fang)護(hu)機(ji)(ji)構(gou)(gou)之間(jian)形成內(nei)空腔(qiang)(qiang)，外(wai)(wai)防(fang)護(hu)機(ji)(ji)構(gou)(gou)與(yu)內(nei)防(fang)護(hu)機(ji)(ji)構(gou)(gou)之間(jian)形成外(wai)(wai)空腔(qiang)(qiang)，內(nei)空腔(qiang)(qiang)與(yu)外(wai)(wai)空腔(qiang)(qiang)分別覆蓋不同(tong)(tong)(tong)(tong)種(zhong)類的農(nong)作(zuo)物(wu)，并且內(nei)空腔(qiang)(qiang)還(huan)設置(zhi)有(you)內(nei)噴(pen)(pen)(pen)藥(yao)管對(dui)內(nei)空腔(qiang)(qiang)內(nei)的農(nong)作(zuo)物(wu)進行(xing)噴(pen)(pen)(pen)藥(yao)，外(wai)(wai)空腔(qiang)(qiang)內(nei)還(huan)設置(zhi)有(you)外(wai)(wai)噴(pen)(pen)(pen)藥(yao)管對(dui)外(wai)(wai)空腔(qiang)(qiang)內(nei)的農(nong)作(zuo)物(wu)進行(xing)噴(pen)(pen)(pen)藥(yao)，從(cong)而使得兩(liang)個空腔(qiang)(qiang)內(nei)的農(nong)作(zuo)物(wu)同(tong)(tong)(tong)(tong)時(shi)噴(pen)(pen)(pen)灑(sa)不同(tong)(tong)(tong)(tong)的藥(yao)液(ye)，避免(mian)了藥(yao)液(ye)飛散到其他空腔(qiang)(qiang)中從(cong)而使得上述的噴(pen)(pen)(pen)藥(yao)植(zhi)保(bao)(bao)機(ji)(ji)能(neng)夠應用在復合種(zhong)植(zhi)領域中對(dui)不同(tong)(tong)(tong)(tong)農(nong)作(zuo)物(wu)進行(xing)同(tong)(tong)(tong)(tong)時(shi)噴(pen)(pen)(pen)灑(sa)藥(yao)液(ye)。

26、(2)上述的噴藥植(zhi)保機(ji)(ji)的框架機(ji)(ji)構通(tong)過(guo)(guo)輪(lun)距(ju)調節(jie)組(zu)件(jian)以及轉(zhuan)向機(ji)(ji)構連接有行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)，通(tong)過(guo)(guo)行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)使(shi)得噴藥植(zhi)保機(ji)(ji)在農田中行(xing)(xing)(xing)走(zou)(zou)(zou)以便于(yu)對(dui)農作(zuo)物進行(xing)(xing)(xing)噴藥，另外，該輪(lun)距(ju)調節(jie)組(zu)件(jian)通(tong)過(guo)(guo)滑塊的滑動(dong)帶動(dong)行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)移動(dong)從(cong)而使(shi)得行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)之間的輪(lun)距(ju)可調節(jie)，使(shi)得行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)通(tong)過(guo)(guo)調節(jie)以后能夠適應農作(zuo)物之間的間距(ju)，另外，行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)在行(xing)(xing)(xing)走(zou)(zou)(zou)過(guo)(guo)程中發生(sheng)偏(pian)移通(tong)過(guo)(guo)轉(zhuan)向機(ji)(ji)構調節(jie)行(xing)(xing)(xing)走(zou)(zou)(zou)輪(lun)的行(xing)(xing)(xing)走(zou)(zou)(zou)方向以避免(mian)對(dui)農作(zuo)物造成(cheng)碾壓導致農作(zuo)物死亡的情況發生(sheng)。

27、(3)本發明(ming)中的(de)(de)(de)轉(zhuan)(zhuan)向(xiang)機(ji)(ji)構(gou)(gou)在調(diao)節行(xing)(xing)走(zou)輪(lun)轉(zhuan)(zhuan)向(xiang)的(de)(de)(de)過程(cheng)中，通過工業相機(ji)(ji)拍攝圖像并收集圖像信息(xi)構(gou)(gou)建坐標(biao)系，并根據坐標(biao)系以及設置的(de)(de)(de)安全距離構(gou)(gou)建安全范(fan)(fan)圍(wei)，轉(zhuan)(zhuan)向(xiang)機(ji)(ji)構(gou)(gou)根據行(xing)(xing)走(zou)輪(lun)的(de)(de)(de)偏移量以及所需的(de)(de)(de)行(xing)(xing)走(zou)路程(cheng)確定(ding)行(xing)(xing)走(zou)輪(lun)的(de)(de)(de)轉(zhuan)(zhuan)向(xiang)角度(du)(du)，并根據行(xing)(xing)走(zou)輪(lun)的(de)(de)(de)速(su)度(du)(du)調(diao)節滑塊(kuai)的(de)(de)(de)移動速(su)度(du)(du)從而可以滿(man)足行(xing)(xing)走(zou)輪(lun)移動造成的(de)(de)(de)滑塊(kuai)移動的(de)(de)(de)需求(qiu)，從而使(shi)(shi)得行(xing)(xing)走(zou)輪(lun)能夠順暢轉(zhuan)(zhuan)向(xiang)使(shi)(shi)得行(xing)(xing)走(zou)輪(lun)以及防護(hu)薄膜位于安全范(fan)(fan)圍(wei)內避免(mian)了與農作物之間發生碾壓的(de)(de)(de)問題(ti)。