CN108142402A - A kind of Outdoor Trusses For Transformer Substation movable type herbicidal spray device - Google Patents

Abstract

The invention discloses a kind of Outdoor Trusses For Transformer Substation movable type herbicidal spray devices, including the walking mechanism of power supply and setting on the car body car body, setting on the car body, spraying nozzle is equipped with before the car body, the car body is equipped with liquid medicine storage case, the liquid medicine storage case setting spraying water pump, the walking mechanism is connected with motor drive module, and the motor drive module is connected with signal receiving module.The power supply uses high-capacity lithium battery, the weeds in wave filter fence can be handled in the case where not having a power failure.

Description

An outdoor mobile weeding and spraying device for a substation

technical field

The invention relates to the technical field of substation weeding equipment, in particular to an outdoor mobile weeding spray device for substations.

Background technique

In order to ensure the stability of power quality, it is necessary to install an AC filter in the substation. At the same time, in order to prevent the operation and maintenance personnel from accidentally entering the filter field during inspections to cause personal injury or short-circuit tripping accidents caused by small animals entering by mistake, generally the substation is equipped with fences around the filter. Due to the influence of wind or bird activities, weeds often grow in the fence. If they are not removed in time, it will have a negative impact on the safe and stable operation of the substation system.

Conventional manual weeding methods need to turn the waiting weeding interval into the maintenance state, there is a safety risk of misoperation during the operation, and manual weeding is time-consuming and laborious. Therefore need a kind of weeding device that can enter filter fence under the state of non-stop power supply.

Contents of the invention

Aiming at the problems and deficiencies in the prior art, the present invention provides an outdoor mobile weeding and spraying device for substations, which can treat the weeds in the filter enclosure without power failure.

An outdoor mobile weeding and spraying device for a substation, comprising a car body, a power supply arranged on the car body, and a running mechanism arranged on the car body, a spray nozzle is arranged in front of the car body, and a liquid medicine is arranged on the car body storage tank, the liquid medicine storage tank is provided with a spray water pump, the traveling mechanism is connected with a motor drive module, and the motor drive module is connected with a signal receiving module, and an adaptive shock absorber system is provided between the crawler belt and the car body. The self-adaptive shock absorber system includes a telescopic rod hinged under the vehicle body and rollers arranged under the telescopic rod, an upper limit block and a lower limit block are set on the telescopic rod, and the upper limit block and the lower limit block are set on the telescopic rod. The spring between the lower limit blocks, the two sides of the lower limit block are provided with inclined springs connected with the vehicle body.

The power supply adopts a high-capacity lithium battery.

The traveling mechanism includes crawlers arranged on both sides of the car body and a motor arranged on the car body to drive the crawlers to rotate.

The motor adopts a geared motor.

The track adopts alloy track.

The included angle between the inclined spring and the ground of the vehicle body is 60 degrees.

The anti-fog driving mechanism includes a driving motor arranged on the vehicle body, a vertical electric telescopic rod arranged on the motor shaft, and a cylinder arranged on the vertical electric telescopic rod, and the cylinder is provided with a sliding connection therewith. The sliding rod, the cylinder body is provided with an electric telescopic rod for driving the sliding rod to slide through the support rod, the end of the sliding rod is provided with a camera, and the lower side of one end of the cylinder body is provided with a cylinder sealing control mechanism.

A fixed pulley is arranged above the slide bar.

The cylinder sealing control mechanism includes a sliding cylinder arranged at the lower part of one end of the cylinder, a slide plate is arranged inside the sliding cylinder, and a tensioning spring for sealing the cylinder is provided at the bottom of the sliding cylinder, and the bottom of the sliding cylinder is There is a through hole for the pull cord to pass through, one end of the pull cord is connected with the sliding piece, and the other end is connected with the slide bar through the wire wheel.

The sliding cylinder is arranged obliquely.

The sliding rod is connected to the barrel through a lubricating sleeve.

The lubricating sleeve is composed of the following materials by mass: 34-39 parts of natural rubber, 2-3 parts of graphite, 5-9 parts of refined vegetable oil oleic acid amide, 3-5 parts of naphthenic oil, 10-3 parts of ultra-high molecular weight polyethylene 12 parts, 2-4 parts of paraffin, 0.3-0.5 parts of molybdenum disulfide, 3-5 parts of carbon nanotubes, 1-2 parts of zinc oxide, and 1-3 parts of stearic acid.

A weeding method for an outdoor mobile weeding spray device in a substation, comprising the following steps:

The remote controller sends a signal, and the device realizes the remote control of the device through the signal receiving module. When receiving the movement command, the single command is mixed and controlled, and the movement signal is sent to the motor drive module. The motor drive module follows the duty ratio in the signal Output the corresponding power to the motor to realize the movement of the device. When steering is required, the remote control controller will send a differential signal, so that the corresponding motor drive module receives signals in different directions, so as to realize steering; when encountering uneven ground, the alloy track The device will always maintain sufficient grip to reduce the vibration of the device body through the spring, so as to ensure the stability of the movement. After moving to the target location, the controller issues an instruction, and the corresponding spray water pump starts to extract the herbicide from the liquid medicine storage tank and sprays it to the target point through the spray nozzle 1 to achieve the purpose of weeding.

When the present invention is in use, the remote control controller controls the operation of the electric telescopic rod to push the camera out of the barrel, and at the same time the slide bar pulls the pull rope, and the pull rope overcomes the elastic force of the spring to pull the slide to move downward, the camera stretches out of the barrel, and the video information passes through the car body. The wireless communication module on the body is transmitted to the display screen of the controller to be controlled. The power personnel do not need to enter the high-voltage area of the substation, but only need to send signals through the remote controller, observe the situation around the tracked vehicle through the camera, and control the steering or execution of the car; when needed When spraying, the remote controller controls the electric telescopic rod to shrink, the pull cord is released under the force of the spring, and the slide plate seals the cylinder body; the remote controller sends a signal to control the water pump to work, and the spray nozzle sprays the weeds. The sliding piece is made of glass material. After a while, when the spray falls on the weeds, the remote controller controls the electric telescopic rod to work to push the camera out of the barrel, and at the same time the sliding rod pulls the pull rope, which overcomes the spring force and pulls the slide toward Move down, the camera extends out of the cylinder, and the car is controlled by the remote control to move to the place where no pesticides are sprayed. At this time, repeat the above method, shrink the camera in the cylinder, seal the cylinder, and spray the pesticide until the weeds are sprayed.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing:

Fig. 1 is the front view structure schematic diagram of the present invention;

Fig. 2 is a top view structural representation of the present invention;

Fig. 3 is a schematic structural view of the anti-fog traveling mechanism of the present invention;

Fig. 4 is a structural schematic diagram of the shock-absorbing mechanism of the present invention.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawings 1-4 and embodiments.

Embodiment 1: An outdoor mobile weeding and spraying device for a substation, comprising a car body 9, a power supply arranged on the car body and a running mechanism arranged on the car body, a spray nozzle 1 is arranged in front of the car body, and the car body The body is provided with a liquid medicine storage tank 2, the liquid medicine storage tank is provided with a spray water pump 10, the traveling mechanism is connected with a motor drive module 6, and the motor drive module is connected with a signal receiving module 8.

Described power supply adopts high-capacity lithium battery 7.

The traveling mechanism includes crawler belts 4 arranged on both sides of the car body and a motor 5 arranged on the car body to drive the crawler belts to rotate.

The motor adopts a geared motor.

The track adopts alloy track.

The anti-fog driving mechanism includes a driving motor 23 arranged on the vehicle body, a vertical electric telescopic rod 22 arranged on the motor shaft, and a cylinder 11 arranged on the vertical electric telescopic rod 22. Slide bar 15 is slidably connected with it, and described cylindrical body is provided with the electric telescoping rod 16 that is used to drive slide bar 15 to slide by support bar 14, and described slide bar end is provided with camera 12, and described cylindrical body one end lower side is provided with There is a cylinder sealing control mechanism.

A fixed pulley 17 is arranged above the slide bar.

The cylinder sealing control mechanism includes a sliding cylinder 18 arranged at the lower part of one end of the cylinder, a sliding plate is arranged in the sliding cylinder, and a tensioning spring 20 for sealing the cylinder is provided at the bottom of the sliding cylinder. A through hole 21 for a stay cord 19 to pass is provided under the barrel, one end of the stay cord is connected to the slide plate, and the other end is connected to the slide bar through a wire wheel.

The sliding cylinder is arranged obliquely.

The sliding rod is connected slidingly with the cylindrical body through a lubricating sleeve 13 .

A weeding method for an outdoor mobile weeding spray device in a substation, comprising the following steps:

The remote controller sends a signal, and the device realizes the remote control of the device through the signal receiving module. When receiving the movement command, the single command is mixed and controlled, and the movement signal is sent to the motor drive module. The motor drive module follows the duty ratio in the signal Output the corresponding power to the motor to realize the movement of the device. When steering is required, the remote control controller will send a differential signal, so that the corresponding motor drive module receives signals in different directions, so as to realize steering; when encountering uneven ground, the alloy track The device will always maintain sufficient grip to reduce the vibration of the device body through the spring, so as to ensure the stability of the movement. After moving to the target location, the controller issues an instruction, and the corresponding spray water pump starts to extract the herbicide from the liquid medicine storage tank and sprays it to the target point through the spray nozzle 1 to achieve the purpose of weeding.

Embodiment 2: An outdoor mobile weeding and spraying device for a substation, comprising a car body 9, a power supply arranged on the car body and a running mechanism arranged on the car body, a spray nozzle 1 is arranged in front of the car body, and the car body The body is provided with a liquid medicine storage tank 2, the liquid medicine storage tank is provided with a spray water pump 10, the traveling mechanism is connected with a motor drive module 6, and the motor drive module is connected with a signal receiving module 8.

Described power supply adopts high-capacity lithium battery 7.

The traveling mechanism includes crawler belts 4 arranged on both sides of the car body and a motor 5 arranged on the car body to drive the crawler belts to rotate.

An adaptive shock absorber system 3 is arranged between the crawler belt and the vehicle body, and five adaptive shock absorber systems are adopted.

The self-adaptive shock absorber system 3 includes a telescopic rod hinged under the vehicle body and a roller 30 arranged under the telescopic rod 25. The telescopic rod 25 is provided with an upper limit block 26 and a lower limit block 28, which are sleeved on the telescopic rod The upper spring 27 is located between the upper limit block and the lower limit block. Both sides of the lower limit block are provided with inclined springs 24 connected with the vehicle body.

The included angle between the inclined spring and the ground of the vehicle body is 60 degrees.

The anti-fog driving mechanism includes a driving motor 23 arranged on the vehicle body, a vertical electric telescopic rod 22 arranged on the motor shaft, and a cylinder 11 arranged on the vertical electric telescopic rod 22. Slide bar 15 is slidably connected with it, and described cylindrical body is provided with the electric telescoping rod 16 that is used to drive slide bar 15 to slide by support bar 14, and described slide bar end is provided with camera 12, and described cylindrical body one end lower side is provided with There is a cylinder sealing control mechanism.

A fixed pulley 17 is arranged above the slide bar.

The cylinder sealing control mechanism includes a sliding cylinder 18 arranged at the lower part of one end of the cylinder, a sliding plate is arranged in the sliding cylinder, and a tensioning spring 20 for sealing the cylinder is provided at the bottom of the sliding cylinder. A through hole 21 for a stay cord 19 to pass is provided under the barrel, one end of the stay cord is connected to the slide plate, and the other end is connected to the slide bar through a wire wheel.

The sliding cylinder is arranged obliquely.

The sliding rod is connected slidingly with the cylindrical body through a lubricating sleeve 13 . The spray nozzle is connected with the water pump through a hose, and the water pump is placed in the medicine box.

A weeding method for an outdoor mobile weeding spray device in a substation, comprising the following steps:

The remote controller sends a signal, and the device realizes the remote control of the device through the signal receiving module. When receiving the movement command, the single command is mixed and controlled, and the movement signal is sent to the motor drive module. The motor drive module follows the duty ratio in the signal Output the corresponding power to the motor to realize the movement of the device. When steering is required, the remote control controller will send a differential signal, so that the corresponding motor drive module receives signals in different directions, so as to realize steering; when encountering uneven ground, the alloy track The device will always maintain sufficient grip to reduce the vibration of the device body through the spring, so as to ensure the stability of the movement. After moving to the target location, the controller issues an instruction, and the corresponding spray water pump starts to extract the herbicide from the liquid medicine storage tank and sprays it to the target point through the spray nozzle 1 to achieve the purpose of weeding.

Embodiment three: an outdoor mobile weeding and spraying device for a substation, comprising a car body 9, a power supply arranged on the car body and a running mechanism arranged on the car body, a spray nozzle 1 is arranged in front of the car body, and the car body The body is provided with a liquid medicine storage tank 2, the liquid medicine storage tank is provided with a spray water pump 10, the traveling mechanism is connected with a motor drive module 6, and the motor drive module is connected with a signal receiving module 8.

Described power supply adopts high-capacity lithium battery 7.

The traveling mechanism includes crawler belts 4 arranged on both sides of the car body and a motor 5 arranged on the car body to drive the crawler belts to rotate.

The motor adopts a geared motor.

The track adopts alloy track.

An adaptive shock absorber system 3 is arranged between the crawler belt and the vehicle body, and five adaptive shock absorber systems are adopted.

The self-adaptive shock absorber system 3 includes a telescopic rod hinged under the vehicle body and a roller 30 arranged under the telescopic rod 25. The telescopic rod 25 is provided with an upper limit block 26 and a lower limit block 28, which are sleeved on the telescopic rod The upper spring 27 is located between the upper limit block and the lower limit block. Both sides of the lower limit block are provided with inclined springs 24 connected with the vehicle body.

The included angle between the inclined spring and the ground of the vehicle body is 60 degrees.

The anti-fog driving mechanism includes a driving motor 23 arranged on the vehicle body, a vertical electric telescopic rod 22 arranged on the motor shaft, and a cylinder 11 arranged on the vertical electric telescopic rod 22. Slide bar 15 is slidably connected with it, and described cylindrical body is provided with the electric telescoping rod 16 that is used to drive slide bar 15 to slide by support bar 14, and described slide bar end is provided with camera 12, and described cylindrical body one end lower side is provided with There is a cylinder sealing control mechanism.

A fixed pulley 17 is arranged above the slide bar.

The cylinder sealing control mechanism includes a sliding cylinder 18 arranged at the lower part of one end of the cylinder, a sliding plate is arranged in the sliding cylinder, and a tensioning spring 20 for sealing the cylinder is provided at the bottom of the sliding cylinder. A through hole 21 for a stay cord 19 to pass is provided under the barrel, one end of the stay cord is connected to the slide plate, and the other end is connected to the slide bar through a wire wheel.

A weeding method for an outdoor mobile weeding spray device in a substation, comprising the following steps:

The remote controller sends a signal, and the device realizes the remote control of the device through the signal receiving module. When receiving the movement command, the single command is mixed and controlled, and the movement signal is sent to the motor drive module. The motor drive module follows the duty ratio in the signal Output the corresponding power to the motor to realize the movement of the device. When steering is required, the remote control controller will send a differential signal, so that the corresponding motor drive module receives signals in different directions, so as to realize steering; when encountering uneven ground, the alloy track The device will always maintain sufficient grip to reduce the vibration of the device body through the spring, so as to ensure the stability of the movement. After moving to the target location, the controller issues an instruction, and the corresponding spray water pump starts to extract the herbicide from the liquid medicine storage tank and sprays it to the target point through the spray nozzle 1 to achieve the purpose of weeding.

Embodiment 4: An outdoor mobile weeding and spraying device for a substation, comprising a car body 9, a power supply arranged on the car body and a running mechanism arranged on the car body, a spray nozzle 1 is arranged in front of the car body, and the car body The body is provided with a liquid medicine storage tank 2, the liquid medicine storage tank is provided with a spray water pump 10, the traveling mechanism is connected with a motor drive module 6, and the motor drive module is connected with a signal receiving module 8.

Described power supply adopts high-capacity lithium battery 7.

The traveling mechanism includes crawler belts 4 arranged on both sides of the car body and a motor 5 arranged on the car body to drive the crawler belts to rotate.

The motor adopts a geared motor.

The track adopts alloy track.

An adaptive shock absorber system 3 is arranged between the crawler belt and the vehicle body, and five adaptive shock absorber systems are adopted.

The self-adaptive shock absorber system 3 includes a telescopic rod hinged under the vehicle body and a roller 30 arranged under the telescopic rod 25. The telescopic rod 25 is provided with an upper limit block 26 and a lower limit block 28, which are sleeved on the telescopic rod The upper spring 27 is located between the upper limit block and the lower limit block. Both sides of the lower limit block are provided with inclined springs 24 connected with the vehicle body.

The included angle between the inclined spring and the ground of the vehicle body is 60 degrees.

The anti-fog driving mechanism includes a driving motor 23 arranged on the vehicle body, a vertical electric telescopic rod 22 arranged on the motor shaft, and a cylinder 11 arranged on the vertical electric telescopic rod 22. Slide bar 15 is slidably connected with it, and described cylindrical body is provided with the electric telescoping rod 16 that is used to drive slide bar 15 to slide by support bar 14, and described slide bar end is provided with camera 12, and described cylindrical body one end lower side is provided with There is a cylinder sealing control mechanism.

A fixed pulley 17 is arranged above the slide bar.

The cylinder sealing control mechanism includes a sliding cylinder 18 arranged at the lower part of one end of the cylinder, a sliding plate is arranged in the sliding cylinder, and a tensioning spring 20 for sealing the cylinder is provided at the bottom of the sliding cylinder. A through hole 21 for a stay cord 19 to pass is provided under the barrel, one end of the stay cord is connected to the slide plate, and the other end is connected to the slide bar through a wire wheel.

The sliding cylinder is arranged obliquely.

The sliding rod is connected slidingly with the cylindrical body through a lubricating sleeve 13 .

A weeding method for an outdoor mobile weeding spray device in a substation, comprising the following steps:

The remote controller sends a signal, and the device realizes the remote control of the device through the signal receiving module. When receiving the movement command, the single command is mixed and controlled, and the movement signal is sent to the motor drive module. The motor drive module follows the duty ratio in the signal Output the corresponding power to the motor to realize the movement of the device. When steering is required, the remote control controller will send a differential signal, so that the corresponding motor drive module receives signals in different directions, so as to realize steering; when encountering uneven ground, the alloy track The device will always maintain sufficient grip to reduce the vibration of the device body through the spring, so as to ensure the stability of the movement. After moving to the target location, the controller issues an instruction, and the corresponding spray water pump starts to extract the herbicide from the liquid medicine storage tank and sprays it to the target point through the spray nozzle 1 to achieve the purpose of weeding.

The inspection instrument includes a user head device and a car-end device. The user head device includes video glasses, an image transmission receiving module, a main control board and a transmitter. The car-end device includes a receiver, an electric pan/tilt, a Module, image transmission module and camera, the camera, image transmission module, image transmission receiving module and video glasses are connected in sequence, the main control board, transmitter, receiver and pan/tilt are connected in sequence, and the camera is set on on the electric pan/tilt.

The main control board includes a single-chip microcomputer chip. The motor driving module is connected with the driving motor.

The image transmission receiving module and image transmission transmitting module adopt Omway 5.8GHz frequency 500MW image transmission kit.

The pan-tilt adopts a two-axis pan-tilt, simulating the movement of the human head in two directions: raising the head and shaking the head.

The transmitter and receiver adopt wireless transceiver modules.

After the user wears the headset, the user’s head device can be operated remotely through the video glasses to observe the operation of the device, and transmits the control signal to the car-side device through the transmitter, and the image transmission receiving module transmits the picture from the car-side device Displayed on the video glasses, the receiver of the rectangular frame end device receives the control signal emitted by the transmitter, and drives the pan/tilt to perform corresponding movements, and at the same time sends the image of the camera to the image of the user's head device through the image transmission module. Transmit and receive module. Observe the operation of the car by wearing video glasses.

The difference between embodiment five and embodiment four is that the lubricating sleeve consists of 35 parts of natural rubber, 2 parts of graphite, 5 parts of refined vegetable oil oleic acid amide, 3 parts of naphthenic oil, 10 parts of ultra-high molecular weight polyethylene, and 2 parts of paraffin wax , 0.3 parts of molybdenum disulfide, 3 parts of carbon nanotubes, 1 part of zinc oxide, and 1 part of stearic acid.

The difference between embodiment six and embodiment four is that the lubricating sleeve is made of 39 parts of natural rubber, 3 parts of graphite, 9 parts of refined vegetable oil oleic acid amide, 5 parts of naphthenic oil, 12 parts of ultra-high molecular weight polyethylene, and 4 parts of paraffin wax , 0.5 parts of molybdenum disulfide, 5 parts of carbon nanotubes, 2 parts of zinc oxide, and 3 parts of stearic acid.

The difference between embodiment seven and embodiment four is that the lubricating sleeve is composed of 37 parts of natural rubber, 2.5 parts of graphite, 7 parts of refined vegetable oil oleic acid amide, 4 parts of naphthenic oil, 11 parts of ultra-high molecular weight polyethylene, and 3 parts of paraffin wax , 0.4 parts of molybdenum disulfide, 4 parts of carbon nanotubes, 1.5 parts of zinc oxide, and 2 parts of stearic acid.

Using the lubricating sleeve of the present invention in two years of use, the material will protrude out of the silicone oil during use, the slide bar can move freely without replacement, and neither water nor fog enters the slide tube; and the same device, using the existing Technical lubricating sleeves such as the lubricating material disclosed in CN201510575435.3 have also been used for two years, with water entering the sliding cylinder 5 times, the sliding rod stuck 3 times, and the electric telescopic rod replaced 2 times.

When the present invention is in use, the remote control controller controls the operation of the electric telescopic rod to push the camera out of the barrel, and at the same time the slide bar pulls the pull rope, and the pull rope overcomes the elastic force of the spring to pull the slide to move downward, the camera stretches out of the barrel, and the video information passes through the car body. The wireless communication module on the body is transmitted to the display screen of the controller to be controlled. The power personnel do not need to enter the high-voltage area of the substation, but only need to send signals through the remote controller, observe the situation around the tracked vehicle through the camera, and control the steering or execution of the car; when needed When spraying, the remote controller controls the electric telescopic rod to shrink, the pull cord is released under the force of the spring, and the slide plate seals the cylinder body; the remote controller sends a signal to control the water pump to work, and the spray nozzle sprays the weeds. The sliding piece is made of glass material. After a while, when the spray falls on the weeds, the remote controller controls the electric telescopic rod to work to push the camera out of the barrel, and at the same time the sliding rod pulls the pull rope, which overcomes the spring force and pulls the slide toward Move down, the camera extends out of the cylinder, and the car is controlled by the remote control to move to the place where no pesticides are sprayed. At this time, repeat the above method, shrink the camera in the cylinder, seal the cylinder, and spray the pesticide until the weeds are sprayed.

Claims (8)

1. A substation outdoor mobile weeding and spraying device is characterized in that: it comprises a car body, a power supply arranged on the car body and a walking mechanism arranged on the car body, a spray nozzle is provided in front of the car body, and the car body The body is provided with a liquid medicine storage tank, the liquid medicine storage tank is provided with a spray water pump, the traveling mechanism is connected with a motor drive module, and the motor drive module is connected with a signal receiving module, and an automatic Adapt to the shock absorber system, the adaptive shock absorber system includes a telescopic rod hinged under the car body and rollers arranged under the telescopic rod, an upper limit block and a lower limit block are set on the telescopic rod, and they are sleeved on the telescopic rod The spring located between the upper limit block and the lower limit block, the two sides of the lower limit block are provided with inclined springs connected with the vehicle body. 2. The outdoor mobile weeding and spraying device of a substation as claimed in claim 1, characterized in that: said power supply adopts a large-capacity lithium battery. 3. The outdoor mobile weeding and spraying device of a substation according to claim 2, wherein the traveling mechanism includes crawlers arranged on both sides of the car body and a motor arranged on the car body to drive the crawlers to rotate. 4. The outdoor mobile weeding and spraying device of a substation as claimed in claim 3, wherein the motor is a geared motor. 5. The outdoor mobile weeding and spraying device for a substation according to claim 4, characterized in that: said crawler adopts an alloy crawler. 6. The outdoor mobile weeding and spraying device for a substation according to claim 5, wherein the angle between the inclined spring and the ground of the car body is 60 degrees. 7. A weeding method of the substation outdoor mobile weeding spray device as claimed in any one of claims 1-6, characterized in that: comprising the following steps: The remote controller sends a signal, and the device realizes the remote control of the device through the signal receiving module. When receiving the movement command, the single command is mixed and controlled, and the movement signal is sent to the motor drive module. The motor drive module follows the duty ratio in the signal Output the corresponding power to the motor to realize the movement of the device. When steering is required, the remote control controller will send a differential signal, so that the corresponding motor drive module receives signals in different directions, so as to realize steering; when encountering uneven ground, the alloy track The device will always maintain sufficient grip to reduce the vibration of the device body through the spring, so as to ensure the stability of the movement. 8. After moving to the target point, the controller sends out an instruction, and the corresponding spray pump starts to extract the herbicide from the liquid medicine storage tank and spray it to the target point through the spray nozzle to achieve the purpose of weeding.