CN111552281A - Intelligent cultivation system and device thereof - Google Patents
Intelligent cultivation system and device thereof Download PDFInfo
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- CN111552281A CN111552281A CN202010284711.1A CN202010284711A CN111552281A CN 111552281 A CN111552281 A CN 111552281A CN 202010284711 A CN202010284711 A CN 202010284711A CN 111552281 A CN111552281 A CN 111552281A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Abstract
The invention discloses an intelligent cultivation system and a device thereof, the technical scheme is characterized by comprising a cultivation area acquisition module, a cultivation operation end, a laser ranging module, a sensing module and a control system terminal, wherein the cultivation area acquisition module is used for acquiring and forming a cultivation area, the cultivation operation end is used for carrying out cultivation operation in the cultivation area, the laser ranging module is positioned outside the cultivation area and is used for transmitting sensing laser to the cultivation operation end, the sensing module is used for sensing the sensing laser transmitted by the laser ranging module, the control system terminal is internally provided with an information processing module used for providing accurate coordinate information and area size information for the cultivation operation end, the sensing module feeds back the information of the sensing laser to the information processing module, the information processing module is used for determining the accurate coordinate and actual distance of the cultivation operation end according to the information of the sensing laser, the system can autonomously plan the cultivation area, controlling the cultivation end to perform correct cultivation in the cultivation area.
Description
Technical Field
The invention relates to the field of agricultural cultivation, in particular to an intelligent cultivation system and a device thereof.
Background
China is a big agricultural country with 13 hundred million population, and in recent years, the food problem of China is more and more prominent. At present, the self-sufficiency rate of all agricultural products in China is less than 70%, and about 30% of all agricultural products in China are regulated by being imported from international markets. The number is touch with eyes and is amazing, the form is severe, as a big agricultural country, the food yield of the country is not supplied to people even, and the food needs to be supplemented by import, and in the past, people must be restricted by people. The traditional rural power quantity in China is sharply reduced, and the rural labor force is large in age and structure, so that the rural labor cost is increased, and the land is seriously wasted. The agricultural production technology and the production efficiency can not be improved, which can become a serious obstacle for urbanization construction and threaten the national food safety and social stability. The automatic crop production system is developed by utilizing the modern technology, which is the demand of further development of the national economic society and the township construction process, further liberating the agricultural labor force and improving the living standard and quality of people.
Chinese patent (publication No. CN104094805A) discloses an automatically controllable greenhouse cultivation system, which mainly designs a convenient power generation device (actually, a fuel cell), and inputs a plurality of environmental products such as electric power, heat energy, water and the like into an environmental sensing and controlling module in combination with an input/output end of the convenient power generation device to provide conditions required by crop growth. The system design can partially liberate greenhouse labor force and provide production efficiency. In fact, agricultural production is more in open fields and mountainous regions, the terrain is complex, and the scenes are variable. There is a need for a more flexible farming system that can accommodate more due scenarios, can autonomously divide farming areas and automatically till within the farming areas.
Disclosure of Invention
In view of the disadvantages of the prior art, the present invention provides an intelligent cultivation system and a device thereof, which can automatically plan a cultivation area and control a tractor to perform correct cultivation in the cultivation area.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent farming system, comprising:
a cultivation area acquisition module for acquiring and forming a cultivation area;
a tilling working end for performing a tilling operation within a tilling area;
the laser ranging module is positioned outside the cultivation area and used for emitting induction laser to the cultivation operation end;
the induction module is arranged on the cultivation working end and used for inducing induction laser emitted by the laser ranging module;
the control system terminal is internally provided with an information processing module used for providing accurate coordinate information and area size information for the cultivation working end, the sensing module feeds back the information of the received sensing laser to the information processing module, and the information processing module is used for determining the accurate coordinate and the actual distance of the cultivation working end according to the information of the sensing laser.
The invention is further configured to: the cultivation area acquisition module comprises:
the video acquisition module is used for acquiring a cultivation area;
and the area forming module forms a cultivation area for the cultivation working end according to the cultivation area acquired by the video acquisition module.
The invention is further configured to: the video acquisition module comprises: the device comprises a main acquisition module and an auxiliary acquisition module, wherein the main acquisition module and the auxiliary acquisition module are arranged in opposite angles and are used for acquiring a cultivation area without dead angles;
the cultivation operation end carries out cultivation operation of an actual cultivation area under the cooperation of the main acquisition module, the auxiliary acquisition module, the laser ranging module and the induction module.
The invention is further configured to: the sensing module comprises:
the control signal interpretation module is used for receiving the signal fed back by the information processing module and sending an operation instruction to the cultivation working end:
when the cultivation working end is in the field of view of the cultivation area acquisition module, the control signal interpretation module sends a normal cultivation operation instruction to the cultivation working end;
when the cultivation working end is not in the field of view of the cultivation area acquisition module, the control signal interpretation module sends a shutdown operation instruction to the cultivation working end.
The invention is further configured to: the control system terminal comprises:
and the PC control end is used for enabling the cultivation area acquisition module to acquire and form an image to project on the human-computer interaction interface and enabling people to draw an outline drawing of the cultivation area.
The invention is further configured to: the cultivation working end is provided with an angular motion detection module, and the angular motion detection module is used for detecting the smoothness of the cultivation working end in the walking process.
The invention is further configured to: an intelligent cultivation device comprises a first mounting rod and a second mounting rod which are diagonally mounted on the ground, a tractor body used for cultivation operation, and a control terminal which forms a cultivation area with the collected area and generates a walking path of the tractor body, wherein a main camera used for collecting the cultivation area is arranged on the first mounting rod, and an auxiliary camera used for providing position coordinates for a dead-angle area of the main camera is arranged on the second mounting rod;
be provided with laser induction sensor on the tractor body, be provided with the laser emitter to laser induction sensor transmission response laser on the first installation pole to and be used for driving laser emitter and send the step motor of response laser to laser induction sensor all the time, step motor is connected the setting with control terminal electricity, laser induction sensor respectively with control tractor body rotation direction the directive wheel motor and control tractor body speed of traveling motor and control terminal electricity connection setting.
The invention is further configured to: the laser induction sensor comprises a third mounting rod and a plurality of photoresistors, wherein the third mounting rod is of a columnar structure, the photoresistors are mounted on the third mounting rod and are arranged on the outer side wall of the third mounting rod in a cylindrical array mode.
The invention is further configured to: and the first mounting rod is provided with a human-computer interaction device for a user to watch and operate.
The invention is further configured to: the tractor body is provided with a gyroscope for detecting the stability of the tractor body in the walking process, and the tractor body is provided with an electric push rod for controlling the depth of cultivated land.
In conclusion, the invention has the following beneficial effects: can carry out automatic planning cultivation region through the regional collection module of farming to form suitable cultivation route, provide accurate coordinate information and regional size information for the operation end of farming through control system terminal, and provide accurate coordinate information, distance information for the operation end of farming through laser ranging module and response module in real time at the operation end of farming in-process of farming, thereby guarantee that the operation end of farming can carry out the cultivation operation according to the cultivation route of planning in real time, in addition this system can also be applicable to various different topography, area, application scope is wide, convenient operation's advantage.
Drawings
FIG. 1 is a block diagram of an intelligent farming system;
FIG. 2 is a block diagram of the cultivation area acquisition module;
FIG. 3 is a block flow diagram of an intelligent farming system and apparatus;
FIG. 4 is a schematic perspective view of the cultivating device;
fig. 5 is a schematic perspective view of a tractor body.
Reference numerals: 1. a farming area acquisition module; 11. a video acquisition module; 111. a main acquisition module; 112. a secondary acquisition module; 12. a region forming module; 2. a cultivation working end; 21. a sensing module; 211. a control signal interpretation module; 22. an angular motion detection module; 3. a laser ranging module; 4. a control system terminal; 41. an information processing module; 42. a PC control terminal; 5. a first mounting bar; 51. a main camera; 52. a laser transmitter; 53. a stepping motor; 54. a human-computer interaction device; 6. a second mounting bar; 61. an auxiliary camera; 7. a tractor body; 71. a laser induction sensor; 711. a third mounting bar; 712. a photoresistor; 72. a generator; 73. a steering wheel motor; 74. an electric push rod.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1 to 5, in order to achieve the above object, the present invention provides the following technical solutions: an intelligent farming system, comprising:
the cultivation area acquisition module 1 is used for acquiring and forming cultivation areas by the cultivation area acquisition module 1; the cultivation area collection module 1 is used to collect a place to be cultivated first, and then forms a cultivation area for cultivation operation by a cultivation end 2 described below. The cultivation area acquisition module 1 can be used to acquire a variety of environments: 1. rice field; 2. a greenhouse room; 3. plain rooms, etc.
A cultivation end 2, the cultivation end 2 being used for cultivation operations within a cultivation area; the cultivation working end 2 is a tractor body 7, and the tractor body 7 is a wireless tractor, and can perform cultivation operation in a cultivation area according to a cultivation route planned in advance, reduce manual operation, and perform more intelligent operation.
The laser ranging module 3 is positioned outside the cultivation area and used for emitting induction laser to the cultivation working end 2; the laser ranging module 3 is located outside the cultivation area and can emit sensing laser to any position in the cultivation area, so that the sensing laser (preferably infrared ray) from the laser ranging module 3 can be received when the cultivation working end 2 is located at any position.
The induction module 21 is arranged on the cultivation working end 2 and used for inducing induction laser emitted by the laser ranging module 3; the sensing module 21 is a photo resistor 712, which can sense the illumination value of the laser to generate a resistance change, and calculates the offset of the illumination center of the sensing laser according to the distribution of the resistance change of the photo resistor 712 array, so as to adjust the angle of the laser ranging module 3 emitting the sensing laser (i.e. adjust the light emission angle of the sensing laser through a stepping motor 53), thereby achieving the effect of accurate sensing. Whether the cultivation working end 2 meets the set cultivation route and speed is further judged through the feedback of the induction laser.
The control system terminal 4 is internally provided with an information processing module 41 used for providing accurate coordinate information and area size information for the cultivation working end 2, the sensing module 21 feeds back the information of the received sensing laser to the information processing module 41, and the information processing module 41 is used for determining the accurate coordinate and the actual distance of the cultivation working end 2 according to the information of the sensing laser. The information processing module 41 can accurately judge the accurate coordinate information and the actual distance information of the cultivation working end 2 by sensing the emitting angle of the laser and irradiating the center position of the sensing module 21, so that the cultivation working end 2 can cultivate according to the planned cultivation route, and the actual cultivation area is drawn for the cultivation working end 2 by the cooperation of the cultivation area acquisition module 1, the laser ranging module 3 and the sensing module 21.
The invention has the advantages that: can carry out automatic planning cultivation region through cultivation region collection module 1 to form suitable cultivation route, provide accurate coordinate information and regional size information for cultivation operation end 2 through control system terminal 4, and provide accurate coordinate information, distance information for cultivation operation end 2 in real time through laser ranging module 3 and response module 21 at cultivation operation end 2, thereby guarantee that cultivation operation end 2 can cultivate the operation according to the cultivation route of planning in real time, in addition this system can also be applicable to various topography, area, application scope is wide, convenient operation's advantage.
The cultivation area acquisition module 1 comprises:
the video acquisition module 11 is used for acquiring a cultivation area;
and the area forming module 12, wherein the area forming module 12 forms an area for cultivating the cultivating work end 2 according to the cultivating area collected by the video collecting module 11. The cultivation area acquisition module 1 firstly acquires cultivation areas through the video acquisition module 11, and then forms the acquired cultivation areas into cultivation areas finally used for the cultivation operation of the cultivation working end 2 through the area forming module 12.
The video capture module 11 includes: the main collection module 111 and the auxiliary collection module 112 are arranged in diagonal positions and used for collecting cultivation areas without dead corners;
the cultivation working end 2 performs cultivation operation of an actual cultivation area under the cooperation of the main acquisition module 111, the auxiliary acquisition module 112, the laser ranging module 3 and the induction module 21.
The sensing module 21 includes:
the control signal interpretation module 211, the control signal interpretation module 211 is used for receiving the signal fed back by the information processing module 41 and sending an operation instruction to the cultivation working end 2:
when the cultivation working end 2 is in the visual field of the cultivation area acquisition module 1, the control signal interpretation module 211 sends a normal cultivation operation instruction to the cultivation working end 2; the main collection module 111 collects the large area, and the auxiliary collection module 112 collects the dead angle (the area which cannot be collected by the main collection module 111 and the area blocked by the cultivation working end 2), so as to form a cultivation area without a dead zone and provide coordinate information of all aspects for the cultivation working end 2.
When the cultivation working end 2 is not in the field of view of the cultivation area acquisition module 1, the control signal interpretation module 211 sends a stop operation instruction to the cultivation working end 2. The cultivation working end 2 does not have two situations in the field of view of the cultivation area acquisition module 1: 1. the cultivation working end 2 is driven out of the cultivation area due to error faults, and immediately gives a halt operation instruction to stop the operation of the cultivation working end to wait for maintenance of workers in order to avoid causing accidents; 2. the cultivation working end 2 immediately gives a stop operation command after finishing the cultivation and going out of the cultivation area, thereby achieving the effect of intelligent termination.
The control system terminal 4 includes:
and the PC control end 42 is used for the cultivation area acquisition module 1 to acquire and form an image to be projected on a human-computer interaction interface, and for people to draw an outline of the cultivation area. The image collected by the cultivation area collecting module 1 is projected on a human-computer interaction interface (like a display or a mobile phone) of the PC control end 42, so that a user can draw an outline of an area needing cultivation (if the user does not draw the outline of the cultivation area, the control system terminal 4 can automatically judge and generate the outline of the cultivation area according to the collected cultivation area, and the outline can be set to be 1, the cultivation route is optimal, 2, the cultivation area is maximum, and the like).
The cultivation working end 2 is provided with an angular movement detection module 22, and the angular movement detection module 22 is used for detecting the smoothness of the cultivation working end 2 in the walking process. When the cultivation working end 2 is in the working process, the ground is possibly uneven, so that the cultivation working end 2 shakes in the running process, and when the change of the uneven ground exceeds a specified value, an alarm operation or a stop operation is carried out, so that the condition of overturning is avoided.
An intelligent cultivation device comprises a first mounting rod 5 and a second mounting rod 6 which are diagonally mounted on the ground, a tractor body 7 used for cultivation operation, and a control terminal which forms a cultivation area with the collected area and generates a walking path of the tractor body 7, wherein a main camera 51 used for collecting the cultivation area is arranged on the first mounting rod 5, and an auxiliary camera 61 used for providing position coordinates for a dead angle area of the main camera 51 is arranged on the second mounting rod 6; the first mounting rod 5 and the second mounting rod 6 are mounted on a land needing to be cultivated in diagonal positions, then a main cultivation area is collected through the main camera 51, then the auxiliary camera 61 collects areas which cannot be collected by the main camera 51 and areas blocked by the tractor body 7, a cultivation route for the tractor body 7 to move is formed through the control terminal according to the collected cultivation areas, and the tractor body 7 is controlled to perform cultivation operation according to the cultivation route.
The tractor body 7 is provided with a laser induction sensor 71, the first mounting rod 5 is provided with a laser emitter 52 which emits induction laser to the laser induction sensor 71, a stepping motor 53 which is used for driving the laser emitter 52 to always emit induction laser to the laser induction sensor 71, the stepping motor 53 is electrically connected with a control terminal, the laser induction sensor 71 is respectively electrically connected with a steering wheel motor 73 which controls the rotation direction of the tractor body 7, a driving motor which controls the driving speed of the tractor body 7 and the control terminal, the design of the laser emitter 52 and the laser induction sensor 71 can not timely position and position due to the large image transmission data quantity of the auxiliary camera 61, in order to avoid the occurrence of plowing errors, the laser emitter 52 emits induction laser to the laser induction sensor 71, and the laser induction sensor 71 receives the induction laser from the laser emitter 52, the accurate coordinate information and the actual distance information of the tractor body 7 can be accurately judged by sensing the emitting angle of the laser, the wavelength irradiated on the laser sensing sensor 71 and other information, and the defects of the auxiliary camera 61 can be overcome; the laser induction sensor 71 judges whether the induction laser points to the correct position or not through the intensity distribution of the received induction laser, if the induction laser does not point to the correct position, the laser induction sensor 71 feeds back feedback information to the control terminal, and the control terminal sends instruction information to the stepping motor 53, so that the stepping motor 53 drives the laser transmitter 52 to rotate to the specified position where the induction laser can correctly point, and accurate coordinate information and actual distance information are provided for the tractor body 7. Therefore, whether the running direction of the tractor body 7 is in a composite set cultivation route or not and whether the running speed is in a composite set speed or not can be judged, if the running direction is not in a composite set cultivation route or not, the direction and the speed of the tractor body 7 are regulated and controlled through the control terminal, in addition, the tractor body 7 is also provided with a generator 72 capable of providing the power demand of the self system, and the generator 74 is installed on a torque transmission box of the tractor.
The device can control and collect the area of a cultivation area through the autonomous installation positions of the first installation rod 5 and the second installation rod 6, then form a cultivation route of the tractor body 7 through the control terminal, and provide accurate coordinate information and actual distance information through the laser transmitter 52 and the laser induction sensor 71, so that the tractor body 7 can accurately perform cultivation operation in the cultivation area and quickly feed back information after leaving the cultivation area to send a stop instruction, and the functions of unmanned operation and intelligent stop are achieved.
The laser sensor 71 includes a third mounting rod 711 having a cylindrical structure and a plurality of photo resistors 712 mounted on the third mounting rod 711, wherein the photo resistors 712 are arranged on the outer side wall of the third mounting rod 711 in a cylindrical array. The design benefit of the photo resistors 712 arranged in a cylindrical array on the outer sidewall of the third mounting bar 711 is that: 1. and (3) circumferential arrangement design: when the induction laser emitted by the laser emitter 52 is deflected in the movement process of the tractor body 7, the induction laser irradiates on other photoresistors 712 (for example, the photoresistors 712 in the middle row are induction resistors to be irradiated in the state, at the moment, the photoresistors 712 on the peripheral side are influenced by the induction stress light to change the resistance due to the driving path or other reasons, the deflection condition of the laser emitter 52 occurs), the resistance value of the photoresistors 712 at different positions is changed and fed back to the control terminal, and the stepping motor 53 is controlled by the control terminal to adjust the emission angle of the laser emitter 52, so that the induction laser can accurately irradiate on the designated position, and accurate coordinate information and actual distance information are provided for the tractor body 7; 2. the third mounting bar 711 is arranged in the height direction: in the moving process, the tractor body 7 is displaced up and down due to the uneven ground, and the photoresistors 712 on the designated position rows can sense the sensing laser emitted by the laser emitter 52 even if the tractor body 7 is displaced up and down due to the photoresistors 712, so that accurate coordinate information and actual distance information are provided.
The first mounting rod 5 is provided with a human-computer interaction device 54 for a user to view and operate. The man-machine interaction device 54 is designed to facilitate workers on the field to visually watch cultivation routes and to facilitate control, and is designed to be close to the main camera 51, the laser emitter 52 and the stepping motor 53 on the first mounting rod 5, so that the situation that message transmission is slow due to the fact that wireless equipment is too far away is avoided.
The tractor body 7 is provided with a gyroscope for detecting the stability of the tractor body 7 in the walking process, and the tractor body 7 is provided with an electric push rod 74 for controlling the ploughing depth. If the design of this gyroscope reports to the police or shuts down when meeting unsmooth ground change and surpassing the specified value in the walking process, can also judge the depth of ploughing according to the information that the gyroscope detected, feed back to control terminal, again by the user adjust the depth of ploughing, send to electric putter 74 through control terminal on, make 7 fuselage angles of tractor body change through electric putter 74's regulation at last to reach the effect of adjusting the depth of ploughing. This tractor body 7 is whole by wireless control need not artificial driving to reduce driver's operation requirement, and can control the effect of many tractors through alone, both saved manpower resources and simplified the operation requirement greatly.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. An intelligent cultivation system is characterized by comprising:
a cultivation area acquisition module (1), the cultivation area acquisition module (1) being used for acquiring and forming a cultivation area;
a working end (2) for tilling (2) an area of cultivation;
the laser ranging module (3) is positioned outside the cultivation area and used for emitting induction laser to the cultivation working end (2);
the induction module (21) is arranged on the cultivation working end (2) and is used for inducing induction laser emitted by the laser ranging module (3);
the control system terminal (4) is internally provided with an information processing module (41) used for providing accurate coordinate information and area size information for the cultivation working end (2), the sensing module (21) feeds back the information of the received sensing laser to the information processing module (41), and the information processing module (41) is used for determining the accurate coordinate and the actual distance of the cultivation working end (2) according to the information of the sensing laser.
2. The intelligent farming system of claim 1, wherein: the cultivation area acquisition module (1) comprises:
a video acquisition module (11), the video acquisition module (11) being used for acquiring a farming area;
an area forming module (12), wherein the area forming module (12) forms an area for cultivating the cultivating work end (2) according to the cultivation area acquired by the video acquisition module (11).
3. The intelligent farming system of claim 2, wherein: the video acquisition module (11) comprises: the device comprises a main acquisition module (111) and an auxiliary acquisition module (112), wherein the main acquisition module (111) and the auxiliary acquisition module (112) are arranged in diagonal positions and are used for acquiring cultivation areas without dead corners;
the cultivation working end (2) carries out cultivation operation of an actual cultivation area under the matching work of the main acquisition module (111), the auxiliary acquisition module (112), the laser ranging module (3) and the induction module (21).
4. The intelligent farming system of claim 1, wherein: the sensing module (21) comprises:
the control signal interpretation module (211), the control signal interpretation module (211) is used for receiving the signal fed back by the information processing module (41) and sending an operation instruction to the cultivation working end (2):
when the cultivation working end (2) is in the visual field of the cultivation area acquisition module (1), the control signal interpretation module (211) sends a normal cultivation operation instruction to the cultivation working end (2);
when the cultivation working end (2) is not in the field of view of the cultivation area acquisition module (1), the control signal interpretation module (211) sends a stop operation instruction to the cultivation working end (2).
5. The intelligent farming system of claim 1, wherein: the control system terminal (4) comprises:
and the PC control end (42) is used for the cultivation area acquisition module (1) to acquire and form an image to project on a human-computer interaction interface, and people can draw an outline of the cultivation area.
6. The intelligent farming system of claim 1, wherein: the cultivation working end (2) is provided with an angular motion detection module (22), and the angular motion detection module (22) is used for detecting the smoothness of the cultivation working end (2) in the walking process.
7. An intelligent cultivation device is characterized by comprising a first mounting rod (5) and a second mounting rod (6) which are diagonally mounted on the ground, a tractor body (7) used for cultivation operation, and a control terminal which forms a cultivation area from an acquired area and generates a walking path of the tractor body (7), wherein a main camera (51) used for acquiring the cultivation area is arranged on the first mounting rod (5), and an auxiliary camera (61) used for providing position coordinates for a dead angle area of the main camera (51) is arranged on the second mounting rod (6);
be provided with laser-induced sensor (71) on tractor body (7), be provided with on first installation pole (5) and respond to laser emitter (52) of laser to laser-induced sensor (71) transmission to and be used for driving laser emitter (52) and respond to laser stepper motor (53) of laser to laser-induced sensor (71) transmission all the time, stepper motor (53) are connected the setting with control terminal electricity, laser-induced sensor (71) respectively with control tractor body (7) rotation direction steering wheel motor (73) and control tractor body (7) the speed of traveling motor and the control terminal electricity connect the setting.
8. The intelligent cultivation device as claimed in claim 7, wherein: the laser induction sensor (71) comprises a third mounting rod (711) in a columnar structure and a plurality of light-sensitive resistors (712) mounted on the third mounting rod (711), wherein the light-sensitive resistors (712) are arranged on the outer side wall of the third mounting rod (711) in a cylindrical array.
9. The intelligent cultivation device as claimed in claim 7, wherein: the first mounting rod (5) is provided with a human-computer interaction device (54) for a user to watch and operate.
10. The intelligent cultivation device as claimed in claim 7, wherein: the walking-type electric tractor is characterized in that a gyroscope used for detecting the stability of the tractor body (7) in the walking process is arranged on the tractor body (7), and an electric push rod (75) used for controlling the depth of a cultivated land is arranged on the tractor body (7).
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Application publication date: 20200818 |