CN104737650A

CN104737650A - Automatic rail-based cultivation device with hook plates

Info

Publication number: CN104737650A
Application number: CN201310754451.XA
Authority: CN
Inventors: 施国樑
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-12-31
Filing date: 2013-12-31
Publication date: 2015-07-01

Abstract

An automatic rail-based cultivation device with hook plates comprises a rice mowing and threshing robot, and is characterized in that a pair of hook-shaped parts is arranged on a chassis of the automatic rail-based cultivation device and in transmission connection with an electric driving device. The automatic rail-based cultivation device with the hook plates has the advantages that when tops of the hook-shaped parts are thrusted into grooves of two parallel field rails, the automatic rail-based cultivation device can be combined with the two parallel field rails integrally, so that wind withstanding is facilitated.

Description

The automatic cultivating apparatus of a kind of base of the rail with hook plate

Technical field

The present invention relates to the automatic cultivating apparatus of a kind of base of the rail with hook plate.

Background technology

Installing photovoltaic battery panel utilizes solar electrical energy generation to have a fabricating yard problem.For example, Zhejiang Province power consumption 3.211 * 10 in 2012 ¹¹kilowatt hour.If these electricity rely on photovoltaic generation, in 1600 hours, average exposure 700w/ ㎡, generating efficiency 0.18, the inversion efficiency 0.80 of generating electricity in year, the installation floor space of these photovoltaic battery panels 19.9 ten thousand hectares, is about equivalent to 9.56% of Zhejiang the whole province arable area 208.17 ten thousand hectares.

Summary of the invention

The object of the invention is to provide a kind of base of the rail with hook plate automatic cultivating apparatus.

The present invention realizes the technical scheme of its object: above farmland, arrange photovoltaic battery panel.For avoiding permanent shading to affect crop growth, the possible adverse effect making photovoltaic battery panel constantly move around making the benefit owing to using photovoltaic battery panel to bring to be greater than or to be far longer than shading causing.The cycle that moves around is called shading factor to crops shading time and the ratio in the cycle that moves around.Preferred shading factor scope is 8% to 14%.

The basis of building removable photovoltaic generating system and automatic cultivating apparatus in farmland comprises: 1) photosynthesis is in the strength range of sunshine, is not always directly proportional to sunlight intensity.For example be subject to paddy in the rice field, both sides of north-south trees band shading with by the growing way of shading and output about the same; 2), under high-temperature condition, a certain amount of shading can help plant to accelerate photosynthesis by reducing temperature.

Manufacture and design and field rail is installed in farmland.Field rail can also be used for the water of isolating field, both sides.Field rail can also be made to contain and to embed the fluid line installed or add installation and the input/output port be in communication with the outside thereof; By can implement irrigation to farmland and water drainage to the input/output port of described fluid line.

Manufacture and design and other station power line is installed in farmland, the housing of other station power line also can be made to be that conductive material makes, is connected with an electric fence power sourced electric with the earth electric insulation, preventing beast harmful and limit livestock scope of activities as electric fence;

Build the farmland of band field rail, described farmland comprises the earth's surface of various growing plant, such as paddy field, irrigated land, nonirrigated farmland, terraced fields and hillside fields, hilly country, wasteland, mountain region and individual layer booth; Build and comprise the terraced fields that Cheng Fang is smooth vertical and horizontal with building terraced fields dam in flakes.Field rail is set in farmland, existing terraced fields dam is transformed into the field rail that can travel the removable photovoltaic generating system of the base of the rail and/or automatic cultivating apparatus and the electric pole arranged along field rail layout and other station power line.Parallel double field rail is straight or bending, mutually can be connected growth; Can be continuous in the shape of a spiral and to be arranged on terraced fields or hillside and along the direction of advance band gradient; East and West direction is arranged or other direction is arranged; Field rail contains with the installation interface of the cushion block be arranged in farmland and pile and has straight, continuous and smooth load surface; Field rail is arranged on fixing or revocable ground; The soil that described fixing ground comprises compacting or the basis be made up of other material; On-fixed ground comprises the block involved with field rail; Parallelism error between described one group of two field rail is less than 30 millimeters.

Manufacture and design the removable photovoltaic generating system of the base of the rail, comprise photovoltaic battery panel, be provided with the chassis of two skate group assemblies, solar tracking device, Computer Control Unit, communication module, satellite navigation locating module, watch-dog, the removable electric linkage interface that is electrically connected with other power line of standing; Wheels assembly comprises containing one with the wheels of upper roller, wheels drive unit and wheels steering control device; Sometimes arrange before and after adopting that two or more roller forms wheels and can improve the weight transfer operating mode of wheels load to field rail; Wheels drive unit only can be arranged one and also can arrange one or each roller arranges one in the total Chengdu of each wheels by multiple wheels assembly; The crops encountered in farmland should be avoided in chassis; Make described wheels assembly, solar tracking device, communication module, satellite navigation locating module, watch-dog are connected with main control computer signal by interface circuit with removable electric linkage interface, the state of described wheels assembly and photovoltaic battery panel is changed according to main control computer instruction change; The field rail of described photovoltaic generating system in farmland moves and is continued and extraneous power network Change Power by removable electric linkage interface and other station power line.

The various device relating to main control computer of the present invention also relates to related software, and the device relating to analog sensor also relates to arranging the sweep time of analog sensor, and these contents can utilize prior art to be realized.

The distance that moves around of photovoltaic generating system comprises the field rail of border, leap more than one group field linking; The speed moved around comprises speed quick and on duty; Its scope comprises 1 to 10 meter per second and 0. 01 to 1 meter per second respectively.Getting parallel double field rail orbit centre linear distance is 5*(1-0.618)=1.91 meters, the adjacent spacing of field rail that many group parallel double are laid also gets 5 meters.

The base of the rail movable solar energy manufactured and designed with pitched roof shape top cover utilizes system.

Manufacture and design the automatic cultivating apparatus of the base of the rail, comprise that the chassis, job platform, the uniform job platform elevating mechanism of four loads of connecting base plate and job platform, a group of being arranged on job platform that are provided with two skate group assemblies often organize more than one halfpace beam, two groups of being in outside job platform both sides often organize more than one external platform hanging beam, Computer Control Unit, communication module, watch-dog, removable electric linkage interface; Each landing beam is furnished with more than one the various manipulators be made up of different parts comprise rotary tillage of plowing, sow, rice transplanting of pulling up seedlings is transplanted seedlings, dropper fertilising, cotton topping, the threshing of rice wheat harvesting, fruit and vegetable picking, potato class peanut receive adopt, cotton picking, stalk are tied up, soil builds the manipulator that digs and build canals; When needing, manipulator can land and carry out operation; Described wheels assembly, electronic worm screw, communication module, watch-dog, removable electric linkage interface are connected with main control computer signal by interface circuit with relevant manipulator, and the state of described wheels assembly, job platform and each manipulator is changed according to main control computer instruction change; Described automatic cultivating apparatus is transmitted earthward by the field rail in farmland and gravity or the field rail in farmland moves and keeps the electrical connection with extraneous power network by removable electric linkage interface.

Manufacture the automatic cultivating apparatus of the base of the rail of a band hook plate, comprise Ge Dao threshing robot, containing secondary two uncinuses on the chassis of described automatic cultivating apparatus, described uncinus and a Vidacare corp are in transmission connection.

Described Vidacare corp can also be made to be connected with computer for controlling signal by interface circuit, the top structure shape thing of described uncinus can be advanced in the groove of parallel double field rail.And the automatic cultivating apparatus of the base of the rail and parallel double field rail are combined as a whole be conducive to wind resistance.

Described automatic cultivating apparatus is made to adopt roller automatic centering control and chassis balance automatically to control further;

Because field rail is very narrow, in the wheel rim situation of roller not with coordinating with field rail, in order to enable the removable photovoltaic generating system of the base of the rail and automatic cultivating apparatus safety and steady travel and carry out accurate operation, need to adopt roller automatic centering control subsystem and chassis balance autonomous control subsystem;

Roller automatic centering control subsystem is rectified a deviation for roller produces deviation on the rail of field in driving process time, and it comprises the chassis being provided with two skate group assemblies and the field track surface camera be arranged at before and after wheels; Wheels assembly comprises containing one with the wheels of upper roller, wheels drive unit and wheels steering control device; Wheels steering control device comprise connecting base plate turn to electronic worm screw with the wheels revolute pair mechanism of wheels, the wheels be installed on chassis and be connected with wheels and with the wheels steering gear worm of electronic worm engaging; Wheels turn to electronic worm screw rotating band driving wheel group steering gear worm and wheels to rotate; Wheels turn to electronic worm screw to be connected with computer for controlling signal by its interface circuit; Its state changes according to the output state of field track surface camera and changes and keep four wheels to be in suitable state all the time.

Roller automatic centering control subsystem figure recognition application establishment summary: judge the state of field rail include not have abnormal with whether have the relevant parameters that turns round and turn round and provide ought the last period field rail position of center line, the position judging roller and state comprise and provide when one section of corresponding center line of front wheel and the deviation with field rail center line thereof; If the center line generation deviation of the center line of roller and field rail, judge whether to need correction according to the deviation property that two, left and right track exists, because if be the deviation that the deviation of parallel double degree in allowed band of field rail also can form pair of rollers field rail, but this does not overcome by correction and is allow; If assert and need correction, rectified a deviation by relevant the turning to of wheels of adjustment, for example a certain wheels left deviation just make wheels steering control device facility implement once to bend to right to rectify a deviation, if described deviation is repaired, stop correction, if also there is deviation and need to continue correction, then implement once to turn until deviation is repaired accordingly; Relevant prior art is included on steel plate and draws a curve with chalk, automatic welding cutting mill just can be made to follow the tracks of described curve and carry out welding or cutting; Utilize prior art can pay creative work and realize comprising the roller automatic centering control subsystem of program composition.

Chassis balance Control Scheme subsystem makes the base of the rail automatic cultivating apparatus energy work well for the height or flatness error overcoming field rail two tracks, and it comprises chassis, four groups of wheels be connected with chassis by wheels elevating mechanism, the wheels load sensor that is arranged at the chassis level obliquity sensor on chassis and is arranged on each wheels; Wheels elevating mechanism comprises an elevating screw mechanism and a worm-and-wheel gear; Elevating screw mechanism comprises an elevating screw and a feed screw nut coordinated with elevating screw; Worm-and-wheel gear comprises the worm gear of an electronic worm screw and and electronic worm engaging; Described four worm gears are with feed screw nut's integral production and be connected with chassis each via a revolute pair mechanism; Electronic worm screw is rotated and drives elevating screw do the motion on relative chassis and make the wheels be arranged at bottom elevating screw increase or decline; Chassis level obliquity sensor is responsible for the inclination of monitoring chassis fore-and-aft direction and left and right directions, and its technical scheme can with reference to the level inclination sensor technology comprising the level inclination sensor technology being responsible for automatic rotation screen control in prior art smart mobile phone; The technical scheme of wheels load sensor can with reference to comprise prior art electronic scale strain-ga(u)ge technique; Chassis level obliquity sensor is connected with main control computer signal each via interface circuit with each wheels load sensor, and the level on chassis changes according to the output state of chassis level obliquity sensor and each wheels load sensor and changes and guarantee that chassis is in the enough little state of horizontal error all the time; Wheels load sensor is adopted to contribute to adjusting the uneven phenomenon of four wheels loads in time.

To sum up, when making the inclination higher than the left side of the generation right side, chassis sensor export for just, the inclination lower than the left side of the generation right side, chassis time sensor export and be considered as zero for horizon sensor when horizontal tilt that is negative, chassis is less than permissible value exports, then the summary of chassis balance Control Scheme subsystem application program composition is: when the horizon sensor of chassis left and right directions exports as timing, regulate the feed screw nut of the feed screw nut on right front wheels elevating screw and/or right back wheels that chassis is declined until it is just zero that the horizon sensor of left and right directions exports; When the horizon sensor of left and right directions exports as time negative, the feed screw nut of the feed screw nut of right front wheels and/or right back wheels is regulated to make chassis rises until it is just zero that the horizon sensor of left and right directions exports.

In like manner, balance Control Scheme subsystem in chassis also can realize when chassis tilts forward and back making it to recover level to the adjustment tilted forward and back; Now, balance adjustment comprises the feed screw nut of left and right front-wheel and the feed screw nut of left and right trailing wheel, and this can by making the feed screw nut of left and right two go in the same direction to carry out adjustment to have come.

In fact, the inclination that the most inclination in chassis had both comprised left and right directions also comprises the inclination of fore-and-aft direction, and relevant each feed screw nut needs to carry out the superposition about left and right directions and fore-and-aft direction regulating parameter and once completes adjustment.

The sweep time periodic regime of main control computer to chassis level obliquity sensor interface circuit is preferably 5 to 20 milliseconds; When the described scan period be 10 milliseconds, corresponding automatic cultivating apparatus speed per hour 6 kms/time, then described in the scan period, automatic cultivating apparatus moves about 16 millimeters.

Above-mentioned rollers automatic centering control subsystem and chassis balance autonomous control subsystem also may be used for removable photovoltaic generating system and comprise base of the rail transport vehicle and guide rail pesticide spray truck with other facilities.

Manufacture and design base of the rail transport vehicle; Described transport vehicle comprises chassis, vehicle body, Computer Control Unit, communication module, watch-dog, removable electric linkage interface; Described wheels assembly, communication module, watch-dog are connected with main control computer signal by interface circuit with removable electric linkage interface; Described automatic cultivating apparatus is transmitted earthward by the field rail in farmland and gravity or the field rail in farmland moves and keeps the electrical connection with extraneous power network by removable electric linkage interface.

Manufacture and design the miniature automatic cultivating apparatus of the single track base of the rail adopting and travel on single rail, it electrical connection interface comprising manipulator and be connected with station, side power line, and bottom it, be provided with the roller of former and later two band wheel rims and built-in drive unit; The miniature automatic cultivating apparatus of the single track base of the rail sprays medicine operation in enforcement, drives bird operation and carries out tour hourly velocity soon by remote terminal, and power consumption can be less than 200 watts.

Hook plate can also be set on described chassis and catch field rail to make described photovoltaic generating system and automatic cultivating apparatus and field rail be combined as a whole, or adopt reinforcement screw to get off with screwing in strengthen the steadiness of described photovoltaic generating system and automatic cultivating apparatus temporarily.

The present invention is according to one of said method technical scheme realizing its object: manufacture field rail, install in farmland; Its form and material comprise armored concrete field rail, shaped steel steel pipe field rail and shaped steel steel-tube construction body field rail.Adopt more than the one group track-like thing often organizing two parallel double, or containing wall scroll track-like thing, or containing the track-like thing with terraced fields dam integral production, described track-like thing contains straight, continuous and smooth load contact face, described track-like thing directly or by field base of the rail plinth is connected with farmland, described field base of the rail plinth comprise go deep into farmland pile, stub, cushion block and compacting soil.

The present invention realizes the technical scheme two of its object according to said method: manufacture other station power line, supported and be arranged at field trackside, comprise housing, be arranged at more than one power line core of enclosure interior by electric pole; Adopt electric pole to support and be arranged at field trackside; Housing contains an elongated notch; Described power line contains continuous, smooth exposed surface as the electrical connection interface with the external world; Described notch and electrical connection interface and housing isometric.

The present invention realizes the technical scheme three of its object according to said method: the farmland of construction retrofit band field rail, and described farmland comprises the earth's surface of various growing plant, such as paddy field, irrigated land, nonirrigated farmland, terraced fields and hillside fields; Described transformation comprises Cheng Fang in flakes, builds the smooth vertical and horizontal terraced fields in terraced fields dam.The other power line of standing field rail being set in farmland and arranging along field rail, described field rail comprises the track-like thing that more than a group is often organized two parallel double, or containing wall scroll track-like thing; Or the transformation of existing terraced fields dam or integration system are made the field rail that can travel the removable photovoltaic generating system of the base of the rail and/or automatic cultivating apparatus; And the other station power line arranged along field rail is set; Described other station power line contains power line and long electrical connection interface same with power line.

The present invention realizes the technical scheme four of its object according to said method: manufacture the removable photovoltaic generating system of the base of the rail, comprise photovoltaic battery panel, the chassis of two skate group assemblies be installed, solar tracking device, computer controlled automatic device, communication module, watch-dog, the electric pole arranged together with the rail of field and other power line of stand, and the removable electric linkage interface that power line of being stood in the output interface of photovoltaic battery panel or inverter and side is electrically connected; Wheels assembly comprises containing one with the wheels of upper roller, wheels drive unit and wheels steering control device; Wheels drive unit only can be arranged one and also can arrange one or each roller arranges one in the total Chengdu of each wheels by multiple wheels assembly; Wheels driving mechanism comprises drive motors and decelerator and is in transmission connection with roller.Described wheels assembly, solar tracking device, communication module, watch-dog are connected with main control computer signal by interface circuit with removable electric linkage interface, and the state of described wheels assembly and photovoltaic battery panel is changed according to the dependent instruction change of main control computer; The field rail of described photovoltaic generating system in farmland moves and is continued and extraneous power network Change Power by removable electric linkage interface.

One can also be adopted based on electronic screw body sunshine elevation angle and the illumination angle tracking means of to take grid structure as the electronic screw body sunshine elevation angle of load and illumination angle tracking means and one based on grid structure with photovoltaic battery panel be on chassis load; Described tracking means comprises more than three according to the uniform electronic screw mandrel drive mechanism of load and interface circuit thereof; Described electronic screw mandrel drive mechanism comprises an electronic screw mandrel and a feed screw nut coordinated with described electronic screw mandrel; At least one of them is connected with basis or load by a spherical pair mechanism for described electronic screw mandrel or feed screw nut; The interface circuit of described electronic screw mandrel drive mechanism is connected with main control computer signal; The state of described grid structure and photovoltaic battery panel changes according to the dependent instruction of main control computer and changes.

The present invention realizes the technical scheme five of its object according to said method: manufacture a farmland base of the rail solar energy equipment, and the solar energy collecting comprising a pitched roof shape top cover utilizes device, wheels assembly, chassis, Computer Control Unit, communication module, watch-dog, the removable electric linkage interface that is electrically connected with other power line of standing; Be with or be not with solar tracking device; The solar energy collecting of described pitched roof shape top cover utilizes device to be in tilted layout in the top of described solar energy utilization system.Described wheels assembly, communication module, watch-dog, removable electric linkage interface solar tracking device are connected with main control computer signal by respective interface circuit, make change the constantly movement on field rail in farmland according to the change of the dependent instruction of main control computer of the state of described wheels assembly, and keep the electrical connection with extraneous power network by removable electric linkage interface; The breeding space between device and chassis is utilized to contain crops and/or poultry between pitched roof shape top cover solar energy collecting.

Can also adopt a worm and gear follower be arranged between comprehensive solar energy housing and wheels, the turbine that described worm and gear drives follower to comprise to be fixedly connected with the grid structure bottom comprehensive solar energy housing and one are connected the chassis of four wheels assemblies.Grid structure is connected with chassis by a revolute pair.Turbine can form a worm and gear driving mechanism with being installed on together with the electronic worm engaging on chassis with the worm gear flank of tooth; Electronic worm screw is connected with main control computer signal by interface circuit.

The present invention realizes the technical scheme six of its object according to said method: manufacture an automatic cultivating apparatus of the base of the rail, comprise the chassis being provided with two skate group assemblies, job platform, the job platform elevating mechanism that four loads of connecting base plate and job platform are uniform, one group of being arranged on job platform often organizes more than one halfpace beam, two groups of being in outside job platform both sides often organize more than one external platform hanging beam, computer controlled automatic device, communication module, watch-dog, other power line and the removable electric linkage interface that is electrically connected with station, side power line of standing arranged together with the rail of field, wheels assembly comprises containing one with the wheels of upper roller, wheels drive unit and wheels steering control device, job platform elevating mechanism comprises an elevating screw mechanism and a worm-and-wheel gear, elevating screw mechanism comprises an elevating screw and a feed screw nut coordinated with elevating screw, worm-and-wheel gear comprises the worm gear of an electronic worm screw and and electronic worm engaging, described four worm gears are with feed screw nut's integral production and be connected with job platform each via a revolute pair mechanism, electronic worm screw is rotated and drives elevating screw do the motion of relative activity platform and make job platform increase or decline, each landing beam is furnished with more than one the various manipulators be made up of different parts, described wheels assembly, electronic worm screw, communication module, watch-dog, removable electric linkage interface are connected with main control computer signal by interface circuit with relevant manipulator, and the state of described wheels assembly, job platform and each manipulator is changed according to the dependent instruction change of main control computer, described automatic cultivating apparatus is transmitted earthward by the field rail in farmland and gravity or the field rail in farmland moves and keeps the electrical connection with extraneous power network by removable electric linkage interface.

Roller automatic centering control subsystem and chassis balance autonomous control subsystem can also be adopted.

Roller automatic centering control subsystem comprises the chassis being provided with two skate group assemblies and the field track surface camera be arranged at before and after wheels; Wheels assembly comprises containing one with the wheels of upper roller, wheels drive unit and wheels steering control device; Wheels steering control device comprise connecting base plate turn to electronic worm screw with the wheels revolute pair mechanism of wheels, the wheels be installed on chassis and be connected with wheels and with the wheels steering gear worm of electronic worm engaging; Wheels turn to electronic worm screw rotating band driving wheel group steering gear worm and wheels to rotate; Wheels turn to electronic worm screw to be connected with computer for controlling signal by its interface circuit; Its state changes according to the output state of field track surface camera and changes and keep four wheels to be in suitable state all the time.

Chassis balance Control Scheme subsystem comprises chassis, four groups of wheels be connected with chassis by wheels elevating mechanism, the chassis level obliquity sensors be arranged on chassis; Wheels elevating mechanism comprises an elevating screw mechanism and a worm-and-wheel gear; Elevating screw mechanism comprises an elevating screw and a feed screw nut coordinated with elevating screw; Worm-and-wheel gear comprises the worm gear of an electronic worm screw and and electronic worm engaging; Described four worm gears are with feed screw nut's integral production and be connected with chassis each via a revolute pair mechanism; Electronic worm screw is rotated and drives elevating screw do the motion on relative chassis and make the wheels be arranged at bottom elevating screw increase or decline;

The scan period scope of main control computer to chassis level obliquity sensor interface circuit can also be made to be 5 to 20 milliseconds.

The present invention realizes the technical scheme seven of its object according to said method: manufacture a computer controlled subsystem of the removable photovoltaic generating system of the base of the rail, comprise main control computer, the memory device, communication module and the interface circuit thereof that are connected with main control computer signal, satellite positioning module and interface circuit, wireless broadcast reception module and interface circuit, man-machine interface and interface circuit thereof and casing, also comprise inverter interface circuit, power line detection device interface circuit and watch-dog interface circuit; Described main control computer comprises the remote computer that local computer is connected with by signaling interface.The governor circuit of described main control computer, memory device, communication module interface circuit, satellite positioning module interface circuit, wireless broadcast reception module interface circuit, user-machine interface circuit, inverter interface circuit, power line detection interface circuit realize signal with watch-dog interface circuit by bus and are connected.

Beneficial effect: 1. the present invention answers the grain security that how to ensure China and food security very well this belongs to one of significant problem that the whole society of China core pays close attention to; All one's effort enforcement the present invention can realize the increase by 50% in 2013 of agricultural product output ratio at the year two thousand twenty, the proportion of organic food rises to 75% of all foods, and makes China take the lead in realizing agricultural modernization in the whole world; The income of agricultural population continues to increase substantially, and the value increase in soil causes rural endowment problem to be satisfactorily resolved in 2016; Also because land output increases and build the arable area of new increase by opening up wasteland, likely realize everyone house site 67 square metres even level of each household a set of occupation of land 200 square meter house and area of woods accounts for territory 1/3rd makes China become one of the most livable, country that Happiness Index is the highest in the world to the year two thousand twenty; Therefore the one line city high housing price problem of current puzzlement China also will be solved at all; 2. implementing the present invention can make China be in world lead level at Robot Design manufacture, photovoltaic generation and electronic information field at the year two thousand twenty with all strength; And therefore make high-quality work position roll up; 3. the invention provides the fabricating yard of almost unlimited photovoltaic generation, follow the tracks of make electrogenesis amount increase by 30% on year-on-year basis benefit and rate of return on investment are increased considerably because the removable photovoltaic generating system of the base of the rail is applicable to bidimensional again; Likely be implemented to the year two thousand twenty China's photovoltaic power generation quantity is reached 4,000,000,000,000 kilowatt hours/year is equivalent to social total energy consumption when the time comes 40%, thoroughly change the energy resource structure of China; Distributed energy website can guarantee national energy security, for the energy security of China makes major contribution; Implement with all strength the present invention add a large amount of uses of broad sense natural gas, area of woods increase considerably other effort with the whole society, can arrive PM2.5 that the year two thousand twenty makes China domestic than 2013 at the end of minimizing more than 90%; China also will do better in energy-saving and emission-reduction; 4. for large quantities of network game teenager changes in quality for Robot remote master-hand and the date that therefore dignity is crossed in the return of the prodigal son provides a golden road; Need 1,000 ten thousand automatic cultivating apparatus of the base of the rail to the year two thousand twenty, the work in 24 hours of these devices looks after 5 described device meters according to operator remote control simultaneously, needs 1,000 ten thousand teleoperators; This makes 1,000 ten thousand network game geeks can not change its life habit and realize monthly income 8000 yuan; The whole society starts to value scientific and technical research and management and no longer thousands of graduate robs a civil servant post, and more teenager starts to throw oneself into scientific and technical research, and the civilization construction of social aspect will make great progress and the impetus is kept;

5. whom the present invention answers very well and carrys out one of the severeest problem in kind of ground this present age; The silo adopting 1,000 ten thousand automatic cultivating apparatus of the base of the rail that the territory of China's length and breadth of land can be made to become worthy of the name on ploughing at 2,000,000,000 mu; When farmland base of the rail photovoltaic generation reaches 4,000,000,000,000 kilowatt hours/year, the generating income of rural population reaches 4500 yuan/year per capita, agricultural cultivation revenue growth 6000 yuan/year per capita; Owing to solving grain security and the rich problem of peasant, the urbanization of China is made smooth advances.As a comparison, the per capita income more than 2000 yuan of China's rural population plantation in 2012.

Implement the present invention, the fabricating yard problem that thoroughly can solve photovoltaic generation makes east densely inhabited district unrestrictedly can install farmland base of the rail photovoltaic generation facility of the present invention.Farmland base of the rail photovoltaic generating system is applicable to adopting bidimensional to follow the tracks of on year-on-year basis can obtain electric power 30% more.In every mu install that 67 ㎡ about 8 kilowatts of photovoltaic generating systems invest 2000 yuan/year excluding interest of 50,000 yuan of/mu depreciations in 25 years, parallel double field rail cost of erection 5000 yuan/mu count half depreciation in 25 years excluding interest count 100 yuan/year, operating charges comprises insurance 300 yuan/(mu *), intermediate effectiveness comprises inversion and power inside 80%, electricity price 0.75 yuan/kilowatt-hour meter, generating income 8*1700*1.3*0.8*0.75=10608 unit, deduct depreciation and expense 500 yuan/year, income 10108/ year; The rate of return on investment 10108/55000 of its 25 years meters is about 18.38%; Continuous 19 years annual net incomes about 10,000 yuan after recouping capital outlay for 6 years in other words.Output is 5 times that drop into.Here decline 10 years 10%20 20% and the tax revenue of photovoltaic battery panel is not counted.Assuming that the year two thousand twenty realizes the target that China's year photovoltaic power generation quantity reaches 4,000,000,000,000 kilowatt hours, then solar electrical energy generation reaches 3000 kilowatt hours/year, solar electrical energy generation per capita income 2250 yuan/year per capita; Every mu to install 67 square metres of removable photovoltaic generating systems, altogether relate to 2.8 hundred million mu of farmlands.

In China 1,400,000,000 population 1,800,000,000 mu of arable lands, the output that agricultural is expected increase by 6000 yuan is for each person every year included in the year two thousand twenty increase farmland 500,000,000 mu.

Removable photovoltaic generation facility parallel double field rail is directly used in farmland Work robot and can makes thinner about the construction cost of farmland facility and maintenance have cost.Based on above-mentioned parallel double field rail etc. automatic cultivating apparatus because accurate location parameter can be had at the very start, adopt electric energy and without the need to internal combustion engine or accumulator provide power thus light and handy flexibly, relevant elements 80% has versatility, can continue through and improve software and modular manipulator and carry out upgrading and improve constantly device performance and realize new function, the success rate automatic cultivating apparatus development difficulty is reduced greatly, developing improves greatly.The automatic cultivating apparatus of basis of the present invention, owing to being conceived to on-the-spot unmanned or few people's equalization from the beginning, contributes to solving the problem that China or the whole mankind enter agricultural workforce's high cost or labour's famine after middle income country.An automatic cultivating apparatus is managed 200 mu of farmlands and is saved 10 to 20 high-quality labours every year.Automatic cultivating apparatus of the present invention is used to save annual 150 yuan/mu of fertilizer.Manage 200 mu of farmlands in an automatic cultivating apparatus price 200,000 yuan, total running cost comprise facility maintenance, the electricity charge and insurance 50,000 yuan/year, 0.5 on-the-spot farming engineers, 0.5 outsourcing remote terminal operator and 1 support staff's cost of labor 100,000 yuan/year 150000 yuan/year altogether, automatic cultivating apparatus investment conjunction 1000 yuan of/mu 10 years depreciation meters excluding interest 100 yuan/year, second half stand of parallel double field rail cost of erection 5000 yuan of/mu of meter half are to photovoltaic generating system depreciation in 25 years meter excluding interest 100 yuan/year; Annual operating charges 1000 yuan/mu.To adopt after the present invention automatic cultivating apparatus every mu of farmland Gross Output 4800 yuan.Deduct depreciation and expense 1200 yuan/mu, add 200 yuan/mu, seed fertilizer agricultural chemicals etc., every mu of agricultural net-income 3400 yuan/mu.Disregard the rate of return on investment 3400/3500=97.14% of cost 25 term of farmland.With As-Is 0.07 hectare 667 square metres of needs 0.05 to 0.1 labour, the cost net incomes more than 700 yuan such as District of Shanghai 0.07 hectare 1 year kind one season rice one season rape removing seed fertilizer machine harvest, be equivalent to the income of doing manual work in a week, so the thing of laying idle is found everywhere.Adopt automatic cultivating apparatus of the present invention greatly can improve the output of farmland, the increase rate expected value in its mid-term is more than 200%.These improve and comprise because the employing of described automatic cultivating apparatus makes about operation realizes the income that digitlization accurately distributes acquisition in room and time, the income that various new technology and technique can be adopted to obtain comprises and adopts ultrasonic active probe or sound wave passive detection to implement to kill to the vole in field and reduce the plague plague of rats social benefit and income that oncomelania kills occurs to track down and arrest, the maximum income obtained of saving that can realize water resource utilization is for example passed through the availability of water significantly to be expanded irrigable acre and irrigated by precision to improve crop yield and water-saving income---such as current for China's wheat flood irrigation every kilogram is consumed 0.05 ton of water that 1 ton of water saves every kilogram of consumption 0.1 ton of water or the dropper of spraying, the availability that can increase soil comprises seizing every opportunity multiplely plants some corns only this just can make every mu of ground fecund go out 0.1 ox or 1.8 bellwethers to rise in value 1800 yuan/year and can sustainablely carry out as feed, solid growth is taked to be included in the income of rice field fish culture acquisition, gather in the crops fast owing to adopting automatic cultivating apparatus the income brought for example do not allow because of gathering in the crops for continuous 24 hours before severe winter arrives crops freezing in field until Second Year is reduced the loss spring the income brought, with the income brought of reducing the loss in northern sowing in time ripen in advance.China is a large amount of at present drops into construction industrialized agriculture, wherein relevant with farmland greatly.The automatic cultivating apparatus of the base of the rail of the present invention designs based on the understanding of the technology path to many decades agricultural development from now on, as long as concrete construction lays field rail and can be improved constantly the performance of automatic cultivating apparatus by upgrading.And other industrialized agriculture existing may can cause huge waste because of not forward-looking.In farmland, lay field rail adopts the investment of the automatic cultivating apparatus of the base of the rail to be recoverable to then, can also obtain income 70000 yuan every year between 24 years afterwards.Use the present invention to be 8 to 4 hundred million mu in China's long-term goal making farmland of carrying out opening up wasteland, wherein the potential field size of opening up wasteland of Fujian, Zhejiang two province just reaches 8,000 ten thousand mu.The automatic cultivating apparatus of the base of the rail adopts work about electric power, and electric power can be regenerated by solar energy, than the theory adopting the oil-engine driven tractor of fossil fuel more to meet sustainable development.The stand-by power consumption of the automatic cultivating apparatus of the base of the rail is 1 wattage magnitude; The idling power consumption of internal combustion engine is 1000 wattage magnitudes.Electromotor volume is little and can in an automatic cultivating apparatus of the base of the rail, use 10 electrical equipment design freedoms large, the interface phase of electrical equipment is very friendly for computer control system, is particularly suitable for thus promising for complicated operations such as Cha Yang Office corn piching cottons.The work position that the present invention can provide a large amount of Long-distance Control, application development and Robot Design to manufacture, attractive to the teenager of existing game of wallowing in.The present invention can make the whole world extensively be benefited equally.

Accompanying drawing explanation

Be described further below in conjunction with accompanying drawing.

Fig. 1 is a schematic diagram arranging the removable photovoltaic generating system of the base of the rail and automatic cultivating apparatus on many groups of parallel field rails of more smooth farmland.Fig. 2 is one and arranges to existing terraced fields transformation the schematic diagram that parallel double field rail uses the removable photovoltaic generating system of the base of the rail and automatic cultivating apparatus.Fig. 3 is one and arranges to existing hillside fields transformation the schematic diagram that parallel double field rail uses the removable photovoltaic generating system of the base of the rail and automatic cultivating apparatus.Fig. 4 is the schematic diagram of the integral type terraced fields of a terraced fields dam and the field rail removable photovoltaic generating system of the band base of the rail built of one and automatic cultivating apparatus.Fig. 5 is the schematic diagram of the integral type terraced fields of a terraced fields dam and the parallel double field rail removable photovoltaic generating system of the band base of the rail built of one and automatic cultivating apparatus.Fig. 6 be one cement double track parallel double field rail is set in farmland face composite construction schematic diagram.Fig. 7 is a side-looking structural representation arranging cement double track parallel double field rail in farmland.Fig. 8 is that the automatic cultivating apparatus of the base of the rail of a band hook plate faces structural representation.Fig. 9 is the base of the rail automatic cultivating apparatus side-looking structural representation of a band hook plate.Figure 10 is that structural representation faced by a steel pipe rack parallel double field rail with two load load-bearing interfaces.Figure 11 is a steel pipe rack parallel double field trackside TV structure schematic diagram with two load load-bearing interfaces.Figure 12 is TV structure schematic diagram on a parallel double field rail being with pillow concrete.Figure 13 is the parallel double field trackside TV structure schematic diagram of a band pillow concrete.Figure 14 is a three electric pushrod bidimensional sun light tracking bases of the rail removable photovoltaic generating system side-looking structural representation being arranged in farmland.Figure 15 is three electric pushrod bidimensional solar tracking devices arrange three spherical pair junctions structural representation in photovoltaic cell back.Figure 16 is that a removable photovoltaic generating system of the three electric pushrod bidimensional sun light tracking bases of the rail be arranged in farmland faces structural representation.Figure 17 is the structural representation of an electric pushrod.Figure 18 is the electronic screw structure schematic diagram of a band spherical pair linkage interface.

Figure 19 is the power transmission line steel-tube construction schematic diagram of an electric linkage interface of inner band.Figure 20 is the power transmission line steel-tube construction schematic diagram of an electric linkage interface of easy folding inner band.Figure 21 is the apportion figure of each parts of power transmission line steel pipe of an electric linkage interface of easy folding inner band.Figure 22 is the backsight structural representation of an automatic cultivating apparatus of the base of the rail.Figure 23 is the upper TV structure schematic diagram of an automatic cultivating apparatus of the base of the rail.Figure 24 is the side-looking structural representation of an automatic cultivating apparatus of the base of the rail.Figure 25 is one and arranges at farmland the side-looking structural representation that parallel double field rail travels the base of the rail movable solar energy multiplex utilization facilities of band mew.Figure 26 is one and arranges at farmland the upper TV structure schematic diagram that parallel double field rail travels the farmland base of the rail solar energy equipment of band mew.Figure 27 is the computer controlled subsystem block diagram of a removable photovoltaic generating system of the base of the rail.

1. farmlands in figure; 2. parallel double field rail; 3. removable photovoltaic generating system; 4. automatic cultivating apparatus; 5. chassis; 6. external platform hanging beam; 7. road; 8. wide paths for tractors in the countryside; 9. photovoltaic battery panel; 10. alignment sensor; 11. storehouses; 12. laser collimator platforms; 13. terraced fields; 14. terraced fields dams; 15. hillside fields; 16. transition cushion blocks; 17. cement piles; 18. screw threads; 19. stitching portions; 20. cap plates; 21. clamping plate; 22. water pipes; 23. electric poles; 24. power line steel pipes; 25. through holes; 26. wheels; 27. trundles; 28. field rail restraining plates; 29. Vidacare corps; 30. load load-bearing interfaces; 31. strengthen screw; 32. automatic rotary nail devices; 33. hook plates; 34. pores; Steel pipe on 36.; 37. times steel pipes; 38. truss; 39. pre-embedded bolts; 40. stubs; 41. power lines; 42. pillow concretes; 43. I shape rail; 44. connecting rods; 45. inverters; 46. times main electric pushrods; 47. times secondary electric pushrods; Main electric pushrod on 48.; Secondary electric pushrod on 49.; 50. major network frame plates; 51. times dashed rectangle; 52. dotted line quadrilateral frames; Dashed rectangle on 53.; 54. main electric pushrod spherical pair structural attachment points; 55. secondary electric pushrod spherical pair structural attachment points; 56. crops; 57. casings; 58. push rods; 59. Vidacare corps; 60. screw mandrels; 61 feed screw nuts; 62. worm screws; 63. large spherical pair mechanisms; 64. cores; 65. connect electric reed; 66. substrates; 67 terminal boxes; 68. caulking gum sheets; 69. notches; 71. motherboards; 72. left lids; 73. right lids; 74.C type chute; 75. flange; 76. dividing plates; 77. light current wire casings; 78. wire barrels; 79. upper hopper chutes; 80. gliding grooves; 81.C type bar; 82. block terminals; 83. chassis elevating mechanisms; 84. first external platform hanging beams; 85. second external platform hanging beams; 86. the 3rd external platform hanging beams; 87. chassis platforms; 88. container for storing; 89. lifting facilities; 90 power line linkage interfaces; 91. field track surface cameras; 92. win in succession; 93. hoist cables; 94. masts; 95. harvesting threshing and stalk strapping manipulator assemblies; 96. plough and fertilizer machinery hand assembly; 97. rice transplanting manipulator assemblies; 98. transport vehicles; 101. comprehensive solar energy housings; 102. worm and gear followers; 103. grid structure; 104. solar energy collectings utilize device; Between the cloudy crop growth of 105 happiness; 106. mew; 107. turbine; 108. electronic worm screws; 111. governor circuit; 112. memory device; 113. communication module interface circuits; 114. user-machine interface circuit; 115. inverter interface circuits; 116. alignment sensor interface circuits; 117. wheels Vidacare corp interface circuits; 118. power line inspection modules survey interface circuit; 119. times main electric pushrod interface circuits; 120. times secondary electric pushrod interface circuits; Main electric pushrod interface circuit on 121.; Secondary electric pushrod interface circuit on 122.; 123. watch-dog interface circuits; 124. bus.

Embodiment

Fig. 1 provides first embodiment of the invention.In Fig. 1, in farmland 1, three groups of parallel double field rails 2 are made East and West direction layout and are laid side by side, often organize and comprise two field rails 2.Field rail 2 runs and has removable photovoltaic generating system 3.Middle one group of field rail 2 runs and has an automatic cultivating apparatus 4.Automatic cultivating apparatus 4 comprises middle chassis 5 and both sides external platform hanging beam 6.External platform hanging beam 6 is for running more than one group various farmland manipulator.A wide paths for tractors in the countryside 8 communicated with road 7 is provided with for travelling automatic cultivating apparatus 4 in the middle of farmland 1.Distinguish the region of each group of field rail with dotted line in Fig. 1.Two field rails 2 that dotted line separates are double track.

Get double track wide 1910 millimeters; The effective operation length of one-sided external platform hanging beam 6 1545 millimeters, namely the maximum fabric width of cultivating apparatus operation is 5 meters automatically.The size of removable photovoltaic generating system 3 photovoltaic battery panel 9, interval and layout are also unrestricted, comprise employing 9 pieces of photovoltaic battery panels 9 and are arranged in north-south three and arrange the array that East and West direction three arranges.Wide by 1062 by the long 1580* of standard size every block photovoltaic battery panel 9; North and south spaced 630; North-south total length 6 meters.Spaced 630 millimeters of East and West direction; East and West direction overall width 4446 millimeters.Here, the reason that East and West direction size is less than north-south is: East and West direction illumination angle is followed the tracks of and comprised that low west, east in the morning is high and afternoon is high in the east and low in the west, and total movement range is also large; And elevation angle tracking in north-south is that height south, north is low on the Northern Hemisphere, total movement range is little.I.e. order photovoltaic battery panel 9 array north-south overall length 6 meters and the spacing only 5 meters of Liang Zu field, north and south rail 2, but still the photovoltaic battery panel 9 of the removable photovoltaic generating system 3 in two, north and south can be made mutually not conflict mutually.Reason is the photovoltaic battery panel 9 being in the Northern Hemisphere can be that north-south is in tilted layout, and height is straggly.Although can there is the situation that photovoltaic battery panel 9 in the south blocks north when winter crosses, the time of blocking of causing of crossing is short, and impact is little.Can also make photovoltaic battery panel 9 north in the morning being in the Northern Hemisphere in left layout is as Fig. 1 shown in wide paths for tractors in the countryside 8 right part; Synchronously carrying out all the time shown in wide paths for tractors in the countryside 8 left side in right layout is as figure of north in afternoon.Within one day, only can cross once like this, mutually not block at ordinary times.

The working range of automatic cultivating apparatus 4 is wider, and the field rail 2 that unit are is laid is fewer.But when field rail 2 East and West direction is laid, winter is considered for following the tracks of, the photovoltaic battery panel 9 north side height higher than southern side will reach 0.6 times of photovoltaic battery panel 9 north-south overall length dimension, and consider that this total height is to be no more than 3 meters as well, then the total length of photovoltaic battery panel 9 is limited with 5 meters.Certainly, because illumination angle also will be followed the tracks of, its width is also limited with 5 meters.According to this, then average 5 meters, north-south distance will lay one group of field rail 2, and 133.34 meters of parallel double field rails 2 will be laid in every mu of ground.(be a unit with 5 meters with one group two parallel double field rail 2 costs 38 yuan/meter, comprise 2 stanchion+bearing plates 20 yuan, reinforced concrete parallel double field rail 2*50 unit, 70 yuan, the power line in other station, amount to 190 yuan) meter, the cost of parallel double field, 1 mu of ground rail 2 wants 38*133.34=5066.92(unit).Photovoltaic battery panel 9 specified output 1.62kw/ block.In shading factor 0.1, removable photovoltaic generating system 3 each run 31.86 meters (1.062*3*10).Every mu arranges block number 4 pieces of (667/(31.86*4) ≈ 5.23) amount to 6.48 kilowatts, the cost of parallel double field rail 2 is roughly equal to 0.78 yuan/w.Share 50% with automatic cultivating apparatus 4 and drop to 0.39 yuan/w.The benefit of removable photovoltaic generating system comprises: can install at farmland and cause hardly crop production reduction, peasant household oneself install and exempt from space expenses and weeding expense, exempt from the power transmission and transformation investment of long distance and loss.

Farmland 1 or wide paths for tractors in the countryside 8 are provided with positioning references 10 for helping the computer controlled subsystem location of removable photovoltaic generating system 3 and automatic cultivating apparatus 4.For example utilize the laser range finder on removable photovoltaic generating system and automatic cultivating apparatus to obtain with the distance of positioning references 10 and calculate the traveling of position data for servomechanism of removable photovoltaic generating system 3 and automatic cultivating apparatus 4.

On farmland 1 border, storehouse 11 is set for storage of granular materials, stalk and aftermarket attachment; Lee can also be provided for taking turns upper cultivation.The storehouse 11 be connected with field rail 2 can provide the protection of removable photovoltaic generating system 3 and automatic cultivating apparatus 4.

On field rail 2, appropriate location arranges laser collimator platform 12, measures the state guaranteeing to understand field rail 2 in time for using to parallel double field rail.Laser collimator platform 12 can be one piece of that conveniently find, that position is fixed, area is 100*100 square millimeter firm plane.

Fig. 2 provides second embodiment of the invention.In Fig. 2, parallel double field rail 2 is set in terraced fields 13 and comprises and make parallel double field rail 2 directly cross over terraced fields dam 14, and run removable photovoltaic generating system 3 and automatic cultivating apparatus 4 on parallel double field rail 2.Parallel double field rail 2 in easy flights in 14 °.Reduce as far as possible parallel double field rail 2 ruling grade and make whole section of parallel double field rail 2 with some gradients close to the horizontal segment of 0 ° for interim parked removable photovoltaic generating system 3 and automatic cultivating apparatus 4.

Fig. 3 provides third embodiment of the invention.In Fig. 3, parallel double field rail 2 is set in hillside fields 15, and runs removable photovoltaic generating system 3 and automatic cultivating apparatus 4 on parallel double field rail 2.Parallel double field rail 2 in easy flights in 10 °.Reduce as far as possible parallel double field rail 2 ruling grade and make whole section of parallel double field rail 2 with some gradients close to the horizontal segment of 0 ° for interim parked removable photovoltaic generating system 3 and automatic cultivating apparatus 4.The parallel double field rail of Fig. 2 and Fig. 3 embodiment can adopt rail spacing to only have the width of 0.5 meter, and single track can also be adopted to run simple cultivating apparatus such as single track spraying machine automatically.

Fig. 4 provides four embodiment of the invention.In Fig. 4, the parallel double field rail 2 that two-wire is described represents two two field rails that are parallel to each other, and in terraced fields, the distance of two field rails can be less than 0.5 meter.Parallel double field rail 2 and terraced fields dam 14 or the terraced fields circle dam integral production of surrounding earth completely.The level height of each field of terraced fields 13 can be different.Parallel double field rail 2 is raised gradually from beneath starting point wide paths for tractors in the countryside 8.Terraced fields 13 topside area is large, thus adopts 3 parallel double field rails 2 and adopts a wide paths for tractors in the countryside 8 to be communicated with by 3 parallel double field rails 2 at terraced fields 3 top.Parallel double field rail 2 travels and has removable photovoltaic generating system 3 and automatic cultivating apparatus 4.

Fig. 5 provides fifth embodiment of the invention.In Fig. 5, parallel double field rail 2 i.e. two field rails 2 of standard field rail that distance inside and outside between two field rails 2 is equal all the time be designed with two schemes: 1) hillside is relatively steep, and two field rails all keep the contour synchronous rising in top to spiral to mountain top for terraced fields dam 14 integral production and inside and outside two field rails 2 pushing ahead; 2) hillside is not bery steep, and only with outer field rail and larger that root field rail of corner radius and terraced fields dam 14 integral production, the field rail of the inside is just simply placed in terraced fields and inside and outside the contour synchronous rising of two field rails is spiraled to mountain top and pushed ahead.Parallel double field rail 2 is raised gradually from beneath starting point wide paths for tractors in the countryside 8.Terraced fields 13 topside area is large, thus adopts 3 parallel double field rails 2 and adopts a wide paths for tractors in the countryside 8 to be communicated with by 3 parallel double field rails 2 at terraced fields 3 top.Parallel double field rail 2 travels and has removable photovoltaic generating system 3 and automatic cultivating apparatus 4.It is not only attractive in appearance that straight terraced fields are pulled out on border, and rice transplanting is cut rice and facilitated machinery operation.

Fig. 6 and Fig. 7 provides sixth embodiment of the invention jointly.In Fig. 6,7, the weight of parallel double field rail 2 and load thereof passes to the soil of farmland 1 by transition cushion block 16 and cement pile 17.Transition cushion block 16 comprises upper and lower double-layer structure; Transition cushion block lower floor, for providing larger load-bearing area, can adopt reinforced concrete to make; Transition cushion block upper strata is for providing buffering between parallel double field rail 2 and transition cushion block lower floor and load-bearing transitional function.Directly parallel double field rail 2 is pressed on cement pile 17 if very stiff and demanding, can not ensures that gravity is transmitted in both abundant face contacts.The material on transition cushion block upper strata can adopt the material identical with the cushion block between existing viaduct crossbeam and pier stud, or adopt a certain proportion of wooden molding powder particle more again injection moulding make.Transition cushion block 16 can also be set between parallel double field rail 2 and farmland 1 to improve the operating mode of parallel double field rail 2.Cement pile 17 adopts reinforced concrete to make, and surface can be threaded 18 and conveniently be screwed in farmland 1 by special equipment; The lower end point of cement pile 17, cement pile 17 top being placed in stitching portion 19 place of adjacent, parallel pair of field rail 2 is with the larger cap plate 20 of area.The stitching portion 19 of parallel double field rail 2 adopts clamping plate 21 to connect.The shady face of parallel double field rail 2 also arranges water pipe 22.Parallel double field rail 2 is by electric pole 23 erecting power lines steel pipe 24.For weight reduction, through hole 25 can also be set on parallel double field rail 2.

Automatic cultivating apparatus 4 is contacted with parallel double field rail 2 by wheels 26 and transmits weight.In order to ensure that the centre position that wheels are in parallel double field rail 2 top surface is all the time unlikely landing, adopt the field rail restraining plate 28 of band trundle 27.When wheels 26 produce the phenomenon of parallel deviate two fields rail 2 in advancing, due to the effect of contraction of the trundle 27 on wheels 26 both sides, wheels 26 are made not depart from further and to travel all the time in the tram of parallel double field rail 2.Wheels 26 with a Vidacare corp 29 for push-and-pull field rail restraining plate 28.When automatic cultivating apparatus 4 needs upper wide paths for tractors in the countryside, field rail restraining plate 28 pull-up to Fig. 6 dotted line position, makes field rail restraining plate 28 not affect automatic cultivating apparatus 4 and travels on wide paths for tractors in the countryside by Vidacare corp 29.

Fig. 8 and Fig. 9 provides seventh embodiment of the invention jointly.In Fig. 8 and Fig. 9, the transition cushion block 16 of farmland 1 is arranged cement parallel double field rail 2.The top of cement parallel double field rail 2 is the load-bearing field rail planes can running wheels 26, also has a load load-bearing interface 30 in a side of parallel double field rail 2; A pore 34 is contained in the Lower Half of parallel double field rail 2.When adopting double track, load load-bearing interface 30 can stay the automatic cultivating apparatus that build reduces temporarily, and now the load-bearing field rail plane at parallel double field rail 2 top can pass through a removable photovoltaic generating system.This provides guarantee for removable photovoltaic generating system and crossing smoothly of automatic cultivating apparatus.Load load-bearing interface 30 also can be designed to run roller or wheels.When pore 34 is for draining flooded fields, the ponding in ground can flow into pore 34 by stitching portion 19 and flow out farmland 1 along pore 34.In Fig. 8 and Fig. 9, cement parallel double field rail 2 has the mechanical characteristic material-saving of I-steel and is suitable as crossbeam, and it is highly also higher.In Fig. 8 and Fig. 9, chassis 5 is also provided with and strengthens screw 31 and automatic rotary nail device 32.Automatic rotary nail device 32 is connected with computer for controlling signal by interface circuit, can screw in strengthening screw 31 at any time and makes the state of movable solar energy device obtain reinforcing in farmland 1 to be conducive to wind resistance; Automatic cultivating apparatus can also be made to have more firm basis when opening up wasteland construction.In Fig. 8 and Fig. 9, the automatic cultivating apparatus chassis 5 of the base of the rail of band hook plate is also provided with hook plate 33, and hook plate 33 and a Vidacare corp 29 are in transmission connection.Vidacare corp 29 is connected with computer for controlling signal by interface circuit, enough for the top of hook plate 33 shape things can be advanced in the groove of parallel double field rail 2 and to make to be with the automatic cultivating apparatus of the base of the rail of hook plate and parallel double field rail 2 to be combined as a whole to be conducive to wind resistance; The automatic cultivating apparatus of the base of the rail of band hook plate can also be made to have more firm basis when opening up wasteland construction.

Figure 10 and Figure 11 provides eighth embodiment of the invention jointly.In Figure 10 and Figure 11, the transition cushion block 16 in farmland 1 is arranged steel pipe rack parallel double field rail 2.Steel pipe rack parallel double field rail 2 comprises upper steel pipe 36 and lower steel pipe 37 and the truss 38 being connected steel pipe 36 and lower steel pipe 37 of two parallel double layouts.Parallel double field rail 2 pre-embedded bolt 39 is fixed on cement pile 17 and stub 40.Upper steel pipe 36 can run wheels 26.Surface due to upper steel pipe 36 is circular, and the outer surface of wheels 26 is a concave surface coincide with tubular surface.Wheels 26 can only be made up of a wheel.Lower steel pipe 37 also reserves a load load-bearing interface 30.When adopting double track, load load-bearing interface 30 can stay the automatic cultivating apparatus that build reduces temporarily, and now the load-bearing field rail plane at parallel double field rail 2 top can pass through a removable photovoltaic generating system.This provides guarantee for removable photovoltaic generating system and crossing smoothly of automatic cultivating apparatus.Load load-bearing interface 30 also can be designed to run roller or wheels.Embedding in upper steel pipe 36 have power line 41.Upper steel pipe 36 and lower steel pipe 37 can select diameter range to be the aluminum-plated steel pipe of 20 millimeters to 360 millimeters.Steel pipe rack parallel double field rail 2 shock resistance is strong.It is applicable to build, and bamboo grove is amid the mountains this does not need large-scale agriculture, and the semi-finished product fortune just bamboo or bamboo are processed into is gone down the hill the purposes of coming.More than 20 meters can be connected into for across mountain stream when installing at the scene.When using stub that parallel double field rail is installed, preservative treatment can be carried out to stub.

Figure 12 and Figure 13 provides ninth embodiment of the invention jointly.In Figure 12 and Figure 13, the I shape rail 43 of two band pillow concretes 42 connects to form parallel double field rail 2 with connecting rod 44, is set directly in farmland 1.Automatic cultivating apparatus 4 travels on parallel double field rail 2.The wheel band wheel rim of wheels 26 is to guarantee not skid off parallel double field rail 2.Adopt parallel double field rail 2 shock resistance of I shape rail 43 strong, be applicable to the provisional operations such as the mountain region reclamation of wasteland, and can sling easily.Comprise pasture in some cases, field rail 2 can not also be adopted, but still need other station power line, on farmland and pasture, directly travel removable photovoltaic generating system 3 or automatic cultivating apparatus 4.

Figure 14, Figure 15 and Figure 16 provide the of the present invention ten embodiment jointly.In Figure 14 to 16, inverter 45, lower main electric pushrod 46, lower secondary electric pushrod 47, upper main electric pushrod 48, upper secondary electric pushrod 49, wheels driving mechanism and communication module that the removable photovoltaic generating system of three electric pushrod bidimensional sun light trackings 3 be arranged in farmland 1 is comprised computer control system, is electrically connected by interface circuit and computer control system, and chassis 5, wheels 26, major network frame plate 50 and photovoltaic battery panel 9.Removable photovoltaic generating system 3 by wheels 26 and parallel double field rail 2 to farmland 1 conduction gravity.Each group of return pulley 26 respectively band driving and direction adjusting apparatus.Parallel double field rail 2 also have some electric poles 23 erect power line steel pipe 24.Single shaft one dimension is followed the tracks of and twin shaft bidimensional follows the tracks of the output about 10% and 30% that can increase photovoltaic battery panel respectively.The present invention, except adopting existing various single shaft and double-shaft tracking mechanism, also designs the bidimensional solar tracking device of employing three electric pushrod.Electric pushrod is a kind of conventional electronic components and parts, comprises dead lever and motion bar; The end of its motion bar and the bottom of dead lever comprise spherical pair linkage interface with linkage interface.Can to move as forward-reverse along axial line own and change the spatiality of connected load in the end of the motion bar of electric pushrod.Chassis 5 in Figure 14 and Figure 16, lower main electric pushrod 46, major network frame plate 50 and lower secondary electric pushrod 47 form a following dashed rectangle 51 and the quadrangle shown in dotted line quadrilateral frame 52.The lower main electric pushrod 46 of order is rigidly connected with chassis 5, and makes major network frame plate 50 connect lower main electric pushrod 46 and lower secondary electric pushrod 47 by spherical pair mechanism, the more lower secondary electric pushrod 47 of order is also connected by spherical pair mechanism with between chassis 5.So both can overcome the characteristic of quadrilateral structure instability, major network frame plate 50 can be made again to stir freely.The lower main electric pushrod 46 of order bears more weighing load can alleviate the above-mentioned load about spherical pair structure reduction weight and cost.Equally, the upper main electric pushrod 48 in Figure 14, photovoltaic battery panel 9, upper secondary electric pushrod 49 and major network frame plate 50 form an as above quadrangle shown in dashed rectangle 53.In order, main electric pushrod 48 is rigidly connected with major network frame plate 50, and makes photovoltaic battery panel 9 connect upper main electric pushrod 48 and upper secondary electric pushrod 49 by spherical pair mechanism, the upper secondary electric pushrod 49 of order is also connected by spherical pair mechanism with between major network frame plate 50.So both can overcome the characteristic of quadrilateral structure instability, photovoltaic battery panel 9 can be made again to stir freely.In order, main electric pushrod 48 bears more weighing load and can alleviate the above-mentioned load about spherical pair structure and reduce weight and cost.As can be seen from Figure 16: if all photovoltaic battery panels 9 are arranged in a plane, 27 electric pushrods altogether of 9 pieces of photovoltaic battery panels 9 can be saved and a large amount of gaps can not be reserved between individual photovoltaic battery panel 9, but two lateral extents be 5 meters photovoltaic battery panel 9 only one dimension follow the tracks of be in 45 ° of states as oblique doublet time, its flash will exceed 3.535 meters, low limit.Add the height 1 meter on low limit, flash overhead has over 4.5 meters; Bidimensional is followed the tracks of and also will be increased about 1 meter and highly reach 5.5 to be equivalent to two floors of floor height 2.7 meters high.And adopt and adopt two-stage bidimensional trackings and the sun light tracking of major network frame plate 50 and the sun light tracking of each photovoltaic battery panel 9 as shown in Figure 14 and Figure 16, even if do bidimensional tracking like this, involved limiting altitude overhead also can on year-on-year basis lower than 3.5 meters.In addition, the overall manufacturing cost of the monolith substrate of integrated 9 pieces of photovoltaic battery panels 9 may exceed that the two-stage of the embodiment of the present invention 10 follows the tracks of, and it is also more responsive to wind-force.

Adopt three electric pushrods just can realize the bidimensional of photovoltaic battery panel towards control.Arrange three points at the back side of photovoltaic battery panel 9 in Figure 15, one of them is put long line that main electric pushrod spherical pair structural attachment point 54 is positioned at cross centre line slightly offsets from below central point and locates; Remaining two points secondary electric pushrod spherical pair structural attachment point 55 is positioned at long line both sides place above cross centre line central point.Figure 17 from behind can find out: under adopting electronic screw body to make, main electric pushrod 46 and lower secondary electric pushrod 47 have the long advantage of stroke.When lower main electric pushrod 46 and lower secondary electric pushrod 47 drop to minimum point on its feed screw nut, its upper end can be made through the gap photovoltaic battery panel, to reduce photovoltaic battery panel to greatest extent.When there being strong wind, the lower windage of photovoltaic battery panel is less.More than three electric pushrods can also be adopted to drive, at this moment will prevent correlation tracking mechanism from forming the redundant structure phenomenon described in theory of mechanics.

The electronic screw body controlled for sun light tracking needs configuration angle memory device to implement precise hard_drawn tuhes.Usual angle memory device comprises the disk that is connected concentric on electromotor, uniform 36 through holes on described disk.A light source and an optical signal sensor are set respectively at the two ends of described through hole.When disk rotational, through hole shines directly into optical signal sensor by the light of light source each time, and angle memory device all can be made once to count.Accumulative all electromotor corner numbers can know the tracking mode of each photovoltaic battery panel, the state of adding parallel double field rail residing for described removable photovoltaic generating system comprises the information that the real-time calculating of its orientation, computer clock, on-the-spot sun altitude and illumination angle and sunshine state sensor provide, and just can be formed at that time to the control signal of described tracking means.Be 25 with the tooth number of feed screw nut's pitch 10 millimeters of described electric pushrod, described worm gear, the speed ratio 37 of decelerator, then electromotor often rotates 100 turns, and the corresponding displacement of feed screw nut on screw mandrel is about 1.081(10/25/37*100) millimeter.

The operation principle of embodiment 10 can be summarized as follows: daytime, computer control system, according to program with by the weather forecast that communication module obtains, sends instruction and makes photovoltaic battery panel 9 maintain the original state or enter and be in windproof state or continue to follow the tracks of sunshine.By inverter the direct current change of current become alternating current when removable photovoltaic generating system 3 light electrogenesis reaches some strength and outwards export electric energy by the power line in power line steel pipe 24.Meanwhile, adopt different speed to walk on parallel double field rail 2 according to the situation of the crops 56 in farmland, accomplish that crops 56 normal growth in generating and farmland is neglected neither.Centre, embodiment 10 chassis 5 chooses height and power line steel pipe 24 keeps lower position to be also the consideration grown for treatment crops 56.

Figure 17 provides eleventh embodiment of the invention.In Figure 17, electric pushrod comprises a casing 57, push rod 58, Vidacare corp 59, screw mandrel 60 and feed screw nut 61.Casing 57, push rod 58, Vidacare corp 59, screw mandrel 60 and feed screw nut 61 arranged concentric.Vidacare corp 59 comprises electromotor and decelerator.Vidacare corp 59 is fixed on bottom casing 57.Feed screw nut 61 coordinates with screw mandrel 60 and is connected with push rod 58.Along with rotating and reverse of electromotor, push rod can move forward and backward within the specific limits.

Figure 18 provides twelveth embodiment of the invention.In Figure 18, electronic screw lift structure comprises an elevating screw mechanism and an electronic worm-and-wheel gear; Elevating screw mechanism comprises an elevating screw 60 and a feed screw nut 61 coordinated with elevating screw 60; Electronic worm-and-wheel gear comprise an electronic worm screw 62 and one with electronic worm engaging and with the worm gear of feed screw nut 61 integral production; Electronic worm screw 62 is with an electric driving mechanism 59.Be connected with basis bottom elevating screw 60; Feed screw nut 61 worm gear is connected with load by a revolute pair mechanism.Electronic worm screw 62 rotates forward or reverses and drives feed screw nut 61 worm gear to be elevated and make load comparative basis increase or decline.In Figure 18 embodiment, be connected by spherical pair mechanism with basis bottom elevating screw 60, feed screw nut 61 worm gear is connected with load by a spherical pair mechanism, can be used as each secondary electric pushrod in embodiment 10; Be fixedly connected with basis bottom elevating screw 60, feed screw nut 61 worm gear is connected with load by a spherical pair mechanism, can be used as each main electric pushrod in embodiment 10.In Figure 18 embodiment, when described basis be chassis with the wheels assembly be connected bottom elevating screw, described load and elevating screw 60 by one-dimensional movement vice mechanism to be connected with chassis limit elevating screw rotate around Pivot Point Center line time, just form a chassis elevating mechanism, electronic worm screw 62 rotates forward or reverses and drives feed screw nut 61 worm gear to be elevated and make load chassis comparative basis wheels assembly increase or decline.Chassis adopt four described chassis elevating mechanisms be connected with four wheels assemblies, both can pass through chassis, chassis elevating mechanism and wheels assembly and transmit gravity to field rail, the rising that four described chassis elevating mechanisms can be made again to be synchronized with the movement realize chassis or reduce action.Chassis level obliquity sensor can also be configured comprise along chassis fore-and-aft direction namely along the chassis fore-and-aft direction level inclination sensor of field rail center line fore-and-aft direction and the chassis left and right directions level inclination sensor along chassis left and right directions on chassis.Described chassis level obliquity sensor is made to be connected with main control computer signal by interface circuit with the electronic worm screw 62 of four chassis elevating mechanisms, then can realize chassis state and reduce lifting and level inclination control according to the instruction of main control computer, form a chassis balance Control Scheme subsystem.

When feed screw nut 61 worm gear to be connected with electronic worm screw 62 by a revolute pair mechanism and to be connected with wheels, electronic worm screw 62 rotating band driving wheel group turns to, and forms a wheels course changing control mechanism be made up of revolute pair mechanism, wheels, feed screw nut 61 worm gear be connected with wheels, the electronic worm screw 62 that engages with feed screw nut 61 worm gear.

Figure 19 provides thirteenth embodiment of the invention.In Figure 19, the power transmission line steel pipe of the electric linkage interface of inner band comprises power line steel pipe 24, be arranged at power line core 64 with exposed surface on the insulating materials of power line steel pipe 24 inside, connect electric reed 65, connect electric reed substrate 66, terminal box 67 and caulking gum sheet 68.Four cores 64 are electrically connected with the three-phase and four-line of electrical network; Substrate 66 connects four and connects electric reed 65 and be connected with terminal box 67 through the notch 69 of power line steel pipe 24.The line related line of removable photovoltaic generating system and automatic cultivating apparatus realizes the electrical connection with electrical network by terminal box 67.In Figure 19, for convenience of interpreting blueprints, electric reed 65 will be connect and separate some distances with substrate 66, only for understanding the position connecing electric reed 65; Connect electric reed 65 to only have to fit with substrate 66 and could realize being electrically connected.When real work, removable photovoltaic generating system and automatic cultivating apparatus drive terminal box 67 to move, and rely on the pressure connecing electric reed 65 to remain on the good electrical in moving with elasticity and are connected.Caulking gum sheet 68 can recover closure state and prevent dust from entering power line steel pipe 24 after substrate 66 is removed.In Figure 19, core 64, to connect electric reed 65, caulking gum sheet 68 and notch 69 length equal with steel pipe 24; Connect electric reed 65 tens of milliseconds and driven by removable photovoltaic generating system or automatic cultivating apparatus and realize electrical connection in movement.

Figure 20 and Figure 21 provides fourteenth embodiment of the invention jointly.In Figure 20, the power transmission line steel pipe of an electric linkage interface of easy folding inner band, comprises motherboard 71, left lid 72, right lid 73.Be embedded with an electrical connection interface at left lid 72 and right lid 73 inside, described electrical connection interface comprises C type chute 74 and two substrates 66.The flange 75 of motherboard 71, left lid 72 and right lid 73 form the housing of the power transmission line steel pipe of the electric linkage interface of easy folding inner band.Motherboard 71 is integrated with the core 64 of the power line of 8 band exposed surfaces, with dividing plate 76, light current wire casing 77 and flange 75.4,8 core 64 right sides are for transmitting the three-phase and four-line of alternating current altogether, and by electrical connection interface base plate 66 connect electric reed 65 and wire barrel 78 is electrically connected with removable photovoltaic generating system and automatic cultivating apparatus.Dividing plate 76 is for isolating adjacent core 64; 4, left side heart yearn 64 is for low-voltage DC power line and for subsequent use.Light current wire casing 77 is for depositing holding wire and the communication temperature-measuring optical fiber of various sensor.Left lid 72 and right lid 73 symmetrical shape, but the top tongue of left lid 72 can embed in the tongue of right lid 73 than the slightly smaller of right lid 73.C type chute 74 comprises upper hopper chute 79, gliding groove 80 and C type bar 81, and upper hopper chute 79 coordinates with the tongue at right lid 73 top; Gliding groove 80 coordinates with flange 75.Motherboard 71 is equal with right lid 73 three length with the left lid 72 forming power transmission line steel pipe housing; The length about 20 to 140 millimeters of C type chute 74 and substrate 66 and by removable photovoltaic generating system or automatically cultivating apparatus drive realize electrical connection in movement.Electric pole 23 supports power transmission line steel pipe.The electric pole 23 being in farmland 1 border doubles as the passage between the underground pipe of block terminal 82 and protection power line sometimes.In Figure 20, for convenience of interpreting blueprints, electric reed 65 will be connect and separate some distances with substrate 66, only for understanding the position connecing electric reed 65; Connect electric reed 65 to only have to fit with substrate 66 and could realize being electrically connected.When real work, rely on the pressure connecing electric reed 65 to remain on the good electrical in moving with elasticity and be connected.

Core for subsequent use in Figure 20 can be used for the power line of electric fence and adopts left lid 72 and right lid 73 as the charged interface of electric fence, does harm to and management livestock for preventing beast.

Figure 21 only describes the shape during power transmission line steel pipe all parts independence of the easily electric linkage interface of folding inner band in Figure 20 embodiment for convenience.

Figure 22 to 24 provides fifteenth embodiment of the invention jointly.In Figure 22 to 24, automatic cultivating apparatus comprises chassis 5, roller automatic centering control subsystem, chassis balance Control Scheme subsystem, being arranged at chassis 5 is above the first halfpace beam, second halfpace beam, 3rd halfpace beam, be arranged at the two groups of external platform hanging beams i.e. first external platform hanging beam 84 on both sides, chassis 5, second external platform hanging beam 85, 3rd external platform hanging beam 86, chassis platform 87, be placed in the container for storing 88 on chassis platform 87 and lifting facility 89, the power line linkage interface 90 being arranged at the chassis level obliquity sensor on chassis 5 and being electrically connected with station, side power line.Roller automatic centering control subsystem comprises wheels assembly and is arranged at the field track surface camera 91 before and after wheels 26.Main control computer also uses figure identification application software.Wheels assembly comprises wheels 26, wheels drive unit and wheels steering control device; Wheels 26 contact with field rail 2.Wheels drive unit can comprise the wheel actuation techniques scheme of electric bicycle with reference to prior art.

Chassis balance Control Scheme subsystem comprises chassis 5, wheels assembly, the chassis elevating mechanism 83 of four connecting base plates 5 and wheels assembly and the chassis level obliquity sensor that is arranged on chassis 5.Chassis balance Control Scheme subsystem is introduced in Figure 18 embodiment 12.

The outer end of each external platform hanging beam 84,85,86 is by one piece of 92 connection of winning in succession, and winning in succession 92 is connected with the mast of four on chassis 5 94 with hoist cable 93; The very low requirement met about operation can put to obtain with wheels assembly junction is tall in chassis 5 by chassis 5 like this, meet again other station power line can not ether low be submerged by water requirement is set.First halfpace beam and two first external platform hanging beams 84 are provided with harvesting threshing and stalk strapping manipulator assembly 95; Second halfpace beam and two second external platform hanging beams 85 are provided with arable land and fertilizer machinery hand assembly 96; 3rd halfpace beam and two the 3rd external platform hanging beams 86 are provided with rice transplanting manipulator assembly 97.A transport vehicle 98 is followed closely after automatic cultivating apparatus.The automatic cultivating apparatus of 22 to 24 embodiment adopts chassis elevating mechanism 83, can adjustment at any time keep chassis 5 to be in horizontal proper states all the time in advancing, and height error that is middle to field rail 2 and both sides scope of operation farmland 1 can also carry out accommodation.

Figure 25 and 26 provides sixteenth embodiment of the invention jointly.In Figure 25 and Figure 26, parallel double field rail 2 is set in farmland for travelling the removable farmland base of the rail solar energy equipment of a band mew, comprise comprehensive solar energy housing 101, wheels 26, be arranged at worm and gear follower 102 between comprehensive solar energy housing 101 and wheels 26, grid structure 103, comprehensive solar energy housing 101 top solar energy collecting utilize device 104, comprehensive solar energy housing 101 inside the cloudy crop growth of happiness between 105 and mew 106.

The chassis 5 that worm and gear drives follower 102 to comprise the turbine 107 that is fixedly connected with the grid structure 103 bottom comprehensive solar energy housing 101 and one to be connected four wheels assemblies.Grid structure 103 is connected with chassis 5 by a revolute pair.Turbine 107 can form a worm and gear driving mechanism with being installed on together with the electronic worm screw 108 on chassis 5 with the worm gear flank of tooth.When electronic worm screw 108 is rotated, grid structure 103 does rotating relative to chassis 5 together with the comprehensive solar energy housing 101 on it.Electronic worm screw 108 is connected with main control computer signal by interface circuit, therefore, it is possible to the state realizing movable solar energy multiplex utilization facilities changes according to the change of the dependent instruction of main control computer and follows the tracks of sunshine all the time.In figure, dashed rectangle represents that state possible in sunshine process followed the tracks of by comprehensive solar energy housing 101.

The solar energy collecting at comprehensive solar energy housing top utilizes that device 104 comprises photovoltaic power generation plate, solar energy heat collector, solar energy baking equipment, Photospot solar utilize one of parts, nursery greenhouse.Like cloudy crops and comprise mushroom.Grid structure 103 is covered with floor, raise poultry and domestic animal in the mew 106 that the solar energy collecting at floor and comprehensive solar energy housing 101 top utilizes the spatial synthesis solar energy housing 101 of the bottom portion defining of device 104.Evening, under movable solar energy multiplex utilization facilities is in the supervision of professional security company or get back to the lee of storehouse on farmland 1 limit.

Above-described embodiment is that the old labour in younger rural area provides suitable work position, while planting vegetables, raise mushroom, poultry and livestock.The removable breeding on people's pipe 10 mu of ground, annual work 200 days, working 1 to 3 hour, can increase income 1 to 2 ten thousand yuan/year by providing the organic products such as meat milk fowl every day.Throughout the year in farmland dynamic be also conducive to healthy.Removable breeding is that straw utilization finds an outlet, and provides organic manure endlessly to keep soil fertility and farmland to go extensive use of chemical fertilizer to provide condition for farmland.

Figure 27 provides seventeenth embodiment of the invention.In Figure 27, manufacture the computer controlled subsystem of a removable photovoltaic generating system of the base of the rail, comprise governor circuit 111, the memory device 112 be connected with governor circuit 111 signal, communication module and interface circuit 113 thereof, satellite positioning module, wireless broadcast reception module, man-machine interface and interface circuit 114 thereof and casing, , inverter interface circuit 115, alignment sensor interface circuit 116, wheels Vidacare corp and interface circuit 117 thereof, power line detection module and interface circuit 118 thereof, lower main electric pushrod and interface circuit 119 thereof, lower secondary electric pushrod and interface circuit 120 thereof, upper main electric pushrod and interface circuit 121 thereof, upper secondary electric pushrod and interface circuit 122 thereof and watch-dog and interface circuit 123 thereof.It is characterized in that governor circuit 111, memory device 112, communication module interface circuit 113, user-machine interface circuit 114, inverter interface circuit 115, alignment sensor interface circuit 116, wheels Vidacare corp interface circuit 117, power line inspection module surveys interface circuit 118, lower main electric pushrod interface circuit 119, lower secondary electric pushrod interface circuit 120, upper main electric pushrod interface circuit 121, upper secondary electric pushrod interface circuit 122 is connected by bus 124 with watch-dog interface circuit 123.

According to the embodiment 17 of Figure 27, can draw the automatic cultivating apparatus of the base of the rail etc. computer controlled subsystem block diagram, repeat no more here.

Claims

1. the automatic cultivating apparatus of the base of the rail with hook plate, comprises Ge Dao threshing robot, and containing secondary two uncinuses on the chassis that it is characterized in that described automatic cultivating apparatus, described uncinus and a Vidacare corp are in transmission connection.

2. the automatic cultivating apparatus of a kind of base of the rail with hook plate according to claim 1, is characterized in that described Vidacare corp is connected with computer for controlling signal by interface circuit, can advance in the groove of parallel double field rail by the top structure shape thing of described uncinus; And the automatic cultivating apparatus of the base of the rail and parallel double field rail are combined as a whole be conducive to wind resistance.