CN105432166A - Unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery - Google Patents
Unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery Download PDFInfo
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- CN105432166A CN105432166A CN201410492272.8A CN201410492272A CN105432166A CN 105432166 A CN105432166 A CN 105432166A CN 201410492272 A CN201410492272 A CN 201410492272A CN 105432166 A CN105432166 A CN 105432166A
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Abstract
The invention provides an unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery. The machine is a product researched and developed under the guidance of Program for Agricultural Machinery Development written by a web celebrity Luoyang No.1. The objective of the invention is to draw a full stop for manual farm-work described as farmers weed for crops under the midday sun and sweat moistens soil between stalks. According to the invention, a compass, one of the Four Great Inventions of ancient China, is adopted; the shadow of the compass generates an electronic signal; a computer sets a route; a probe head touches the straw part of crops; an onboard camera images; a man-machine interaction VRML virtual reality base interface controls directions; a pendulum touching switch is used to control hydraulic pressure so as to maintain mechanical balance; thus, unmanned walking of the agricultural machine in a field replaces manual work. The machine uses an electric motor as a mechanical power, a solar cell panel as an energy source, and an onboard power station as a supplementary energy source. Moreover, a rotary probe head touches the straw part of the crops to record the directions, so movement range of a hoe is accurately controlled; the function of fertilization is completed with acquired signals by imitating the following actions: chicken peck rice, a snake sticks a tongue out, and a tiger wiggles a tail; and the machine is applicable to weeding and fertilizing for orchards like a jujube orchard, an apple orchard and a pear orchard, and high-stalk crop fields like a corn field and a sorghum field.
Description
Technical field
Unattended fertilizer distributor of hoeing up weeds is the agricultural elementary intelligent machine of the alternative artificial field labour utilizing contemporary science and technology to research and develop.That " agricultural machinery development outline " agricultural machinery in No. 1, response to network intelligent Luoyang will realize after 30 years, mechanization, digitlization, informationization, intellectuality, computer controlled machine tool, the prospect of prosthetic field operation, instruct under, the product of research and development.Object is given, and " hoe midday standing grain day, sweat is native under dripping standing grain." over 5,000 years, field hand labor finishes.This machinery is applicable to orchard (as: jujube tree garden, apple orchard, pear tree garden etc.) fertilising of hoeing up weeds, and tall and big crops (as: corn field, sorghum field etc.) are hoed up weeds fertilising.
Background technology
At present, China Aerospace is landed on the moon, the Jade Hare the moon walking freely, pilotless automobile is run at highway, and a unpiloted farm machinery appears in field, substitutes hand labor, and being no longer mythical, should not be legendary dream.Chemical weed control, medicament residue, contaminated environment, affect quality of food, the existence of spoiled soil microbial reproduction reduces fertility, and the mankind cannot accept gradually.Manpower weeding efficiency is low, cost is high.Energy scarcity environmental pollution, selects clean energy resource solar energy, and unattended machinery is hoed up weeds and substituted manually, is that people talk about maximum Chinese dreams, and the development of science and technology provides possibility to today for realizing this Chinese dream.
Summary of the invention
China's dream increases confidence positive energy to the research and development of the unattended fertilizer distributor of hoeing up weeds of solar energy, elementary intelligent machine.Nothing but without, having non-ly has, nothing of doing some things, groundless.Groundless door, research and development machinery, the unattended fertilizer distributor of hoeing up weeds of agricultural elementary intelligent machine.
1., with the compass of Chinese four inventions, the electronic signal that compass shade produces, computer settings path, probe touching crops subaerial bar portion, airborne camera image, non-linear and video work station, computer technology control mechanical action by wireless network, the human-computer interaction of interface, VRML virtual reality base;
When left side probe touches the subaerial bar portion of crops, first acquisition and recording crops azimuth information, image information, determine crops geographical coordinate, utilize large-scale digital collection, graph and image processing and visual programming language, its growing way of Computer Analysis, for farmland management fertilizer irrigation provides digital information, slow down or the instruction that halts then to right side road wheel signal, machinery is turned to the right, when left side probe leaves the subaerial bar portion of crops, intrinsic correction shifting function enabled by calculator, machinery is made to get back on the numerical map digital path of former setting, the right side all relevant parts of probe and left side all relevant parts of popping one's head in have identical function, road wheel is the netted conically shaped body having motor reducer to drive, at the installation rubber strip that netted conically shaped body is thick, road surface can not destroyed in cement and asphalt road surface walking, enter farmland, rubber strip press-in soil, whole netted conically shaped body road wheel, contact field, ground non-skid property are good, when machine work is to the edge of a field, calculator sends wait instruction alarm sounds, or manual hand manipulation, or pass through network operation, or calculator is according to after one minute stand-by period of setting, calculator completes next instruction automatically, use motor positive and inverse function, side forward, side backward, rotate running wheel and complete tune, or with hydraulic lifting system, ground is left in whole machinery rise, according to known set crop row pitch information, left and right distance between regulating wheel, hoe operating position, rotate whole machinery and complete tune, calculator Automatic-searching set path, start next line field work, adopt pendulum touch switch in conjunction with electrolevel, hydraulic control system, automatic regulation function keeps mechanical balance, reaches the unmanned walking afield of agricultural machinery and replaces artificial work, unattended fertilizer distributor of hoeing up weeds is provided with seat, orchard worker can be sitting on seat, the work of viewing screen monitor machine automatization, can also pinch to fruit tree pruning by the electronic rotor of hand-held stock, alleviate orchard worker and close terraced hand-held beta pruning pincers pickaback, climb up the work of creeping, as jujube tree garden, decrease the injury of jujube tree thorn to orchard worker, the birth of this invention, intelligent machine is in farmland, and human-computer interaction, artificial intelligence are worked automatically according to seetting program, automatically walks according to setting numerical map path, and virtual reality interface is just like object for appreciation 3D game.
2. be machine power with motor, solar panel is the energy, and vehicle-mounted power generating station is for supplementing the energy; Be arranged on hoe top with rotating detector, touching crops bar portion computer recording azimuthal coordinates information, artificial intelligence precisely controls hoe range of movement;
Different soils needs difformity, the hoe cutter of different operating form, and this machinery is furnished with: crescent tine, prompt drop line tine, rolling tine, beads chain carry tine, rotating fan tine; (accompanying drawing 1)
Crescent hoe: be adapted to the soil with handstone, sandy soil ground or the larger micro-damp soil of viscosity, wide adaptability, hoe moves back and forth land readjustment, and soil moisture conservation performance is good, and sandy soil ground clayed ground can use; Crescent hoe has: little tooth, the Tang Dynasty shafts plough arm, the adjustable inclination angle slideway that seesaws, shrinking connecting-rod, power motor composition under crescent forging tine, hoe support; Power motor drives shrinking connecting-rod by eccentric wheel, shrinking connecting-rod links the Tang Dynasty shafts plough arm, shrinking connecting-rod runs seesawing on slideway, the slideway that seesaws has adjustable tilt angle, arm forges tine together with crescent to the Tang Dynasty shafts plough, advance rollback is back and forth hoed up weeds, hoe advances and hoes up weeds, tine gos deep into soil, rollback is because ploughing arm shrinking connecting-rod in the restriction of slideway adjustable tilt angle that seesaws by the Tang Dynasty shafts, lift a little and crush soil soil block, also with little tooth under hoe, be equivalent to nine finger rake functions, land readjustment is preserved soil moisture; The Tang Dynasty shafts plough brachiocylloosis place is provided with motor, the runner cutting knife of driven by motor, under limit switch controls, timing, the weeds hung on the Tang Dynasty shafts plough arm, shreds field of being scattered, under crescent tine support, launch and accept electrode is installed, makes its electrode contact soil, the Computer Analysis signal of telecommunication, understand soil moisture pH value information, instruct next rural labor link to irrigate and topdress;
Prompt drop line hoe: make according to mathematics prompt drop line principle, reduces when hoe works and the resistance of soil, with relatively accelerating during edge cuts grass roots to design; Be adapted to the soil with handstone, sandy soil ground or the larger micro-damp soil of viscosity, adapt to the farmland that weeds are more, and hoe moves back and forth land readjustment, and soil moisture conservation performance is good, and sandy soil ground clayed ground can use; Prompt drop line hoe has: with little tooth, the Tang Dynasty shafts plough arm, the adjustable inclination angle slideway that seesaws, shrinking connecting-rod, power motor composition under prompt drop line forging tine, tine support, tine support; Power motor drives shrinking connecting-rod by eccentric wheel, shrinking connecting-rod links the Tang Dynasty shafts plough arm, shrinking connecting-rod runs seesawing on slideway, the slideway that seesaws has adjustable tilt angle, arm forges tine together with crescent to the Tang Dynasty shafts plough, advance rollback is back and forth hoed up weeds, hoe advances and hoes up weeds, tine gos deep into soil, rollback is because ploughing arm shrinking connecting-rod in the restriction of slideway adjustable tilt angle that seesaws by the Tang Dynasty shafts, lift a little and crush soil soil block, also with little tooth under hoe, be equivalent to nine finger rake functions, land readjustment is preserved soil moisture; The Tang Dynasty shafts plough brachiocylloosis place is provided with motor, the runner cutting knife of driven by motor, under limit switch controls, timing, the weeds hung on the Tang Dynasty shafts plough arm, shreds field of being scattered, under prompt drop line tine support, launch and accept electrode is installed, makes its electrode contact soil, the Computer Analysis signal of telecommunication, understand soil moisture pH value, instruct next link to irrigate and topdress;
Rolling hoe: be applicable to the soil that sandy soil are soft, the soil that the be full of cracks of viscosity larger arid is hard; Rolling hoe has: rolling tine, zigzag corrugation disk, rolling tine zigzag corrugation disk need one-shot forming to extrude from the center of circle to toothed edge along the inclination perching knife, the Tang Dynasty shafts plough arm, the slideway that seesaws, shrinking connecting-rod, the power motor composition that dispersion shape corrugation, the axis of rolling combining multiple rolling tine zigzag dispersion shape corrugation disk, axis of rolling support, support prevent weeds be wound around roller bearing; Power motor drives shrinking connecting-rod by eccentric wheel, shrinking connecting-rod links the Tang Dynasty shafts plough arm, shrinking connecting-rod runs seesawing on slideway, the Tang Dynasty shafts plough arm, drive axis of rolling support, axis of rolling support drives the axis of rolling, the tine of the axis of rolling, interlock rolling tine zigzag dispersion shape corrugation disk combination hoe, rolling hoe moves back and forth back and forth in the fields, advance chopping weeds and viscosity arid be full of cracks soil block, with little tooth under retrogressing rolling hoe support, be equal to nine finger rake functions, make land readjustment; The inclination perching knife preventing weeds to be wound around the axis of rolling that support is installed is that the clearance-adjustable of use and the axis of rolling roots out the weeds be wrapped on the axis of rolling; The Tang Dynasty, brachiocylloosis place of shafts plough are provided with motor, the runner cutting knife of driven by motor, the weeds hung on the Tang Dynasty, shafts plough arm, shred field of being scattered, under the axis of rolling support of rolling hoe, launch and accept electrode is installed, make its electrode contact soil, the Computer Analysis signal of telecommunication, understands soil moisture pH value, instructs next link to irrigate and topdresses;
Beads chain carries hoe: be adapted to weeds vigorous, grass roots well developed root system, be coupled to block, packing interlocks, tear constantly, resilient enough, soil just as the tangled skein of jute, beads chain carries hoe to be had: sharp hoe pocket knife, beads chain, the snakelike dragging track of tubulose, dragging track maintain static cutter, gear soil, gear grass, the spherical horn ring of device feature, in pairs engaged gears, relay add force motor, Rotation Controllers, telescope support, gear, tooth bar, annular probe form, the annular probe touching subaerial bar portion of crops, signal transmission, Computer Analysis sends instruction, electric machine rotation gear, gear driven tooth bar, telescope support is in company with tooth bar motion, the closing-up of sharp hoe pocket knife is on beads chain, water lubrication walking in the snakelike dragging track of tubulose that telescope support is fixing, dragging track maintains static cutter, gear soil, gear grass, device, chain at least installs two, the spherical horn ring of engaged gears in pairs, form the afterburning group of motors of relay, as the sportsman of relay on sports ground, a motor is in charge of one section, avoid chain and motor part of the force short distance pulling force excessive, Rotation Controllers, control the snakelike dragging track of electric machine rotation telescope support interlock tubulose, chain carries hoe sharp hoe pocket knife and from tubulose snakelike dragging track seam, stretches out cutter head hoe up weeds,
Beads chain invention reason origin: repeatedly mechanical experiment has no resolution puzzlement, go to temple to pray in White Horse Temple, Luoyang, earnestly hoping Buddhist patriarch and open and show that Buddhist power accommodates, is that ten thousand people pray for blessings, when paying homage to before kwan-yin statue, earnestly hoping kwan-yin thousand hand helps me to save all over the world common people, farming hard work, withdraws arms and stands up, see one occupy the hand-held beads mouth of scholar read " bha Buddha ", suddenly see the light, beads chain is born since then, and beads is exactly the chain that I wants, and is sense Buddhist grace, name beads chain; The equal overturning of Wei Jin horse in period is the founder of chain industry, and chain was one-dimensional plane walking more than 2,000 year, and to carry cutter spacing by the snakelike dragging track of tubulose for chain since then, can from one-dimensional plane, and migration is in two-dimentional three dimensions;
Beads chain technique makes: ball-type round end is welded on the one end on cylinder connecting rod, the other end to weld in one on empty hemisphere, in two, empty hemisphere has the extruding of four rivets to close, forms spherical shape and add cone hollow lumen, the cylinder connecting rod that ball-type round end welds together embeds spherical shape and adds cone hollow lumen, and in two, empty dome-type can be installed when four rivet pressings simultaneously and carry cutter;
Rotating fan hoe: be applicable to soil soft, the grass just germinateed, the soil that weeds are sparse; Rotating fan hoe has: rotating fan tine, motor and electric machine controller, telescope support tooth bar, and annular is popped one's head in, prevent axle to be wound around weeds perching knife composition; The annular probe touching subaerial bar portion of crops, signal transmission, Computer Analysis sends instruction, electric machine rotation gear, gear driven tooth bar, and telescope support is in company with tooth bar motion, and motor rotarily drives fan-shaped tine and hoes up weeds.
3. with probe touching crops bar portion collection signal, machine analysis as calculated, sends instruction, and precise positioning completes that chicken pecks rice, snake tells letter, tiger wags the tail fertilizing functions, chicken pecks rice: be the action of pecking rice with the chicken that imitates rigidly, and one on the other, one one conjunction, pecks rice as chicken to the parts of the chicken face shape made of steel, snake tells letter: be the device of making one as snake letter, She Zui opens snake letter and spues, and chemical fertilizer is accurately sent in heatable adobe sleeping platform, tiger wags the tail: be that row is swept in driven by motor elastic steel sheet rotation, as tiger its tail, the chemical fertilizer in heatable adobe sleeping platform built, makes land readjustment, make as chicken nozzle type beak is arranged on the lever top that can lift up and down with steel material, two panels coaxial eccentric wheel is installed in lever front end, axle head installs gear sheet, gear sheet occlusion sector gear sheet, sector gear sheet is arranged on motor, electric machine rotation sector gear sheet driven gear sheet, gear sheet is rotated and is driven coaxial two panels eccentric wheel, because of eccentric effect, lever top is lifted and is put down, when putting down, chicken nozzle type beak is pounded into soil by the eccentric inertia force rotated, utilize the closing device of design in chicken nozzle type beak, after chicken nozzle type beak enters soil, open chicken nozzle type beak makes soil be separated, plastic hose makes, parts as snake tells letter send chemical fertilizer into heatable adobe sleeping platform, tiger wags the tail, and rotate with an elastic steel sheet of driven by motor and sweep row, the chemical fertilizer in heatable adobe sleeping platform is built, and land readjustment completes fertilising.
For reducing farmer's burdens, crescent tine, rolling tine, beads chain carry tine, rotating fan tine, prompt drop line hoe; Chicken pecks rice, snake tells letter, tiger wags the tail fertilizing functions; Can directly with existing agricultural machinery, hand tractor, four-wheel tractor uses.
accompanying drawing illustrates:
The unattended fertilizer distributor of hoeing up weeds of (accompanying drawing 1) agricultural elementary intelligent machine, crescent hoe
The unattended fertilizer distributor of hoeing up weeds of (accompanying drawing 2) agricultural elementary intelligent machine, virtual reality prompt drop line hoe jujube garden sectional drawing
The unattended fertilizer distributor of hoeing up weeds of (accompanying drawing 3) agricultural elementary intelligent machine, rolling hoe
(accompanying drawing 4) virtual reality jujube garden sectional drawing
(accompanying drawing 5) prompt drop line tine
(accompanying drawing 6) camera view control inerface
(accompanying drawing 7) beads tine
(accompanying drawing 8) crescent tine
(accompanying drawing 9) walking tractor matching uses
(accompanying drawing 10) four-wheel tractor uses.
Claims (8)
1. the unattended fertilizer distributor of hoeing up weeds of agricultural elementary intelligent machine: the electronic signal produced with the compass of Chinese four inventions, compass shade, computer settings path, probe touching crops subaerial bar portion, airborne camera image, non-linear and video work station, computer technology control mechanical action by wireless network, the human-computer interaction of interface, VRML virtual reality base, road wheel is the netted tapered cylinder having motor reducer to drive, at the installation rubber strip that netted tapered cylinder is thick, road surface can not destroyed in cement and asphalt road surface walking, enter farmland, rubber strip press-in soil, whole netted tapered cylinder road wheel, contact field, ground non-skid property are good, when machine work is to the edge of a field, calculator sends wait instruction alarm sounds, or manual hand manipulation, or pass through network operation, or calculator is according to after one minute stand-by period of setting, calculator completes next instruction automatically, use motor positive and inverse function, side forward, side backward, rotate running wheel and complete tune, or with hydraulic lifting system, ground is left in whole machinery rise, according to known set crop row pitch information, left and right distance between regulating wheel, hoe operating position, rotate whole machinery and complete tune, calculator Automatic-searching set path, start next line field work, adopt pendulum touch switch in conjunction with electrolevel, hydraulic control system, automatic regulation function keeps mechanical balance, reaches the unmanned walking afield of agricultural machinery and replaces artificial work, be machine power with motor, solar panel is the energy, and vehicle-mounted power generating station is for supplementing the energy, be arranged on hoe top with rotating detector, touching crops bar portion computer recording azimuthal coordinates information, artificial intelligence precisely controls hoe range of movement, different soils needs difformity, the hoe cutter of different operating form, and this machinery is furnished with crescent tine, rolling tine, beads chain carry tine, rotating fan tine, prompt drop line hoe, chicken pecks rice, snake tells letter, tiger wags the tail fertilizing functions, unattended fertilizer distributor of hoeing up weeds is provided with seat, and orchard worker can be sitting on seat, and the work of viewing screen monitor machine automatization, all right electronic rotor of hand-held stock is to fruit tree pruning.
2. according to the unattended fertilizer distributor configuration hoe tine of hoeing up weeds of elementary intelligent machine agricultural described in claim 1., it is characterized in that: crescent hoe, little tooth, the Tang Dynasty shafts plough arm, the adjustable inclination angle slideway that seesaws, shrinking connecting-rod, power motor composition under crescent forging tine, hoe support; Under crescent tine support, launch and accept electrode is installed, makes its electrode contact soil, the Computer Analysis signal of telecommunication, understand soil moisture pH value information, instruct next rural labor link to irrigate and topdress.
3. according to the unattended fertilizer distributor configuration hoe tine of hoeing up weeds of elementary intelligent machine agricultural described in claim 1., it is characterized in that: prompt drop line hoe, make according to mathematics prompt drop line principle, reduce when hoe works and the resistance of soil, with relatively accelerating during edge cuts grass roots to design; Prompt drop line hoe has: with little tooth, the Tang Dynasty shafts plough arm, the adjustable inclination angle slideway that seesaws, shrinking connecting-rod, power motor composition under prompt drop line forging tine, tine support, tine support.
4. according to the unattended fertilizer distributor configuration hoe tine of hoeing up weeds of elementary intelligent machine agricultural described in claim 1., it is characterized in that: rolling hoe has: rolling tine, zigzag corrugation disk, rolling tine zigzag corrugation disk need one-shot forming to extrude from the center of circle to toothed edge along the inclination perching knife, the Tang Dynasty shafts plough arm, the slideway that seesaws, shrinking connecting-rod, the power motor composition that dispersion shape corrugation, the axis of rolling combining multiple rolling tine zigzag dispersion shape corrugation disk, axis of rolling support, support prevent weeds be wound around roller bearing.
5. according to the unattended fertilizer distributor configuration hoe tine of hoeing up weeds of elementary intelligent machine agricultural described in claim 1., it is characterized in that: beads chain carries hoe to be had: sharp hoe pocket knife, beads chain, the snakelike dragging track of tubulose, dragging track maintain static cutter, gear soil, gear grass, device feature, mated gear is engaged spherical horn ring, relay adds force motor, Rotation Controllers, telescope support, annular probe composition; The equal overturning of Wei Jin horse in period is the founder of chain industry, and chain was one-dimensional plane walking more than 2,000 year, and chain carries cutter from one-dimensional plane since then, and migration is in two-dimentional three dimensions.
6. according to the unattended fertilizer distributor configuration hoe tine of hoeing up weeds of elementary intelligent machine agricultural described in claim 1., it is characterized in that: rotating fan hoe has: rotating fan tine, motor and electric machine controller, telescope support tooth bar, annular is popped one's head in, prevent axle to be wound around weeds perching knife composition; The annular probe touching subaerial bar portion of crops, signal transmission, Computer Analysis sends instruction, electric machine rotation gear, gear driven tooth bar, and telescope support is in company with tooth bar motion, and motor rotarily drives fan-shaped tine and hoes up weeds.
7. according to the unattended fertilizer distributor fertilising of hoeing up weeds of elementary intelligent machine agricultural described in claim 1.; it is characterized in that: with probe touching crops bar portion collection signal; machine analysis as calculated, sends instruction, and precise positioning completes that chicken pecks rice, snake tells letter, tiger wags the tail fertilizing functions; Chicken pecks rice: be the action of pecking rice with the chicken that imitates rigidly, and one on the other, one one conjunction, pecks rice as chicken to the parts of the chicken face shape made of steel; Snake tells letter: be the device of making one as snake letter, She Zui opens snake letter and spues, and chemical fertilizer is accurately sent in heatable adobe sleeping platform; Tiger wags the tail: be that row is swept in driven by motor elastic steel sheet rotation, as tiger its tail, the chemical fertilizer in heatable adobe sleeping platform built, makes land readjustment.
8. according to claim 2.3.4.5.6.7., the unattended fertilizer distributor of hoeing up weeds of agricultural elementary intelligent machine configures hoe tine, its feature of applying fertilizer: crescent tine, rolling tine, beads chain carry tine, rotating fan tine, prompt drop line hoe; Chicken pecks rice, snake tells letter, tiger wags the tail fertilizing functions; Can directly with existing agricultural machinery, hand tractor, four-wheel tractor uses.
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| CN110286610A (en) * | 2019-06-18 | 2019-09-27 | 华南农业大学 | A kind of device and method using mechanical touching acting regulatory rice growth |
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| Publication number | Publication date |
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| CN105432166B (en) | 2019-03-15 |
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