CN105432166B - A kind of unattended fertilizer applicator of hoeing up weeds of agricultural primary intelligent machine - Google Patents
A kind of unattended fertilizer applicator of hoeing up weeds of agricultural primary intelligent machine Download PDFInfo
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- CN105432166B CN105432166B CN201410492272.8A CN201410492272A CN105432166B CN 105432166 B CN105432166 B CN 105432166B CN 201410492272 A CN201410492272 A CN 201410492272A CN 105432166 B CN105432166 B CN 105432166B
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- hoe
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- tine
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Abstract
The machinery is a kind of unattended fertilizer applicator of hoeing up weeds of agricultural primary intelligent machine, the product researched and developed under the guidance of network intelligent Luoyang 1 " agricultural machinery development outline ".Purpose gives hoe midday standing grain day, soil under droplet standing grain.Field hand labor finishes.Electronic signal, computer settings path, probe touching the crops bar portion, airborne camera image, human-computer interaction VRML virtual reality base Interface Control direction generated with the compass of Chinese four inventions, compass shade;Hydraulic holding mechanical balance is controlled using pendulum touch switch;Reach the unmanned afield walking of agricultural machinery and replaces artificial work.It is machine power with motor, solar panel is the energy, and vehicle-mounted power generating station is the supplement energy.Orientation is recorded with rotating detector touching crops bar portion, is precisely controlled hoe motion range.It completes chicken with acquisition signal and pecks a meter snake and spit letter tiger to wag the tail fertilizing functions.Such as suitable for orchard: fertilising and tall and big crops are hoed up weeds such as in jujube tree garden, apple orchard, pear tree garden: milpa, sorghum field are hoed up weeds fertilising.
Description
Technical field
Unattended fertilizer applicator of hoeing up weeds is the agricultural primary intelligence using the artificial field labour of substitution of contemporary science and technology research and development
It is mechanical.Being in response to " the agricultural machinery development outline " in network intelligent Luoyang 1 will realize after agricultural machinery 30 years, mechanization, digitlization, letter
Breathization, intelligence, computer controlled machine tool, the prospect of prosthetic field operation, under guidance, the product of research and development.Purpose is to " hoe standing grain
Day midday, soil under droplet standing grain." over 5,000 years, field hand labor finishes.The machinery is suitable for orchard (such as: jujube tree garden, apple
Orchard, pear tree garden etc.) hoe up weeds fertilising and tall and big crops (such as: milpa, sorghum field) fertilising of hoeing up weeds.
Background technique
Currently, China Aerospace land on the moon, the Jade Hare the moon walking freely, pilotless automobile is run in highway, field
Between there is a unpiloted farm machinery, substitute hand labor, be no longer it is mythical, be not intended to be legendary dream.Change
It learns weeding, medicament residue, pollution environment, influence quality of food, destroying edaphon breeding existence reduces fertility, and the mankind are gradually
Can not it receive.It is manpower weeding low efficiency, at high cost.Energy shortages environmental pollution selects clean energy resource solar energy, unmanned behaviour
Hoeing up weeds as machinery, it is artificial to substitute, and is that people talk about most Chinese dreams, scientific and technological development realizes that this Chinese dream is mentioned to today
Having supplied may.
Summary of the invention
Chinese dream increases confidence positive energy to the research and development of solar energy, the unattended fertilizer applicator of hoeing up weeds of primary intelligent machine.
Nothing but without, have it is non-have, nothing of doing some things, create groundless rumors.Groundless door, research and development are mechanical, the unmanned behaviour of agricultural primary intelligent machine
It hoes up weeds fertilizer applicator.
1. with the compass of Chinese four inventions, the electronic signal of compass shade generation, is visited computer settings path
The subaerial bar portion of head touching crops, airborne camera image, non-linear and video work station, computer technology pass through nothing
Gauze network, the interface human-computer interaction of VRML virtual reality base control mechanical action；
When left side, probe touches crops subaerial bar portion, acquisition and recording crops azimuth information, figure first
As information, determine crops geographical coordinate, using large-scale digital collection, graph and image processing and visual programming language,
Computer analyzes its growing way, provides digital information for farmland management fertilizer irrigation, then slows down or stops to right side traveling wheel signal
Only advancement commands, make it is mechanical turn to the right, when left side, probe leaves crops subaerial bar portion, computer enables former
The correction shifting function of design makes on the mechanical numerical map digital path for returning to former setting, all relevant components of right side probe
To left side pop one's head in all relevant components have the function of it is identical；Traveling wheel is the netted cone for having motor reducer to drive
Body can walk in cement and asphalt road surface in the installation rubber strip that netted conically shaped body is thick and not destroy road surface, into agriculture
Field, rubber strip are pressed into soil, and entire netted conically shaped body traveling wheel, contact field, ground non-skid property are good；A works as machine work
When to the edge of a field, computer, which issues, to be waited instruction alarm sounds or manual hand manipulation or is pressed by network operation or computer
After one minute waiting time of setting, computer is automatically performed next instruction, with motor positive and inverse function, side forward, side
Backward, rotation running wheel completes u-turn, or entire mechanical rise is left ground with hydraulic lifting system, according to known set
Crops line space information, left and right distance between adjustment is taken turns, hoe operating position, the entire machinery of rotation are completed to reverse end for end, and computer is certainly
It is dynamic to find setting path, start next line field work；Using pendulum touch switch combination electrolevel, control hydraulic pressure system
System, automatic regulation function keep mechanical balance, reach the unmanned afield walking of agricultural machinery and replace artificial work；Unattended hoe
Careless fertilizer applicator is equipped with seat, and orchard worker can be seated on the seat, and viewing screen monitor machine automatization work can take stock with hand
Electronic rotor is pinched to fruit tree pruning, is mitigated orchard worker and is pickaback closed terraced hand by beta pruning pincers, climbs up the labour creeped, such as jujube tree garden, subtract
Injury of the jujube tree thorn to orchard worker is lacked；The birth of the invention, intelligent machine is in farmland, and human-computer interaction, artificial intelligence are according to setting
Determine program to work automatically, according to setting numerical map path automatically walk, virtual reality interface is just like object for appreciation 3D game.
2. being machine power with motor, solar panel is the energy, and vehicle-mounted power generating station is the supplement energy;Use rotating detector
It is mounted on hoe top, touching crops bar portion computer records azimuthal coordinates information, and artificial intelligence is precisely controlled hoe movement
Range；
Different soils needs different shape, the hoe cutter of different operating form, which is furnished with: crescent tine, speed
It drops line tine, roll tine, beads chain carrying tine, rotating fan tine；(attached drawing 1-10)
Crescent hoe: the soil with handstone, sandy land or the larger micro- damp soil of viscosity, adaptability are adapted to
Extensively, hoe moves back and forth prepartion of land, and soil moisture conservation performance is good, and sandy land clayed ground can use;Crescent hoe has: crescent moon
Small tooth, the Tang Dynasty shafts plough arm, move forward and backward adjustable inclination angle slideway, shrinking connecting-rod, power motor under shape forging tine, hoe bracket
Composition；Power motor drives shrinking connecting-rod by eccentric wheel, and shrinking connecting-rod links the Tang Dynasty shafts and ploughs arm, and shrinking connecting-rod is moving forward and backward
It is run on slideway, moving forward and backward slideway has adjustable tilt angle, and the Tang Dynasty shafts plough arm and retract together with crescent moon shape forging tine, advance
Back and forth hoe up weeds, hoe advance is hoed up weeds, and tine gos deep into soil, retract because by the Tang Dynasty shafts plough arm shrinking connecting-rod move forward and backward slideway can
The limitation for adjusting tilt angle slightly lifts crushing soil soil block, also has small tooth under hoe, be equivalent to nine finger rake functions,
Prepartion of land is set to preserve soil moisture；Motor is installed, motor-driven runner cutter is controlled in limit switch at the plough brachiocylloosis of the Tang Dynasty shafts
Under, periodically the weeds hung on the Tang Dynasty shafts plough arm, chopping is scattered field, and under crescent tine bracket, installation transmitting receives electricity
Pole makes its electrode contact soil, and computer analyzes electric signal, understands soil moisture pH value information, instructs next rural labor
Link irrigates top dressing；
Prompt drop line hoe: is made according to mathematics prompt drop line principle, reduce hoe work when and soil resistance, use side
Edge designs when cutting grass roots with respect to acceleration；It is adapted to the soil with handstone, sandy land or viscosity are larger micro- wet
Soil adapts to the more farmland of weeds, and hoe moves back and forth prepartion of land, and soil moisture conservation performance is good, and sandy land clayed ground can make
With;Prompt drop line hoe has: prompt drop line forges and ploughs arm, front and back with small tooth, the Tang Dynasty shafts under tine, tine bracket, tine bracket
Move adjustable inclination angle slideway, shrinking connecting-rod, power motor composition；Power motor drives shrinking connecting-rod by eccentric wheel, stretches
Connecting rod links the Tang Dynasty shafts and ploughs arm, and shrinking connecting-rod is run on moving forward and backward slideway, and moving forward and backward slideway has adjustable tilt angle,
The Tang Dynasty shafts plough arm and back and forth hoe up weeds together with crescent moon shape forging tine, the rollback that advances, and hoe advance is hoed up weeds, and tine gos deep into soil, retract
Because being limited by the Tang Dynasty shafts plough arm shrinking connecting-rod moving forward and backward slideway adjustable tilt angle, crushing soil soil is slightly lifted
Block also has small tooth under hoe, is equivalent to nine finger rake functions, prepartion of land is made to preserve soil moisture；It is equipped at the plough brachiocylloosis of the Tang Dynasty shafts
Motor, motor-driven runner cutter, under limit switch control, periodically the weeds hung on the Tang Dynasty shafts plough arm, chopping dissipates
Falling field, under prompt drop line tine bracket, installation transmitting receiving electrode makes its electrode contact soil, and computer analyzes electric signal,
Soil moisture pH value is solved, next link is instructed to irrigate top dressing；
Roll hoe: the soil soft suitable for sandy soil, the hard soil of the larger arid cracking of viscosity；Rolling hoe has:
Rolling tine, zigzag corrugation disk, rolling tine zigzag corrugation disk needs one-pass molding to squeeze from the center of circle to toothed edge
Prevent along dispersion shape corrugation, the multiple axis of rolling for rolling tine zigzag dispersion shape corrugation disk of combination, rolling bracing strut, bracket
Only the inclination perching knife of weeds winding roller bearing, the Tang Dynasty shafts plough arm, move forward and backward slideway, shrinking connecting-rod, power motor composition；Power electric
Machine drives shrinking connecting-rod by eccentric wheel, and shrinking connecting-rod links the Tang Dynasty shafts and ploughs arm, and shrinking connecting-rod is run on moving forward and backward slideway,
The Tang Dynasty shafts plough arm, drive and roll bracing strut, and axis of rolling bracket drives the axis of rolling, and the axis of rolling, gearing roll the scattering of tine zigzag
Shape corrugation disk combines the tine of hoe, rolls hoe and moves back and forth in the fields back and forth, advance chopping weeds and viscosity arid
Be cracked soil block, retreats and rolls under hoe bracket with small tooth, is equal to nine finger rake functions, makes prepartion of land；It is installed on bracket
The inclination perching knife for preventing the weeds winding axis of rolling be to be wrapped on the axis of rolling with the clearance-adjustable of the axis of rolling to root out
Weeds；Motor is installed at the Tang Dynasty, shafts plough brachiocylloosis, motor-driven runner cutter, hang over the Tang Dynasty, it is miscellaneous on shafts plough arm
Grass, chopping are scattered field, and under the rolling bracing strut for rolling hoe, installation transmitting receiving electrode makes its electrode contact soil, calculates
Machine analyzes electric signal, understands soil moisture pH value, and next link is instructed to irrigate top dressing；
Beads chain carries hoe: it is vigorous to be adapted to weeds, grass roots well developed root system, be coupled blocking, packing staggeredly, tear not
Disconnected, resilient enough, the soil like the tangled skein of jute；Beads chain, which carries hoe, to be had: sharp hoe pocket knife, beads chain, tubulose are snakelike
Fixed cutter on dragging track, dragging track, earth-retaining, gear grass, device feature, in pairs engaged gears spherical shape horn ring,
Relay reinforces motor, Rotation Controllers, telescope support, gear, rack gear, annular probe composition；Annular probe touching crops connect
Subaerial bar portion, transmit signal, computer analysis issue instruction, motor rotate gear, gear band carry-over bar, telescope support with
Same rack movement, the tubulose that sharp hoe pocket knife is fixed on beads chain, in telescope support with closing-up is snakelike to slide rail
Water lubrication is walked in road, fixed cutter, earth-retaining, gear grass, device on dragging track, at least installed on chain two, it is in pairs
Mated gear is engaged spherical horn ring, forms relay and reinforces motor group, such as the sportsman of relay on sports ground, a motor
It is in charge of one section, avoids chain and motor part of the force short distance pulling force excessive, Rotation Controllers, control motor rotates telescope support
The snakelike dragging track of tubulose is interlocked, chain carries the sharp hoe pocket knife of hoe and stretches out cutter head hoe in the snakelike dragging track seam of tubulose
Grass；
Beads chain invention reason origin: multiple mechanical experiment has no resolution puzzlement, and Luoyang White Horse Temple is gone to temple to pray, and earnestly hopes Buddhist patriarch and opens and shows
The aid of Buddhist power, prays for blessings for ten thousand people, pays homage to when before kwan-yin statue, earnestly hoping thousand hand assisted of kwan-yin, I saves the world common people, farming
Hard work withdraws arms and stands up, see one occupy scholar's hand by beads mouth read " bha Buddha ", suddenly see the light, beads chain is born since then, read
Pearl is exactly the chain that I wants, for sense Buddhist grace, name beads chain；The equal overturning of Wei Jin period horse is the founder of chain industry, chain
Item is walked more than 2,000 years in one-dimensional plane, and beads chain carries cutter and limited by the snakelike dragging track of tubulose since then, can be from one
Dimensional plane, migration is in two-dimentional three-dimensional space；
The production of beads chain technique: ball-type round end is welded on one end on cylindrical body connecting rod, and the other end welds empty half in one
On sphere, there are four rivet extruding to close, forms spherical shape adds cone hollow lumen for empty hemisphere in two, and ball-type round end welds
The cylindrical body connecting rod insertion spherical shape being connected together adds cone hollow lumen, and empty dome-type is when four rivets press in two
Carrying cutter can be installed simultaneously；
Rotating fan hoe:, the grass that has just germinateed soft suitable for soil, the sparse soil of weeds；Rotating fan hoe has:
Rotating fan tine, motor and electric machine controller, telescope support rack gear, annular probe prevent axis winding weeds perching knife composition；Ring
The shape probe touching subaerial bar portion of crops, transmits signal, and computer analysis issues instruction, motor rotate gear, gear
Band carry-over bar, telescope support drive fan-shaped tine to hoe up weeds in company with rack movement, motor rotation.
3. acquiring signal with probe touching crops bar portion, analyzed through computer, issue instruction, precise positioning completes chicken
Peck rice, snake spits letter, tiger wags the tail fertilizing functions;Chicken pecks rice: being the movement for pecking rice with the chicken that imitates rigidly, makes of steel
The components of chicken mouth shape one on the other, a Zhang Yihe, as chicken pecks rice；Snake spits letter: being production one as snake letter
Device, She Zui open snake letter spue, chemical fertilizer is accurately sent into heatable adobe sleeping platform；Tiger wags the tail: being that motor drives an elastic steel sheet rotation
Turn to sweep row, as tiger tail, the chemical fertilizer in heatable adobe sleeping platform is covered, prepartion of land is made;Such as with the production of steel material
Chicken nozzle type beak is mounted on the lever top that can be lifted up and down, installs two panels coaxial eccentric wheel, shaft end installation in lever front end
Gear sheet, gear sheet are engaged sector gear piece, and sector gear piece is mounted on motor, and motor rotates sector gear piece band moving gear
Piece, gear sheet rotation drive coaxial two panels eccentric wheel, and because of the effect of eccentric wheel, lever top, which is lifted, is put down, chicken mouth when putting down
The inertia force for the eccentric wheel that type beak is rotated is pounded into soil, using the closing device designed in chicken nozzle type beak, in chicken
Opening chicken nozzle type beak separates soil after nozzle type beak enters soil, plastic hose production, the component as snake spits letter
Chemical fertilizer is sent into heatable adobe sleeping platform；Tiger wags the tail, and sweeps row with the rotation of a motor-driven elastic steel sheet, the chemical fertilizer in heatable adobe sleeping platform is covered, soil
The smooth completion fertilising in ground.
To reduce farmer's burdens, crescent tine rolls tine, beads chain carrying tine, rotating fan tine, prompt drop
Line hoe；Chicken pecks rice, snake spits letter, tiger wags the tail fertilizing functions；Can be directly compared with agricultural machinery, hand tractor, four-wheel is dilatory
Machine matches.
The unattended fertilizer applicator of hoeing up weeds of (attached drawing 1) agricultural primary intelligent machine, crescent hoe
The unattended fertilizer applicator of hoeing up weeds of (attached drawing 2) agricultural primary intelligent machine, virtual reality prompt drop line hoe jujube garden are cut
Figure
The unattended fertilizer applicator of hoeing up weeds of (attached drawing 3) agricultural primary intelligent machine, rolls hoe
(attached drawing 4) virtual reality jujube garden screenshot
(attached drawing 5) prompt drop line tine
(attached drawing 6) camera view control interface
(attached drawing 7) beads tine
(attached drawing 8) crescent tine
(attached drawing 9) walking tractor matching uses
(attached drawing 10) four-wheel tractor uses
Claims (1)
1. a kind of beads chain carries hoe, including beads chain and sharp hoe pocket knife；Beads chain, including ball-type round end,
Ball-type round end is welded on one end on cylindrical body connecting rod, and the other end welds in one on empty hemisphere, there is empty hemisphere in two
The extruding of four rivets, which closes, forms spherical shape adds cone hollow lumen, and the cylindrical body connecting rod that ball-type round end welds together is embedding
Enter spherical shape and add cone hollow lumen, empty dome-type is installed simultaneously when four rivets press in two carries hoe pocket knife；
Hoe pocket knife is zigzag, and multiple hoe pocket knives are riveted on chain side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410492272.8A CN105432166B (en) | 2014-09-24 | 2014-09-24 | A kind of unattended fertilizer applicator of hoeing up weeds of agricultural primary intelligent machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410492272.8A CN105432166B (en) | 2014-09-24 | 2014-09-24 | A kind of unattended fertilizer applicator of hoeing up weeds of agricultural primary intelligent machine |
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| CN105432166B true CN105432166B (en) | 2019-03-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| BR112020007892A2 (en) * | 2017-10-20 | 2020-12-29 | Brix Usa, Llc | SYSTEM AND METHODOLOGY TO REDUCE THE IMPACT OF DROUGHT ON THE INCOME OF A CULTIVATION AND METHODOLOGY OF PREPARATION OF ONE OF ITS COMPONENTS |
| CN110286610B (en) * | 2019-06-18 | 2024-08-23 | 华南农业大学 | Device and method for regulating and controlling growth and development of rice by utilizing mechanical touch effect |
| CN110100557B (en) * | 2019-06-19 | 2021-06-01 | 南京农业大学 | AR-based remote control operation method for hole-fixing fertilization of dwarf close-planted fruit trees |
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| CN103155758A (en) * | 2013-03-12 | 2013-06-19 | 上海大学 | Laser navigation system of unmanned combine-harvester |
| CN103583098A (en) * | 2013-08-10 | 2014-02-19 | 湘乡市高峰五金机械制造有限公司 | Comprehensive tillage machine with automatic programming control |
| CN103650687A (en) * | 2013-06-28 | 2014-03-26 | 苏州金威特工具有限公司 | GPS navigation grass mowing vehicle |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1427262A (en) * | 2001-12-19 | 2003-07-02 | 迪尔公司 | Robot vehicle and method for testing soil |
| CN2836430Y (en) * | 2003-08-13 | 2006-11-15 | 武艺民 | Tiller using in greenhouse |
| CN101091428A (en) * | 2006-10-20 | 2007-12-26 | 大连理工大学 | Automatic mowing robot |
| DE102008044454A1 (en) * | 2008-06-26 | 2009-12-31 | Kunststoff Helmbrechts Ag | Strap-shaped carrier for use as cord, has side parts i.e. lateral limiting parts, and cavity made of thermoplastic and inseparably attached by injection molding, where side parts are arranged at certain distance to each other |
| CN202077380U (en) * | 2011-04-01 | 2011-12-21 | 上海大学 | Global positioning system (GPS) navigation mowing robot |
| CN102934544A (en) * | 2012-10-17 | 2013-02-20 | 贾相征 | Method and device for implementing unmanned management of farmland |
| CN103155758A (en) * | 2013-03-12 | 2013-06-19 | 上海大学 | Laser navigation system of unmanned combine-harvester |
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| CN105432166A (en) | 2016-03-30 |
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