CN106612776A - Seeding and fertilization vehicle - Google Patents
Seeding and fertilization vehicle Download PDFInfo
- Publication number
- CN106612776A CN106612776A CN201611245008.XA CN201611245008A CN106612776A CN 106612776 A CN106612776 A CN 106612776A CN 201611245008 A CN201611245008 A CN 201611245008A CN 106612776 A CN106612776 A CN 106612776A
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- China
- Prior art keywords
- car body
- control system
- sowing
- seeding
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010899 nucleation Methods 0.000 title claims abstract description 39
- 230000004720 fertilization Effects 0.000 title abstract 10
- 238000004891 communication Methods 0.000 claims abstract description 31
- 238000009331 sowing Methods 0.000 claims description 62
- 239000003990 capacitor Substances 0.000 claims description 21
- 239000003337 fertilizer Substances 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 9
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 230000001172 regenerating effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 230000003287 optical effect Effects 0.000 claims 1
- 230000006378 damage Effects 0.000 abstract description 2
- 239000002689 soil Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000012271 agricultural production Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/10—Devices for adjusting the seed-box ; Regulation of machines for depositing quantities at intervals
- A01C7/102—Regulating or controlling the seed rate
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
- A01C15/12—Fertiliser distributors with movable parts of the receptacle
- A01C15/124—Fertiliser distributors with movable parts of the receptacle with adjustable shutters or slits
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Sowing (AREA)
Abstract
The invention discloses a seeding and fertilization vehicle, which comprises a vehicle body, walking devices, seeding and fertilization devices, a control system, a power supply system, a GPS (global positioning system) navigation module, a camera module, a laser sensor and a communication module, wherein the walking devices are arranged at the two sides of the vehicle body and the front end of the vehicle body; each walking device comprises wheels, a motor and a speed deceleration mechanism; the seeding and fertilization devices are arranged at the back end of the vehicle body and the bottom of the vehicle body; each seeding and fertilization device comprises a grain suction device, a furrowing device, a seeding device and a soil flattening device. The seeding and fertilization vehicle is characterized in that the walking devices drive the vehicle body to do all-around movement; the seeding and fertilization devices drive the vehicle body to perform seeding and fertilization work; the GPS navigation module realizes the independent navigation of the vehicle body; the camera module is used for acquiring the seeding and fertilization position region information; the laser sensor ensures that the vehicle body cannot damage crops; the communication module is used for acquiring remote control information. The seeding and fertilization vehicle has the characteristics of high flexibility, high adaptability and high automation level, and has the wide application range in the agricultural aspect.
Description
Technical field
The present invention relates to agricultural modernization technical field, particularly a kind of sowing and tumbrel.
Background technology
In today of scientific and technical high speed development, the namely agriculture science technicalization of the essence of agricultural modernization.At present
The Agricultural Intelligent System technology of China has reached high level, can accomplish production process high mechanization and intellectuality.It is near several
Year, the development of Internet of Things, mobile Internet and cloud computing technology has driven flourishing for agricultural, this new reading intelligent agriculture
Control system is that high-tech management mode is circulated in agricultural working, realizes the control between equipment and equipment, and artificial is long-range
Control and communication function, finally realize that equipment, security device and communication equipment are connected to Based Intelligent Control system by wireless network
In system, strange land monitoring and control are carried out to equipment such as agricultural equipment and security protection by control system, it is finer to be that people build
Living environment.
The developing goal of reading intelligent agriculture improves agriculture scale, industrialization, standardization, collection to change agricultural development mode
Reduction, the level of IT application are target, build based on Internet technology equipment, high and new technology be support, Modern management is as spy
Levy, the modern agriculture industry system that labor productivity is high, labor productivity is high, comprehensive benefit is high improves agricultural modernization level.
In today of agricultural modernization fast development, although the equipment of mechanization has begun to take shape, it is only applicable to large-area
Agricultural production, for the agricultural production in units of personal family, big machinery can not really play its effect.Peasant is broadcasting
Kind with fertilising during, need to expend substantial amounts of manual labor, and inefficient, the agricultural of current relevant sowing and fertilising
Plant equipment automatization level is not high, needs peasant to participate in being controlled in the course of the work, it is impossible to accomplish real intellectuality
With automation.
The content of the invention
It is an object of the invention to provide a kind of sowing and tumbrel, make sowing have flexibility ratio height, adapt to tumbrel
Property strong, high degree of automation the characteristics of, can independently complete sowing agriculturally and fertilising task.
The technical solution for realizing the object of the invention is：One kind sowing and tumbrel, including car body, running gear, broadcast
Plant fertilizer apparatus, control system, power-supply system, GPS navigation module, camera module, laser sensor and communication module；It is described
Running gear is arranged on car body both sides and front end, including wheel, motor and speed reducer structure；The seeder combined with fertilising apparatus is arranged on car
Body rear end and bottom, including inhale grain device, ditch dug with a plow device, seeding apparatus and soil-finishing device；The camera module is arranged on car
The front of body；The laser sensor is arranged on the surface of laser sensor support, and laser sensor support is arranged on car
The front of body；The GPS navigation module and the communication module are separately mounted to the both sides of laser sensor support；
The control system and power-supply system, running gear connection, so as to drive car body to carry out omnibearing movable；The control
System processed and power-supply system, seeder combined with fertilising apparatus connection, so as to drive car body to carry out seeding and fertilizing work；The control system and
Car body independent navigation is realized in GPS navigation module connection；The control system and camera module are connected to obtain seeding and fertilizing
Position area information；The control system and laser sensor connection guarantee that car body does not destroy crops；The control system
It is connected to obtain remote control information with communication module.
Further, the running gear includes electric machine support, gear reduction unit, motor, connecting shaft, wheel；Wherein, car
Wheel is sequentially arranged at the both sides of the car body, and car body adopts forerunner's type of drive；Wheel is arranged on car body by connecting shaft connection
Rear, as the driven wheel structure of running gear；Motor is arranged on electric machine support top, and motor is connected with gear reduction unit, uses
In carrying out deceleration regulation to running gear；Gear reduction unit is connected by connecting shaft with wheel, for providing driving force to wheel.
Further, the seeder combined with fertilising apparatus include inhale grain device, food sucking pipe road, sowing funnel, baffle plate frame, baffle plate,
Buffer bin, ditch dug with a plow device, seeding apparatus, soil-finishing device；Wherein, inhaling grain device includes food sucking pipe road and inhales grain device, installed in car
The rear of body, for by seed or fertilizer suction buffer bin；Sowing funnel is arranged on the middle part of car body, for seed or fertilizer
Material provides sliding channel, so as to realizing sowing or applying fertilizer；Buffer bin is arranged on the front upside of car body, for storing seed or fertilizer
Material；Sowing funnel and baffle plate frame are arranged on the rear of buffer bin, and supply sowing funnel is changed by adjusting the aperture of buffer bin
Inventory；
The ditch dug with a plow device, seeding apparatus, soil-finishing device are arranged on the bottom of car body；Wherein ditch dug with a plow device, seeding apparatus,
Soil-finishing device is installed on the same axis；Ditch dug with a plow device is included on bracing strut, connection shaft, shaft coupling, motor support base；Shaft coupling is used
In connecting axle and servomotor；Connection shaft is fixed on bracing strut；Bracing strut and motor support base are each attached to vehicle bottom；
The ditch dug with a plow head is rotated with connection shaft；According to the depth of ditch dug with a plow, Serve Motor Control ditch dug with a plow head is rotated,
Ditch dug with a plow operation is carried out with the angle required for reaching；Seeding apparatus include circular baffle plate, connecting shaft, motor support base, servomotor,
Shaft coupling, servomotor is fixed on vehicle bottom by motor support base；Servomotor is connected by shaft coupling with connecting shaft；Even
Spindle is connected with circular baffle plate；The outlet that circular baffle plate is rotated to control to sow funnel under the driving of servomotor is big
It is little, dynamic regulation sowing or the effective supply amount applied fertilizer are come according to the actual requirements；
The soil-finishing device includes soil-suppressing board, in required angle and installed in the bottom of car body between the soil-suppressing board and car body
Portion；Soil-suppressing board is used to carry out grading work after the completion of sowing or fertilising.
Further, the control system includes master control system, power control system, DC motor control system, main
Car body independent navigation is realized in control system and GPS navigation module connection；Master control system and camera module are connected to obtain
The position area information of seeding and fertilizing；Master control system and laser sensor connection make car body not destroy crops；Main control system
System and communication module are connected to obtain remote control information；Master control system is connected to realize sowing with seeder combined with fertilising apparatus
With fertilising work；Power control system is connected with power-supply system, for being controlled to whole power-supply system, so as to give the row
Walking apparatus, seeder combined with fertilising apparatus, control system, GPS navigation module, camera module, laser sensor and communication module are powered；
The DC motor control system carries out omnibearing movable for controlling running gear.
Further, the power-supply system includes super capacitor, dc source, for whole motor load and IC devices
Power supply；The dc source is charged by the alternating current of 200～240V；The super capacitor is charged by dc source；
The power-supply system determines the working condition of super capacitor and dc source according to loading condition；The super capacitor is negative from motor
Energy is obtained in load；The super capacitor storing, regenerating braking energy simultaneously provides peak energy, mixes dynamic with dc source composition
Power source, super capacitor provided auxiliary electric current is utilized when car body is started and is accelerated, independent using dc source in even running
Energy supply, utilizes super capacitor energy absorption, it is ensured that dc source is operated within the current range of safe discharge and recharge in braking.
Further, the GPS navigation module is used for the independent navigation of car body, and the autonomous sowing or fertilising for realizing car body is appointed
Business, and guarantee that car body does not roll working region away from.
Further, the camera module gathers forward image using high-definition camera, carries out image recognition, judges to need
The position area information of seeding and fertilizing is wanted, the control system is communicated information to.
Further, the laser sensor controls travel track by measuring the distance between car body and crops, makes
Car body does not destroy crops.
Further, the communication module includes wireless transmitter module and wireless receiving module, for control end and car body
Between data communication；The wireless communication module has wireless awakening function and networking function.
Compared with prior art, its advantage is the present invention：(1) flexibility is strong, and using forerunner's power output, car body is compact light
Just, it is easy to carry out family agricultural production task；(2) strong applicability, the sowing and fertilising that can be used for multiple kinds of crops is appointed
Business, may insure that crops will not be destroyed during fertilising using laser sensor；(3) automatization level is high, is led using GPS
Model plane block can realize the autonomous of car body, and using camera module the acquisition of working region positional information can be realized, adopt
The reception and registration of remotely control or mission bit stream can be realized with communication module, the automatization level of agricultural machinery is improve.
Description of the drawings
Fig. 1 is the structural representation of a kind of sowing of the present invention and tumbrel.
Fig. 2 is the running gear structural representation of present invention sowing and tumbrel.
Fig. 3 be present invention sowing with the seeder combined with fertilising apparatus of tumbrel in vehicle body upper portion structural representation.
Fig. 4 be present invention sowing with the seeder combined with fertilising apparatus of tumbrel in vehicle bottom structural representation.
Fig. 5 is present invention sowing and ditch dug with a plow apparatus structure schematic diagram in the seeder combined with fertilising apparatus of tumbrel.
Fig. 6 is present invention sowing and seeding apparatus structural representation in the seeder combined with fertilising apparatus of tumbrel.
Fig. 7 is the control system operating diagram of present invention sowing and tumbrel.
Accompanying drawing is identified：1 is car body, and 2 is running gear, and 3 is seeder combined with fertilising apparatus, and 4 is control system, and 5 is power-supply system,
6 is GPS navigation module, and 7 is camera module, and 8 is laser sensor, and 9 is communication module, and 21 is electric machine support, and 22 is gear
Decelerator, 23 is motor, and 24 is connecting shaft, and 25 is wheel, and 31 to inhale grain device, and 32 is food sucking pipe road, and 33 is to sow funnel, 34
For baffle plate frame, 35 is baffle plate, and 36 is buffer bin, and 37 is ditch dug with a plow device, and 38 is seeding apparatus, and 39 is soil-finishing device, and 40 are circle
Baffle plate, 41 is connecting shaft, and 42 is soil-suppressing board, and 43 is motor support base, and 44 is servomotor, and 45 is shaft coupling, and 46 is bracing strut, 47
For connection shaft, 48 is shaft coupling, and 49 is motor support base, and 50 is servomotor, and 51 is ditch dug with a plow head, and 81 is laser sensor support.
Specific embodiment
With reference to the accompanying drawings and examples the invention will be further described.
As shown in figure 1, including car for a kind of sowing of the present invention and the structural representation of tumbrel, the sowing and tumbrel
Body 1, running gear 2, seeder combined with fertilising apparatus 3, control system 4, power-supply system 5, GPS navigation module 6, camera module 7, laser
Sensor 8 and communication module 9；The running gear 2 is arranged on the both sides of car body 1 and front end, including wheel, motor and speed reducer
Structure；The seeder combined with fertilising apparatus 3 is arranged on the rear end of car body 1 and bottom, including inhales grain device 31, ditch dug with a plow device 37, seeding apparatus
38 and soil-finishing device 39；The camera module 7 is arranged on the front of car body 1；The laser sensor 8 is arranged on laser
The surface of sensor bracket 81, laser sensor support 81 is arranged on the front of car body 1；The GPS navigation module 6 and described
Communication module 9 is separately mounted to the both sides of laser sensor support 81.
The control system 4 and power-supply system 5, running gear 2 connect, so as to drive car body 1 to carry out omnibearing movable；Institute
State control system 4 and power-supply system 5, seeder combined with fertilising apparatus 3 connect, so as to drive car body 1 to carry out seeding and fertilizing work；The control
Car body independent navigation is realized in system processed 4 and the connection of GPS navigation module 6；The control system 4 and camera module 7 are connected to
Obtain the position area information of seeding and fertilizing；The control system 4 and the connection of laser sensor 8 guarantee that car body does not destroy farming
Thing；The control system 4 and communication module 9 are connected to obtain remote control information.
As shown in Fig. 2 for a kind of sowing of the present invention and the running gear structural representation of tumbrel, the running gear 2
Including electric machine support 21, gear reduction unit 22, motor 23, connecting shaft 24, wheel 25；Wherein, wheel 25 is sequentially arranged at described
The both sides of car body 1, car body 1 adopts forerunner's type of drive；Wheel 25 is arranged on the rear of car body 1 by the connection of connecting shaft 24, as
The driven wheel structure of running gear 2；Motor 23 is arranged on the top of electric machine support 21, and motor 23 is connected with gear reduction unit 22, uses
In carrying out deceleration regulation to running gear 2；Gear reduction unit 22 is connected by connecting shaft 24 with wheel 25, for carrying to wheel 25
For driving force.
As illustrated in figures 3-6, the seeder combined with fertilising apparatus structural representation of a kind of sowing of the present invention and tumbrel, the sowing
Fertilizer apparatus 3 includes inhaling grain device 31, food sucking pipe road 32, sowing funnel 33, baffle plate frame 34, baffle plate 35, buffer bin 36, ditch dug with a plow dress
Put 37, seeding apparatus 38, soil-finishing device 39；Wherein, inhaling grain device 31 includes food sucking pipe road 32 and inhales grain device, installed in car body 1
Rear, for by seed or fertilizer suction buffer bin 36 in；Sowing funnel 33 is arranged on the middle part of car body 1, for seed
Or fertilizer provides sliding channel, so as to realizing sowing or applying fertilizer；Buffer bin 36 is arranged on the front upside of car body 1, for storing
Seed or fertilizer；Sowing funnel 33 and baffle plate frame 34 be arranged on buffer bin 36 rear, by adjust buffer bin 36 aperture come
Change the inventory of supply sowing funnel 33；
The ditch dug with a plow device 37, seeding apparatus 38, soil-finishing device 39 are installed in the bottom of car body 1, wherein, ditch dug with a plow device
37th, seeding apparatus 38, soil-finishing device 39 are installed on the same axis, so that it is guaranteed that the harmony between work；The ditch dug with a plow dress
Putting 37 includes bracing strut 46, connection shaft 47, shaft coupling 48, motor support base 49, servomotor 50, ditch dug with a plow head 51, servomotor 50
It is fixed on motor support base 49；Shaft coupling 48 is used to connect axle 47 and servomotor 50；Connection shaft 47 is fixed on bracing strut
On 46；Bracing strut 46 and motor support base 49 are each attached to the bottom of car body 1.
The ditch dug with a plow head 51 can be rotated with connection shaft 47；The depth of ditch dug with a plow according to actual needs, servomotor 50 can
Rotated with controlling ditch dug with a plow head 51, ditch dug with a plow operation is carried out with the angle required for reaching.The seeding apparatus 38 includes circle
Baffle plate 40, connecting shaft 41, motor support base 43, servomotor 44, shaft coupling 45, servomotor 44 is fixed on by motor support base 43
The bottom of car body 1；Servomotor 44 is connected by shaft coupling 45 with connecting shaft 41；Connecting shaft 41 is connected with circular baffle plate 40；It is circular
Baffle plate 40 can be rotated to control the outlet size of sowing funnel 33 under the driving of servomotor 44, according to the actual requirements
Come dynamic regulation sowing or the effective supply amount applied fertilizer.
The soil-finishing device 39 includes soil-suppressing board 42, and soil-suppressing board 42 and car body 1 are angled and installed in the bottom of car body 1
Portion；Soil-suppressing board 42 is used to carry out grading work after the completion of sowing or fertilising.
As shown in fig. 7, for a kind of sowing of the present invention and the control system operating diagram of tumbrel, the control system 4
Including master control system, power control system, DC motor control system, master control system and the connection of GPS navigation module 6 are realized
The independent navigation of car body 1；Master control system and camera module 7 are connected to obtain the position area information of seeding and fertilizing；Master control
System processed and the connection of laser sensor 8 make car body not destroy crops；Master control system and communication module 9 are connected to obtain remote
Process control information；Master control system is connected to realize sowing with fertilising work with seeder combined with fertilising apparatus 3；Power control system with
Power-supply system 5 connects, for being controlled to whole power-supply system 5, so as to give the running gear 2, seeder combined with fertilising apparatus 3,
Control system 4, GPS navigation module 6, camera module 7, laser sensor 8 and communication module 9 are powered；The direct current generator control
System processed carries out omnibearing movable for controlling running gear 2.
The power-supply system 5 includes super capacitor, dc source, for powering to whole motor load and IC devices.Institute
State dc source to be charged by the alternating current of 200～240V；The super capacitor is charged by dc source；Power-supply system
The working condition of super capacitor and dc source is determined according to loading condition；Super capacitor produces energy from motor load and obtains
Take, the utilization ratio of the energy is improved with this.Super capacitor storing, regenerating braking energy simultaneously provides peak energy, with the direct current
Source constitutes hybrid power source, when car body is started and is accelerated using the high-specific-power provided auxiliary electric current of super capacitor, steady
Dc source independent energy supply is utilized during operation, super capacitor energy absorption is utilized in braking, it is ensured that dc source is operated in peace
Within the current range of full discharge and recharge.
The GPS navigation module 6 is used for the independent navigation of car body 1, realizes autonomous sowing or the fertilising task of car body 1, and
Can ensure that car body 1 will not roll working region away from.
The camera module 7 gathers forward image using high-definition camera, carries out image recognition and judges to need sowing to apply
The position area information of fertilizer, communicates information to the control system 4.
The laser sensor 8 controls travel track to guarantee car by measuring the distance between car body 1 and crops
Body does not destroy crops.
The communication module 9 includes wireless transmitter module and wireless receiving module, is mainly used in realizing control end and car body
Between data communication；The wireless communication module has wireless awakening function and networking function.
In sum, a kind of sowing of the present invention and tumbrel, high with flexibility ratio height, strong adaptability, automatization level
Feature, first, the present invention adopts forerunner's power output, car body small volume and less weight, it is easy to carry out family agricultural production task；Its
It is secondary, can be used for sowing and the fertilising task of multiple kinds of crops, may insure using laser sensor will not during fertilising
Destruction crops；Finally, the autonomous of car body can be realized using GPS navigation module, can be realized using camera module
The acquisition of working region positional information, can realize the reception and registration of remotely control or mission bit stream, greatly using communication module
Improve the automatization level of agricultural machinery.Agriculturally, can be used for sowing task and the fertilising of crops of crops
Task, range of application is extremely wide.The present invention greatly reduces the working strength of peasant, and improves operating efficiency, greatly promotees
Mechanization and the automation development level of modern agriculture are entered.
Claims (9)
1. it is a kind of to sow and tumbrel, it is characterised in that including car body (1), running gear (2), seeder combined with fertilising apparatus (3), control
System (4) processed, power-supply system (5), GPS navigation module (6), camera module (7), laser sensor (8) and communication module
(9)；The running gear (2) is installed in car body (1) both sides and front end, including wheel, motor and speed reducer structure；The sowing is applied
Fertile device (3) installed in car body (1) rear end and bottom, including inhale grain device (31), ditch dug with a plow device (37), seeding apparatus (38) and
Soil-finishing device (39)；Front of the camera module (7) installed in car body (1)；The laser sensor (8) is installed in sharp
The surface of optical sensor support (81), laser sensor support (81) is arranged on the front of car body (1)；The GPS navigation
Module (6) and the communication module (9) are separately mounted to the both sides of laser sensor support (81)；
The control system (4) and power-supply system (5), running gear (2) connection, so as to drive car body (1) to carry out comprehensive fortune
It is dynamic；The control system (4) and power-supply system (5), seeder combined with fertilising apparatus (3) connection, apply so as to drive car body (1) to carry out sowing
Fertilizer work；Car body independent navigation is realized in the control system (4) and GPS navigation module (6) connection；The control system (4) and
Camera module (7) is connected to obtain the position area information of seeding and fertilizing；The control system (4) and laser sensor
(8) connection guarantees that car body does not destroy crops；The control system (4) and communication module (9) are connected to obtain remotely control
Information.
2. sowing according to claim 1 and tumbrel, it is characterised in that the running gear (2) is including electric machine support
(21), gear reduction unit (22), motor (23), connecting shaft (24), wheel (25)；Wherein, wheel (25) is sequentially arranged at described
The both sides of car body (1), car body (1) is using forerunner's type of drive；Wheel (25) is arranged on car body (1) by connecting shaft (24) connection
Rear, as the driven wheel structure of running gear (2)；Motor (23) is installed in electric machine support (21) top, motor (23) and tooth
Wheel decelerator (22) connects, for carrying out deceleration regulation to running gear (2)；Gear reduction unit (22) by connecting shaft (24) with
Wheel (25) is connected, for providing driving force to wheel (25).
3. sowing according to claim 1 and tumbrel, it is characterised in that the seeder combined with fertilising apparatus (3) includes inhaling grain
Device (31), food sucking pipe road (32), sowing funnel (33), baffle plate frame (34), baffle plate (35), buffer bin (36), ditch dug with a plow device
(37), seeding apparatus (38), soil-finishing device (39)；Wherein, grain device (31) is inhaled including food sucking pipe road (32) and inhale grain device, install
At the rear of car body (1), for by seed or fertilizer suction buffer bin (36)；Sowing funnel (33) is installed in car body (1)
Middle part, for providing sliding channel to seed or fertilizer, so as to realizing sowing or applying fertilizer；Buffer bin (36) is installed in car body (1)
Front upside, for storing seed or fertilizer；Funnel (33) and baffle plate frame (34) are sowed installed in the rear of buffer bin (36),
By the inventory for adjusting the aperture of buffer bin (36) to change supply sowing funnel (33)；
The ditch dug with a plow device (37), seeding apparatus (38), soil-finishing device (39) installed in car body (1) bottom；Wherein ditch dug with a plow is filled
Put (37), seeding apparatus (38), soil-finishing device (39) installation on the same axis；Ditch dug with a plow device (37) including bracing strut (46),
Connection shaft (47), shaft coupling (48), motor support base (49), servomotor (50), ditch dug with a plow head (51), servomotor (50) is arranged on
On motor support base (49)；Shaft coupling (48) is for connecting axle (47) and servomotor (50)；Connection shaft (47) is fixed on axle
On support (46)；Bracing strut (46) and motor support base (49) are each attached to car body (1) bottom；
The ditch dug with a plow head (51) is rotated with connection shaft (47)；According to the depth of ditch dug with a plow, servomotor (50) control ditch dug with a plow head
(51) rotated, ditch dug with a plow operation is carried out with the angle required for reaching；Seeding apparatus (38) includes circular baffle plate (40), connection
Axle (41), motor support base (43), servomotor (44), shaft coupling (45), servomotor (44) is fixed by motor support base (43)
In car body (1) bottom；Servomotor (44) is connected by shaft coupling (45) with connecting shaft (41)；Connecting shaft (41) and circular gear
Plate (40) connects；Circular baffle plate (40) is rotated to control to sow going out for funnel (33) under the driving of servomotor (44)
Mouth size, comes according to the actual requirements dynamic regulation sowing or the effective supply amount applied fertilizer；
The soil-finishing device (39) includes soil-suppressing board (42), in required angle and pacifying between the soil-suppressing board (42) and car body (1)
It is mounted in the bottom of car body (1)；Soil-suppressing board (42) after the completion of sowing or fertilising for carrying out grading work.
4. sowing according to claim 1 and tumbrel, it is characterised in that the control system (4) is including main control system
System, power control system, DC motor control system, master control system and GPS navigation module (6) connection realizes car body (1) certainly
Leading boat；Master control system and camera module (7) are connected to obtain the position area information of seeding and fertilizing；Master control system
Car body is set not destroy crops with laser sensor (8) connection；Master control system and communication module (9) are connected to obtain long-range
Control information；Master control system is connected to realize sowing with fertilising work with seeder combined with fertilising apparatus (3)；Power control system with
Power-supply system (5) connects, for being controlled to whole power-supply system (5), so as to give the running gear (2), seeding and fertilizing
Device (3), control system (4), GPS navigation module (6), camera module (7), laser sensor (8) and communication module (9) are supplied
Electricity；The DC motor control system carries out omnibearing movable for controlling running gear (2).
5. sowing according to claim 1 and tumbrel, it is characterised in that the power-supply system (5) including super capacitor,
Dc source, for powering to whole motor load and IC devices；The dc source is filled by the alternating current of 200～240V
Electricity；The super capacitor is charged by dc source；The power-supply system (5) is according to loading condition decision super capacitor and directly
The working condition of stream power supply；The super capacitor obtains energy from motor load；The super capacitor storing, regenerating Brake Energy
Peak energy is measured and provided, with dc source hybrid power source is constituted, provided using super capacitor when car body is started and is accelerated
Auxiliary current, the independent energy supply of dc source is utilized in even running, utilizes super capacitor energy absorption in braking, it is ensured that straight
Stream power work is within the current range of safe discharge and recharge.
6. sowing according to claim 1 and tumbrel, it is characterised in that the GPS navigation module (6) is for car body
(1) independent navigation, realizes autonomous sowing or the fertilising task of car body (1), and guarantees that car body (1) does not roll working region away from.
7. sowing according to claim 1 and tumbrel, it is characterised in that the camera module (7) is taken the photograph using high definition
As head gathers forward image, image recognition is carried out, judgement needs the position area information of seeding and fertilizing, communicated information to described
Control system (4).
8. sowing according to claim 1 and tumbrel, it is characterised in that the laser sensor (8) is by measuring car
The distance between body (1) and crops, control travel track, make car body not destroy crops.
9. sowing according to claim 1 and tumbrel, it is characterised in that the communication module (9) is including wireless transmission
Module and wireless receiving module, for the data communication between control end and car body；The wireless communication module has wirelessly calls out
Awake function and networking function.
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| CN201611245008.XA CN106612776B (en) | 2016-12-29 | 2016-12-29 | A kind of sowing and tumbrel |
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| CN201611245008.XA CN106612776B (en) | 2016-12-29 | 2016-12-29 | A kind of sowing and tumbrel |
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| CN112889408A (en) * | 2021-01-15 | 2021-06-04 | 赵洁 | Agricultural sowing equipment with remote control function and use method thereof |
| CN113615357A (en) * | 2021-08-30 | 2021-11-09 | 扬州大学 | Automatic seeder of big dipper navigation |
| CN115119573A (en) * | 2022-06-16 | 2022-09-30 | 昆明理工大学 | Air-blowing type pseudo-ginseng sowing robot based on GRTK positioning |
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| CN113615357A (en) * | 2021-08-30 | 2021-11-09 | 扬州大学 | Automatic seeder of big dipper navigation |
| CN115119573A (en) * | 2022-06-16 | 2022-09-30 | 昆明理工大学 | Air-blowing type pseudo-ginseng sowing robot based on GRTK positioning |
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