CN106647440A - Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof - Google Patents
Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof Download PDFInfo
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- CN106647440A CN106647440A CN201610915790.5A CN201610915790A CN106647440A CN 106647440 A CN106647440 A CN 106647440A CN 201610915790 A CN201610915790 A CN 201610915790A CN 106647440 A CN106647440 A CN 106647440A
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- seeding
- trench digging
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- 239000003337 fertilizer Substances 0.000 claims description 35
- 230000004888 barrier function Effects 0.000 claims description 12
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- 238000009313 farming Methods 0.000 claims description 10
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- 230000005622 photoelectricity Effects 0.000 claims description 7
- 238000002604 ultrasonography Methods 0.000 claims description 6
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- 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
- A01C5/064—Devices for making drills or furrows with rotating tools
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
- A01G13/02—Protective coverings for plants; Coverings for the ground; Devices for laying-out or removing coverings
- A01G13/0256—Ground coverings
- A01G13/0287—Devices for laying-out or removing ground coverings
Abstract
The invention discloses a mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof. The machine frame of the one body machine to make ditches, seed and fertilize on a slope is provided with a first motor and a second motor. The first motor is connected with the walking shaft of the one body machine to drive the walking shaft to rotate so as to achieve the effect that while the one body machine walks, the seeding and fertilizing device is driven to operate; the second motor is connected with the rotating shaft welded between the penetration shaft holes of a ditch making and slope climbing mechanism; the rotation of the rotating shaft is capable of driving the ditch making and slope climbing mechanism to move upwards and downwards in an arc shape. The front end of the one body machine is provided with an ultrasonic ranging sensor; the material passing hole is provided with a photoelectric door mechanism; the ultrasonic ranging sensor and the photoelectric door mechanism are connected with a controller; the controller is connected with the first motor and the second motor. The controller receives the control commands from an android device to drive the first motor and the second motor to rotate so that the mountainous region intelligent one body machine for agricultural use can walk, make ditches, seed and fertilize as well as cross over obstacles faced by the obstacles and make alarms when seeding fails.
Description
Technical field
The invention belongs to the intelligent agricultural all-in-one in agricultural mechanical field, especially a kind of mountain region based on Android platform
And its control method.
Background technology
The external research that conservation tillage is had started to from early 1940s, defines the outfitting tool of various types.
Development and maturation with chemical herbicide and one equipment, conservation tillage has obtained large-area popularization and application.State a few days ago
Outer banking up fertilising film mulching integrated machine complete based on combine, once breaking, loosen the soil, ditch, sowing, applying fertilizer, withdrawal
Deng multi-mode operation., typically than larger, the power of tractor is also larger, and all-in-one is usually towed for the land area on external farm
, seeder crossbeam is more, multiple rows of plough, is spaced between each plough greatly, and seeder is not only wide but also heavy, and seeder is Pneumatic type
, soil-engaging component is more complicated, but due to many factors such as planting patterns, soil condition and economic developments, it is external
All-in-one China's working condition is not adapted in terms of its structure and service behaviour etc..
China plot is smaller, and all-in-one is generally designed as suspension type, and can not be too heavy, but no-tillage earth's surface has stubble
Cover, the soil weight is typically higher, therefore requires that seeder monomer there must be certain weight to can be only achieved the purpose of the trench digging that buries.
Main research corn banking up fertilising film mulching integrated machine before the nineties in 20th century, wherein 2BQM-6A types all-in-one by performance
In wheat stalk, after crushed overlay capacity is 9650kg/mh2 to Jing measure, when moisture content of straws is 64.3%, by property coefficient
0.97。
After the nineties in 20th century, with China Agricultural University's conservation tillage research center as representative, in corn, wheat one
The aspect research of body machine is more.But the agricultural machinery currently used for mountain farming farming is because the factor such as mountain area economy, topography and geomorphology is ground
That what is studied carefully is fewer, and existing machinery uses individual profiling, is furnished with profiling grass disk before furrowing blade, and feeler mechanism connects for four
Linkage, 9 row all-in-one main screw lifts reach 900kg, if this machinery is used for into mountain region, can there is complex structure, adjustment and be stranded
It is difficult, the problems such as equipment is overweight, and alpine terrain is rugged, and huge machinery is heavy, should not shift.
By retrieving corresponding patent CN201310346238.5CN201310082919.5CN201310346240.2, send out
Existing above-mentioned complicated in mechanical structure, it is difficult to the situation in mountain region transfer improves to some extent.The all-in-one of traditional pure mechanic structure, structure phase
To complexity, stability is not high, and major part is manually operated, and workload is big, and the seed spacing equally accurate not of uniform size of sowing is not high,
Do not detect whether seed blocks the functions such as discharge plate simultaneously yet.
Based on this present situation, it is necessary to improve the operator scheme of agricultural machinery, mechanical mechanism is innovated in combination with existing
Electronic information technology, realizes integrated, the diversified and intellectuality of function, and can further upgrade to based on cloud meter
Calculation, modern times " internet+" the type agricultural machinery of big data.
The content of the invention
The present invention needs manually to operate for traditional purely mechanic agricultural machinery working, and precision is not high, and operation process can not be real
The problems such as Shi Zidong is monitored, it is proposed that a kind of mountain region based on Android platform intelligently agricultural all-in-one and its control method.
Realize that technical scheme is as follows：
A kind of intelligent agricultural all-in-one in mountain region based on Android platform, including hillside fields water furrow planting fertilization all-in-one machine；Institute
The vehicle frame for stating hillside fields water furrow planting fertilization all-in-one machine is provided with the first motor, the second motor；The output shaft of first motor connects
Connect the walking axle of the hillside fields water furrow planting fertilization all-in-one machine；First motor drives the walking axle to rotate, and is realizing one
Drive for kind of a fertilizer plant running while body machine is walked；The output shaft connection rotary shaft of second motor simultaneously drives described
Rotary shaft is rotated, and the rotary shaft is welded on trench digging climbing mechanism and wears between axis hole, and the rotation of the rotary shaft can drive
Trench digging climbing mechanism does circular arc up and down motion；
The front end of the hillside fields water furrow planting fertilization all-in-one machine is provided with ultrasound and is provided with light at sensor, material path
Electric switch device；The ultrasound is connected apart from sensor, the photoelectricity door gear with controller, the controller also with
First motor is connected with second motor；The controller is connected by bluetooth with intelligent Android device；The control
Device receives the control instruction of the intelligent Android device, drives the first motor and the second motor to rotate, and realizes the mountain region intelligence
The walking of agricultural all-in-one, trench digging, seeding and fertilizing, obstacle detouring when running into barrier, sow unsuccessful alarm.
Further, the agricultural all-in-one of the intelligence also includes film-covering mechanism and the 3rd motor；3rd motor is fixed
On the vehicle frame of all-in-one, the 3rd motor output shaft connects the fore-stock of the film-covering mechanism by feed screw apparatus；It is described
3rd motor is connected with the controller and receives the driving instruction of controller；The rotation of the 3rd motor drives the leading screw
Device moves up and down, and then drives the film-covering mechanism to move up and down.
Further, first motor is connected by shaft coupling with the walking axle, and second motor passes through shaft coupling
Device is connected with the rotary shaft.
Further, first motor, second motor and the 3rd motor are speed measuring motor.
Further, the controller is realized using STM32 controllers；The intelligent Android device be smart mobile phone or
PAD, the intelligent Android device installs APP softwares.
The invention allows for a kind of control method suitable for the agricultural all-in-one of the intelligence, including following several feelings
Condition：
A (), when realizing that all-in-one is walked, using Android device by bluetooth to controller firing order, controller drives
3rd motor is rotated, and then driving leading screw rotarily drives film-covering mechanism and moves upwards, makes film-covering mechanism liftoff；Controller drives simultaneously
Dynamic second motor, lifts trench digging climbing mechanism liftoff；
B (), when all-in-one farming is realized, using Android device by bluetooth to controller firing order, controller drives
First motor and the second motor are rotated, and the rotation of the first motor drives all-in-one to carry out seeding and fertilizing while walking forward, the
The rotation of two motors makes trench digging climbing mechanism move downward contact arable land；All-in-one when forward, the trench digging climbing mechanism of front end
Ditched, and then the disk rotational in seeding and fertilizing mechanism makes the seeding fertilizer hole on disk and the aperture pair on Seeding box
Together, seed is fallen into seeding fertilizer pipeline from Seeding box with fertilizer by the aperture of seeding fertilizer, is slipped into along pipeline and is held successfully
Ditch in, the soil that subsequent arc shovel digs out is fallen into gathering sill after disk turns over 180 °, is slid seed along gathering sill
Cover with fertilizer；
(c) when all-in-one leaping over obstacles is realized, using ultrasound apart from sensor real-time detection all-in-one front road
Condition, when there is barrier, Android device is sent to by controller by complaint message；Android device receives obstacle information
Afterwards, the leading screw rotation of the 3rd Motor drive film-covering mechanism is controlled to the corresponding instruction of controller transmitting by bluetooth, makes laminating machine
Structure moves upwards disengaging ground, while driving the second motor to rotate so that trench digging climbing mechanism does circular arc and transports downwards around rotary shaft
It is dynamic to be allowed to depart from ground；
D (), when seed blocking occurs in all-in-one cultivating procedure, the photoelectricity door gear below discharge plate is not received by
The signal that seed slides, information now sent to Android device and reported to the police by controller.
Further, (b) also includes：When seed needs overlay film, Android device is sent to controller by bluetooth and is referred to
Order declines film-covering mechanism and completes overlay film to drive the 3rd motor to rotate.
Further, (c) also includes：When the jagged disk position of band of trench digging climbing mechanism reaches barrier
During one end, Android device sends instructions to controller, drives the second motor to fall trench digging climbing mechanism, on trench digging climbing mechanism
Band jagged disk in face presses to one end of barrier；Continue to drive the 3rd motor, make trench digging climbing mechanism produce one to ground
Grip, realize aiding overpass obstacle climb.
The invention has the beneficial effects as follows：
1st, the effect realized by the innovative design to frame for movement：
(1) ditch earthing and obstacle detouring climbing function are completed with a mechanism；
(2) installation site of the mechanism such as reasonable arrangement ditcher mechanism, laminating machine, makes fuselage smaller and light；
2nd, by hyundai electronicses information technology and the effect being implemented in combination with of tradition machinery：
(1) using ultrasonic sensor and STM32 microcontrollers, " it was found that-process-action " automatic feedback control is formed
Loop, replaces traditional manual gearshift obstacle detouring；
(2) install sensor at seed tray, according to feedack, can detect that discharge plate is blocked and the concrete feelings such as scarce kind
Condition；
(3) based on android system, instructed by bluetooth transmitting-receiving, covered using STM32 microcontrollers and step motor control
The lifting of film mechanism, replaces manually operated；
(4) according to concrete conditions such as inter-species distance, land status, banking up requirements, very easily change in mobile phone A PP
The related operational factor of agricultural machinery, is allowed to be flexibly adapted to the tillage requirements of Different Crop.
Description of the drawings
Fig. 1 is all-in-one modular structure schematic diagram of the present invention；
Fig. 2 is trench digging climbing mechanism；
Fig. 3 is transmission mechanism；
Tu4Shi seeding and fertilizings mechanism；
Fig. 5 is film-covering mechanism；
Fig. 6 is integral module workflow schematic diagram；
Fig. 7 is intelligent obstacle detouring action flow chart.
Description of symbols：
In Fig. 2：2-1 wheel shafts, 2-2 wheel carriers, 2-3 sprocket wheels, 2-4 trench digging wheels, 2-5 wears axis hole, 2-6 pins, 2-7 buckets, 2-8
Seeding fertilizer pipeline, 2-9 earthing guide grooves, 2-10 bearing blocks；
In Fig. 3：3-1 collars, 3-2 idle pulleys, the sprocket wheels of 3-3 the 5th, 3-4 master gears, 3-5 walking axles, 3-6 bearing blocks, 3-7
Support, 3-8 bevel gears, 3-9,3-10 belt, 3-11 second gear axles, 3-12 meshing gears, the sprocket wheels of 3-13 the 4th, 3-14 main chains
Wheel, 3-15 engagement sprocket wheels, the chains of 3-16 the 3rd, 3-17 driving shafts, 3-18 first gear axles, 3-19 flywheels, the sprocket wheels of 3-20 first, 3-
21 second gears, 3-22 guide rods, 3-23 pins, 3-24 connecting rods, the pins of 3-25 second, 3-26 contiguous blocks, the pins of 3-27 first, 3-
28 shift forks, 3-29 bolts, 3-30 action bars, 3-31 first gears, 3-32 idler shafts；
In Fig. 4：The disks of 4-1 first, the belt wheels of 4-2 the 4th, the belt wheels of 4-3 the 3rd, the belt shafts of 4-4 the 3rd, the disks of 4-5 the 3rd,
The disks of 4-6 second, the disks of 4-7 the 4th, the belt wheels of 4-8 first, the belt shafts of 4-9 the 4th, the belt wheels of 4-10 second, the cone teeth of 4-11 first
Wheel, the belts of 4-12 second, the belts of 4-13 first, the belt shafts of 4-14 second, the belt wheels of 4-15 the 6th, the belt shafts of 4-16 first, 4-17
3rd belt, the belt wheels of 4-18 the 5th；
In Fig. 5：Peg before 1,2 movable frames, 3. mould bases, 4 fore-stocks, 5 frames, 6 machine frame holes, 7 positioning square holes, 8 alignment pins
Nail, 9 pins, 10 first pressing wheel bars, 11 after-poppets, 12 pressing wheels, 13 second pressing wheel bars, 14 springs.
Specific embodiment
The present invention combines electronic information technology for existing machinery mechanism, solves the heavy transfer of equipment during the farm machinery tillage of mountain area
The problems such as inconvenience, obstacle climbing ability weakness, the further intellectuality of agricultural machinery is realized, being embodied as the present invention is as follows：
1. ditch climbing mechanism
Ditcher mechanism is designed into disc format, arc shovel is installed on disk, make disk rotate when, the arc on disk
Shape shovel plays mamoty, reaches trench digging purpose；Simultaneously when barrier or climbing is run into, can aid in grabbing ground, be easy to obstacle detouring or climb
Slope.
Concrete structure：Such as Fig. 2, trench digging climbing mechanism is mainly made up of trench digging wheel, wheel shaft, wheel carrier and earthing guide groove, wheel shaft
2-1 two ends are installed on wheel carrier 2-2 by bearing block 2-10, and wheel carrier 2-2 sides are provided with pin 2-6.Sprocket wheel 2-3 is installed on wheel
The centre of axle 2-1, wheel shaft 2-1 is uniformly installed with four trench digging wheel 2-4, circumferential on trench digging wheel 2-4 to be uniformly provided with bucket
2-7, trench digging wheel 2-4 biside plate peripheries are serrated.Axis hole 2-5 is worn, for placing rotary shaft, rotary shaft is by welding shape therewith
Integral, earthing guide groove 2-9 is provided with four guide grooves corresponding with trench digging wheel, and four fertilizer seedings are provided with earthing guide groove 2-9
Hole, fertilizer seeding pipeline 2-8 is fixed on the lower section of fertilizer feed outlet.All installed by similar pin 2-6 at earthing guide groove 2-9 two ends
On wheel carrier 2-2.Second motor is arranged on into the side of wheel carrier 2-2, the second motor output shaft connects rotary shaft by shaft coupling,
Therefore rotate can rotary shaft by the second motor, and then adjust the height of the mechanism.
Operation principle：
In not agro-farming, made out to the control panel transmitting based on STM32 by bluetooth with Android phone APP of exploitation
Ditch climbing mechanism departs from the instruction on ground, reduces running resistance；
In agro-farming, trench digging is made to the control panel transmitting based on STM32 by bluetooth with Android phone APP of exploitation
The instruction in climbing mechanism contact arable land, agricultural machinery when forward, ditched, and is and then sowed by the trench digging climbing mechanism of mechanical front end
Disk rotational on fertilizing mechanism makes the seeding fertilizer hole on disk and the apertures align on Seeding box, and seed is with fertilizer from sowing
Fallen into seeding fertilizer pipeline by the aperture of seeding, fertilizer in case, during the ditch held successfully is slipped into along pipeline, subsequent front arc
The soil that shovel digs out soil after wheel disc turns over 180 ° is fallen into gathering sill, is slid along gathering sill and is covered in seed and fertilizer.
In obstacle detouring, " it was found that-process-action " using ultrasonic sensor and STM32 microcontrollers, is defined automatically
Feedback control loop, can replace traditional manual gearshift obstacle detouring, Android device to receive ultrasonic wave module sensing preceding object
The situation of thing, makes film-covering mechanism move upwards the leading screw rotation of film-covering mechanism by bluetooth to the corresponding instruction of control panel transmitting
Depart from ground, while driving the second motor of trench digging climbing mechanism side, make the mechanism do circular motion around rotary shaft and be allowed to de-
From the ground, when the jagged disk position of band of trench digging climbing mechanism can reach one end of obstacle, the second motor is driven to make trench digging
Climbing mechanism is fallen, and will press to barrier with jagged disk above trench digging climbing mechanism, now continues driving second electric
Machine, makes zigzag disk that a grip to ground is produced during obstacle detouring, so as to aiding overpass obstacle climbing, intelligent obstacle detouring action
Flow chart such as Fig. 7.
2. transmission mechanism
Such as Fig. 3, power drive mechanism is made up of gear drive and Chain conveyer, driving shaft 3-17, first gear axle 3-18, the
Two gear shaft 3-11 are installed on supported on both sides frame 3-7 by the bearing block at axle two ends, and walking axle 3-5 interludes are provided with bearing
Seat 3-6, bearing block 3-6 are fixedly installed in bracing frame 3-7 ends.Master gear 3-4, engaging tooth are installed with driving shaft 3-17
Wheel 3-12, head sprocket 3-14 and engagement sprocket wheel 3-15；Idle pulley 3-2 is fixedly installed on idler shaft 3-32, and idler shaft 3-32 passes through
Bearing block is installed on bracing frame 3-7, and idle pulley 3-2 is meshed with master gear 3-4；First gear 3-31 and second gear 3-21 are logical
Cross revolute to be installed on first gear axle 3-18, i.e., first gear 3-31 and second gear 3-21 can be with respect to first gear axles
3-18 dallies, and first gear 3-31 and second gear 3-21 side have perforation, second gear 3-21 and the 3rd gear 3-
12 are meshed, and first gear 3-31 is meshed with idle pulley 3-2.
First gear axle 3-18 is splined shaft, and collar 3-1 both sides are provided with canine tooth, and collar 3-1 inner ring is provided with teeth groove, collar 3-
1 is connected by teeth groove with first gear axle 3-18, and is rotated together with first gear axle 3-18, and collar 3-1 can also be along
One gear shaft 3-18 horizontally slips within the specific limits；Shift fork 3-28 is connected with collar 3-1 by revolute, and collar 3-1 can be
Shift fork 3-28 inner rings are rotated, and the shift fork 3-28 other ends are installed on guide rod 3-22, and guide rod 3-22 is fixedly installed in bracing frame 3-7
On, contiguous block 3-26 is fixed together with shift fork 3-28, and contiguous block 3-26 is connected by pin 3-23 with connecting rod 3-24, action bars
3-30 is installed on bracing frame 3-7 by the first pin 3-27, and action bars 3-30 one end is by the second pin 3-25 and connecting rod 3-
24 are connected, and rotating operation bar 3-30 is capable of achieving horizontally slipping for collar 3-1, and the position of action bars 3-30 is solid by bolt 3-29
It is fixed；First sprocket wheel 3-20 and flywheel 3-19 are fixedly installed on first gear axle 3-18, and the first sprocket wheel 3-20 is by chain and trench digging
The second sprocket wheel 2-3 on casing mechanism wheel shaft 2-1 is connected, and flywheel 3-19 is connected by the 3rd chain 3-16 with the 4th sprocket wheel 3-13,
When first gear axle 3-18 is rotated clockwise, flywheel 3-19 outer rings rotate with the rotation of inner ring, and flywheel 3-19 passes through the 3rd
Chain 3-16 drives the 4th sprocket wheel 3-13 to rotate, and when first gear axle 3-18 is rotated counterclockwise, flywheel 3-19 inner rings are moved and outer ring
Motionless, flywheel 3-19 will not drive the 4th sprocket wheel 3-13 to rotate.4th sprocket wheel 3-13 and bevel gear 3-8 are fixedly installed in the second tooth
On wheel shaft 3-11, walking axle 3-5 two ends are installed with respectively two the 5th sprocket wheel 3-3, and 3-10 is that belt is used to connect driving shaft
3-17 and walking axle 3-5.
3. seeding and fertilizing mechanism
The line-spacing for considering proportion of crop planting is required and sowing, the time difference of this two agro-farming operations of applying fertilizer, by mechanical bottom
Seat on be designed with left and right two groups of disks, per group each three.One group of left side disk performs seeding function, and one group of the right disk is performed to be applied
Fertile function.When intensive sowing is needed, three, left side disk can all be come into operation, to reach intensive sowing purpose；When need
When wanting sparse sowing, only two disks in the disk of three, the left side can be come into operation, to reach sparse sowing purpose.In sowing
When, seeding and fertilising speed are controlled by speed adjusting gear.
Concrete structure design：Such as Fig. 4, seeding and fertilizing mechanism is using disc type mechanism, the first disk 4-1 and the second disk 4-
6 is fertilizer disk, and the 3rd disk 4-5 and the 4th disk 4-7 is discharge plate, uniform respectively on the first disk 4-1 and the second disk 4-6
It is provided with the fertile grooves of four dresses, the 3rd disk 4-5 and the 4th disk 4-7 is uniformly provided with respectively four dress kind grooves, the first disk 4-1 and the
Two disk 4-6 are fixedly installed in respectively on the first belt shaft 4-16 and the second belt shaft 4-14, the 3rd disk 4-5 and the 4th disk
4-7 is fixedly installed in respectively on the 3rd belt shaft 4-4 and the 4th belt shaft 4-9, and four belt shaft lower ends are pacified by bearing block
Loaded on bracing frame 3-7, upper end is installed on seed-fertilizer box bottom by bearing block, and each axle is directly by toothed belt transmission, the first cone
Gear 4-11, the first belt wheel 4-8 and the second belt wheel 4-10 are fixedly installed in respectively on the 4th belt shaft 4-9, first bevel gear 4-
11 engage with second bevel gear 3-8, and the 3rd belt wheel 4-3 and the 4th belt wheel 4-2 are fixedly installed in respectively on the 3rd belt shaft 4-4,
5th belt wheel 4-18 is fixedly installed on the first belt shaft 4-16, and the 6th belt wheel 4-15 is fixedly installed in the second belt shaft 4-14
On, the first belt wheel 4-8 is connected with the 6th belt wheel 4-15 by the first belt 4-13, and the second belt wheel 4-10 and the 4th belt wheel 4-2 leads to
The second belt 4-12 connections are crossed, the 3rd belt wheel 4-3 is connected with the 5th belt wheel 4-18 by the 3rd belt 4-17.Second bevel gear 3-
8 rotate the 4th belt shaft 4-9 of drive rotates, so as to drive each axle rotating in same direction together.
Operation principle：Disk rotational, dress kind groove and the dress of the 3rd disk 4-5 and the 4th disk 4-7 plant on case 5-9 first
When feed outlet 5-10 and the second feed outlet 5-2 aligns, the seed inside dress kind case is by the first feed outlet 5-10 and the second seeding
Hole 5-2 enters dress kind of a groove, and disk is rotated further, and mouthful 6-4 and second that sows of first on the dress kind groove on disk and baffle plate sows
When mouthful 6-5 aligns, the seed in dress kind groove enters discharging tube by the first mouthful 6-5 that sow of mouthful 6-4 and second that sow, by arranging
Plant pipe to be discharged in ditch.Because the left side and the right disk are installing the differential seat angle for having 45 ° so that fertilizer and row during work
Plant alternate carrying out, it is ensured that sowing and the uniform accuracy applied fertilizer, fertilizer principle is identical with fertilizer principle.
4. film-covering mechanism
Overlay film part is mainly made up of pressing wheel, covering disk, film frame, frame etc., wherein, the installation to film-covering mechanism is adopted
With overlay film frame and leading screw are welded, it is integrally formed leading screw and laminating machine, above the 3rd motor, the 3rd motor
On vehicle frame, the rotary motion of leading screw can be driven by the 3rd motor, so as to reach the lifting to laminating machine.In crops
Can be risen when need not use, be departed from ground.
Concrete structure design：
As in Fig. 5, film covering device is mainly made up of pressing wheel 12, covering disk 13, film frame 3, frame 5 etc., while overlay film
The frame and leading screw slide unit of device is integrally formed by way of welding, realizes overlay film, three functions of press mold and earthing.It is first
The width for installing film is first adjusted according to row spacing, then film roll is stuck on film frame 3, then the free end of film is pulled into pressing wheel 12
Front end, and lived with soil pressure.The advance of random groups, film roll is rotated, and film is stretched and is layered on ridge, and pressing wheel 12 is by film both sides of the edge
It is pressed in the membrane embedding ditch of ridge two side, afterwards 13 soil pressures of covering disk are covered on the both sides of the edge of mulch film, it is solid so as to reach
Surely obturage the effect of mulch film, while completing plastic film mulch operation.
Operation principle：
During work, film roll is stuck on film frame first, then the free end of film is pulled to the front end of pressing wheel.With unit
Advance, film roll is rotated by pull, so as to film is continuously laid on the face of ridge.The tractive force advanced by unit is acted on,
Film is longitudinally being extended and is tensing；The marginal portion of film both sides is configured in the pressing wheel of the left and right sides at film frame rear and is pressed on
In the membrane embedding ditch of ridge side wall, mulch film is set to extend laterally along ridge side wall, and it is tight on the face of ridge.
To prevent from covering both sides because fixation loosely affects its flatness and overlay film effect, covering device at is provided with.
After the completion of press mold, configure the covering disk after pressing wheel soil pressure and cover on the both sides of the edge of mulch film, so as to reach fixed envelope
The effect of tight mulch film, while completing plastic film mulch operation.
5. electronic control module design
In cultivating procedure, while all-in-one needs normal walking, to realize ditching, sow, apply fertilizer, overlay film, obstacle detouring
A series of functions such as climbing, each function is required for driving source accordingly, the present invention 3 driving speed measuring motors of design, passes through
Design program and algorithm realize the coordinated operation of all-in-one.Electric control structure schematic diagram is as shown in figures 1 to 6.
Concrete module design：
The output shaft of the first motor is connected by shaft coupling with walking axle, is installed on the right side of walking axle, is also secured to
In all-in-one frame；The gearratio of gear train and sprocket wheel is designed, seeding and fertilizing mechanism is driven while realizing that all-in-one is walked,
Complete seeding and fertilizing.
The output shaft of the second motor is connected to the left side of the rotary shaft of trench digging climbing mechanism by shaft coupling, is also secured to
In the frame of all-in-one, circular motion of the climbing mechanism around rotary shaft of ditching is realized by controlling the rotation of the second motor, from
And realization trench digging climbing mechanism contact is ploughed and leaves arable land, aiding overpass obstacle when function and the chance barrier ditched when cultivating is completed
Function.
The output shaft of the 3rd motor is connected by shaft coupling with the leading screw slide unit on film-covering mechanism, installed in film-covering mechanism
It is fixed in frame by corresponding mechanism simultaneously below, is allowed to drive leading screw to rotate by the rotation of motor, so as to reality
The lifting of existing laminating machine.
Simultaneously in all-in-one front end mounting ultrasonic sensor, for detecting preceding object thing；In seeding and fertilizing mechanism
Photoelectricity door gear is installed in sowing disk lower section, for detecting whether seed falls.
As shown in figure 1,3 testing of electric motors, the ultrasonic sensor, the photoelectricity door gear are micro- with STM32
Controller is connected, and the controller is communicated by bluetooth with Android device APP, uploads data to APP and receives the finger that APP is issued
Order, controller is realized driving 3 speed measuring motors by drive circuit, is serial ports connection between drive circuit and controller.
Operation principle：
Ultrasonic sensor and photoelectricity door gear can feed back the situation with regard to obstacle and seeds fall, 3 speed measuring motors
Speed measuring function all being carried respectively, therefore the velocity of rotation of current motor being obtained by above-mentioned module, whether current seed blocks
And the information such as the distance of barrier and all-in-one, while information above is sent to volume by the controller of bluetooth Jing STM32
With in the Android device of APP, when Android device receives signal, client go according to specific circumstances decision-making need into
Capable instruction, by sending corresponding instruction to controller, instruction is passed to drive circuit, decision-making 3 by controller by serial ports again
The running status of individual speed measuring motor.So as to the operation for realizing agricultural machinery and a series of function, the coordination of overall each module
Control such as Fig. 6.
Such as Fig. 6, the course of work and control method of all-in-one of the present invention is as follows：
When all-in-one realizes normal walking, driven to control panel firing order by bluetooth by Android device
The motor being connected with film-covering mechanism, by leading screw rotation the up and down motion of laminating machine is realized, makes mechanism liftoff, while driving trench digging
The motor of climbing mechanism side, lifting mechanism makes mechanism liftoff, replaces manually operated；
When all-in-one realizes normal farming, launch contrary to the above to control panel by bluetooth using Android device
Instruction, make trench digging climbing mechanism contact arable land, agricultural machinery when forward, ditched, tightly by the trench digging climbing mechanism of mechanical front end
Then the disk rotational in seeding and fertilizing mechanism makes the apertures align on seeding on disk, fertilizer hole and Seeding box, seed with
Fertilizer is fallen into seeding fertilizer pipeline from Seeding box by the aperture of seeding, fertilizer, during the ditch for having dug is slipped into along pipeline,
The soil that arc shovel digs out before subsequently soil after wheel disc turns over 180 ° is fallen into gathering sill, is slid seed along gathering sill
Cover with fertilizer, if such as needing overlay film according to seed concrete condition, with Android phone APP of exploitation by bluetooth to being based on
The instruction that the control panel transmitting Shi Mo mechanisms of STM32 decline, is allowed to realize film covering function, replaces manually operated；
Such as Fig. 7, when all-in-one realizes leaping over obstacles, using ultrasonic sensor and STM32 microcontrollers, define
" it was found that-process-action " automatic feedback control loop, can replace traditional manual gearshift obstacle detouring, Android device to receive
Ultrasonic wave module senses the situation of preceding object thing, is instructed the leading screw of film-covering mechanism to control panel transmitting is corresponding by bluetooth
Rotation makes film-covering mechanism move disengaging ground upwards, while driving the motor of trench digging climbing mechanism side, makes the mechanism around rotation
Axle does circular motion and is allowed to depart from ground, when the jagged disk position of band of trench digging climbing mechanism can reach the another of obstacle
End, motor falls climbing mechanism, will press to the other end of obstacle above ditch climbing mechanism with jagged disk, after
The motor of continuous driving trench digging climbing mechanism, produces a grip to ground during obstacle detouring, so as to aiding overpass obstacle climbing.
When seed occurs in all-in-one farming to be blocked, slide because light electric switch of the design below discharge plate is not received by seed
The signal for falling, at client end AP P interface seeds fall can be displayed without, and so as to report to the police, remind tiller to check discharge plate row
Except failure, so as to realize being smoothed out for farming.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included within the scope of the present invention.
Claims (8)
1. a kind of intelligent agricultural all-in-one in mountain region based on Android platform, including hillside fields water furrow planting fertilization all-in-one machine；It is special
Levy and be, the vehicle frame of the hillside fields water furrow planting fertilization all-in-one machine is provided with the first motor, the second motor；First motor
Output shaft connects the walking axle of the hillside fields water furrow planting fertilization all-in-one machine；First motor drives the walking axle to rotate,
Drive for kind of a fertilizer plant running while realizing that all-in-one is walked；Second motor output shaft connection rotary shaft and
The rotary shaft is driven to rotate, the rotary shaft is welded on the wearing between axis hole (2-5) of trench digging climbing mechanism, the rotary shaft
Rotation can drive trench digging climbing mechanism to do circular arc up and down motion；
The front end of the hillside fields water furrow planting fertilization all-in-one machine is provided with ultrasound and light electric switch is provided with sensor, material path
Device；The ultrasound is connected apart from sensor, the photoelectricity door gear with controller, the controller also with it is described
First motor is connected with second motor；The controller is connected by bluetooth with intelligent Android device；The controller connects
The control instruction of the intelligent Android device is received, drives the first motor and the second motor to rotate, realize that the mountain region is intelligently agricultural
The walking of all-in-one, trench digging, seeding and fertilizing, obstacle detouring when running into barrier, sow unsuccessful alarm.
2. the intelligent agricultural all-in-one in a kind of mountain region based on Android platform according to claim 1, it is characterised in that
Also include film-covering mechanism and the 3rd motor；3rd motor is fixed on the vehicle frame of all-in-one, the 3rd motor output shaft
Connect the fore-stock of the film-covering mechanism by feed screw apparatus；3rd motor is connected with the controller and receives controller
Driving instruction；The rotation of the 3rd motor drives the feed screw apparatus to move up and down, and then drives on the film-covering mechanism
Lower motion.
3. the intelligent agricultural all-in-one in a kind of mountain region based on Android platform according to claim 1, it is characterised in that
First motor is connected by shaft coupling with the walking axle, and second motor is by shaft coupling and the rotary shaft phase
Even.
4. the intelligent agricultural all-in-one in a kind of mountain region based on Android platform according to claim 2, it is characterised in that
First motor, second motor and the 3rd motor are speed measuring motor.
5. the intelligent agricultural all-in-one in a kind of mountain region based on Android platform according to claim 1, it is characterised in that
The controller is realized using STM32 controllers；The intelligent Android device is smart mobile phone or PAD, and the intelligent Android sets
It is standby that APP softwares are installed.
6. according to any one of claim 1-5 agricultural all-in-one control method, it is characterised in that
A (), when realizing that all-in-one is walked, using Android device by bluetooth to controller firing order, controller drives the 3rd
Motor is rotated, and then driving leading screw rotarily drives film-covering mechanism and moves upwards, makes film-covering mechanism liftoff；Controller drives the simultaneously
Two motors, lift trench digging climbing mechanism liftoff；
B (), when all-in-one farming is realized, using Android device by bluetooth to controller firing order, controller drives first
Motor and the second motor are rotated, and the rotation of the first motor drives all-in-one to carry out seeding and fertilizing while walking forward, and second is electric
The rotation of machine makes trench digging climbing mechanism move downward contact arable land；When forward, the trench digging climbing mechanism of front end is carried out all-in-one
Ditch, and then the disk rotational in seeding and fertilizing mechanism makes the seeding fertilizer hole on disk and the apertures align on Seeding box,
Seed is fallen into seeding fertilizer pipeline from Seeding box with fertilizer by the aperture of seeding fertilizer, and the ditch held successfully is slipped into along pipeline
In, the soil that subsequent arc shovel digs out is fallen into gathering sill after disk turns over 180 °, is slid seed and fertilizer along gathering sill
Material is covered；
(c) when all-in-one leaping over obstacles is realized, using ultrasound apart from sensor real-time detection all-in-one front road conditions, when
When having barrier, complaint message is sent to by Android device by controller；Android device is received after obstacle information, is passed through
Bluetooth controls the leading screw rotation of the 3rd Motor drive film-covering mechanism to the corresponding instruction of controller transmitting, makes film-covering mechanism upwards
Motion departs from ground, while driving the second motor to rotate so that trench digging climbing mechanism does circular arc and move downward and is allowed to around rotary shaft
Depart from ground；
D (), when seed blocking occurs in all-in-one cultivating procedure, the photoelectricity door gear below discharge plate is not received by seed
The signal of landing, information now sent to Android device and reported to the police by controller.
7. control method according to claim 6, it is characterised in that (b) also includes：When seed needs overlay film, peace
Tall and erect equipment sends instruction to drive the 3rd motor to rotate by bluetooth to controller, declines film-covering mechanism and completes overlay film.
8. control method according to claim 6, it is characterised in that (c) also includes：When the band of trench digging climbing mechanism
When jagged disk position reaches one end of barrier, Android device sends instructions to controller, drives the second motor to make out
Ditch climbing mechanism is fallen, and presses to one end of barrier above climbing mechanism of ditching with jagged disk；Continue driving the 3rd electric
Machine, makes trench digging climbing mechanism produce a grip to ground, realizes that aiding overpass obstacle is climbed.
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| CN201610915790.5A CN106647440A (en) | 2016-10-20 | 2016-10-20 | Mountainous region intelligent one body machine for agricultural use based on Android platform and the control method thereof |
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| CN107409547A (en) * | 2017-06-02 | 2017-12-01 | 南京农业大学 | A kind of intelligent seeding operation system based on big-dipper satellite |
| CN107422731A (en) * | 2017-06-19 | 2017-12-01 | 中国烟草总公司广东省公司 | The arable land control method and control system of agricultural intelligent Agricultural land system |
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| CN109005770A (en) * | 2018-07-19 | 2018-12-18 | 合肥艾派特知识产权运营有限公司 | A kind of seeder based on big data |
| CN109005771A (en) * | 2018-07-19 | 2018-12-18 | 合肥艾派特知识产权运营有限公司 | A kind of plough |
| CN109076746A (en) * | 2018-07-19 | 2018-12-25 | 合肥艾派特知识产权运营有限公司 | The intelligent plough of seeder |
| CN109843036A (en) * | 2017-06-14 | 2019-06-04 | 成长方案技术有限责任公司 | In the system and method for growth cabin storage seed |
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