CN107535145A - A kind of intelligent garlic planter - Google Patents
A kind of intelligent garlic planter Download PDFInfo
- Publication number
- CN107535145A CN107535145A CN201710800802.4A CN201710800802A CN107535145A CN 107535145 A CN107535145 A CN 107535145A CN 201710800802 A CN201710800802 A CN 201710800802A CN 107535145 A CN107535145 A CN 107535145A
- Authority
- CN
- China
- Prior art keywords
- garlic
- control module
- driver
- mechanical
- banker
- 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
Landscapes
- Transplanting Machines (AREA)
- Soil Working Implements (AREA)
Abstract
A kind of intelligent garlic planter.It includes car body, contains garlic device, inhale garlic device, pass garlic device, image collecting device, ditching device, cultivation device, banker, firming device, cleaning device, power set and control system；The present invention be suitable for such as garlic it is this have a singling spacing, bud upward, upright sowing and the Seeder for crops that the single into the energy automatic identification seed bud root position of suitable soil layer sows should be planted, change the seeding technique for using disseminated at random as crops such as corn, wheats mostly at present；Image recognition technology is applied to the bud root position of identification seed simultaneously, and captured using intelligence plantation manipulator by seed bud root position, and realizes the key technology that single is planted vertically.The present invention has certain innovation and directive significance to the production standard of the Seeder for crops of single sowing and intelligent machine automation, and it has a extensive future, and is of great practical significance.
Description
Technical field
The invention belongs to crop seeding machinery technical field, more particularly to a kind of intelligent garlic planter.
Background technology
Although the cultivated area of China garlic occupy first of the world with yield, automatization level is low, still main at present
Artificial growth mode is used, therefore labor intensity is big, cost of labor is high, and because plantation golden period is limited, for big face
A large amount of labours are employed, it is necessary to concentrate for product plantation, cost can thus be significantly greatly increased, and influence to plant speed.And mesh
Mechanization sowing machine used in preceding is also more by the way of disseminating at random, it is clear that garlic kind can be so wasted, and again due to dissipating
It is different to broadcast the posture of rear garlic clove landing, therefore cannot be guaranteed the plantation posture of 100% garlic bud upward, it is big so as to greatly affected
The bud ratio of garlic, and add the follow-up process for subtracting seedling.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of intelligent garlic planter.
In order to achieve the above object, intelligent garlic planter provided by the invention includes car body, contains garlic device, inhales garlic dress
Put, pass garlic device, image collecting device, ditching device, cultivation device, banker, firming device, cleaning device, power dress
Put and control system；Wherein car body includes bottom plate, support frame, driving wheel and driving wheel motor；Described floor level is set, preceding
Rear end both sides position is respectively equipped with a driving wheel, and two driving wheels positioned at front end or rear end pass through a connecting shaft phase
Even；The lower end of support frame is fixed on the surface middle part of bottom plate, and front and back end is extended respectively to outside the front and back end of bottom plate；Driving
Turbin generator is arranged on the bottom surface of bottom plate, and output shaft is connected by transmission device with above-mentioned connecting shaft；
Containing garlic device includes containing garlic funnel, platform, going out garlic slideway；Garlic funnel is wherein contained to be arranged on the front end of support frame
Portion, for L-shaped body structure low after preceding height, front end top surface is provided with is provided with out garlic mouth into garlic mouth, rear end top surface, and platform is in for section
Semicircular deep-slotted chip breaker, is horizontally disposed with a manner of opening up, and front edge is connected to out on the back edge of garlic mouth；Go out garlic
Slideway is set in a manner of rear end tilts down, it is multiple go out garlic slideway be arranged side by side along cross-car, front end is connected to flat simultaneously
On the back edge of platform；
Inhaling garlic device includes driving bull stick, driving bull stick motor and small-sized suction garlic pump；Wherein driving bull stick is horizontally set on
The inside of platform, and drive the axial direction of bull stick consistent with the length direction of platform；Drive output shaft and the driving of bull stick motor
One end of bull stick is connected；One end of multiple small-sized suction garlic pumps along cross-car side by side be connected to driving bull stick on, and with it is multiple
The quantity for going out garlic slideway is equal and position is corresponding；
Pass garlic device include connecting rod, contain garlic disk, pressure sensor, disc rotary driver, drive rod, driving cylinder and
Motor；Wherein driving cylinder is rotatably provided at the middle upper portion of support frame using central shaft, internal along car
Body is transversely provided with multiple rows of radial drive rod；The output shaft of motor is connected with central shaft one end of driving cylinder；Every
The outer end of drive rod is connected after the circumferential wall of driving cylinder with the rear end of a connecting rod, and the front end of connecting rod is then be hinged
Mode connects one and contains garlic disk；A pressure sensor is installed on each surface for containing garlic disk, and outer ledge is provided with an energy
Enough rise to and contain garlic disk top or bounce back to the uncovered cylinder for containing garlic disk bottom, disc rotary driving is installed in the middle part of bottom surface
Device；
Ditching device includes plough crane, plough, lift actuator；The wherein upper end installation of plough crane
On the bottom surface for containing garlic funnel, multiple ploughs have been mounted side by side in lower end edge cross-car；Lift actuator is arranged on plough
On crane, for controlling the lifting of plough crane；
Image collecting device includes camera bracket and camera；Wherein camera bracket is long strip shape structure, water
It is flat to be arranged on above driving cylinder, multiple cameras have been mounted side by side along cross-car on bottom surface；
Cultivation device includes machinery mount, mechanical shoulder, mechanical shoulder driver, mechanical upper arm, mechanical upper arm driver, machinery
Forearm, mechanical forearm driver, plantation manipulator and robotic drive；Wherein machinery mount is vertically arranged；Multiple machinery branch
The lower end edge cross-car of frame is fixed on the rear portion of support frame side by side；Mechanical shoulder is arc, and the lower end of each mechanical shoulder is hinged
In the upper end of a machinery mount；Mechanical shoulder driver is arranged on the lower end of mechanical shoulder；The rear end of each mechanical upper arm is hinged on
The front end of one mechanical shoulder；Mechanical upper arm driver installs the rear end of mechanically arm；The rear end of each mechanical forearm is hinged on
The front end of one mechanical upper arm；Mechanical forearm driver installs the rear end of mechanically arm；The front end installation of each mechanical forearm
One plantation manipulator；Robotic drive is arranged on the rear end of plantation manipulator, and the front end for planting manipulator is provided with upper bottom left
Right four fingers, and manipulator is planted close to biography garlic device；
Banker includes banker driver, collects native device and nearby banker at a distance；Wherein banker
The upper end of driver is mounted on the support frame of machinery mount lower end；Nearby native device is collected simultaneously in banker and distant place
Installed in the lower end of banker driver, and native device is collected at a distance positioned at the outside of nearby banker；
Firming device includes collecting native device, firming hammer, crane, support；After wherein crane is arranged on support frame
End；Support is connected to the lower end of crane；Collect the front and back end that native device and firming hammer upper end is connected to support；
Cleaning device includes Clean Brush for cleaning and disc type hair-dryer；The upper end of wherein disc type hair-dryer is held within machine
On the support frame of tool pedestal lower end；And be connected with compressed air source, top is provided with more blowers, and lower end is dried for disc type
Mouthful；Clean Brush for cleaning is arranged on the lower edge of disc type hair-dryer in a manner of it inside and outside can overturn；
Control system includes central control module and the BCM Body Control Module being connected with central control module, inhales garlic dress
Control module is put, garlic device control module is passed, is image capture module, ditching device control module, cultivation device control module, clear
Clean device control module, banker control module, firming device control module；Wherein BCM Body Control Module and driving wheel motor
Electrical connection；Garlic device control module is inhaled to electrically connect with driving bull stick motor and small-sized suction garlic pump；Pass garlic device control module and pressure
Force snesor and motor electrical connection；Image capture module electrically connects with camera and disc rotary driver；Ditching device
Control module electrically connects with lift actuator；Cultivation device control module and mechanical shoulder driver, mechanical upper arm driver, machinery
Forearm driver and robotic drive electrical connection；Cleaning device control module and the control of Clean Brush for cleaning and disc type hair-dryer
Device electrically connects；Banker control module electrically connects with banker driver；Firming device control module is with collecting native device
Electrically connected with crane；
Power set include the battery and diesel engine being arranged on bottom plate bottom surface；Wherein use for diesel engine in for motor, drive
Dynamic device power supply；Battery is used to power for control system.
The described surface for containing garlic disk is provided with slipmat.
Described connecting rod is provided with damper with the junction for containing garlic disk.
The finger inside line of described plantation manipulator is provided with feeler, is provided with the outside of feeler soft
Matter pad.
Described image collecting device also includes the damping device being arranged on around camera.
Described nearby banker is made up of two relative collecting tab；At a distance native device is collected to be trained on hand by setting
Two relative collecting tab compositions on the outside of native device；Native device is collected also to be made up of two relative collecting tab.
Described power set also include the photovoltaic battery panel or photovoltaic cell film being arranged on car body outer surface, or small-sized
Wind power plant.
Described control system installation is on the control panel.
Intelligent garlic planter provided by the invention for it is a kind of be applied to as garlic is this have a singling spacing, bud upward,
Upright sowing and the crop seeding that the single sowing for the energy automatic identification seed bud root position for entering suitable soil layer should be planted
Machine, the technical barrier of the insurmountable single sowing of current seeder is which solved, changed at present mostly using as corn, wheat
The seeding technique disseminated at random Deng crops；Image recognition technology is applied to the bud root position of identification seed simultaneously, and used
Intelligence plantation manipulator is captured by seed bud root position, and realizes the key technology that single is planted vertically.The present invention is right
The production standard of the Seeder for crops of single sowing and intelligent machine automation have certain innovation and directive significance, its
Have a extensive future, be of great practical significance.
Brief description of the drawings
Fig. 1 is intelligent garlic planter top view provided by the invention.
Fig. 2 is intelligent garlic planter left view provided by the invention.
Fig. 3 is image collecting device upward view in intelligent garlic planter provided by the invention.
Fig. 4 is that manipulator front view is planted in intelligent garlic planter provided by the invention.
Fig. 5 is that manipulator side view is planted in intelligent garlic planter provided by the invention.
Fig. 6 is cleaning device lower end part front view in intelligent garlic planter provided by the invention.
Fig. 7 is hair-dryer substructure side view in cleaning device.
Fig. 8 is lower end part side view when hairbrush turns up in cleaning device.
Lower end part side view when Fig. 9 is hairbrush varus in cleaning device.
Figure 10 is schematic diagram when plantation manipulator takes garlic in cultivation device.
Figure 11 is schematic diagram when plantation manipulator is vertically planted in cultivation device.
Schematic diagram when manipulator cleaning is planted in Figure 12 cultivation devices.
Figure 13 is that control system forms schematic diagram.
Embodiment
Intelligent garlic planter provided by the invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1-Figure 13, intelligent garlic planter provided by the invention include car body, contains garlic device, suction garlic device,
Pass garlic device, image collecting device, ditching device, cultivation device, banker, firming device, cleaning device, power set and
Control system；Wherein car body includes bottom plate 38, support frame 56, driving wheel 55 and driving wheel motor；The described level of bottom plate 38 is set
Put, front and back end both sides position is respectively equipped with a driving wheel 55, and two driving wheels 55 positioned at front end or rear end pass through one
Root connecting shaft is connected；The lower end of support frame 56 is fixed on the surface middle part of bottom plate 38, and front and back end extends respectively to bottom plate 38
Front and back end outside；Driving wheel motor is arranged on the bottom surface of bottom plate 38, and output shaft passes through transmission device and above-mentioned connecting shaft phase
Connection；
Containing garlic device includes containing garlic funnel 58, platform 3, going out garlic slideway 5；Wherein contain garlic funnel 58 and be arranged on support frame 56
Upper front end, for L-shaped body structure low after preceding height, front end top surface is provided with is provided with out garlic mouth 2, platform into garlic mouth 1, rear end top surface
3 be the deep-slotted chip breaker of section semicircular in shape, is horizontally disposed with a manner of opening up, front edge is connected to out the rear end of garlic mouth 2
On edge；Go out garlic slideway 5 to set in a manner of rear end tilts down, it is multiple go out garlic slideway 5 be arranged side by side along cross-car, front end
It is connected to simultaneously on the back edge of platform 3；
Inhaling garlic device includes driving bull stick 4, driving bull stick motor and small-sized suction garlic pump 6；Wherein drive bull stick 4 horizontally disposed
In the inside of platform 3, and drive the axial direction of bull stick 4 consistent with the length direction of platform 3；Drive bull stick motor output shaft with
One end of driving bull stick 4 is connected；One end of multiple small-sized suction garlic pumps 6 is connected on driving bull stick 4 side by side along cross-car, and
With it is multiple go out garlic slideway 5 quantity it is equal and position is corresponding；
Pass garlic device include connecting rod 7, contain garlic disk 8, pressure sensor 9, disc rotary driver 10, drive rod 12,
Driving cylinder 13 and motor 14；Wherein driving cylinder 13 is rotatably provided in support frame 56 using central shaft
Between top, inside along cross-car is provided with multiple rows of radial drive rod 12；The output shaft of motor 14 and driving cylinder 13
Central shaft one end be connected；Rear end of the outer end of every drive rod 12 after the circumferential wall of driving cylinder 13 with a connecting rod 7
It is connected, the front end of connecting rod 7 then connects one in articulated manner and contains garlic disk 8；Install one in each surface for containing garlic disk 8
Pressure sensor 9, outer ledge, which is provided with one and can risen to, to be contained the top of garlic disk 8 or bounces back to the uncovered for containing the bottom of garlic disk 8
Cylinder 15, bottom surface middle part are provided with disc rotary driver 10；
Ditching device includes plough crane 34, plough 35, lift actuator 36；Wherein plough crane 34
Upper end is arranged on and contained on the bottom surface of garlic funnel 58, and multiple ploughs 35 have been mounted side by side in lower end edge cross-car；Lift actuator
36 are arranged on plough crane 34, for controlling the lifting of plough crane 34；
Image collecting device includes camera bracket 16 and camera 17；Wherein camera bracket 16 is long strip shape knot
Structure, it is horizontally set on above driving cylinder 13, multiple cameras 17 has been mounted side by side along cross-car on bottom surface；
Cultivation device includes machinery mount 23, mechanical shoulder 22, mechanical shoulder driver 42, mechanical upper arm 21, mechanical upper arm and driven
Dynamic device 41, mechanical forearm 20, mechanical forearm driver 40, plantation manipulator 19 and robotic drive 39；Wherein machinery mount
23 are vertically arranged；The lower end edge cross-car of multiple machinery mounts 23 is fixed on the rear portion of support frame 56 side by side；Mechanical shoulder 22 is
Arc, the lower end of each mechanical shoulder 22 are hinged on the upper end of a machinery mount 23；Mechanical shoulder driver 42 is arranged on machinery
The lower end of shoulder 22；The rear end of each mechanical upper arm 21 is hinged on the front end of a mechanical shoulder 22；Mechanical upper arm driver 41 is installed
The mechanically rear end of arm 21；The rear end of each mechanical forearm 20 is hinged on the front end of a mechanical upper arm 21；Mechanical forearm drives
Dynamic device 40 installs the rear end of mechanically arm 21；The front end of each mechanical forearm 20 is installed by one plantation manipulator 19；Manipulator
Driver 39 is arranged on the rear end of plantation manipulator 19, and the front end of plantation manipulator 19 is provided with four fingers up and down, and
Manipulator 19 is planted close to biography garlic device；
Banker includes banker driver 45, collects native device 26 and nearby banker 27 at a distance；Wherein train
The upper end of native device driver 45 is mounted on the support frame 56 of the lower end of machinery mount 23；Nearby banker 27 and distant place
Collect native device 26 while installed in the lower end of banker driver 45, and collect native device 26 positioned at nearby earthing up at a distance
The outside of device 27；
Firming device includes collecting native device 30, firming hammer 31, crane 32, support 33；Wherein crane 32 is arranged on
The rear end of support frame 56；Support 33 is connected to the lower end of crane 32；Native 31 upper ends of device 30 and firming hammer are collected to connect respectively
In the front and back end of support 33；
Cleaning device includes Clean Brush for cleaning 28 and disc type hair-dryer 29；The upper end of wherein disc type hair-dryer 29 is fixed on
On the support frame 56 of the lower end of machinery mount 23；And be connected with compressed air source, top is provided with more blowers, and lower end is
Disc type blowing mouth；Clean Brush for cleaning 28 is arranged on the lower edge of disc type hair-dryer 29 in a manner of it inside and outside can overturn；
Control system include central control module 48 and be connected with central control module 48 BCM Body Control Module 49,
Inhale garlic device control module 51, pass garlic device control module 50, image capture module 18, ditching device control module 52, plantation
Device control module 53, cleaning device control module 54, banker control module 59, firming device control module 60；Wherein
BCM Body Control Module 49 electrically connects with driving wheel motor；Inhale garlic device control module 51 and driving bull stick motor and small-sized suction garlic pump
6 electrical connections；Garlic device control module 50 is passed to electrically connect with pressure sensor 9 and motor 14；Image capture module 18 is with taking the photograph
As first 17 and disc rotary driver 10 electrically connect；Ditching device control module 52 electrically connects with lift actuator 36；Plantation dress
Put control module 53 and mechanical shoulder driver 42, mechanical upper arm driver 41, mechanical forearm driver 40 and robotic drive
39 electrical connections；Cleaning device control module 54 electrically connects with the controller of Clean Brush for cleaning 28 and disc type hair-dryer 29；Ridging dress
Control module 59 is put to electrically connect with banker driver 45；Firming device control module 60 is with collecting native device 30 and crane
32 electrical connections；
Power set include the battery and diesel engine being arranged on the bottom surface of bottom plate 38；Wherein use for diesel engine in for motor,
Driver is powered；Battery is used to power for control system.
The described surface for containing garlic disk 8 is provided with slipmat, is fallen with preventing from containing the garlic clove on garlic disk 8 in moving process
Fall.
Described connecting rod 7 is provided with damper 11 with the junction for containing garlic disk 8, and garlic is contained to prevent uncovered cylinder 15 to be reduced to
Garlic clove is set to drop due to vibration during 8 bottom of disk.
The finger inside line of described plantation manipulator 19 is provided with feeler 25, and the outside of feeler 25 is pacified
Harness has the soft pad 24 of certain frictional force, to prevent tuber planter tool hand 19 from damaging garlic clove.
Described image collecting device also includes being arranged on damping device 57 around camera 17, to prevent because of vibration
Influence the quality that camera 17 gathers image.
Described nearby banker 27 is made up of two relative collecting tab；It is near by being arranged on that native device 26 is collected at a distance
Locate two relative collecting tab compositions in the outside of banker 27；Native device 30 is collected also to be made up of two relative collecting tab.
Described power set also include the photovoltaic battery panel or photovoltaic cell film being arranged on car body outer surface, or small-sized
Wind power plant, for being charged for battery.
Described control system is arranged on control panel 47.
Now intelligent garlic planter application method provided by the invention is described below：First will be to be planted by operating personnel
Garlic clove poured into by entering garlic mouth 1 and contain in garlic funnel 58, then garlic clove enters rear end by containing the cavity of garlic funnel 58；Open this intelligence
Energy garlic planter, under the control of central control module 48, passes through ditching device control module 52 according to actual ditching depth
The position on the above-below direction of plough 35 is adjusted through lift actuator 36；Driving wheel motor is controlled to revolve by BCM Body Control Module 49
Turn, thus drive driving wheel 55 to rotate and car body is moved ahead, outputed in the process using multiple ploughs 35 in soil more
Plant ditch in road；The pace of car body should be coordinated with the plantation speed etc. with planting manipulator 19, to ensure garlic clove plantation most
Good strain spacing.At the same time, by inhale garlic device control module 51 control positioned at contain go out on garlic funnel 58 it is multiple small in garlic mouth 2
Type inhales garlic pump 6 and sucks a garlic clove respectively, and recognizes whether to have inhaled garlic clove by central control module 48, if sucked
Garlic clove just starts driving bull stick motor, thus drives driving bull stick 4 to rotate and the small-sized suction garlic pump 6 for having inhaled garlic clove is rotated into phase
That answers puts in garlic slideway 5, and then small-sized suction garlic pump 6 discharges garlic clove, and the garlic clove will fall on corresponding Sheng along putting afterwards under garlic slideway 5
In garlic disk 8；Now uncovered cylinder 15 is located at the top for containing garlic disk 8, and pressure sensor 9 leads to the information for having been received by garlic clove
Cross biography garlic device control module 50 and send central control module 48 to, central control module 48 confirms to contain to have filled in garlic disk 8
After garlic clove, start motor 14, driven by driving cylinder 13, drive rod 12 and connecting rod 7 and contain garlic disk 8 to cultivation device side
To rotation；When containing garlic disk 8 and rotating to below image collecting device, under the control of central control module 48, pass through image
Acquisition module 18 makes multiple cameras 17 gather multiple garlic clove image informations contained in garlic disk 8 respectively and through image capture module
18 send central control module 48 to, and garlic bud identification is carried out by central control module 48, then pass through the control signal after identification
Image capture module 18 sends disc rotary driver 10 to, and garlic disk 8 will be contained in the presence of disc rotary driver 10 and is revolved
Turn specified angle, until garlic bud position face plants manipulator 19, so that plantation manipulator 19 can be protected when taking vertical plantation after garlic
Demonstrate,prove garlic root down, garlic bud upward, thus improves the bud ratio of garlic bolt；The matter of the collection image of camera 17 can be influenceed in view of vibration
Amount, therefore damping device 57 is installed around camera 17.Meanwhile under the control of central control module 48, pass through plantation
The control plantation manipulator 19 of device control module 53 performs grasping manipulation：Mechanical upper arm is made by mechanical upper arm driver 41 first
21 raise certain angle, then mechanical forearm 20 will be made to lift to horizontal level, garlic clove to be filled by mechanical forearm driver 40
Contain garlic disk 8 reach plantation manipulator 19 can capture position when, make uncovered cylinder 15 by passing garlic device control module 50
Bounce back to and contain the bottom of garlic disk 8, then plantation manipulator 19 is stretched out the finger of left and right two by robotic drive 39 will
The corresponding garlic clove contained on garlic disk 8 takes out, and in order to prevent garlic clove from coming off, plants manipulator 19 and leaves and contain after garlic disk 8 above and below it
Two fingers also stretch out, and thus are secured firmly to plant on manipulator 19 by garlic clove, are made afterwards by mechanical forearm driver 40
Mechanical forearm 20 changes into plumbness, and mechanical upper arm 21 is also changed into plumbness by mechanical upper arm driver 41, afterwards
Mechanical shoulder 22 is pressed downwards by mechanical shoulder driver 42, thus using plant manipulator 19 by garlic clove bud portion plant upward into
In the soil layer of corresponding plantation ditch；In order to prevent the garlic clove after plantation from the phenomenon to skew occur, in the control of central control module 48
Under, distant place is collected native device 26 and nearby banker using banker driver 45 by banker control module 59
27 carry out first time ridging, and ridging process is from far collecting training near using two collecting tab collected at a distance on native device 26
Soil, while it is covered in garlic clove by the soil that native device 26 provides is collected at a distance using nearby two collecting tab on banker 27
On；Plantation manipulator 19 unclamps two wherein relative fingers after earthing up for the first time, then carries out second and earths up, plants afterwards
Manipulator 19 also unclamps remaining two fingers；Finally carry out carrying out third time ridging, while pass through mechanical shoulder driver 42
The operation for making mechanical shoulder 22 implement above to carry together with mechanical upper arm 21, mechanical forearm 20 and plantation manipulator 19；In order to keep planting
The cleaning of manipulator 19, so as to take garlic and plantation to be smoothed out next time, by mechanical forearm 20 to taking the opposite direction of garlic to rotate one
After determining angle, under the control of central control module 48, start the hairbrush 28 inwardly overturn by cleaning device control module 54
To clean the debris on plantation manipulator 19, then flip over hairbrush 28, start disc type hair-dryer 29 afterwards and carry out two
Secondary blowing cleaning.Afterwards, under the control of central control module 48, made by firming device control module 60 under crane 32
Drop, is then earthed up again by collecting native device 30, finally hammers 31 into shape by the soil layer pressure on the garlic clove top planted using firming
It is real, crane 32 can be lifted after completing plantation.
Claims (8)
- A kind of 1. intelligent garlic planter, it is characterised in that：Described intelligent garlic planter includes car body, contains garlic device, inhales Garlic device, pass garlic device, be image collecting device, ditching device, cultivation device, banker, firming device, cleaning device, dynamic Power apparatus and control system；Wherein car body includes bottom plate (38), support frame (56), driving wheel (55) and driving wheel motor；It is described Bottom plate (38) it is horizontally disposed, front and back end both sides position is respectively equipped with a driving wheel (55), and two positioned at front end or after The driving wheel (55) at end is connected by a connecting shaft；The lower end of support frame (56) is fixed on the surface middle part of bottom plate (38), and And front and back end is extended respectively to outside the front and back end of bottom plate (38)；Driving wheel motor is arranged on the bottom surface of bottom plate (38), output Axle is connected by transmission device with above-mentioned connecting shaft；Containing garlic device includes containing garlic funnel (58), platform (3), going out garlic slideway (5)；Wherein contain garlic funnel (58) and be arranged on support frame (56) upper front end, for L-shaped body structure low after preceding height, front end top surface is provided with is provided with out garlic into garlic mouth (1), rear end top surface Mouth (2), platform (3) are the deep-slotted chip breaker of section semicircular in shape, are horizontally disposed with a manner of opening up, front edge is connected to out On the back edge of garlic mouth (2)；Go out garlic slideway (5) to set in a manner of rear end tilts down, it is multiple go out garlic slideway (5) along car body Set laterally side by side, front end is connected on the back edge of platform (3) simultaneously；Inhaling garlic device includes driving bull stick (4), driving bull stick motor and small-sized suction garlic pump (6)；Wherein drive bull stick 4 horizontally disposed In the inside of platform (3), and drive the axial direction of bull stick 4 consistent with the length direction of platform (3)；Drive the output of bull stick motor Axle is with driving one end of bull stick 4 to be connected；One end of multiple small-sized suction garlic pumps (6) is connected to driving bull stick along cross-car side by side (4) on, and with it is multiple go out garlic slideway (5) quantity it is equal and position is corresponding；Passing garlic device includes connecting rod (7), contains garlic disk (8), pressure sensor (9), disc rotary driver (10), drive rod (12), driving cylinder (13) and motor (14)；Wherein driving cylinder (13) is rotatably provided at using central shaft The middle upper portion of support frame (56), inside are provided with multiple rows of radial drive rod (12) along cross-car；Motor (14) Output shaft be connected with central shaft one end of driving cylinder (13)；The circumference of driving cylinder (13) is run through in the outer end of every drive rod (12) Rear end after wall with a connecting rod (7) is connected, and the front end of connecting rod (7) then connects one in articulated manner and contains garlic disk (8)；A pressure sensor (9) is installed on each surface for containing garlic disk (8), and outer ledge can rise to provided with one contains garlic circle Disk (8) top bounces back to the uncovered cylinder (15) for containing garlic disk (8) bottom, and disc rotary driver is provided with the middle part of bottom surface (10)；Ditching device includes plough crane (34), plough (35), lift actuator (36)；Wherein plough crane (34) upper end is arranged on and contained on the bottom surface of garlic funnel (58), and multiple ploughs (35) have been mounted side by side in lower end edge cross-car； Lift actuator (36) is arranged on plough crane (34), for controlling the lifting of plough crane (34)；Image collecting device includes camera bracket (16) and camera (17)；Wherein camera bracket (16) is long strip shape Structure, it is horizontally set on above driving cylinder (13), multiple cameras (17) has been mounted side by side along cross-car on bottom surface；Cultivation device includes machinery mount (23), mechanical shoulder (22), mechanical shoulder driver (42), mechanical upper arm (21), mechanically Arm driver (41), mechanical forearm (20), mechanical forearm driver (40), plantation manipulator (19) and robotic drive (39)；Wherein machinery mount (23) is vertically arranged；The lower end edge cross-car of multiple machinery mounts (23) is fixed on support side by side The rear portion of frame (56)；Mechanical shoulder (22) is arc, and the lower end of each mechanical shoulder (22) is hinged on machinery mount (23) Upper end；Mechanical shoulder driver (42) is arranged on the lower end of mechanical shoulder (22)；The rear end of each mechanical upper arm (21) is hinged on one The front end of mechanical shoulder (22)；Mechanical upper arm driver (41) installs the rear end of mechanically arm (21)；Each mechanical forearm (20) Rear end be hinged on the front end of a mechanical upper arm (21)；Mechanical forearm driver (40) installation is mechanically after arm (21) End；The front end of each mechanical forearm (20) is installed by one plantation manipulator (19)；Robotic drive (39) is arranged on tuber planter The rear end of tool hand (19), the front end of plantation manipulator (19) are provided with four fingers, and plant manipulator (19) and lean on up and down It is near to pass garlic device；Banker includes banker driver (45), collects native device (26) and nearby banker (27) at a distance；Wherein The upper end of banker driver (45) is mounted on the support frame (56) of machinery mount (23) lower end；Nearby banker (27) and at a distance collect native device (26) while installed in the lower end of banker driver (45), and collect native device at a distance (26) positioned at the outside of nearby banker (27)；Firming device includes collecting native device (30), firming hammer (31), crane (32), support (33)；Wherein crane (32) Installed in the rear end of support frame (56)；Support (33) is connected to the lower end of crane (32)；Collect native device (30) and firming hammer (31) upper end is connected to the front and back end of support (33)；Cleaning device includes Clean Brush for cleaning (28) and disc type hair-dryer (29)；The upper end of wherein disc type hair-dryer (29) is fixed On the support frame (56) positioned at machinery mount (23) lower end；And be connected with compressed air source, top is provided with more blowers, Lower end is disc type blowing mouth；Clean Brush for cleaning (28) is arranged on the lower end edge of disc type hair-dryer (29) in a manner of it inside and outside can overturn Edge；Control system includes central control module (48) and the BCM Body Control Module being connected with central control module (48) (49), inhale garlic device control module (51), pass garlic device control module (50), image capture module (18), ditching device control Module (52), cultivation device control module (53), cleaning device control module (54), banker control module (59), firming Device control module (60)；Wherein BCM Body Control Module (49) electrically connects with driving wheel motor；Inhale garlic device control module (51) Electrically connected with driving bull stick motor and small-sized suction garlic pump (6)；Pass garlic device control module (50) and pressure sensor (9) and driving Motor (14) electrically connects；Image capture module (18) electrically connects with camera (17) and disc rotary driver (10)；Trench digging dress Control module (52) is put to electrically connect with lift actuator (36)；Cultivation device control module (53) and mechanical shoulder driver (42), Mechanical upper arm driver (41), mechanical forearm driver (40) and robotic drive (39) electrical connection；Cleaning device controls mould Block (54) electrically connects with the controller of Clean Brush for cleaning (28) and disc type hair-dryer (29)；Banker control module (59) and training Native device driver (45) electrical connection；Firming device control module (60) is electrically connected with collecting native device (30) and crane (32) Connect；Power set include the battery and diesel engine being arranged on bottom plate (38) bottom surface；Wherein use for diesel engine in for motor, drive Dynamic device power supply；Battery is used to power for control system.
- 2. intelligent garlic planter according to claim 1, it is characterised in that：The described surface for containing garlic disk (8) is set There is slipmat.
- 3. intelligent garlic planter according to claim 1, it is characterised in that：Described connecting rod (7) and contain garlic disk (8) junction is provided with damper (11).
- 4. intelligent garlic planter according to claim 1, it is characterised in that：The finger of described plantation manipulator (19) Inside line is provided with feeler (25), and soft pad (24) is provided with the outside of feeler (25).
- 5. intelligent garlic planter according to claim 1, it is characterised in that：Described image collecting device also includes setting Put the damping device (57) around camera (17).
- 6. intelligent garlic planter according to claim 1, it is characterised in that：Described nearby banker (27) is by two Individual relative collecting tab composition；Collect at a distance native device (26) by set two on hand on the outside of banker (27) it is relative Collecting tab forms；Native device (30) is collected also to be made up of two relative collecting tab.
- 7. intelligent garlic planter according to claim 1, it is characterised in that：Described power set also include being arranged on Photovoltaic battery panel or photovoltaic cell film on car body outer surface, or small-size wind power-generating equipment.
- 8. intelligent garlic planter according to claim 1, it is characterised in that：Described control system is arranged on chain of command On plate (47).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800802.4A CN107535145B (en) | 2017-09-07 | 2017-09-07 | Intelligence garlic seeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800802.4A CN107535145B (en) | 2017-09-07 | 2017-09-07 | Intelligence garlic seeder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107535145A true CN107535145A (en) | 2018-01-05 |
| CN107535145B CN107535145B (en) | 2020-02-28 |
Family
ID=60958112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710800802.4A Active CN107535145B (en) | 2017-09-07 | 2017-09-07 | Intelligence garlic seeder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107535145B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108268850A (en) * | 2018-01-24 | 2018-07-10 | 成都鼎智汇科技有限公司 | A kind of big data processing method based on image |
| CN108633409A (en) * | 2018-03-28 | 2018-10-12 | 重庆化工职业学院 | A kind of multirow garlic planter |
| CN109104954A (en) * | 2018-08-22 | 2019-01-01 | 山东省农业机械科学研究院 | Garlic orients charge seed mechanism and control method |
| CN110375979A (en) * | 2019-08-27 | 2019-10-25 | 山东农业大学 | Garlic planter spoon formula takes kind of broadcast leakage replay experimental bench and a detection method |
| CN111919557A (en) * | 2020-09-21 | 2020-11-13 | 洛阳智能农业装备研究院有限公司 | Garlic sowing and bud aligning device and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020026395A (en) * | 2000-10-02 | 2002-04-10 | 홍순용 | Garlic sower |
| FR2844423A1 (en) * | 2002-09-12 | 2004-03-19 | Erme Sa | Bulb planting machine has housing with hopper and rotating discs with spoons to pick up bulbs and clamps to release them into furrow |
| CN101347065A (en) * | 2008-09-12 | 2009-01-21 | 朱永文 | Full-automatic accurate garlic transplanter and planting method |
| CN205611225U (en) * | 2016-04-14 | 2016-10-05 | 青岛理工大学 | Garlic inserting machine based on automatic intermittent falling and grading seed metering centralization |
| CN205681834U (en) * | 2016-06-12 | 2016-11-16 | 孙晓军 | A kind of Bulbus Allii machine of broadcasting from dynamic(al) correction pick induction system |
| CN206402678U (en) * | 2016-07-28 | 2017-08-15 | 济南华庆农业机械科技有限公司 | A kind of Novel garlic seeder |
-
2017
- 2017-09-07 CN CN201710800802.4A patent/CN107535145B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020026395A (en) * | 2000-10-02 | 2002-04-10 | 홍순용 | Garlic sower |
| FR2844423A1 (en) * | 2002-09-12 | 2004-03-19 | Erme Sa | Bulb planting machine has housing with hopper and rotating discs with spoons to pick up bulbs and clamps to release them into furrow |
| CN101347065A (en) * | 2008-09-12 | 2009-01-21 | 朱永文 | Full-automatic accurate garlic transplanter and planting method |
| CN205611225U (en) * | 2016-04-14 | 2016-10-05 | 青岛理工大学 | Garlic inserting machine based on automatic intermittent falling and grading seed metering centralization |
| CN205681834U (en) * | 2016-06-12 | 2016-11-16 | 孙晓军 | A kind of Bulbus Allii machine of broadcasting from dynamic(al) correction pick induction system |
| CN206402678U (en) * | 2016-07-28 | 2017-08-15 | 济南华庆农业机械科技有限公司 | A kind of Novel garlic seeder |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108268850A (en) * | 2018-01-24 | 2018-07-10 | 成都鼎智汇科技有限公司 | A kind of big data processing method based on image |
| CN108268850B (en) * | 2018-01-24 | 2022-04-12 | 贵州华泰智远大数据服务有限公司 | Big data processing method based on image |
| CN108633409A (en) * | 2018-03-28 | 2018-10-12 | 重庆化工职业学院 | A kind of multirow garlic planter |
| CN109104954A (en) * | 2018-08-22 | 2019-01-01 | 山东省农业机械科学研究院 | Garlic orients charge seed mechanism and control method |
| WO2020037749A1 (en) * | 2018-08-22 | 2020-02-27 | 山东省农业机械科学研究院 | Directional seed throwing mechanism for garlic and control method |
| US11419259B2 (en) | 2018-08-22 | 2022-08-23 | Shandong Academy Agricultural Machinery Sciences | Directional garlic seed throwing mechanism and control method of the same |
| CN110375979A (en) * | 2019-08-27 | 2019-10-25 | 山东农业大学 | Garlic planter spoon formula takes kind of broadcast leakage replay experimental bench and a detection method |
| CN110375979B (en) * | 2019-08-27 | 2024-05-03 | 山东农业大学 | Spoon type seed taking, missing sowing and rebroadcasting experiment table of garlic seeder and detection method |
| CN111919557A (en) * | 2020-09-21 | 2020-11-13 | 洛阳智能农业装备研究院有限公司 | Garlic sowing and bud aligning device and method |
| CN111919557B (en) * | 2020-09-21 | 2023-05-16 | 洛阳智能农业装备研究院有限公司 | Garlic sowing positive bud device and positive bud method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107535145B (en) | 2020-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107535145A (en) | A kind of intelligent garlic planter | |
| AU2020102121A4 (en) | Intelligent garlic planter | |
| CN107567823A (en) | Intelligent tea picking robot | |
| CN107006189A (en) | A kind of transplanter | |
| CN109220227A (en) | A kind of Famous High-quality Tea picking robot | |
| CN109964596A (en) | A kind of direct sowing of rice apparatus and method based on intelligent robot | |
| CN205756174U (en) | A kind of solid soilless culturing intelligent robot | |
| CN205105561U (en) | Multifunctional efficient paddy planter | |
| CN205305441U (en) | Tea garden aviation equipment of picking tea -leaves | |
| CN215648166U (en) | Remote control self-propelled corn wide-narrow row crutch seedling planter | |
| CN109699287A (en) | Leaf vegetables cropper and its control method with harvesting height regulatory function | |
| CN203793667U (en) | Grain collecting machine | |
| CN105830570A (en) | Automatic potato sowing machine | |
| CN107743743A (en) | A kind of whole ridger of big Tagayasu Den of vegetables | |
| CN110402628A (en) | A kind of intelligent irrigation robot device with weeding function | |
| CN107018720A (en) | Towed four rows corn plant planter and type of seeding | |
| CN205847893U (en) | Rhizoma Solani tuber osi seeding plough | |
| CN204131999U (en) | A kind of red date combined harvester | |
| CN112868444B (en) | Garlic bud seedling film breaking robot and using method thereof | |
| CN209017426U (en) | seeding device | |
| CN218772904U (en) | Biological grass square planter of crawler-type based on biax conveying | |
| CN106508603A (en) | Tree seedling lifting equipment | |
| CN204146054U (en) | A kind of red date sucking machine device | |
| CN109618576A (en) | Transplant ridging equipment | |
| CN107667627A (en) | A kind of rice seeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |