CN108124557B - Transplanting machine with fault-tolerant function and fault-tolerant method thereof - Google Patents
Transplanting machine with fault-tolerant function and fault-tolerant method thereof Download PDFInfo
- Publication number
- CN108124557B CN108124557B CN201711417599.9A CN201711417599A CN108124557B CN 108124557 B CN108124557 B CN 108124557B CN 201711417599 A CN201711417599 A CN 201711417599A CN 108124557 B CN108124557 B CN 108124557B
- Authority
- CN
- China
- Prior art keywords
- seedling
- fault
- tolerant
- transplanter
- planting
- 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.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
A transplanter with fault-tolerant function and a fault-tolerant method thereof, comprising: the transplanter body is used for planting seedling plants; the information detection unit is used for detecting seedling supplementing information of the transplanter body before planting the seedling plants; and the fault-tolerant control unit controls the work of the transplanter body according to the seedling supplementing information so as to prevent the transplanting machine from generating a missing transplanting error in the transplanting process.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a transplanting machine with a fault-tolerant function and a fault-tolerant method thereof.
Background
Transplanting machines are widely used in agricultural production for assisting users in planting seedlings to be cultivated in the ground. The transplanting machine can help a user to greatly reduce labor force consumption, and is an important agricultural machine in many different types of agricultural machines.
The existing transplanting machine mainly comprises a feeding barrel, a seedling guiding pipe, a soil covering wheel and other working component assemblies. In the process of planting by a transplanter, the seedlings are required to be placed in the seedling cups in a manual mode, when the feeding cylinder rotates to the position above the seedling guiding pipe, the bottom of the feeding cylinder is opened, the seedlings fall into the seedling guiding pipe under the action of gravity, and the seedlings are planted in the soil through the inclined seedling guiding pipe. And then the soil is covered and pressed by the action of the soil covering wheel, so that the planting process is completed.
It can be appreciated that in the process of planting, a certain planting rate needs to be ensured so that the planting has a good planting effect, but the existing transplanting machine does not pay much attention in this respect when in operation.
Specifically, in the planting process, the seedling plants are firstly required to be placed in the transplanting machine in a manual mode, and the seedling plant supplementing is completed in a manual mode, so that omission can occur due to negligence or overfatigue of operators, and the seedling plants are not supplemented in some feeding cylinders. That is, some feeding cylinders have no seedling, and when the seedling cups rotate to the position above the seedling guiding pipes, the seedling cannot be provided for the seedling guiding pipes, so that the seedling guiding pipes are planted in the soil without planting the seedling, namely, the seedling is not planted in the soil, and the phenomenon of missing planting and empty planting occurs.
The existing transplanting machine does not have any mode for preventing the occurrence of planting. That is, the transplanting machine is always in a state of planting work unless the operator finds itself. In other words, when the transplanting machine generates errors, the errors can be compensated only manually.
In this case, if the manual supplementary planting is not performed at a later stage, waste of land resources is caused. However, the manual supplementary planting process also needs to consume a certain time and physical strength of the planter, namely, secondary waste of resources is caused. Therefore, in the transplanting process of the transplanting machine, the phenomena of transplanting omission and empty planting are reduced, and the method plays an important role in the transplanting operation.
Disclosure of Invention
An object of the present invention is to provide a transplanter with fault tolerant function and a fault tolerant method thereof, wherein the transplanter with fault tolerant function can prevent the occurrence of missing planting during the transplanting process.
An object of the present invention is to provide a transplanter with fault tolerance function and a fault tolerance method thereof, wherein the transplanter with fault tolerance function detects whether empty cups appear in a seedling feeding cup before planting, so as to avoid missing planting errors during planting.
An object of the present invention is to provide a transplanter with fault tolerance function and a fault tolerance method thereof, wherein the transplanter provides different detection schemes so as to detect whether empty cups appear in the seedling feeding cup at different stages, so as to prevent load missing errors.
An object of the present invention is to provide a transplanter having a fault-tolerant function and a fault-tolerant method thereof, in which the operation of the transplanter is controlled to facilitate the operator to take corrective measures when a load-missing situation may occur.
An object of the present invention is to provide a transplanting machine with fault-tolerant function and a fault-tolerant method thereof, wherein when an empty cup condition is detected, the transplanting machine is braked, and seedlings are supplied to an operator in the empty cup.
An object of the present invention is to provide a transplanting machine with fault tolerant function and a fault tolerant method thereof, wherein when empty cups are detected, a prompt signal is provided to remind a user to supplement seedlings.
It is an object of the present invention to provide a transplanter with fault tolerant capability and a fault tolerant method thereof, wherein in some embodiments, a test is performed between the seedling supplementing position and the seedling feeding position of an operator to determine whether empty cups are present, so as to reserve enough time for the operator to make progress in supplementing.
An object of the present invention is to provide a transplanter with fault tolerant function and a fault tolerant method thereof, wherein the transplanter includes a power supply for providing power to a detection control element.
To achieve at least one of the above objects, an aspect of the present invention provides a transplanting machine with fault tolerant function, comprising:
the transplanter body is used for planting seedling plants;
the information detection unit is used for detecting seedling supplementing information of the transplanter body before planting the seedling plants; and
and the fault-tolerant control unit controls the work of the transplanter body according to the seedling supplementing information so as to prevent the transplanting machine from generating a missing transplanting error in the transplanting process.
According to some embodiments, the transplanting machine with fault tolerance function comprises a transplanting unit, the transplanting unit comprises a seedling tray, a seedling planting nozzle and a control mechanism, the control mechanism controls the seedling tray to rotate, the seedling tray comprises a plurality of seedling feeding cups, the seedling feeding cups are used for bearing seedling plants and providing the seedling plants for the seedling planting nozzle to plant the seedling plants, and the information detection unit detects the seedling supplementing information of the seedling feeding cups.
According to some embodiments, the fault-tolerant control unit includes a missing prompt module, and when the information detection unit detects that the seedling feeding cup is empty, the missing prompt module provides prompt information to prompt an operator to make up.
The transplanter with fault tolerance according to some embodiments, wherein the prompt information of the missing prompt module is a light prompt information or a voice prompt information.
The transplanter with fault-tolerant function according to some embodiments, wherein the fault-tolerant control unit includes a job control module that brakes the transplanter body when the information detection unit detects that the seedling feeding cup is empty.
According to some embodiments, the fault-tolerant control unit includes a seedling tray control module, and when the information detection unit detects that the seedling feeding cup is empty, the seedling tray control module controls the rotation speed of the seedling tray, so that the seedling feeding cup in an empty state does not feed seedlings to the seedling planting nozzle.
The transplanter with fault tolerant functionality according to some embodiments, wherein the information detection unit includes at least one detector disposed between a seedling replacement location and a seedling feeding location of the seedling tray.
The transplanter with fault tolerant function according to some embodiments, wherein the information detection unit includes at least one detector disposed at a seedling feeding position of the seedling tray.
The transplanter with fault tolerant function according to some embodiments, wherein the information detection unit includes a plurality of detectors, and the detectors are respectively positioned between a seedling supplementing position and a seedling feeding position at corresponding positions of the seedling feeding cup.
The transplanter with fault-tolerant function according to some embodiments, wherein the fault-tolerant control unit includes a fault-tolerant policy generation module that generates a fault-tolerant policy according to the seedling supplementing information of the seedling cups to control the transplanter body.
The transplanter with fault tolerant function according to some embodiments, wherein the information detection unit includes a plurality of detectors respectively disposed at positions corresponding to the seedling feeding cups between a seedling supplementing position and a seedling feeding position.
The transplanter with a fault tolerant supply according to some embodiments, wherein the transplanter body includes a power source that drives the planting units to operate.
The transplanter with fault tolerant function according to some embodiments, wherein the power source includes a power source and a motor, the motor is electrically connected to the power source, and the power source provides electric power for the information detection unit and the fault tolerant control unit.
The fault tolerant transplanter according to some embodiments, wherein the power source is an internal combustion engine.
The transplanter with fault tolerant function according to some embodiments, wherein the transplanter includes a power supply that provides operating power for the information detection unit and the fault tolerant control unit.
Another aspect of the present invention provides a fault tolerant method for a transplanting machine, comprising the steps of:
(A) Detecting seedling supplementing information of a seedling feeding cup;
(B) Generating a fault-tolerant strategy according to the seedling supplementing information; and
(C) And controlling the transplanting machine to work according to the fault tolerance strategy.
The fault tolerant method of a transplanting machine according to some embodiments, wherein in the step (a), seedling supplementing information of the seedling feeding cup between a seedling feeding position and a seedling supplementing position is detected.
The fault tolerant method of a transplanting machine according to some embodiments, wherein in the step (a), the seedling supplementing information of the seedling feeding cup of a seedling feeding position is detected.
The fault-tolerant method of a transplanting machine according to some embodiments, wherein the fault-tolerant policy of step (B) is: providing prompt information to remind an operator.
The fault-tolerant method of a transplanting machine according to some embodiments, wherein the fault-tolerant policy of step (B) is: braking the transplanter.
Drawings
Fig. 1 is a block diagram schematically illustrating a transplanting machine having a fault-tolerant function according to a first embodiment of the present invention.
Fig. 2 is a fault-tolerant control block diagram of a transplanter having a fault-tolerant function according to a first embodiment of the present invention.
Fig. 3 is a perspective view of a transplanting machine having a fault-tolerant function according to a first embodiment of the present invention.
Fig. 4A and 4B are schematic views showing different states of a seedling feeding cup and a seedling planting nozzle of the planting unit according to the first embodiment of the present invention.
Fig. 5 is a schematic view of a seedling supplementing state of a transplanting machine with fault tolerant function according to the first embodiment of the present invention.
Fig. 6 is a schematic view of detection of a transplanting machine with fault-tolerant function according to the first embodiment of the present invention.
Fig. 7 is a schematic diagram of fault-tolerant control of a transplanter having a fault-tolerant function according to a first embodiment of the present invention.
Fig. 8 is a block diagram of the operation flow of the transplanting machine with fault-tolerant function according to the first embodiment of the invention.
Fig. 9 is a schematic block diagram of a transplanter having fault tolerance according to a second embodiment of the present invention.
Fig. 10 is a partial schematic view of a transplanting machine having a fault-tolerant function according to a second embodiment of the present invention.
Fig. 11 is a workflow diagram of a transplanter having a fault tolerant function according to a second embodiment of the present invention.
Fig. 12 is a block diagram illustrating a transplanter having a fault tolerant function according to a third embodiment of the present invention.
Fig. 13 is a partial schematic view of a transplanting machine having a fault-tolerant function according to a third embodiment of the present invention.
Fig. 14 is a block diagram of a transplanter operation with fault tolerance according to a third embodiment of the present invention.
Fig. 15 is a block diagram illustrating a transplanter having a fault tolerant function according to a fourth embodiment of the present invention.
Fig. 16 is a block diagram of a transplanter operation with fault tolerance according to a fourth embodiment of the present invention.
Fig. 17A, 17B are modified embodiments of the power source according to the first embodiment of the invention.
Fig. 18 is a block diagram of a fault tolerant method of a transplanting machine according to the above embodiment of the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
Referring to fig. 1 to 8, there is shown a transplanting machine having a fault-tolerant function according to a first embodiment of the present invention. The transplanter can detect the condition that the seedling is supplemented by the missing, so that the missing planting condition is reduced, namely, the transplanting transplanter has a fault tolerance function of missing planting.
The transplanting machine comprises a transplanting machine body 10, an information detection unit 20 and a fault-tolerant control unit 30. The transplanter body 10 is used for transplanting seedling plants to the ground. The information detection unit 20 is configured to detect missing supplementary information of a seedling plant before the transplanting of the transplanting machine body 10, and the fault-tolerant control unit 30 generates a fault-tolerant control strategy according to the missing supplementary information of the seedling plant, so as to control the transplanting machine to work, so as to prevent the transplanting machine from missing the transplanting process.
The transplanting machine body 10 includes a main body 11, a traveling unit 12, and a planting unit 15.
The traveling unit 12 is mounted to the main body 11 for traveling of the transplanting machine. The planting units 15 are disposed on the main body 11 so as to provide a fixed position for the planting units 15 through the main body 11.
The transplanter body 10 further includes a power source 13 and a drive mechanism 14. The power source 13 is used for providing power for the transplanting machine. The transmission mechanism 14 is in transmission connection with the power source 13 and other components so as to drive the transplanting machine to work through the power source 13.
Specifically, the transmission mechanism 14 is in transmission connection with the walking unit 12 and the power source 13, so that the walking unit 12 is driven to work by the power source 13 through the transmission mechanism 14. For example, when the transplanting machine needs to travel on the road surface, the traveling unit 12 is driven to travel on the road surface so as to facilitate the movement of the transplanting machine. For example, when the transplanting machine works in the field, the traveling unit 12 is driven to move in the field so that the transplanting machine can perform transplanting work. In particular, the power source 13 may control different walking states of the walking unit 12, such as fast, slow, road or field, by means of a fault tolerant control unit 30 (to be mentioned later).
The power source 13 is exemplified by, but not limited to, an internal combustion engine, an electric motor, or a combination of both. In particular, in this embodiment of the invention, the power source 13 is an internal combustion engine.
The traveling unit 12 includes a set of front wheels 121 and a set of rear wheels 122, the front wheels 121 being located near the front of the main body 11, and the set of rear wheels 122 being located near the rear of the main body 11. That is, during the forward operation of the transplanting machine having the fault-tolerant function, the set of front wheels 121 moves in the front and the set of rear wheels 122 moves in the rear. The power source 13 drives the set of front wheels 121 and/or the set of rear wheels 122 in motion.
Further, the power source 13 is selectively driven to the set of front wheels 121 and the set of rear wheels 122 so as to drive the set of front wheels 121 and/or the set of rear wheels 122, respectively. That is, by such an arrangement, different driving modes are constituted.
In this embodiment of the invention, the power source 13 drives the set of rear wheels 122. That is, in this manner the set of rear wheels 122 is the drive wheel and the set of front wheels 121 is the driven wheel.
In some embodiments, the power source 13 drives the set of front wheels 121. That is, in this manner, the set of front wheels 121 is a driving wheel and the set of rear wheels 122 is a driven wheel.
In some embodiments, the power source 13 drives the set of front wheels 121 and the set of rear wheels 122, respectively. That is, in this manner, the front wheels 121 and the rear wheels 122 are both driving wheels, and the front wheels 121 and the rear wheels 122 are moved in cooperation with each other.
It should be noted that in the practical implementation process, different driving modes can be set according to the requirements. It will be appreciated by those skilled in the art that the manner of driving is not a limitation of the present invention. The driving method is exemplified by, but not limited to, a precursor method, a rear driving method, a four-driving method, and the like.
The planting unit 15 includes a seedling tray 151, a seedling nozzle 152, a control mechanism 153 and a soil filling assembly 154. The seedling tray 151 is used for placing seedlings. The seedling planting nozzle 152 is used for planting seedling plants in the field. The soil filling assembly 154 is used for covering soil and compacting after planting. The control mechanism 153 is used for controlling the seedling tray 151, the seedling planting nozzle 152 and the soil filling component 154 to work. Specifically, the control mechanism 153 controls the operation of the seedling tray 151 so that seedlings in the seedling tray 151 enter the seedling nozzle 152. The control mechanism 153 controls the operation of the planting nozzle 152 so that the seedlings in the planting nozzle 152 can be planted in the land through the planting nozzle 152. The control mechanism 153 controls the operation of the soil filling assembly 154 so that the seedling is stably planted by covering soil and compacting after the seedling planting nozzle 152 plants the seedling in the soil.
The seedling tray 151 includes a plurality of seedling feeding cups 1511, and each of the seedling feeding cups 1511 is arranged in a predetermined layout on the seedling tray 151 so as to carry a plurality of the seedlings, respectively.
Referring to fig. 5, the planting unit 15 defines a seedling supplementing station 1501 and a seedling feeding station 1502. The seedling supplementing position 1501 is used for an operator to conduct seedling supplementing operation. The seedling feeding station 1502 is used for planting. More specifically, the patch position 1501 is adjacent to the operator's direction of operation, and the feed position 1502 is adjacent to the planting nozzle 152. In some embodiments, the feeding cup 1511 is positioned above the planting nozzle 152. That is, the seedling cup 1511 located above the seedling planting nozzle 152 is located at the seedling feeding position 1502.
Referring to fig. 4A, 4B, the feeding cup 1511 has an open state 15111 and a closed state 15112. When the feeding cup 1511 is in the open state 15111, the bottom of the feeding cup 1511 is opened, and the bottom of the feeding cup 1511 communicates with the planting nozzle 152 so that the seedling in the feeding cup 1511 enters the planting nozzle 152. When the feeding cup 1511 is in the closed state 15112, the bottom of the feeding cup 1511 is closed, adapted to carry the seedling.
Further, the tray 151 includes a plurality of bottom covers 1512, and the bottom covers 1512 are openably disposed on the bottom of the feeding cups 1511, so as to control the communication between the bottom of the feeding cups 1511 and the planting nozzles 152. That is, when the bottom cover 1512 covers the bottom of the feeding cup 1511, the feeding cup 1511 is in the closed state 15112, and when the bottom cover 1512 leaves the feeding cup 1511, the feeding cup 1511 is in the open state 151111.
For convenience of description, a state in which the seedling feeding cup 1511 accommodates and carries the seedling is defined as a loaded state, and a state in which the seedling feeding cup 1511 does not carry the seedling is defined as an unloaded state.
Further, when the feeding cup 1511 of the tray 151 is rotated to the seedling complement position 1501, the feeding cup 1511 is in a closed state 15112 adapted to complement seedlings into the cup, that is, to cause the feeding cup 1511 to be shifted from the empty state to a loaded state. When the feeding cup 1511 is rotated to the feeding position 1502, the feeding cup 1511 is in the open state 15111, the feeding cup 1511 is communicated with the planting nozzle 152, and is adapted for the seedling to enter the planting nozzle 152, that is, the feeding cup 1511 is changed from the loaded state to the unloaded state.
The transplanting machine further comprises a seedling carrying frame 50, and the seedling carrying frame 50 is used for carrying the seedlings. That is, a large number of seedlings are placed in advance on the seedling carrier 50 during the operation, and the operator manually moves the seedlings in the seedling carrier 50 to supplement the seedling feeding cup 1511 during the operation, and then plants the seedlings through the seedling feeding cup 1511 and the seedling planting nozzle 152.
Specifically, the seedling carrier 50 is mounted on the main body 11, so that the main body 11 provides a bearing and fixing position for the seedling carrier 50. The seedling carrier 50 may include a plurality of seedling trays, each of which is arranged in a stacked manner at intervals so as to fully utilize the space above the main body 11 to carry more seedlings.
The planting nozzle 152 has a receiving state 1521 and a planting state 1522. When the planting nozzle 152 is in the receiving state 1521, the planting nozzle is suitable for receiving the seedlings put in the seedling cup 1511. When the planting nozzle 152 is in the planting state 1522, the seedlings in the planting nozzle 152 are planted in the land. The control mechanism 153 controls the seedling planting nozzle 152 to switch between the receiving state 1521 and the planting state 1522.
The control mechanism 153 controls the seedling tray 151 to control the rotation of the seedling tray and the opening or closing of the seedling cup, so that the seedling cup 1511 is adapted to different working states. For example, the control mechanism 153 controls the rotation of the seedling tray 151 such that each of the seedling cups 1511 is continuously moved. The control mechanism 153 controls the opening or closing of the seedling feeding cup 1511, and when the seedling feeding cup 1511 is positioned at the seedling feeding position 1502, the control mechanism 153 controls the seedling feeding cup 1511 to be in an opening state 15111 so as to facilitate the throwing of the seedling plant into the seedling planting nozzle 152; when the feeding cup 1511 leaves the feeding station 1502, the control mechanism 153 controls the feeding cup 1511 to be in a closed state 15112 so that the feeding cup 1511 carries the seedling.
Further, the information detecting unit 20 is configured to detect seedling supplementary information of the planting unit 15, and transmit the information to the fault-tolerant control unit 30. The fault-tolerant control unit 30 controls the operation of the transplanting machine according to the collected information of the information detection unit 20 so as to perform fault-tolerant processing.
The transplanting machine further comprises a power supply unit 40, wherein the power supply unit 40 is electrically connected to the information detection unit 20, so that the information detection unit 20 can obtain working power from the power supply unit 40. The power supply unit 40 is exemplified by, but not limited to, a secondary battery and a dry battery.
The fault tolerant control unit 30 is electrically connected to the power supply unit 40 so as to obtain operating power from the power supply unit 40.
More specifically, the information detecting unit 20 detects seedling supplementary information in the seedling feeding cup 1511 of the planting unit 15. The information detecting unit 20 includes at least one detector 21, and the detector 21 is disposed at a detecting position of the seedling tray 151 so as to detect whether the seedling is carried in the seedling feeding cup 1511 passing through the detecting position. The detection position is a position detected by the detector 21 in the moving path of the feeding cup 1511.
The information detecting unit 20 may further include a camera 22, where the camera 22 is configured to collect seedling bearing information in the seedling cup, so as to detect whether an empty load condition occurs in the seedling cup.
Further, the seedling feeding cups 1511 are arranged in a predetermined route, and when the control mechanism 153 drives the seedling tray 151 to rotate, the seedling feeding cups 1511 are moved in a predetermined route so that a plurality of the seedlings are conveyed in a predetermined route. The predetermined route is exemplified by, but not limited to, linear, elliptical, circular, etc. The detector 21 is provided at a predetermined position of the predetermined line so as to detect whether the seedling is carried in the seedling feeding cup 1511 reaching the predetermined position.
The detection unit may be a camera 22 and/or a sensor to facilitate detection of the presence of seedlings in the seedling cup by means of collecting image information or sensing signals.
In this embodiment of the present invention, the fault tolerant control unit 30 includes a omission indicator module 31, and the omission indicator module 31 is configured to provide an error indicator signal when the information detection unit 20 detects that a planting error may occur in the planting unit 15.
The omission-prompting module 31 is communicatively connected to the information detection unit 20. When the information detection unit 20 detects that the seedling feeding cup 1511 does not bear the seedling, the information detection unit 20 transmits information to the fault-tolerant control unit 30, and the missing prompting module 31 of the fault-tolerant control unit 30 generates an error prompting signal to prompt an operator to supplement the seedling into the seedling feeding cup 1511.
Specifically, in some embodiments of the present invention, the omission factor 31 is a voice factor, that is, when the information detecting unit 20 detects that the seedling feeding cup 1511 at the predetermined position does not carry the seedling, information is fed back to the fault-tolerant control unit 30, and the fault-tolerant control unit 30 prompts the operator to have a omission factor through the omission factor 31, so as to remind the operator to supplement the seedling feeding cup 1511 with the omitted seedling, thereby preventing the occurrence of a missing planting factor.
In this embodiment of the present invention, the omission indicator module 31 may also be a light indicator module. That is, when the information detecting unit 20 detects that the seedling feeding cup 1511 at the predetermined position does not carry the seedling, information is fed back to the fault-tolerant control unit 30, and the fault-tolerant control unit 30 prompts the operator to have a missing condition by flashing light through the missing prompting module 31, so as to prompt the operator to supplement the missing seedling feeding cup 1511 with the seedling, thereby preventing the missing condition.
It should be understood by those skilled in the art that the missing alert module 31 may also alert the operator of the missing situation by other means, not limited to voice or light, and the alert mode of the missing information alert module is not a limitation of the present invention.
Specifically, in this embodiment of the invention, the detector 21 is disposed between the seedling-supplementing position 1501 and the seedling-feeding position 1502 of the planting unit 15 so as to detect whether the seedling-feeding cup 1511, which needs to be supplemented with seedlings, is supplemented before the seedling cup passes the seedling-supplementing position 1501 to the seedling-feeding position 1502.
That is, in this manner, when a miss occurs at the refill station 1501, the operator can refill the refill before the empty status of the feed cup 1511 is moved from the test station to the feed station 1502, providing the operator with more refill time without the operator being in a panic condition.
Further, the position of the detection bit may be set as required, that is, the set position of the detector 21 may be set as required. Such as by positioning the detector 21 near the seedling fill position 1501 so that when the feeding cup 1511 leaves an area where seedling may be filled, it can be detected, thereby reserving more fill time. Such as by setting the detector 21 to be in a position intermediate the predetermined path of the feeding cup 1511.
In this embodiment, during operation of the fault tolerant transplanter, an operator supplements seedlings in the feeding cup 1511 at the operating position. The control mechanism 153 controls the movement of each of the seedling planting cups of the planting unit 15. The information detecting unit 20 detects whether or not an empty load condition occurs in the seedling feeding cup 1511 reaching the detection position, that is, whether or not a missing seedling is occurring. Further, when the information detecting unit 20 detects that the seedling feeding cup 1511 is empty, the omission prompting module 31 generates a prompting message for prompting the operator to supplement the seedling. Before the feeding cup 1511 moves to the feeding position 1502, the operator supplements the missing feeding cup 1511 with the seedling, so that the feeding cup 1511 in the unloaded state is in the loaded state, and thus all the feeding cups 1511 move to the feeding position 1502 are in the loaded state. Further, when the seedling feeding cup 1511 is communicated with the seedling planting nozzle 152, the seedling enters the seedling planting nozzle 152, thereby preventing the seedling planting nozzle 152 from generating a missing planting condition during planting.
Referring to fig. 8 to 11, there is shown a schematic diagram according to a second embodiment of the present invention.
In this embodiment, the fault tolerant control unit 30 includes a job control module 32 for controlling the operation of the transplanting machine, and the detector 21 is disposed at the seedling feeding position 1502 of the planting unit 15 for detecting whether the seedling feeding cup 1511 reaching the seedling feeding position 1502 is in an empty state.
Further, when the information detecting unit 20 detects that the seedling feeding cup 1511 reaching the seedling feeding position 1502 is in an empty state, the operation control module 32 brakes the transplanting machine so that the operator performs a seedling supplementing operation, thereby preventing the seedling planting nozzle 152 from empty planting.
Further, after the seedling cup is supplemented with the seedling, the transplanter continues to work. That is, in this embodiment, when the detector 21 detects that the seedling feeding cup 1511 is empty, the operation of the transplanting machine is stopped, so that the traveling unit 12 stops traveling, and the transplanting unit 15 stops transplanting.
It should be noted that, when the seedling feeding cup 1511 is empty and is replenished with seedlings, the operation of the transplanting machine can be continued by the operation control module 32 of the fault-tolerant control unit 30 automatically or manually.
In this embodiment, an operator supplements seedlings in the feeding cup 1511 at the operating position when the transplanting machine is in operation. The control mechanism 153 controls the movement of each of the seedling planting cups of the planting unit 15. The information detecting unit 20 detects whether or not an empty load condition occurs in the seedling feeding cup 1511 reaching the detection position, that is, whether or not a missing seedling is occurring. Further, when the information detecting unit 20 detects that the seedling feeding cup 1511 at the seedling feeding position 1502 is empty, the operation control module 32 stops the transplanter to operate, so that seedlings are replenished in the seedling feeding cup 1511 of the operator like empty, and the seedling feeding cup 1511 in the empty state is in a load state. Further, when the seedling feeding cup 1511 communicates with the seedling planting nozzle 152, the seedling enters the seedling planting nozzle 152, thereby preventing the seedling planting nozzle 152 from generating a missing planting condition at the time of planting.
Referring to fig. 12 to 14, there is a transplanter according to a third embodiment of the present invention.
In this embodiment, the fault tolerant control unit 30 includes a tray control module 33, where the tray control module 33 is configured to adjust the movement state of the tray 151 according to the state of the seedling cup 1511, so as to prevent the occurrence of a load missing condition.
Specifically, a predetermined detection area is provided between the seedling supplement position 1501 to the seedling feeding position 1502, and the detector 21 is provided in the detection area. The detector 21 detects whether or not the cuvette 1511 reaching a predetermined detection area is empty, and transmits detection information to the fault-tolerant control unit 30. When the detector 21 transmits detection information to the fault-tolerant control unit 30, the tray control module 33 of the fault-tolerant control unit 30 adjusts the movement state of the tray 151 according to the detection information so as to avoid the seedling cup 1511 in the empty state.
For example, when the detector 21 detects that the seedling feeding cup 1511 at one position is in an empty state, the seedling tray control module 33 adjusts the rotation speed of the seedling tray 151, so as to adjust the state of the seedling feeding cup 1511 feeding the seedling to the seedling planting nozzle 152, and prevent the empty seedling feeding cup 1511 from communicating with the seedling planting nozzle 152. For example, as the seedling cup 1511 in the empty state moves to the seedling feeding position 1502, the seedling tray 151 is rotated with acceleration so that the empty seedling cup 1511 does not stay at the seedling feeding position 1502, and the seedling cup 1511 in the loaded state reaches the seedling feeding position 1502, thereby preventing the occurrence of the miss-planting condition.
In this embodiment, an operator supplements seedlings in the seedling supplement station 1501 to the seedling feeding cup 1511 while the transplanting machine is in operation. The control mechanism 153 controls the movement of each of the seedling cups 1511 of the planting units 15. The information detecting unit 20 detects whether or not the seedling cup located in the detection predetermined area is empty, that is, whether or not missing seedling replacement occurs. Further, when the information detecting unit 20 detects that the seedling cup 1511 at the seedling feeding position 1502 is empty, the seedling tray control module 33 regulates the rotation speed of the seedling tray 151 according to the bearing state of the seedling feeding cup 1511. Further, when the seedling feeding cup 1511 in the empty state reaches the seedling feeding position 1502, the seedling feeding position 1502 is quickly rotated without being put in. When the seedling feeding cup 1511 in the loaded state reaches the seedling feeding position 1502, the bottom of the seedling feeding cup 1511 is opened, the seedling feeding cup 1511 is communicated with the seedling planting nozzle 152, and the seedling enters the seedling planting nozzle 152, so that the situation that the seedling planting nozzle 152 leaks in planting is prevented.
Referring to fig. 15 to 16, a fourth embodiment according to the present invention is shown.
The detectors 21 of the information detecting unit 20 are respectively disposed at different positions of the seedling tray 151, and collect information on the loading state of the seedling cup 1511, that is, detect whether the seedling cup 1511 is in an empty state or a loaded state. The fault-tolerant control unit 30 comprises a fault-tolerant policy generation module 34 for generating a fault-tolerant policy. Specifically, the fault-tolerant policy generating module 34 generates a corresponding policy according to the detection information of the information detecting unit 20, and controls the operation of the transplanting machine to prevent the occurrence of a missing planting condition.
For example, the policy generation module generates a reminder policy when the detector 21 located remotely from the feed station 1502 detects an empty condition within the feed cup 1511. That is, in this idle condition, the transplanter continues to operate, prompting the operator to replenish the seedling by way of the missing alert module 31 in an informative manner.
The strategy generation module generates a rotational speed control strategy when the detector 21 of the feeding station 1502, which is located within a predetermined range, detects an empty condition within the feeding cup 1511. That is, in this case, the rotational speed of the seedling tray 151 is controlled by the seedling tray control module 33 so that the empty seedling feeding cup 1511 does not perform a seedling feeding operation.
The strategy generation module generates a braking strategy when the detector 21 located near the feeding position 1502 detects an empty load condition within the feeding cup 1511. That is, in this case, the operator is prevented from getting short of the supplementary seedling by controlling the operation of the transplanting machine by the operation control module 32.
In this embodiment, an operator supplements seedlings in the feeding cup 1511 at the operating position when the transplanting machine is in operation. The control mechanism 153 controls the movement of each seedling cup 151 of the planting unit 15. The information detecting unit 20 detects that the seedling placement cup 151 carries information of the seedling, that is, detects whether missing seedling replacement occurs. Further, when the information detecting unit 20 transmits the detected bearing state information of the feeding cup 1511 to the fault tolerance policy generating module 34. The fault-tolerant policy generation module 34 generates a fault-tolerant policy according to the detection information, and feedback controls different modules to execute the fault-tolerant policy, thereby preventing the occurrence of missed planting under different conditions.
Therefore, in the invention, the missing condition of the transplanting machine in different conditions can be prevented by different modes, so that the transplanting machine is prevented from missing planting during working, and the seedling transplanting work can be more accurately and efficiently carried out.
Referring to fig. 17a,17b is a modified embodiment of the power source 13 according to the first embodiment of the invention. In this embodiment, the power source 13 includes a power source 131 and a motor 132, and the motor 132 is electrically connected to the power source 131 so as to obtain electric energy from the power source 131 for operation. The docking mechanism is drivingly connected to the motor 132 to facilitate operation of the transplanter via the motor 132. That is, the running unit 12, the transplanting unit, the information detecting unit 20, and the fault-tolerant control unit 30 are supplied with operating power through the power source 131.
That is, in this embodiment, it is not necessary to separately supply the power source 131 to the information detection unit 20 and the fault tolerance control unit 30. The power source 131 may simultaneously supply operating power to the transplanter body 10, the information detection unit 20, and the fault tolerance control unit 30.
Further, in this variant embodiment of the invention, the power source 131 comprises a quick-mount case 1311 and a battery 1312, the battery 1312 being detachably electrically connected to the quick-mount case 1311, so as to facilitate quick mounting and dismounting of the battery 1312.
The fast-food box 1311 is supported and fixed to the main body 11. More specifically, the main body 11 includes an extension bracket 111 extending upward from the bottom of the main body 11 so as to provide support for the power source 131 at a predetermined height.
The fast-food box 1311 has a mounting chamber 13111 and an inlet 13112, and the inlet 13112 communicates with the mounting chamber 13111 and the outside so that the battery 1312 enters the mounting chamber 13111 through the inlet 13112 to be accommodated in the mounting chamber 13111. The fast-food box 1311 is provided with an input 13113 and an output 13114, the input 13113 being provided inside the fast-food box 1311 of the fast-food box 1311 for electrically connecting the battery 1312. The output terminal 13114 is provided outside the quick box 1311 for outputting electric power of the battery 1312. The motor 132 is electrically connected to the output 13114 to facilitate the harvesting of electrical power from the battery 1312 via the output 13114. The information detection unit 20 and the fault tolerance control unit 30 are electrically connected to the output terminal 13114 so as to obtain operating power through the output terminal 13114.
In some embodiments, the output 13114 may be configured as a plurality of sockets or plugs to facilitate electrical connection with external devices. Such as electrically connected to the motor 132, the information detection unit 20, and/or the fault tolerant control unit 30.
The fast-box 1311 is arranged obliquely so that the battery 1312 slides fast inside the fast-box 1311 along the fast-box 1311 and is electrically connected to the input 13113. The output 13114 is electrically connected to the motor 132 to provide electrical power to the motor 132. Specifically, the inlet 13112 of the quick box 1311 is located higher than the bottom of the quick box 1311 so that the battery 1312 quickly enters the mounting chamber 13111 without easily exiting from the mounting chamber 13111 after entering.
Accordingly, the battery 1312 includes a connection terminal 13121 for electrically connecting to the input terminal 13113 of the quick-connect housing 1311. That is, when the battery 1312 enters the installation chamber 13111 through the inlet 13112, the connection terminal 13121 is electrically connected to the input terminal 13113 of the quick-loading box 1311, so that components electrically connected to the output terminal 13114 quickly obtain electric power.
During operation, the operator simply places the battery 1312 in the position of the inlet 13112, and the battery 1312 automatically moves into the interior of the fast-food container 1311 under the force of gravity. And when the battery 1312 needs to be replaced, the operator needs to withdraw the battery 1312 in an obliquely upward manner.
In this embodiment of the present invention, the extension frame 113 of the main body 11 has an inclined support surface 1131. The fast-food container 1311 is supported to the inclined support surface 1131 such that the fast-food container 1311 is supported obliquely.
It should be noted that the fast-food container 1311 is fixed to the extension bracket 113 of the main body 11. When the battery 1312 is replaced, only the battery 1312 is operated without operating the quick box 1311, thereby providing stable and quick installation conditions for the power source 131.
It should be noted that, in the conventional agricultural machinery, especially the agricultural machinery for field operation, fuel oil is usually used as power, so that certain pollution exists, and the whole machine has large weight and large volume. In this variant embodiment of the present invention, electric energy is used as the power source 131, which is cleaner and environment-friendly, and can reduce the volume of the power source 13, and is convenient to use and store.
Referring to fig. 18, according to the above embodiment of the present invention, the present invention provides a transplanting fault tolerance method 1000, the transplanting fault tolerance method 1000 including the steps of:
1100: detecting seedling supplementing information of the seedling feeding cup 1511;
1200: generating a fault-tolerant strategy according to the seedling supplementing information; and
1300: and controlling the transplanting machine to work according to the fault tolerance strategy.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The objects of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.
Claims (14)
1. A transplanter having a fault tolerant function, comprising:
the transplanter body is used for planting seedling plants;
the information detection unit is used for detecting seedling supplementing information of the transplanter body before planting the seedling plants; and
the fault-tolerant control unit controls the work of the transplanter body according to the seedling supplementing information so as to prevent the transplanting machine from generating a missing transplanting error in the transplanting process;
the transplanter body comprises a planting unit, the planting unit comprises a seedling tray, a seedling planting nozzle, a control mechanism and a soil filling assembly, the control mechanism controls the seedling tray to rotate, the seedling tray comprises a plurality of seedling feeding cups, the seedling feeding cups are used for bearing seedling plants and providing the seedling planting nozzle with the seedling plants for the seedling planting nozzle to plant the seedling plants, and the information detection unit detects seedling supplementing information of the seedling feeding cups; the soil filling component is used for covering soil and compacting after planting; the control mechanism controls the work of the soil filling assembly so as to perform earthing and compacting after the seedling planting nozzle is used for planting the seedling in the soil, so that the seedling is stably planted;
The fault-tolerant control unit comprises a missing prompt module, and when the information detection unit detects that the seedling feeding cup is empty, the missing prompt module provides prompt information to prompt an operator to make up;
the fault-tolerant control unit comprises an operation control module, and when the information detection unit detects that the seedling feeding cup is empty, the operation control module brakes the operation of the transplanter body;
the fault-tolerant control unit comprises a seedling tray control module, and when the information detection unit detects that the seedling feeding cup is empty, the seedling tray control module controls the rotating speed of the seedling tray so that the seedling feeding cup in an empty state does not feed seedlings to the seedling planting nozzle;
the fault-tolerant control unit comprises a fault-tolerant strategy generation module, and the fault-tolerant strategy generation module generates a fault-tolerant strategy according to the seedling supplementing information of the seedling cup so as to control the transplanter body.
2. The transplanter with fault tolerant function according to claim 1, wherein the prompt message of the missing prompt module is a light prompt message or a voice prompt message.
3. The transplanter with fault tolerant function according to any one of claims 1 to 2, wherein the information detection unit comprises at least one detector disposed between a seedling supplementing position and a seedling feeding position of the seedling tray.
4. The transplanter with fault tolerant function according to any one of claims 1 to 2, wherein the information detection unit comprises at least one detector disposed at a seedling feeding position of the seedling tray.
5. The transplanter having a fault-tolerant function according to claim 1, wherein the information detecting unit includes a plurality of detectors respectively provided at positions corresponding to the seedling feeding cups between a seedling supplementing position and a seedling feeding position.
6. A transplanter having fault tolerant capability according to any one of claims 1 to 2, wherein the transplanter body includes a power source that drives the planting unit.
7. The fault tolerant transplanter of claim 6, wherein the power source comprises a power source and a motor, the motor being electrically connected to the power source, the power source providing power to the information detection unit and the fault tolerant control unit.
8. The fault tolerant transplanter of claim 6 wherein the power source is an internal combustion engine.
9. A transplanter having fault tolerant capability according to any one of claims 1 to 2, wherein the transplanter includes a power supply that provides operating power to the information detection unit and the fault tolerant control unit.
10. A fault tolerant method for a transplanting machine according to any one of claims 1-9, characterized in that it comprises the steps of:
(A) Detecting seedling supplementing information of a seedling feeding cup;
(B) Generating a fault-tolerant strategy according to the seedling supplementing information; and
(C) And controlling the transplanting machine to work according to the fault tolerance strategy.
11. The fault tolerant method of a transplanter according to claim 10, wherein in the step (a), seedling replenishment information of the seedling feeding cup between a seedling feeding position and a seedling replenishment position is detected.
12. The fault tolerant method of a transplanting machine according to claim 11, wherein in said step (a), the seedling supplementing information of said seedling feeding cup of a seedling feeding position is detected.
13. The transplanter fault-tolerant method according to any one of claims 11 to 12, wherein the fault-tolerant policy of step (B) is: providing prompt information to remind an operator.
14. The transplanter fault-tolerant method according to any one of claims 11 to 12, wherein the fault-tolerant policy of step (B) is: braking the transplanter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417599.9A CN108124557B (en) | 2017-12-25 | 2017-12-25 | Transplanting machine with fault-tolerant function and fault-tolerant method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711417599.9A CN108124557B (en) | 2017-12-25 | 2017-12-25 | Transplanting machine with fault-tolerant function and fault-tolerant method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108124557A CN108124557A (en) | 2018-06-08 |
| CN108124557B true CN108124557B (en) | 2023-10-20 |
Family
ID=62392709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711417599.9A Active CN108124557B (en) | 2017-12-25 | 2017-12-25 | Transplanting machine with fault-tolerant function and fault-tolerant method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108124557B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11192007A (en) * | 1997-10-24 | 1999-07-21 | Laennen Tehtaat Oy | Method and device for transplanting seedling |
| CN103109629A (en) * | 2013-03-01 | 2013-05-22 | 黑龙江北大荒众荣农机有限公司 | Electronic monitoring seedling grading mechanism of sugarbeet transplanter |
| CN103548457A (en) * | 2013-10-23 | 2014-02-05 | 安徽农业大学 | Singlechip-based cavity-prevention seedling dropping device of pot seedling transplanting machine |
| CN104025786A (en) * | 2014-06-20 | 2014-09-10 | 黑龙江省农业机械工程科学研究院 | Automatic seedling selecting system of full-automatic corn transplanter |
| CN104704970A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Full-automatic plug seedling transplanting device and seedling selecting method thereof |
| CN105794373A (en) * | 2016-01-07 | 2016-07-27 | 石河子大学 | Seedling filling device for automatic transplanter |
-
2017
- 2017-12-25 CN CN201711417599.9A patent/CN108124557B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11192007A (en) * | 1997-10-24 | 1999-07-21 | Laennen Tehtaat Oy | Method and device for transplanting seedling |
| CN103109629A (en) * | 2013-03-01 | 2013-05-22 | 黑龙江北大荒众荣农机有限公司 | Electronic monitoring seedling grading mechanism of sugarbeet transplanter |
| CN103548457A (en) * | 2013-10-23 | 2014-02-05 | 安徽农业大学 | Singlechip-based cavity-prevention seedling dropping device of pot seedling transplanting machine |
| CN104025786A (en) * | 2014-06-20 | 2014-09-10 | 黑龙江省农业机械工程科学研究院 | Automatic seedling selecting system of full-automatic corn transplanter |
| CN104704970A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Full-automatic plug seedling transplanting device and seedling selecting method thereof |
| CN105794373A (en) * | 2016-01-07 | 2016-07-27 | 石河子大学 | Seedling filling device for automatic transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108124557A (en) | 2018-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6107375B2 (en) | Rice transplanter | |
| WO2020151237A1 (en) | Agricultural machine group management system and method | |
| CN109041710B (en) | Seedling transplanter | |
| JP6146342B2 (en) | Seedling transplanter | |
| CN108124557B (en) | Transplanting machine with fault-tolerant function and fault-tolerant method thereof | |
| JP2011101615A (en) | Fertilizing device | |
| CN101658090B (en) | Seeder | |
| JP2019062807A (en) | Seedling transplanter | |
| JP2017099418A (en) | Work vehicle | |
| CN112931471A (en) | Plant protection unmanned aerial vehicle supply system | |
| CN215500731U (en) | Automatic soil feeding machine | |
| CN206343395U (en) | A kind of fiber stub concentricity automatic testing equipment | |
| JP7310789B2 (en) | automatic seedling transplanter | |
| JP2006320234A (en) | Rice transplanter furnished with fertilizing device | |
| KR20100051229A (en) | A pot supplier and potting machine with the same | |
| CN210130101U (en) | Seedling supplementing equipment and high-speed rice transplanter with same | |
| KR101463913B1 (en) | After upgrading the image of the video image processing gps topographic information system | |
| JP4071899B2 (en) | Side strip fertilizer machine | |
| JP5040592B2 (en) | Seedling transplanter | |
| JP2020195315A (en) | Seedling transplanter | |
| CN210130099U (en) | Seedling supplementing equipment and high-speed rice transplanter with same | |
| JP2011229466A (en) | Seedling transplanter | |
| CN109665246B (en) | Automatic material supplementing system for wind power pitch-controlled production line | |
| CN108124558A (en) | Minimize transplanter and its miniaturization configuration method | |
| CN214981096U (en) | Full-automatic picking robot |
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 | ||
| CB02 | Change of applicant information |
Address after: 441000 No.33, Jinfeng Road, high tech Zone, Xiangyang City, Hubei Province Applicant after: Yixiao Parts Technology (Xiangyang) Co.,Ltd. Applicant after: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY Co.,Ltd. Address before: 441000 No.1, Dongfeng Jingguan Avenue, Xiangzhou international logistics park, Xiangyang City, Hubei Province Applicant before: Yunduo Technology Service Co.,Ltd. Applicant before: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY Co.,Ltd. Address after: 441000 No.1, Dongfeng Jingguan Avenue, Xiangzhou international logistics park, Xiangyang City, Hubei Province Applicant after: Yunduo Technology Service Co.,Ltd. Applicant after: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY Co.,Ltd. Address before: 441000 No. 2 Chuili Road, Xiangyang High-tech Zone, Hubei Province Applicant before: DONGFENG AGRICULTURAL EQUIPMENT (XIANGYANG) Co.,Ltd. Applicant before: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210702 Address after: 430000, No.1, Dongfeng Avenue, Wuhan Economic and Technological Development Zone, Hubei Province Applicant after: Dongfeng Asset Management Co.,Ltd. Applicant after: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY Co.,Ltd. Address before: 441000 No.33, Jinfeng Road, high tech Zone, Xiangyang City, Hubei Province Applicant before: Yixiao Parts Technology (Xiangyang) Co.,Ltd. Applicant before: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211112 Address after: 257100 science and technology exchange center of China University of petroleum, No. 739, Beiyi Road, Wenhui street, Dongying District, Dongying City, Shandong Province Applicant after: Zhuofei (Dongying) agricultural science and Technology Research Institute Co.,Ltd. Address before: 430000 No. 1, Dongfeng Avenue, Wuhan Economic and Technological Development Zone, Hubei Province Applicant before: Dongfeng Asset Management Co.,Ltd. Applicant before: WUXI WASON ELECTRIC SYSTEM TECHNOLOGY CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |