CN109104972B - Underground crop excavating equipment for agricultural harvesting and working method thereof - Google Patents
Underground crop excavating equipment for agricultural harvesting and working method thereof Download PDFInfo
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- CN109104972B CN109104972B CN201810916672.5A CN201810916672A CN109104972B CN 109104972 B CN109104972 B CN 109104972B CN 201810916672 A CN201810916672 A CN 201810916672A CN 109104972 B CN109104972 B CN 109104972B
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- 238000003306 harvesting Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 127
- 238000005086 pumping Methods 0.000 claims description 34
- 238000009412 basement excavation Methods 0.000 claims description 30
- 238000005507 spraying Methods 0.000 claims description 11
- 239000000284 extract Substances 0.000 claims description 10
- 239000002689 soil Substances 0.000 claims description 7
- 238000003973 irrigation Methods 0.000 claims description 3
- 230000002262 irrigation Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000002699 waste material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D13/00—Diggers, e.g. potato ploughs
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses underground crop excavating equipment for agricultural harvesting and a working method thereof, the underground crop excavating equipment comprises an unmanned aerial vehicle, a connecting mechanism, an excavating mechanism and a control mechanism, the control mechanism comprises a processor, a driving device, a first positioning device and a first navigation device, the first positioning device is used for acquiring first position information of the excavating mechanism, the first navigation device is used for generating a moving route of the excavating mechanism, the excavating mechanism comprises a laser range finder, a camera device and a mechanical shovel, the laser range finder is used for detecting the height value of the laser range finder from the ground surface and enabling the height value to be acquired, the camera device is used for acquiring the surrounding environment of the excavating mechanism, the mechanical shovel is used for excavating underground crops, the unmanned aerial vehicle is connected with the excavating mechanism through the connecting mechanism, the connecting mechanism is used for controlling the connection relationship between the unmanned aerial vehicle and the excavating mechanism, the unmanned aerial vehicle comprises a, the second positioning device is used for acquiring second position information of the unmanned aerial vehicle, and the second navigation device is used for generating a flight route of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of agriculture, in particular to underground crop excavating equipment for agricultural harvesting and a working method thereof.
Background
Crops are divided into overground crops and underground crops, and for the overground crops, manual or mechanical harvesting can be carried out, the mechanical development is mature, and the overground crops can replace manual harvesting in a large scale; for underground crops, the underground part cannot be observed visually due to the fact that the underground crops grow underground, mechanical operation is quite inconvenient, particularly, the underground part cannot be obtained accurately, excavation efficiency is low easily, damage to the crops is easily caused in the excavation process, and labor force cannot be liberated easily because the underground crops are excavated in a manual harvesting mode.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides underground crop excavating equipment for agricultural harvesting and a working method thereof, which can effectively solve the problems related to the background art.
The technical scheme is as follows: an underground crop excavating device for agricultural harvesting comprises an unmanned aerial vehicle, a connecting mechanism, an excavating mechanism and a control mechanism, wherein the control mechanism comprises a processor, a driving device, a first positioning device and a first navigation device, the processor is respectively connected with the driving device, the first positioning device and the first navigation device, the first positioning device is used for acquiring first position information of the excavating mechanism and sending the first position information to the processor, the first navigation device is used for generating a moving route of the excavating mechanism and sending the moving route to the processor, the excavating mechanism comprises a laser range finder, a camera device, a mechanical shovel and a storage box, the laser range finder and the camera device are respectively connected with the processor, the laser range finder is arranged below the excavating mechanism, the unmanned aerial vehicle is used for detecting the height value of the unmanned aerial vehicle from the ground surface and sending the height value to the processor, the camera device is used for acquiring the surrounding environment of the excavating mechanism and sending a shot image to the processor, the mechanical shovel is arranged around the excavating mechanism through a mechanical arm and connected with the driving device for excavating underground crops, the storage box is used for storing the excavated crops, the unmanned aerial vehicle is connected with the excavating mechanism through the connecting mechanism, the connecting mechanism is connected with the driving device for controlling the connection relationship between the unmanned aerial vehicle and the excavating mechanism, the unmanned aerial vehicle comprises a second positioning device and a second navigation device, the second positioning device and the second navigation device are respectively connected with the processor, and the second positioning device is used for acquiring second position information of the unmanned aerial vehicle and sending the second position information to the processor, the second navigation device is used for generating a flight route of the unmanned aerial vehicle and sending the flight route to the processor.
As a preferable mode of the present invention, the excavating mechanism further includes a water storage tank, a water delivery pipe and a water spraying device, the water delivery pipe communicates the water storage tank and the water spraying device, the water spraying device is connected to the driving device and is configured to spray water to crops, the water storage tank includes an electric control valve disposed above the water storage tank, and the electric control valve is connected to the driving device and is configured to control opening and closing of the water storage tank.
As a preferable mode of the invention, the unmanned aerial vehicle further comprises a reserve tank and a water pumping device, the water pumping device is arranged in the reserve tank, the water pumping device is connected with the driving device and used for pumping or releasing water in the reserve tank, and the position of the water pumping device corresponds to the position of the electric control valve.
As a preferable mode of the present invention, the excavating mechanism further includes a crawler-type traveling device, and the traveling device is disposed below the excavating mechanism, connected to the driving device, and configured to drive the excavating mechanism to move.
In a preferred form of the invention, the bin includes an inner canister independent of the bin for storing waste, the mechanical shovel transferring the waste to the inner canister when the waste is present in the environment in which the object is growing.
The method comprises the following working steps:
a) setting a preset area and preset crops, leading the preset area into the second navigation device by the processor, generating a first flight route of the unmanned aerial vehicle by the second navigation device and sending the first flight route to the processor;
b) the processor outputs a first flight signal to the unmanned aerial vehicle, and the unmanned aerial vehicle carries the excavating mechanism to fly according to the first flight route;
c) the camera device acquires the surrounding environment of the excavating mechanism and sends a shot image to the processor;
d) the processor judges whether the preset crop exists in the shot image;
e) if yes, the processor extracts the overground part of the preset crop and judges whether the preset crop meets the excavation condition;
f) if so, the processor analyzes the growth state of the overground part and calculates the position of the underground part of the preset crop;
g) the processor controls the unmanned aerial vehicle to land, and the laser range finder detects the height value of the laser range finder from the ground surface and sends the height value to the processor;
h) the processor calculates the digging depth of the mechanical shovel according to the received height value and outputs a digging signal to a driving device, and the driving device drives the mechanical shovel to dig downwards;
i) the processor judges whether the received shot image has the underground part or not;
j) if yes, the processor outputs a transfer signal to the driving device, and the driving device drives the mechanical shovel to obtain the underground part and transfer the underground part to the storage box.
As a preferred aspect of the present invention, the image capturing device acquiring an environment around the excavation mechanism and transmitting a captured image to the processor further includes:
the processor judges whether the surface soil at the preset crop growth position needs irrigation or not according to the shot image;
if yes, the processor outputs a watering signal to the driving device, and the driving device drives the watering device to sprinkle water to the earth surface soil.
As a preferred embodiment of the present invention, the present invention further comprises:
when the water storage amount in the water storage tank is less than a preset amount, the processor extracts a clean water source near the unmanned aerial vehicle and guides the position of the clean water source into the second navigation device, and the second navigation device generates a second flight route of the unmanned aerial vehicle and sends the second flight route to the processor;
the processor outputs a disconnection signal to the driving device, and the driving device drives the connecting mechanism to disconnect the connection relation;
the processor outputs a second flight signal to the unmanned aerial vehicle, and the unmanned aerial vehicle flies according to the second flight route;
the processor outputs a water pumping signal to the driving device, and the driving device drives the water pumping device to pump water.
As a preferred embodiment of the present invention, the present invention further comprises:
when the unmanned aerial vehicle is separated from the excavating mechanism, the first navigation device generates a moving route of the excavating mechanism and sends the moving route to the processor;
the processor outputs a walking signal to the driving device, and the driving device drives the walking device to walk according to the moving route;
after the unmanned aerial vehicle returns, the processor outputs a connection signal to the driving device, and the driving device drives the connecting mechanism to establish a connection relation;
the processor outputs an opening signal to the driving device, and the driving device drives the electric control valve to open;
the processor outputs a water delivery signal to the driving device, and the driving device drives the water pumping device to deliver water;
the processor controls the unmanned aerial vehicle to continuously carry the excavating mechanism to fly.
As a preferred aspect of the present invention, the processor calculating the excavation depth of the mechanical shovel from the received height value further includes:
the processor sets a safe depth according to the position of the underground part, wherein the safe depth is smaller than the excavation depth;
the processor outputs a first digging signal to the driving device, and the driving device drives the mechanical shovel to dig downwards at a first preset speed;
the processor judges whether the digging depth of the mechanical shovel is greater than or equal to the safety depth;
if yes, the processor outputs a second digging signal to the driving device, the driving device drives the mechanical shovel to dig downwards at a second preset speed, and the second preset speed is smaller than the first preset speed.
The invention realizes the following beneficial effects:
the underground crop excavating equipment for agricultural harvesting can improve the yield efficiency of underground crops and reduce the damage rate during harvesting; the unmanned aerial vehicle and the excavating mechanism are combined to work, so that the passing efficiency of the unmanned aerial vehicle and the excavating mechanism is improved, when the preset crops are searched, the unmanned aerial vehicle carries the excavating mechanism to fly, and when the preset crops are searched, the unmanned aerial vehicle lands and excavates by the excavating mechanism; the processor pre-estimates the position of the underground part of the preset crop according to the growth state of the preset crop, sets the excavation depth of the mechanical shovel, extracts a safe depth from the excavation depth, controls the mechanical shovel to excavate the safe depth downwards at a first preset speed which is larger, controls the mechanical shovel to excavate the residual depth downwards at a second preset speed which is smaller, and excavates the underground part at a lower speed when the underground part is close to the residual depth, so that the damage probability of the underground part can be smaller; the digging mechanism can also irrigate the preset crop growth environment to improve the growth environment; after the unmanned aerial vehicle is separated from the excavating mechanism, the unmanned aerial vehicle can automatically go to a water source to supplement clean water, and the water in the standby water tank is transferred into a water storage tank of the excavating mechanism through the water pumping device again; the crawler-type running gear is arranged below the excavating mechanism, and can independently drive the excavating mechanism to move after being separated from the unmanned aerial vehicle, and can be well adapted to the land environment.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural view of an underground crop excavating apparatus for agricultural harvesting according to the present invention;
FIG. 2 is a schematic view of the excavating mechanism provided in the present invention;
FIG. 3 is a schematic view of water replenishing of a water storage tank according to the present invention;
FIG. 4 is a block diagram of a control mechanism provided in the present invention;
FIG. 5 is a flow chart of a method of operating an underground crop excavating apparatus for agricultural harvesting according to the present invention;
FIG. 6 is a flow chart of a method of operation of the sprinkler of the present invention;
FIG. 7 is a flow chart of a method of operation of the water pumping device of the present invention;
FIG. 8 is a flow chart of a water replenishing method of a water storage tank provided by the invention;
fig. 9 is a flowchart of a working method of the excavating mechanism provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
As shown in fig. 1, 2, 3 and 4, an underground crop excavating device for agricultural harvesting comprises an unmanned aerial vehicle 1, a connecting mechanism 2, an excavating mechanism 3 and a control mechanism 4, wherein the control mechanism 4 comprises a processor 5, a driving device 6, a first positioning device 7 and a first navigation device 8, the processor 5 is respectively connected with the driving device 6, the first positioning device 7 and the first navigation device 8, the first positioning device 7 is used for acquiring first position information of the excavating mechanism 3 and sending the first position information to the processor 5, the first navigation device 8 is used for generating a moving route of the excavating mechanism 3 and sending the moving route to the processor 5, the excavating mechanism 3 comprises a laser range finder 9, a camera device 10, a mechanical shovel 11 and a box 12, the laser range finder 9 and the camera device 10 are respectively connected with the processor 5, the laser range finder 9 is arranged below the excavating mechanism 3, the unmanned aerial vehicle 1 comprises a second positioning device 13 and a second navigation device 14, the second positioning device 13 and the second navigation device 14 are respectively connected with the processor 5, the second positioning device 13 is used for acquiring second position information of the unmanned aerial vehicle 1 and sending the second position information to the processor 5, the second navigation device 14 is configured to generate a flight route of the drone 1 and send the flight route to the processor 5.
The excavating mechanism 3 further comprises a water storage tank 15, a water delivery conduit 16 and a water spraying device 17, the water delivery conduit 16 is communicated with the water storage tank 15 and the water spraying device 17, the water spraying device 17 is connected with the driving device 6 and used for spraying water to crops, the water storage tank 15 comprises an electric control valve 18 arranged above the water storage tank, and the electric control valve 18 is connected with the driving device 6 and used for controlling the on-off of the water storage tank 15.
Unmanned aerial vehicle 1 still includes reserve tank 19 and pumping device 20, and reserve tank 19 is placed in pumping device 20, and pumping device 20 is connected with drive arrangement 6 for the water in the extraction or the release reserve tank 19, and the position of pumping device 20 corresponds with the position of electrical control valve 18.
The excavating mechanism 3 further comprises a crawler-type traveling device 21, and the traveling device 21 is arranged below the excavating mechanism 3, connected with the driving device 6 and used for driving the excavating mechanism 3 to move.
The bin 15 includes an inner canister 22, the inner canister 22 being independent of the bin 15 for storing refuse, the mechanical shovel 11 transferring the refuse to the inner canister 22 when the refuse is present in the environment in which the object is growing.
Specifically, the underground crop excavating equipment for agricultural harvesting provided by the invention comprises an unmanned aerial vehicle 1, a connecting mechanism 2, an excavating mechanism 3 and a control mechanism 4, wherein the control mechanism 4 comprises a processor 5, a driving device 6, a first positioning device 7 and a first navigation device 8, the excavating mechanism 3 comprises a laser range finder 9, a camera device 10, a mechanical shovel 11, a storage tank 12, a water storage tank 15, a water delivery conduit 16, a water sprinkling device 17 and a walking device 21, the water storage tank 15 comprises an electric control valve 18, the storage tank 12 comprises an inner cylinder 22, and the unmanned aerial vehicle 1 comprises a second positioning device 13, a second navigation device 14, a standby water tank 19 and a water pumping device 20.
Wherein the unmanned aerial vehicle 1 and the excavating mechanism 3 can work independently or jointly, the unmanned aerial vehicle 1 and the excavating mechanism 3 establish a one-to-one corresponding relationship, the unmanned aerial vehicle 1 realizes the connection relationship with the excavating mechanism 3 through the connecting mechanism 2, the connecting mechanism 2 is fixed above the excavating mechanism 3, when the unmanned aerial vehicle 1 and the excavating mechanism 3 are kept in a connection state in the process of searching for the preset crop, the unmanned aerial vehicle 1 carries the excavating mechanism 3 to fly, the excavating mechanism 3 is in a standby state, after the preset crop is searched, the unmanned aerial vehicle 1 carries the excavating mechanism 3 to land beside the preset crop and enters a standby state, the excavating mechanism 3 excavates the preset crop, therefore, when the two are in a connection state, one is in a working state, and the other is in a standby state, so that the energy consumption can be saved to the maximum extent under the condition of not influencing traffic and excavation.
Example two
As shown in fig. 5, a method of operating an underground crop excavating apparatus for agricultural harvesting, comprising the following operating steps:
a) setting a preset area and preset crops, leading the preset area into a second navigation device 14 by a processor 5, generating a first flight route of the unmanned aerial vehicle 1 by the second navigation device 14 and sending the first flight route to the processor 5;
b) the processor 5 outputs a first flight signal to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 carries the excavating mechanism 3 to fly according to a first flight route;
c) the camera device 10 acquires the surrounding environment of the excavating mechanism 3 and sends the shot image to the processor 5;
d) the processor 5 judges whether preset crops exist in the shot images;
e) if yes, the processor 5 extracts the overground part of the preset crop and judges whether the preset crop meets the excavation condition;
f) if so, the processor 5 analyzes the growth state of the overground part and calculates the position of the underground part of the preset crop;
g) the processor 5 controls the unmanned aerial vehicle 1 to land, and the laser range finder 9 detects the height value from the ground surface and sends the height value to the processor 5;
h) the processor 5 calculates the excavation depth of the mechanical shovel 11 according to the received height value and outputs an excavation signal to the driving device 6, and the driving device 6 drives the mechanical shovel 11 to excavate downwards;
i) the processor 5 judges whether the received shot image has an underground part;
j) if so, the processor 5 outputs a transfer signal to the drive 6, and the drive 6 drives the shovel 11 to pick up the underground portion and transfer it to the storage bin 12.
As shown in fig. 6, the image pickup device 10 acquiring the surrounding environment of the excavating mechanism 3 and sending the captured image to the processor 5 further includes:
the processor 5 judges whether the surface soil at the preset crop growth position needs irrigation according to the shot image;
if so, the processor 5 outputs a watering signal to the driving device 6, and the driving device 6 drives the watering device 17 to water the surface soil.
As shown in fig. 7, when the water storage amount in the water storage tank 15 is less than the preset amount, the processor 5 extracts a clean water source near the unmanned aerial vehicle 1 and guides the position of the clean water source into the second navigation device 14, and the second navigation device 14 generates a second flight route of the unmanned aerial vehicle 1 and sends the second flight route to the processor 5;
the processor 5 outputs a disconnection signal to the driving device 6, and the driving device 6 drives the connection mechanism 2 to disconnect the connection relation;
the processor 5 outputs a second flight signal to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 flies according to a second flight route;
the processor 5 outputs a pumping signal to the driving device 6, and the driving device 6 drives the pumping device 20 to pump water.
As shown in fig. 8, when the unmanned aerial vehicle 1 is separated from the excavation mechanism 3, the first navigation device 8 generates a movement route of the excavation mechanism 3 and sends the movement route to the processor 5;
the processor 5 outputs a walking signal to the driving device 6, and the driving device 6 drives the walking device 21 to walk according to the moving route;
after the unmanned aerial vehicle 1 returns, the processor 5 outputs a connection signal to the driving device 6, and the driving device 6 drives the connecting mechanism 2 to establish a connection relation;
the processor 5 outputs an opening signal to the driving device 6, and the driving device 6 drives the electric control valve 18 to open;
the processor 5 outputs a water delivery signal to the driving device 6, and the driving device 6 drives the water pumping device 20 to deliver water;
the processor 5 controls the unmanned aerial vehicle 1 to continue flying with the excavating mechanism 3.
Specifically, the invention provides an automatic excavation method, when crops in a certain area are mature and to be excavated, a worker sets a preset area and preset crops in a processor 5, the preset crops are the crops to be excavated, the preset area is the area where the crops grow, in an initial state, an unmanned aerial vehicle 1 and an excavation mechanism 3 keep a connection state, a second positioning device 13 obtains second position information of the unmanned aerial vehicle 1 and sends the second position information to the processor 5, the processor 5 guides the second position information and the preset area into a second navigation device 14, the second navigation device 14 guides the second position information to the preset area and a first flight path in the preset area and sends the first flight path to the processor 5, the processor 5 controls the unmanned aerial vehicle 1 to carry the excavation mechanism 3 to fly according to the first flight path, when the first position information and the preset area reach the preset area, a camera device 10 obtains the environment in the preset area and sends a shot image to the processor 5, the processor 5 extracts the preset crops from the preset crops, the preset crops are divided into an overground part and an underground part because the underground part is mainly a digging part because the underground part is the crops growing underground, the processor 5 analyzes the growing states of the crops according to the overground part of the preset crops, when the underground part meets the digging condition, the processor 5 further calculates the underground positions of the underground parts, different types of crops are different in underground positions, the same type of crops are different in underground positions according to the growing states and growing environments, the processor 5 controls the unmanned aerial vehicle 1 to descend beside the preset crops, the unmanned aerial vehicle 1 enters a standby state, the laser range finder 9 detects the height value of the unmanned aerial vehicle to the ground and sends the height value to the processor 5, the initial height of the mechanical shovel 11 is approximately the same as the height of the laser range finder 9, therefore, the height value is added with the depth of the underground part, namely the digging depth of the mechanical shovel 11, the processor 5 controls the mechanical shovel 11 to dig downwards, in the process of digging by the mechanical shovel 11, the processor 5 judges whether an underground part appears according to the received shot images, if so, the mechanical shovel 11 is stopped to dig, and if the underground part does not appear after the underground part reaches the digging depth, the mechanical shovel 11 is controlled to continue to dig downwards, and the dug underground part is transferred to the storage box 12.
In addition to excavating underground works, the present invention may also provide automatic protection measures, after entering a preset area, if the water content of the soil is too low, the sprinkler 17 is started, and clean water is pre-stored in the water storage tank 15. Setting a preset amount which is one fourth of the water storage amount of the water storage tank 15, when the water storage amount is less than the preset amount, disconnecting the connection mechanism 2, updating second position information of the unmanned aerial vehicle 1 by the second positioning device 13 and sending the second position information to the processor 5, extracting a water source position from a map by the processor 5, leading the second position information and the water source position into the second navigation device 14 by the processor 5, generating a second flight route from the second position information to the water source position by the second navigation device 14 and sending the second flight route to the processor 5, controlling the unmanned aerial vehicle 1 to fly to the water source position according to the second flight route by the processor 5, outputting a water pumping signal to the driving device 6 by the processor 5, driving the water pumping device 20 to pump water by the driving device 6, after the unmanned aerial vehicle 1 is separated from the excavating mechanism 3, independently operating the excavating mechanism 3, acquiring a first flight route of the unmanned aerial vehicle 1 by the processor 5 and changing the first flight route into the travel route of the excavating mechanism 3, and controlling the running gear 21 to finish the operation condition according to the running route, wherein the first positioning device 7 is used for providing the current position of the excavating mechanism 3 for the unmanned aerial vehicle 1, when the spare water tank 19 is full, the unmanned aerial vehicle 1 flies back to the position of the excavating mechanism 3 and establishes a connection relation with the excavating mechanism 3 again, the water pumping device 20 can pump water or deliver water, the position of the water pumping device 20 vertically corresponds to the position of the electric control valve 18 of the water storage tank 15, the water pumping device 20 is started, and the water pumping device 20 transfers the water body in the spare water tank 19 into the water storage tank 15.
EXAMPLE III
As shown in fig. 9, the processor 5 calculating the excavation depth of the mechanical shovel 11 from the received height value further includes:
the processor 5 sets a safe depth according to the position of the underground part, wherein the safe depth is smaller than the excavation depth;
the processor 5 outputs a first digging signal to the driving device 6, and the driving device 6 drives the mechanical shovel 11 to dig downwards at a first preset speed;
the processor 5 judges whether the digging depth of the mechanical shovel 11 is greater than or equal to the safe depth;
if yes, the processor 5 outputs a second digging signal to the driving device 6, and the driving device 6 drives the mechanical shovel 11 to dig downwards at a second preset speed, wherein the second preset speed is smaller than the first preset speed.
Specifically, the position of the underground part of the preset crop is only the estimated result of the processor 5, but not the actual position of the underground part, and if the mechanical shovel 11 digs blindly according to the digging depth calculated by the processor 5, the underground part may be damaged, therefore, the present invention optimizes the digging step of the mechanical shovel 11 to reduce the chance of damage to the underground crop, wherein the digging step of the mechanical shovel 11 is subdivided into two steps, the first step is that the processor 5 extracts a safe depth from the digging depth, the safe depth is used to ensure that the underground part is not damaged, in this embodiment, the safe depth is set to 60% of the digging depth, for example, the digging depth is 0.2 m, the safe depth is 0.12 m, the processor 5 controls the mechanical shovel 11 to dig 0.12 m downwards at the first preset speed, the second step is that the processor 5 controls the mechanical shovel 11 to dig 0.08 m downwards at the second preset speed, and in the excavation process, no matter the excavation is carried out in the first step or the second step, once the underground part is found, the excavation is stopped, and if the underground part does not appear after 0.2 m of underground excavation, the mechanical shovel 11 is controlled to continue the underground excavation at the second preset speed.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides an underground crop excavating equipment for agricultural results, includes unmanned aerial vehicle, coupling mechanism, excavates mechanism and control mechanism, its characterized in that, control mechanism includes treater, drive arrangement, first positioner and first navigation head, the treater respectively with drive arrangement, first positioner and first navigation head are connected, first positioner is used for acquireing excavate the first position information of mechanism and give first position information the treater, first navigation head is used for generating the removal route of excavating the mechanism and will the removal route is sent for the treater, excavate the mechanism and include laser range finder, camera device, mechanical shovel and storage tank, laser range finder and camera device respectively with the treater is connected, laser range finder set up in excavate the below of mechanism, the unmanned aerial vehicle is used for detecting the height value of the unmanned aerial vehicle from the ground surface and sending the height value to the processor, the camera device is used for acquiring the surrounding environment of the excavating mechanism and sending a shot image to the processor, the mechanical shovel is arranged around the excavating mechanism through a mechanical arm and connected with the driving device for excavating underground crops, the storage box is used for storing the excavated crops, the unmanned aerial vehicle is connected with the excavating mechanism through the connecting mechanism, the connecting mechanism is connected with the driving device for controlling the connection relationship between the unmanned aerial vehicle and the excavating mechanism, the unmanned aerial vehicle comprises a second positioning device and a second navigation device, the second positioning device and the second navigation device are respectively connected with the processor, and the second positioning device is used for acquiring second position information of the unmanned aerial vehicle and sending the second position information to the processor, the second navigation device is used for generating a flight route of the unmanned aerial vehicle and sending the flight route to the processor.
2. An underground crop excavating apparatus for agricultural harvesting as claimed in claim 1 wherein: the digging mechanism further comprises a water storage tank, a water delivery pipe and a water spraying device, wherein the water delivery pipe is communicated with the water storage tank and the water spraying device, the water spraying device is connected with the driving device and used for spraying water to crops, the water storage tank comprises an electric control valve arranged above the water storage tank, and the electric control valve is connected with the driving device and used for controlling the water storage tank to be closed or opened.
3. An underground crop excavating apparatus for agricultural harvesting as claimed in claim 2 wherein: unmanned aerial vehicle still includes reserve tank and pumping device, place in the pumping device reserve tank, pumping device with drive arrangement is connected for the extraction or release water in the reserve tank, pumping device's position with electric control valve's position corresponds.
4. An underground crop excavating apparatus for agricultural harvesting as claimed in claim 1 wherein: the excavating mechanism further comprises a crawler-type traveling device, wherein the traveling device is arranged below the excavating mechanism, is connected with the driving device and is used for driving the excavating mechanism to move.
5. An underground crop excavating apparatus for agricultural harvesting as claimed in claim 1 wherein: the storage box comprises an inner barrel, the inner barrel is independent of the storage box and used for storing garbage, and when garbage exists in an object growing environment, the mechanical shovel transfers the garbage to the inner barrel.
6. A method of operating an underground crop excavating equipment for agricultural harvesting as claimed in any of claims 1 to 5, characterized in that: the method comprises the following working steps:
a) setting a preset area and preset crops, leading the preset area into the second navigation device by the processor, generating a first flight route of the unmanned aerial vehicle by the second navigation device and sending the first flight route to the processor;
b) the processor outputs a first flight signal to the unmanned aerial vehicle, and the unmanned aerial vehicle carries the excavating mechanism to fly according to the first flight route;
c) the camera device acquires the surrounding environment of the excavating mechanism and sends a shot image to the processor;
d) the processor judges whether the preset crop exists in the shot image;
e) if yes, the processor extracts the overground part of the preset crop and judges whether the preset crop meets the excavation condition;
f) if so, the processor analyzes the growth state of the overground part and calculates the position of the underground part of the preset crop;
g) the processor controls the unmanned aerial vehicle to land, and the laser range finder detects the height value of the laser range finder from the ground surface and sends the height value to the processor;
h) the processor calculates the digging depth of the mechanical shovel according to the received height value and outputs a digging signal to a driving device, and the driving device drives the mechanical shovel to dig downwards;
i) the processor judges whether the received shot image has the underground part or not;
j) if yes, the processor outputs a transfer signal to the driving device, and the driving device drives the mechanical shovel to obtain the underground part and transfer the underground part to the storage box.
7. A method of operating an underground crop excavating apparatus for agricultural harvesting as claimed in claim 6, wherein: the camera device obtains the surrounding environment of the excavating mechanism and sends the shot image to the processor, and the camera device further comprises:
the processor judges whether the surface soil at the preset crop growth position needs irrigation or not according to the shot image;
if yes, the processor outputs a watering signal to the driving device, and the driving device drives the watering device to sprinkle water to the earth surface soil.
8. A method of operating an underground crop excavating apparatus for agricultural harvesting as claimed in claim 6, wherein: further comprising:
when the water storage amount in the water storage tank is less than a preset amount, the processor extracts a clean water source near the unmanned aerial vehicle and guides the position of the clean water source into the second navigation device, and the second navigation device generates a second flight route of the unmanned aerial vehicle and sends the second flight route to the processor;
the processor outputs a disconnection signal to the driving device, and the driving device drives the connecting mechanism to disconnect the connection relation;
the processor outputs a second flight signal to the unmanned aerial vehicle, and the unmanned aerial vehicle flies according to the second flight route;
the processor outputs a water pumping signal to the driving device, and the driving device drives the water pumping device to pump water.
9. A method of operating an underground crop excavating apparatus for agricultural harvesting as claimed in claim 8, wherein: further comprising:
when the unmanned aerial vehicle is separated from the excavating mechanism, the first navigation device generates a moving route of the excavating mechanism and sends the moving route to the processor;
the processor outputs a walking signal to the driving device, and the driving device drives the walking device to walk according to the moving route;
after the unmanned aerial vehicle returns, the processor outputs a connection signal to the driving device, and the driving device drives the connecting mechanism to establish a connection relation;
the processor outputs an opening signal to the driving device, and the driving device drives the electric control valve to open;
the processor outputs a water delivery signal to the driving device, and the driving device drives the water pumping device to deliver water;
the processor controls the unmanned aerial vehicle to continuously carry the excavating mechanism to fly.
10. A method of operating an underground crop excavating apparatus for agricultural harvesting as claimed in claim 6, wherein: the processor calculating the digging depth of the mechanical shovel from the received height values further comprises:
the processor sets a safe depth according to the position of the underground part, wherein the safe depth is smaller than the excavation depth;
the processor outputs a first digging signal to the driving device, and the driving device drives the mechanical shovel to dig downwards at a first preset speed;
the processor judges whether the digging depth of the mechanical shovel is greater than or equal to the safety depth;
if yes, the processor outputs a second digging signal to the driving device, the driving device drives the mechanical shovel to dig downwards at a second preset speed, and the second preset speed is smaller than the first preset speed.
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| CN105484310A (en) * | 2015-12-16 | 2016-04-13 | 无锡同春新能源科技有限公司 | Unmanned ditcher |
| CN205366064U (en) * | 2016-02-22 | 2016-07-06 | 江苏数字鹰科技发展有限公司 | Split type multipurpose unmanned aerial vehicle |
| CN206552272U (en) * | 2017-03-18 | 2017-10-13 | 李博韬 | A kind of unmanned plane ground surface soil resources measurement device based on Arduino and mechanical arm |
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