CN109429978A - Automatic tree planting vehicle - Google Patents

Abstract

Automatic tree planting vehicle.The present invention relates to a kind of automatic tree planting vehicles.Mechanical arm I is packed into front end setting port I (6) of sweep (1), the front end of mechanical arm I connects drill bit (9), ultrasonic sensor (10) are arranged in the top of drill bit (9), one group of fertilizer box (11) is arranged in the rear of port I (6), a pressing plate (12) is respectively provided on each fertilizer box (11), the upper end of each pressing plate (12) connects a root long bar (13), the top of one group of stock (13) is all connected with fixed frame (14), gear I (15) are set on fixed frame (14), gear I (15) is driven by the output shaft of motor I (16), gear I (15) pinion rack I (17), rack gear (17) is fixed between fertilizer box (11) and port I (6).The present invention is easy to be promoted in greening city, greenbelt construction, road both sides landscape tree planting, the greening of desert sand ground, is a kind of quality-high and inexpensive greening dress.

Description

Automatic tree planting vehicle

Technical field

The present invention relates to a kind of automatic tree planting vehicles.

Background technique

As current desertification of land is serious, extensive afforestation has become current era development trend, and plants now Manual work mode is usually taken in tree afforestation, and manual work mode low efficiency is manually unable to operation when dust storm is big, but It is that tree planting machine is not limited.

Summary of the invention

The object of the present invention is to provide a kind of automatic tree planting vehicle, it is easy in greening city, greenbelt construction, road both sides scape Tree planting is seen, is promoted in the greening of desert sand ground, is a kind of quality-high and inexpensive greening equipment.

Above-mentioned purpose is realized by following technical scheme:

A kind of automatic tree planting vehicle, composition includes: sweep 1, and control cabinet 2, the sweep 1 is arranged in the bottom surface of the sweep 1 Two sides setting driving wheel I 3 and driving wheel II 4, the driving wheel I 3 and driving wheel II 4 pack into crawler belt 5,

It is packed into mechanical arm I in the front end setting port I 6 of the sweep 1, the front end of the mechanical arm I connects drill bit 9, institute Ultrasonic sensor 10 is arranged in the top for the drill bit 9 stated,

One group of fertilizer box 11 is arranged in the rear of the port I 6, is respectively provided with a pressing plate on each fertilizer box 11 12, the upper end of each pressing plate 12 connects a root long bar 13, and the top of stock 13 described in one group is all connected with fixed frame 14, Gear I 15 is set on the fixed frame 14, and the gear I 15 is driven by the output shaft of motor I 16, the gear I 15 Pinion rack I 17, the rack gear 17 are fixed between fertilizer box 11 and port I 6,

Each fertilizer box 11 has discharge port 18, and rack gear II 19 is arranged in the rear of the fertilizer box 11, described Rack gear II 19 on rolling bearing II 20 and gear III 21, the gear II 20 connects the output shaft of motor II 22, described Gear III 21 connects the output shaft of motor III 23, and setting pushes piece I 24 on the fuselage of the motor II 22, and the setting pushes away Fertile plate 25 is held together in the connection of movable plate I 24 left side, and setting pushes piece II 26 on the fuselage of the motor III 23, and the setting pushes piece Fertile plate 27 is held together on II 26 connection right sides, and the left side, which holds together fertile plate 25 and holds together fertile plate 27 with right side, to be used cooperatively, the motor II 22 It is fixed on sliding sleeve 28 with the fuselage of motor III 23, the sliding sleeve 28 slides on sliding rail 29, and the setting of sliding rail 29 exists The rear of rack gear II 19,

Water tank 30, the rear setting sapling storage box 31 and mechanical arm of the water tank 30 is arranged in the rear of the sliding rail 29 Ⅱ。

Further, the mechanical arm I includes fixing axle I 8, and connecting support arm I 32 in the fixing axle I 8 is described Support arm I 32 passes through shaft I 33, connecting support arm II 34 in the shaft I 33, and the support arm II 34 connects L shape fixinig plate 35, Drill bit 9 is fixedly connected on the L shape fixinig plate 35, the drill bit 9 connects the output shaft of motor IV 36.

Further, the mechanical arm II includes motor V 37, and the motor V 37 is arranged on sweep 1, described Motor V 37 output axis connection turntable 38, axis II 39 is connected and fixed on the turntable 38, the fixing axle II 39 connects Support arm III 40 is connect, the support arm III 40 passes through shaft III 43 by II 41 connecting support arm IV 42 of shaft, the support arm IV 42 Connecting support arm V 44, the connection of support arm V 44 is by IV 45 connecting support arm VI 46 of shaft, and the support arm VI 46 is by turning V 49 connecting bracket 47 of axis, the lower end of the bracket 47 connect motor VI 48, and the output shaft of the motor VI 48, which controls, to be connected Fishplate bar 49, the both ends of the connecting plate 49 are separately connected motor VII 50 and motor VIII 51, the output shaft of the motor VII 50 Connect firming plate I 52, the output axis connection firming plate II 53 of the motor VIII 51, the firming plate I 52 and firming plate II Water pipe 7 is respectively provided on 53, the water pipe 7 connects water tank 30.

Further, main control unit is packed into the control cabinet 2, the main control unit receives remote controler, ultrasonic wave The circuit of sensor and infrared carrier inductive pick-up, the row that the main control unit is formed to water pump, display, direct current generator It sails system, sapling carrier, mechanical arm, bore soil and packet mud compactor transmission of control signals.

The utility model has the advantages that

1. the present invention is easy to obtain in greening city, greenbelt construction, road both sides landscape tree planting, the greening of desert sand ground It promotes, is a kind of quality-high and inexpensive greening equipment.

2. trolley of the invention works, the drill bit that burrows positioned at the Chinese herbaceous peony can easily get tree well, this works is used Ultrasonic distance measuring module make drilling realize automation, by remote control move forward trolley, the mechanical arm after the trolley The sapling for having wrapped mud (fertilizer) can be automatically put into hole.

3. the present invention is quick on the draw, continue intensive work, but its design and uncomplicated, structure is simple, maintains easily inspection It repairs, manufacturing cost is controlled substantially within thousand yuan, which can pass through hand by being connected with Bluetooth of mobile phone Machine app controls crawler belt free movement.

4. the tree planting demand that caterpillar chassis of the invention can be adapted for any landforms of any environment.Utilize PS2 handle Control remote control Tree planting vehicle is mobile, and by control sapling carrier rotation, triggering infrared sensor generates level signal, to make to plant trees Vehicle, which is automatically performed, grabs a series of actions such as tree, packet mud (fertilizer), tree planting, ridging, watering.

5. packet mud (fertilizer) system of the invention can replace different fertilizer, operating process letter for different environment List the utilization rate that fertilizer can be improved, reduces environmental pollution, can achieve the effect that province is fertile, laborsaving, time saving, economical.

Detailed description of the invention:

Attached drawing 1 is structural schematic diagram of the invention.

Attached drawing 2 is top view of the invention.

Attached drawing 3 is firming plate structural schematic diagram of the invention.

Attached drawing 4 is logical signal flow chart of the invention.

Attached drawing 5 is (a) of the invention power supply power supply interface PP circuit diagram, (b) power supply power supply constant pressure and flow module XL circuit Figure, (c) power supply power supply U5V0-1 voltage regulator circuit, (d) power supply power supply LM3V3 voltage regulator circuit, (e) power indicator circuit.

Attached drawing 6 is (a) of the invention bus switching chip circuit figure, (b) circuit diagram of triode Q1, (c) triode Q2 Circuit diagram, (d) circuit diagram of capacitor C6.

Attached drawing 7 is the circuit diagram of (a) of the invention single-chip microcontroller U1, (b) circuit diagram of clock circuit interface.

Attached drawing 8 is the circuit diagram of (a) of the invention buzzer, (b) circuit diagram of LED.

Attached drawing 9 is (a) of the invention ADC electric quantity detecting circuit figure, (b) circuit diagram of reset key, (c) electricity of BOOT0 Lu Tu.

Attached drawing 10 is motor interface circuit diagram of the invention.

Attached drawing 11 is the circuit diagram of (a) of the invention serial ports SER1B, (b) circuit diagram of serial ports SER2B.

Attached drawing 12 is (a) of the invention sensor interface CG3 circuit diagram, and (b) sensor interface CG1 circuit diagram (c) senses Device interface CG2 circuit diagram, (d) PS2 wireless controller interface circuit figure.

Attached drawing 13 is (a) of the invention expansion of power supply 3V3_P circuit diagram, (b) expansion of power supply 5V0_P circuit diagram, (c) interface I2C circuit diagram.

Attached drawing 14 is (a) of the invention WQ interface circuit figure, (b) memory circuit figure.

Attached drawing 15 is (a) of the invention interface SER11 circuit diagram, (b) interface SER22 circuit diagram.

Attached drawing 16 is (a) of the invention interface DJ0 circuit diagram, (b) interface DJ1 circuit diagram, (c) interface DJ2 circuit diagram, (d) interface DJ3 circuit diagram, (e) interface DJ4 circuit diagram, (f) interface DJ5 circuit diagram.

Attached drawing 17 is motor-drive circuit figure of the invention.

Attached drawing 18 is 6 circuit diagram of Light-emitting diode LED of the invention.

Attached drawing 19 is the circuit diagram of (a) motor drive circuit QD1 of the invention, (b) circuit diagram of motor drive circuit QD1.

Attached drawing 20 is the circuit diagram of (a) chip AR1 of the invention, (b) circuit diagram of switch SRST1, (c) light emitting diode The circuit diagram of PLED, (d) circuit diagram of light emitting diode NLED, (e) circuit diagram of crystal oscillator XTAL.

Attached drawing 21 is the circuit diagram of (a) loudspeaker P1 of the invention, (b) circuit diagram of interface PWR2 and SW2, (c) interface SER10 Circuit diagram, (d) circuit diagram of interface SER9, (e) circuit diagram of capacitor C111, (f) circuit diagram of voltage regulator circuit U5V0-2, (g) circuit diagram of chip CH341.

Attached drawing 22 is the circuit diagram of (a) interface icsp of the invention, (b) circuit diagram of interface CG7, (c) circuit of interface CG8 Figure, (d) circuit diagram of interface MP, (e) circuit diagram of interface CG4, (f) circuit diagram of interface CG3, (g) circuit of interface CG5 Figure, (h) circuit diagram of interface CG6.

Attached drawing 23 is the circuit diagram of (a) interface BT of the invention, (b) circuit diagram of interface XYZ, (c) circuit diagram of interface XJ, (d) circuit diagram of counter.

Attached drawing 24 is ultrasonic circuit figure of the present invention.

Attached drawing 25 is L298N motor circuit figure of the present invention.

Specific embodiment:

Embodiment 1

A kind of automatic tree planting vehicle, composition includes: sweep 1, and control cabinet 2, the sweep 1 is arranged in the bottom surface of the sweep 1 Two sides setting driving wheel I 3 and driving wheel II 4, the driving wheel I 3 and driving wheel II 4 pack into crawler belt 5,

It is packed into mechanical arm I in the front end setting port I 6 of the sweep 1, the front end of the mechanical arm I connects drill bit 9, institute Ultrasonic sensor 10 is arranged in the top for the drill bit 9 stated,

One group of fertilizer box 11 is arranged in the rear of the port I 6, is respectively provided with a pressing plate on each fertilizer box 11 12, the upper end of each pressing plate 12 connects a root long bar 13, and the top of stock 13 described in one group is all connected with fixed frame 14, Gear I 15 is set on the fixed frame 14, and the gear I 15 is driven by the output shaft of motor I 16, the gear I 15 Pinion rack I 17, the rack gear 17 are fixed between fertilizer box 11 and port I 6,

Each fertilizer box 11 has discharge port 18, and the discharge port at the both ends of a fertilizer hopper is oppositely arranged, intermediate Fertilizer box discharge port to a side opening, the rear of the fertilizer box 11 is arranged rack gear II 19, on the rack gear II 19 Rolling bearing II 20 and gear III 21, the gear II 20 connect the output shaft of motor II 22, and the gear III 21 connects The output shaft of motor III 23, setting pushes piece I 24 on the fuselage of the motor II 22, and the setting pushes piece I 24 to connect Fertile plate 25 is held together in left side, and holding together fertile plate is arc panel, and two are held together fertile plate and are oppositely arranged to form a cylindricality, the machine of the motor III 23 Setting with it pushes piece II 26, and the setting pushes the connection of piece II 26 right side to hold together fertile plate 27, the left side hold together fertile plate 25 with Right side is held together fertile plate 27 and is used cooperatively, and the fuselage of the motor II 22 and motor III 23 is fixed on sliding sleeve 28, the sliding sleeve 28 slide on sliding rail 29, and the rear of rack gear II 19 is arranged in the sliding rail 29,

Water tank 30, the rear setting sapling storage box 31 and mechanical arm of the water tank 30 is arranged in the rear of the sliding rail 29 Ⅱ.The sapling storage box 31 and mechanical arm is on one wire.

Further, the mechanical arm I includes fixing axle I 8, and connecting support arm I 32 in the fixing axle I 8 is described Support arm I 32 passes through shaft I 33, connecting support arm II 34 in the shaft I 33, and the support arm II 34 is box, the branch Arm II 34 connects L shape fixinig plate 35, and drill bit 9 is fixedly connected on the L shape fixinig plate 35, and the drill bit 9 connects motor IV 36 output shaft, the L shape fixinig plate 35 support motor IV 36.

Further, the mechanical arm II includes motor V 37, and the motor V 37 is arranged on sweep 1, described Motor V 37 output axis connection turntable 38, axis II 39 is connected and fixed on the turntable 38, the fixing axle II 39 connects Support arm III 40 is connect, the support arm III 40 passes through shaft III 43 by II 41 connecting support arm IV 42 of shaft, the support arm IV 42 Connecting support arm V 44, the connection of support arm V 44 is by IV 45 connecting support arm VI 46 of shaft, and the support arm VI 46 is by turning V 49 connecting bracket 47 of axis, the lower end of the bracket 47 connect motor VI 48, and the output shaft of the motor VI 48, which controls, to be connected Fishplate bar 49, the both ends of the connecting plate 49 are separately connected motor VII 50 and motor VIII 51, the output shaft of the motor VII 50 Connect firming plate I 52, the output axis connection firming plate II 53 of the motor VIII 51, the firming plate I 52 and firming plate II Water pipe 7 is respectively provided on 53, the water pipe 7 connects water tank 30.

Further, main control unit is packed into the control cabinet 2, the main control unit receives remote controler, ultrasonic wave The circuit of sensor and infrared carrier inductive pick-up, the row that the main control unit is formed to water pump, display, direct current generator It sails system, sapling carrier, mechanical arm, bore soil and packet mud compactor transmission of control signals.

Embodiment 2

A kind of automatic tree planting vehicle of embodiment 1, main control unit include chip U1, No. 1 end connection chip U1's of the chip U1 Operating voltage VCC-3.3 is connected behind No. 24 ends, No. 36 ends of chip U1, No. 48 ends of chip U1 and No. 9 ends of chip U1, it is described No. 23 of chip U1 ends, No. 35 ends of chip U1, No. 47 ends of chip U1 and chip U1 No. 8 ends connect after be grounded,

No. 1 end of No. 5 end connecting interface XT_8M of the chip U1, No. 6 end connecting interface XT_8M of the chip U1 No. 3 ends, No. 2 ends of the interface XT_8M are grounded,

No. 3 ends of No. 30 end connection chip U2 of the chip U1, No. 2 of No. 31 end connection chip U2 of the chip U1 No. 1 end at end, the chip U2 is grounded, and is grounded after No. 4 end series capacitance C10 of the chip U2, the chip U2 No. 3 of MUSB1 interface ends of No. 5 end connections, No. 2 ends of No. 6 end connection MUSB1 interfaces of the chip U2, the core No. 3 ends of No. 7 end connecting interface XT_12M of piece U2, No. 1 end of No. 8 end connecting interface XT_12M of the chip U2, institute No. 2 ends of the interface XT_12M stated are grounded, and No. 16 of the chip U2 hold the one of one end, capacitor C14 for connecting capacitor C12 End, one end of capacitor C14, No. 1 end of MUSB1 interface and No. 3 ends of USBVCC interface, No. 2 of the USBVCC interface are held Operating voltage VCC-5.0 is connected, is grounded after the other end of the other end connection capacitor C13 of the capacitor C14, the capacitor The other end of C12 is grounded, No. 5 ends ground connection of the MUSB1 interface, No. 13 end connection resistance R35's of the chip U2 One end, the collector c connection resistance of the base stage b, the triode Q2 of the other end connecting triode Q2 of the resistance R35 The cathode of one end of R36 and diode D1, one end of the anode connection resistance R_RST of the diode D1, capacitor C7 one It holds, the one end at No. 7 ends and reset key SEST1 of chip U1, the other end ground connection of the reset key SEST1 is described No. 14 of chip U2 ends of emitter e connection of another connection operating voltage VCC-3.3 of resistance R36, the triode Q2 with One end of resistance R33, the base stage b of the other end connecting triode Q1 of the resistance R33, the collector of the triode Q1 One end of c connection resistance R34, No. 2 ends and No. 44 ends of chip U1 of the other end connecting interface BOOT of the resistance R34, The emitter e of the triode Q1 connects operating voltage VCC-3.3,

Connection operating voltage VCC-3.3 after No. 1 end series resistance R37 of the interface BOOT, No. 3 of the interface BOOT End ground connection,

One end of No. 14 end connection resistance R11 of the chip U1 and one end of resistance R12, the resistance R11's is another The other end ground connection of end connection operating voltage VIN, the resistance R11,

One end of No. 26 end connection buzzer P1 of the chip U1, the other end of the buzzer P1 connect operating voltage VCC-3.3,

One end of No. 27 end connection resistance R6 of the chip U1, the other end of the resistance R6 connect light emitting diode The cathode of LED, the anode connection operating voltage VCC-3.3 of the Light-emitting diode LED,

No. 3 ends of No. 19 end connecting interface MD_JK of the chip U1, No. 18 end connecting interface MD_ of the chip U1 No. 4 ends of JK, No. 5 ends of No. 45 end connecting interface MD_JK of the chip U1, No. 46 ends of the chip U1 connect No. 6 ends of mouthful MD_JK, No. 1 end connection operating voltage VCC-5.0 of the interface MD_JK, No. 2 of the interface MD_JK End ground connection,

No. 1 end of No. 31 end connection serial ports SER1B of the chip U1, No. 30 ends of the chip U1 connect serial ports No. 2 ends of SER1B, No. 3 ends ground connection of the serial ports SER1B, No. 4 ends of the serial ports SER1B connect operating voltage VCC-5.0,

No. 1 end of No. 12 end connection serial ports SER2B of the chip U1, No. 13 ends of the chip U1 connect serial ports No. 2 ends of SER2B, No. 3 ends ground connection of the serial ports SER2B, No. 4 ends of the serial ports SER2B connect operating voltage VCC-5.0,

No. 1 end of No. 10 end connection expansion interface CG3 of the chip U1, No. 2 ends of the expansion interface CG3 connect work Make voltage VCC-5.0, No. 3 ends of the expansion interface CG3 are grounded,

No. 1 end of No. 22 end connection expansion interface CG1 of the chip U1, No. 2 ends of the expansion interface CG1 connect work Make voltage VCC-5.0, No. 3 ends of the expansion interface CG1 are grounded,

No. 1 end of No. 11 end connection expansion interface CG2 of the chip U1, No. 2 ends of the expansion interface CG2 connect work Make voltage VCC-5.0, No. 3 ends of the expansion interface CG2 are grounded,

No. 1 end of No. 27 end connecting interface PS2_JK of the chip U1, No. 26 end connecting interfaces of the chip U1 No. 2 ends of PS2_JK, No. 6 ends of No. 25 end connecting interface PS2_JK of the chip U1, No. 22 ends of the chip U1 No. 7 ends of connecting interface PS2_JK, No. 4 ends ground connection of the interface PS2_JK,

No. 1 end of No. 28 end connection steering engine interface DJ0 of the chip U1, No. 2 ends of the steering engine interface DJ0 connect work Make voltage VDJ, be grounded after No. 3 end series resistance F1 of the steering engine interface DJ0,

No. 1 end of No. 45 end connection steering engine interface DJ1 of the chip U1, No. 2 ends of the steering engine interface DJ1 connect work Make voltage VDJ, be grounded after No. 3 end series resistance F2 of the steering engine interface DJ1,

No. 1 end of No. 41 end connection steering engine interface DJ2 of the chip U1, No. 2 ends of the steering engine interface DJ2 connect work Make voltage VDJ, be grounded after No. 3 end series resistance F3 of the steering engine interface DJ2,

No. 1 end of No. 40 end connection steering engine interface DJ3 of the chip U1, No. 2 ends of the steering engine interface DJ3 connect work Make voltage VDJ, be grounded after No. 3 end series resistance F4 of the steering engine interface DJ3,

No. 1 end of No. 39 end connection steering engine interface DJ4 of the chip U1, No. 2 ends of the steering engine interface DJ4 connect work Make voltage VDJ, be grounded after No. 3 end series resistance PS4 of the steering engine interface DJ4,

No. 1 end of No. 38 end connection steering engine interface DJ5 of the chip U1, No. 2 ends of the steering engine interface DJ5 connect work Make voltage VDJ, No. 3 ends of the steering engine interface DJ5 are grounded,

No. 2 ends of No. 16 end connecting interface WQ of the chip U1, No. 17 ends of the chip U1 are connected across WQ interface No. 5 ends of FLASH memory interface U3, No. 25 ends of the chip U1 connect No. 1 of FLASH memory interface U3 across WQ interface End, across No. 6 ends of WQ interface connection FLASH memory interface U3, the FLASH storage is connect at No. 15 ends of the chip U1 No. 3 ends of mouth U3 connect operating voltage VCC-3.3, No. 7 ends of the FLASH memory interface U3 and FLASH memory interface U3 No. 8 ends connection after meet operating voltage VCC-3.3 again,

One end of No. 21 end connection resistance R9 of the chip U1, No. 3 ends and No. 3 ends of interface SER22 of interface SER11, The other end of the resistance R9 connects operating voltage VCC-5.0, No. 2 ends and the 2 of interface SER11 of the interface SER22 Number end is all connected with operating voltage VDJ, and No. 4 ends of the interface SER22 and No. 1 end of interface SER11 are grounded.

Motor driven principle: one end of operating voltage VIN connection capacitor C11, one end of capacitor C13 and the chip U4 No. 1 end, the chip U4 No. 4 ends connection one end of inductance L, one end of capacitor C12, one end of capacitor C14, capacitor One end of C15 and operating voltage 5V, the cathode of the other end connection diode D10 of the inductance L and No. 2 ends of chip U4, No. 5 ends, the other ends of capacitor C11, the other end of capacitor C13, diode of No. 3 end connection chip U4 of the chip U4 It is grounded after the anode of D10, the other end of capacitor C12, the other end of capacitor C14 and the other end of capacitor C15,

It is grounded after the operating voltage 5V series resistance R13 and Light-emitting diode LED 6,

No. 6 ends at No. 4 ends of the operating voltage VIN connection chip QD1 and interface JK, No. 3 terminations of the chip QD1 Ground, No. 2 ends of No. 1 end connecting interface JK of the chip QD1, No. 3 of No. 2 end connecting interface JK of the chip QD1 End, No. 8 ends, one end of capacitor CDJ1, No. 2 ends of interface OUT12, hair of No. 7 end connection chip QD1 of the chip QD1 The cathode of the anode and light emitting diode L2 of optical diode L1, No. 6 ends of No. 5 end connection chip QD1 of the chip QD1, The other end of capacitor CDJ1, No. 1 of interface OUT12 is held and one end of resistance R12, and the other end of the resistance R12 connects hair The cathode of the anode and light emitting diode L1 of optical diode L2,

No. 4 ends of the operating voltage VIN connection chip QD2, No. 3 ends ground connection of the chip QD2, the chip No. 3 ends of No. 1 end connecting interface JK of QD2, No. 4 ends of No. 2 end connecting interface JK of the chip QD2, the chip No. 8 ends of No. 7 of QD2 end connection chip QD2, one end of capacitor CDJ2, No. 2 of interface OUT34 hold, light emitting diode L3 just The cathode of pole and light emitting diode L4, No. 5 of the chip QD2 hold the another of No. 6 ends, capacitor CDJ2 for connecting chip QD2 It holds, the one end at No. 1 end and resistance R12 of interface OUT34, the other end connection light emitting diode L4 of the resistance R12 is just The cathode of pole and light emitting diode L3.

Embodiment 3

Automatic tree planting vehicle described in embodiment 1, No. 6 ends and No. 18 ends of chip ar1 of No. 4 end connection chip ar1 of chip ar1 It is grounded after connection operating voltage VCC-5.0, No. 20 end series capacitance C110 of the chip ar1 afterwards, the chip ar1 No. 5 of chip ar1 ends of No. 4 end connections and No. 21 ends of chip ar1 after be grounded, No. 29 ends connection of the chip ar1 is electric One end of RR1 and one end of switch SRST1 are hindered, the other end of the resistance RR1 connects operating voltage VCC-5.0, described The other end of switch SRST1 is grounded, the anode of the operating voltage VCC-5.0 connection LED P LED, the hair It is grounded after the cathode series resistance RP2 of optical diode PLED, the operating voltage VCC-5.0 connection light emitting diode NLED's Anode connects No. 17 ends of chip ar1, the chip ar1 after the cathode series resistance RN1 of the light emitting diode NLED No. 7 end connection capacitor CY11 one end and No. 1 of crystal oscillator XTAL end, No. 8 end connection capacitor CY12's of the chip ar1 No. 2 ends of one end and crystal oscillator XTAL are grounded after the other end of the other end connection capacitor CY12 of the capacitor CY11.

One end of No. 16 end connection loudspeaker P1 of the chip ar1, the other end connection work electricity of the loudspeaker P1 Press VCC-5.0, No. 2 ends of No. 30 end connection chip CH341 of the chip ar1, No. 31 ends connection of the chip ar1 No. 3 ends of chip CH341, No. 1 end ground connection of the chip CH341, No. 4 end series capacitance CU3 of the chip CH341 After be grounded, No. 3 ends of No. 5 of chip CH341 end connection chip MUSB2, No. 6 ends of the chip CH341 connect No. 2 ends at No. MUSB2 end, one end of No. 7 end connection capacitor CY21 of the chip CH341 and No. 1 end of crystal oscillator XTAL, institute One end of No. 8 end connection capacitor CY22 of the chip CH341 stated and No. 2 ends of crystal oscillator XTAL, the capacitor CY21's is another It is grounded after the other end of end connection capacitor CY22.

One end of No. 16 end connection capacitor CU1, one end of capacitor CU2 and the operating voltage VCC- of the chip CH341 It is grounded after the other end of the other end connection capacitor CU2 of USB, the capacitor CU1, No. 13 ends string of the chip CH341 No. 29 ends of chip ar1 are connected after connection resistance C10.

Operating process:

The first step is moved by remote control creeper truck, realizes the movement in various complicated landforms, is met for extensive The demand of tree planting.Bluetooth control module can also be used and realize mobile phone control creeper truck movement, with Bluetooth control closer to life, Allow manipulator that can realize the simple motion of creeper truck using smart phone.Second step passes through remote control or Bluetooth control Module control drilling machine arm putting down and lifting, after passing through ultrasonic distance measuring module to the measurement of drill bit and ground distance, The opening and closing of drill bit are automatically controlled, realize drilling automation.Third step installs infrared sensor additional by sapling carrier, utilizes Sapling carrier rotation triggering infrared sensor generates signal, is transferred on arduino expansion plate and handles, turns by steering engine control panel It changes pwm signal control mechanical arm into and generates a series of actions.Sapling is moved to pressure mud (fertilizer) position in mechanical arm by the 4th step When, mud (fertilizer) system starts are pressed, drive two metallic pistons that will store up the mud in mud (fertilizer) device by decelerating motor (fertilizer) is pressed on packet mud (fertilizer) workbench, two packet mud (fertilizer) decelerating motor work is automatically controlled, to be embodied as Sapling root superscribes soil (fertilizer).After the completion of 5th step works as packet mud, steering engine control panel robotically controlled arm being moves sapling Specified tree well position is moved, tree planting process is completed.

The course of work:

It is located at Chinese herbaceous peony trenching machine arm by remote control, when the drill bit being located on trenching machine arm reaches certain height apart from ground When spending, data are transmitted to vehicle-mounted CPU by ultrasonic wave, and CPU analyzes data, start to bore hole to start drill bit.When institute's drilling depth meets When tree planting demand, operator promotes trenching machine arm by remote controler, automatic to close when ultrasound obtains distance and meets preset value Drill bit completion is closed to dig pit.At this point, intelligent Tree planting vehicle moves forward, operator is controlled sapling carrier by remote controller and turned It moves, induction is located at the infrared induction sensor under it, and tree machinery is grabbed in starting after signal is transmitted to vehicle-mounted CPU by infrared induction sensor Arm grabs tree mechanical arm rise and picks up the sapling being located in sapling carrier, is put into device of spreading manure, and is located at two pressures of connection later Motor rotation in the connecting rod of glassware；Make connecting rod that eccentric swage be driven to move downward.Fertilizer in fertilizer bucket is passed through into discharging Mouth presses out, two on guide rail conjunction glassware motor band dynamic circuit connector glassware direction guiding rail intermediary movements.Fertilizer is wrapped in sapling On.After completion is spread manure, grabs tree gripper and sapling is placed in heatable adobe sleeping platform, compaction apparatus on banker or so reversion covers soil Compacting.

Inductive signal is detected using infrared sensor.Infrared sensor is measured using the physical property of infrared ray Sensor, infrared ray have reflection, refraction, scattering, absorb etc. properties.Infrared sensor is arranged in sapling carrier for we Side senses that sapling carrier rotates by infrared sensor, and generation signal, which is sent to Arduino, which expands plate, holds steering engine control panel Line program makes mechanical arm generate a series of actions, completes automatic tree planting operation.Infrared sensor structure is simple, cheap, just In replacement, the characteristic of this utilization of works infrared sensor, during applying to automatic control crawl sapling, when sapling carrier turns Dynamic triggering infrared sensor generates signal, after generating signal, transmits a signal to and is handled on arduino expansion plate, finally It is planted trees by communications interface transmission to steering engine control panel, making mechanical arm complete automation.

It is elastic mechanical vibration wave using ultrasonic wave, there are also Some features compared with audible sound for it: the direction of propagation is stronger, It can be gathered into the characteristics of orienting narrow harness, be used in the brill hole equipment of this works, this works installs ultrasound on drill bit Wave transmitting probe receives time of reflected ultrasonic wave and estimates height of the drill bit apart from ground by calculating, when reaching When preset value, generates a kind of signal and be sent to ultrasonic distance measuring module, this signal is transferred to relay by ultrasonic distance measuring module Signal receiving end, thus control relay open and off-state, because drill bit power supply pass through relay, to control drill bit Starting and disconnection.

Arduion is a kind of control panel of open source, can control and connect with most of sensor, this works is by infrared sensing Device expands plate with Arduino, steering engine control panel is used in combination, and signal is generated using infrared sensor, to be sent to Arduino expands plate processing signal and treated signal is being passed through communications interface transmission to steering engine control panel.This patent is in circle Infrared sensor is placed beside shape sapling carrier, triggers infrared sensor when the rotation of disk sapling carrier, the signal generated Plate is expanded by Arduino to receive, steering engine control panel is transmitted to by serial communication, executes steering engine control panel robotically controlled arm being Movement, completes automatic tree planting process.

L298N is a kind of high voltage, high current motor drive ic, which uses 15 foot fashionable dresses.It is mainly characterized by: work Make voltage height, maximum operating voltage is up to 46V；TV university is exported, for transient peak electricity unexpectedly up to 3A, continuing working electricity is 2A；It is specified Power 25W.The high-voltage large current full-bridge type driver of two H bridges is included, can be used to drive dc motor and stepping electricity The inductive loads such as motivation, relay coil;It is controlled using standard logic levels signal；Tool there are two enabled control terminal, not by Allow under the feelings brother that input signal influences or device work is forbidden to have a logic power input terminal, makes internal logic circuit part It works at low voltage: variable quantity can be fed back into control circuit with external detection resistance.

Using multiple L298N motor driving plates, this motor driven version is applied widely, this works with motor driving plate with Steering engine turns direct current generator patchcord and matches, and enables the pwm signal exported on steering engine control panel by L298N motor driven version institute Identification, to control the movement of HH-37GB555 DC speed-reducing by control steering engine control panel.

Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention Protection scope.

Claims (4)

1. a kind of automatic tree planting vehicle, composition includes: sweep (1), it is characterized in that: control is arranged in the bottom surface of the sweep (1) Case (2), two sides setting driving wheel I (3) of the sweep (1) and driving wheel II (4), the driving wheel I (3) and driving wheel II (4) pack into crawler belt (5), are packed into mechanical arm I, the mechanical arm I in front end setting port I (6) of the sweep (1) Front end connect drill bit (9), ultrasonic sensor (10) are arranged in the top of the drill bit (9), after the port I (6) One group of fertilizer box (11) is arranged in side, is respectively provided with a pressing plate (12) on each fertilizer box (11), each pressure The upper end of plate (12) connects a root long bar (13), and the top of stock (13) described in one group is all connected with fixed frame (14), described Gear I (15) are set on fixed frame (14), the gear I (15) is driven by the output shaft of motor I (16), the gear I (15) pinion rack I (17), the rack gear (17) are fixed between fertilizer box (11) and port I (6), each fertilizer Case (11) has discharge port (18), and rack gear II (19) are arranged in the rear of the fertilizer box (11), the rack gear II (19) rolling bearing II (20) and gear III (21) on, the output shaft of gear II (20) connection motor II (22) are described Gear III (21) connection motor III (23) output shaft, setting pushes piece I (24) on the fuselage of the motor II (22), institute The setting stated pushes piece I (24) connection left side to hold together fertile plate (25), and setting pushes piece II on the fuselage of the motor III (23) (26), the setting pushes piece II (26) connection right side to hold together fertile plate (27), and fertile plate (25) are held together in the left side and fertilizer is held together on right side Plate (27) is used cooperatively, and the fuselage of the motor II (22) and motor III (23) is fixed on sliding sleeve (28), the sliding sleeve (28) it is slided on sliding rail (29), the sliding rail (29) is arranged behind the rear of rack gear II (19), the sliding rail (29) Side's setting water tank (30), rear setting sapling storage box (31) of the water tank (30) and mechanical arm II.

2. automatic tree planting vehicle according to claim 1, it is characterized in that: the mechanical arm I includes fixing axle I (8), it is described Fixing axle I (8) on connecting support arm I (32), the support arm I (32) connected in the shaft I (33) by shaft I (33) Support arm II (34) is connect, the support arm II (34) connects L shape fixinig plate (35), is fixedly connected on the L shape fixinig plate (35) Drill bit (9), the drill bit (9) connect the output shaft of motor IV (36).

3. automatic tree planting vehicle according to claim 1, it is characterized in that: the mechanical arm II includes motor V (37), institute The motor V (37) stated is arranged on sweep (1), the output axis connection turntable (38) of the motor V (37), the turntable (38) axis II (39), described fixing axle II (39) connecting support arm III (40) are connected and fixed on, the support arm III (40) passes through Shaft II (41) connecting support arm IV (42), the support arm IV (42) are described by shaft III (43) connecting support arm V (44) Support arm V (44) connection is connected by shaft IV (45) connecting support arm VI (46), the support arm VI (46) by shaft V (49) Motor Ⅸ (54) are arranged in the upper end of bracket (47), the bracket (47), and the output shaft of the motor Ⅸ (54) drives sapling (55) movement is pressed from both sides, the lower end of the bracket (47) connects motor VI (48), and the output shaft of the motor VI (48), which controls, to be connected Fishplate bar (49), the both ends of the connecting plate (49) are separately connected motor VII (50) and motor VIII (51), the motor VII (50) output axis connection firming plate I (52), the output axis connection firming plate II (53) of the motor VIII (51), the pressure It is respectively provided with water pipe (7) on native plate I (52) and firming plate II (53), the water pipe (7) connects water tank (30).

4. automatic tree planting vehicle according to claim 1, it is characterized in that: being packed into main control unit, institute in the control cabinet (2) The main control unit stated receives the circuit of remote controler, ultrasonic sensor and infrared carrier inductive pick-up, the main control unit Driving system, sapling carrier, mechanical arm, the brill soil formed to water pump, display, direct current generator is controlled with the transmission of packet mud compactor Signal.