CN109725365B - Multifunctional track control system capable of carrying goods and operating agricultural equipment - Google Patents
Multifunctional track control system capable of carrying goods and operating agricultural equipment Download PDFInfo
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- CN109725365B CN109725365B CN201910006600.1A CN201910006600A CN109725365B CN 109725365 B CN109725365 B CN 109725365B CN 201910006600 A CN201910006600 A CN 201910006600A CN 109725365 B CN109725365 B CN 109725365B
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Abstract
The invention discloses a multifunctional track control system capable of carrying goods and operating agricultural instruments, which comprises a track support frame, a suspended track, a box body, a driving device, a control cabin with a hook arm and a central console, wherein the suspended track is arranged on the track support frame; the central control console is connected with and controls the control cabin with the hook arm through a wireless network, and the control cabin with the hook arm is provided with a camera and an intelligent controller and can remotely and automatically control the hook arm to move; the box body is provided with a mechanical arm, a transmission device, an agricultural instrument assembly frame, a water pump and a particle scattering absorber, and agricultural instruments including a water sprinkling pipeline, a sowing instrument, a harvesting instrument and the like can be installed in a matching way; the control cabin is connected with the box body through a control line, and the agricultural instrument can be operated remotely. The intelligent agricultural equipment can realize the rapid transportation of harvested crops and raised poultry on the slide rail through the containing of the box body, and operate various agricultural instruments, so that the intelligent equipment promotes the development of new rural areas.
Description
Technical Field
The invention relates to the technical field of new rural construction, in particular to a track control system capable of carrying goods and operating agricultural instruments.
Background
The modern agriculture actively built in new rural areas in China is provided relative to the traditional agriculture, refers to the social agriculture widely applied to the modern scientific technology and the production data and scientific management method provided by the modern industry, and is an agricultural form with high input and high output relative to the traditional agriculture in the form of household small-scale production.
The new agricultural production needs large-area intelligent management of crop growth or large-quantity intelligent animal feeding, and the agricultural planting or animal feeding is widely carried out by modern technological means, and the new agricultural planting technology comprises the application to breeding, seedling raising stages, information technology and the like, for example, the biological modern information technology is applied to field management, agricultural product transportation, intelligent sowing, water sprinkling and fertilization, harvesting and conveying, and comprehensive intelligent control management is achieved, so that the labor management, the labor work, the water and fertilizer saving and the economic efficiency of cost reduction are high.
New agriculture puts higher demands on the efficiency of agricultural production, among which the daily management of harvested crops and of farmed poultry, as well as the rapid and efficient transport with different agricultural implements, are also an important part. However, at present, various seeders, harvesters, irrigation water pipes buried in fields and manual pesticide spraying are available, the functions of the modes are single, a large amount of manpower is input, the cost is high, efficient and comprehensive monitoring and field management are not facilitated, the operation efficiency is still very low, even manpower is completely relied on, and the problems that new agriculture development cannot be ignored and needs to be solved urgently are solved.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention adopts a track control system with various intelligent means, saves manpower to carry out agriculture and forestry planting or cultivation operation, carries out high-altitude transportation and condition exploration, and is suitable for scientific production management of large-area fields, forest lands and fish ponds.
A multifunctional track control system capable of carrying goods and operating agricultural instruments comprises a track support frame, a suspended track, a box body, a driving device, a control cabin with a hook arm and a central console, wherein the suspended track is arranged on the rail support frame; the upper end of the rail supporting frame is provided with a hydraulic device with adjustable lifting height, the suspended rail comprises straight rails and flexible rail steering members, and the flexible rail steering members are arranged at the top of the hydraulic device to connect the two straight rails together; the central control console is connected with and controls the control cabin with the hook arm through a wireless network, and the control cabin with the hook arm is provided with a camera and an intelligent controller and can remotely and automatically control the hook arm to move;
the box body is arranged on the sliding seat and moves on the suspended track through the driving device, and the box body is provided with a mechanical arm, a transmission device, an agricultural instrument assembly frame, a water pump and a particle scattering absorber, can be matched with and is provided with agricultural instruments, and comprises a water sprinkling pipeline, a sowing instrument, a harvesting instrument, a soil loosening instrument and a fishing instrument; the control cabin with the hook arm is arranged on the upper portion of the box body and connected with the box body through a control line, and the agricultural instrument can be operated remotely.
The intelligent controller of the control cabin with the hook arm is further connected with RFID electronic tag reading and writing equipment, passive UHF ultrahigh frequency RFID electronic tags are pasted on different agricultural instruments, the system automatically identifies the currently adopted agricultural instrument by reading the RFID electronic tags, different operation programs are called, the corresponding agricultural instrument is grabbed by the manipulator and assembled, and agricultural operation control operation is carried out.
The control cabin with the hook arm is divided into a host and a plurality of slaves, the control cabin with the hook arm as the first host is arranged on the first box body, the control cabin with the hook arm as the second slave is arranged on the second box body and can be coordinated and controlled in a linkage manner, a master-slave cooperative work control mode is adopted and comprises a command type mode and a follow-up type mode, command information is sent to the command type host, the slaves are informed of reaching a specified position, and the slaves perform action control according to the target position information, the current position and the course; for the following type slave machine to follow the master machine to perform operation, the distance and the speed between the master machine and the slave machine are kept constant, and the same operation is performed.
The host and the slave adopt a WiFi802.11n protocol to carry out wireless data transmission, the control cabin with the first hook arm as the host analyzes and processes self pose estimation information of the control cabin with the second hook arm as the slave in the motion process and position interaction information with the host, an incremental local map is constructed, and meanwhile, the map is used for updating the positioning of the slave.
The suspension rail can be a single rail or a parallel double-rail structure and can be flexibly erected according to the actual height and ground shape of the field forest land.
In order to facilitate the layout of track routes in the field or mountain forest, and to facilitate small-range turns, the inventors have employed unique track flexible steering members. The flexible track steering component comprises a turntable base, an inner arc guide rail is sleeved in an outer arc guide rail on the turntable base, the outer arc guide rail is connected with an inlet end and a guide block, gear racks are arranged on two sides of the inner arc guide rail and can rotate in the outer arc guide rail according to scales, and the inner arc guide rail is connected with at least one outlet end and a limiting block. Therefore, the sliding seat wheel of the box body moves forward from the inlet end, and comes out from the outlet end to complete small-range steering control, so that a bent track with large length is avoided being customized, and the track is more flexible and portable to mount.
Further, still install the infrared detector who is used for surveying track gap and barrier on the slide of box to and the battery, the position of slide sub-unit connection pulley is provided with the stress transducer who detects track deformation, infrared detector and stress transducer pass through the data line with the control cabin of taking the hook arm is connected.
Furthermore, the intelligent controller of the control cabin comprises a navigation chip, a wireless signal receiving and transmitting circuit and a memory, detects data exchanged with the Beidou satellite and the central console fixed on the ground, and adopts a satellite differential algorithm and a topographic map correction algorithm for positioning. For thousands of mu of field management, the position of the control cabin with the hook arm is conveniently and accurately positioned, and operations such as water sprinkling and fertilization or sowing and harvesting are carried out.
The invention has the beneficial effects that:
1. the track control system can erect the track above fields, mountain forests and fish ponds, is 2-4 meters away from the ground, does not occupy too much land and does not influence the growth of crops. The rapid transportation of harvested crops, raised poultry and agricultural instruments on the slide rail can be realized by controlling the lifting or loading and unloading of the lifting hook arm of the cabin and the containing of the box body, so that the traditional agricultural process can be faster; of course, people can be carried in the box body and used as a traffic travel tool or an observation flow point of a natural protection area.
2. The control cabin with the hook arm is provided with a camera and an intelligent controller, and can remotely control the operation of a manipulator, a transmission device, a water pump and a particle scattering absorber arranged on the box body. And passive UHF ultrahigh frequency RFID electronic tags are adhered to different agricultural instruments, the agricultural instruments adopted at present are automatically identified by the system by reading the RFID electronic tags, different operation programs are called, corresponding agricultural instruments are grabbed by the manipulator and assembled, and agricultural operation control operation is carried out. According to the operation requirement, for example, a particle sowing absorber and a sowing device are connected on an agricultural device assembly frame through a mechanical arm, so that sowing can be carried out on two sides of a track with the width of 20-30 meters; water pumps and water spraying pipelines are replaced on the agricultural instrument assembly frame, large-area water spraying and fertilizer application can be realized, the agricultural instrument assembly frame is very suitable for field cultivation of hundreds of mu, and the whole process can be remotely controlled.
3. The lifting height-adjustable hydraulic device is arranged at the upper end of the track supporting frame, the suspended track comprises straight tracks and flexible track steering members, and the flexible track steering members are arranged at the top of the hydraulic device and connect the two straight tracks together. Therefore, the height of each track support frame is flexibly and independently adjusted according to the height of the terrain, the whole track layout is planned comprehensively, and the traditional support formed by pouring cement or a plurality of spliced steel pipes are not adopted; the flexible track steering component can turn in a small range, and the usability is greatly enhanced.
4. The infrared detector for detecting rail gaps and obstacles is further installed on the sliding seat of the box body, the position of the sliding seat lower connecting pulley is provided with a stress sensor for detecting rail deformation, so that the rail deformation disjointing caused by severe weather can be detected in time, the driving safety of the box body and the control cabin is improved, and the high-altitude falling of the dumper is avoided.
5. The intelligent controller of the control cabin comprises a navigation chip, a wireless signal receiving and transmitting circuit and a memory, detects data exchanged with a Beidou satellite and the central console fixed on the ground, and adopts a satellite differential algorithm and a topographic map correction algorithm for positioning. And people can remotely control the control cabins on different tracks at the central control console.
6. When two control cabin boxes with the hook arms move on a track to carry out comprehensive agricultural operation, for example, a first control cabin box with the hook arms is needed to carry out seeding, and a second control cabin box with the hook arms at the position of 10 meters behind is needed to carry out water spraying and fertilizer application.
Drawings
FIG. 1 is a schematic diagram of a multi-functional track control system for carrying cargo and operating agricultural implements in accordance with an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a flexible track steering member in the track control system of 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.
The invention combines satellite navigation and wireless communication network technology, adopts a light and flexible overhead track, intelligently controls a box body capable of carrying goods and operating agricultural instruments and a control cabin with a hook arm, completes crop transfer, sowing, watering, harvesting, overhead monitoring of plant and animal growth conditions and the like, and is intelligent equipment for promoting new agricultural production. Can be widely used for large-area farmland cultivation, fishpond feeding, fruit and forest monitoring watering and pesticide spraying, wetland animal and plant observation and protection and the like.
Referring to fig. 1, the present invention provides a multifunctional track control system for carrying cargo and operating agricultural equipment, which comprises a track support frame 1, a suspension track 2, a box body 3, a driving device 4, a control cabin 5 with a hook arm, and a central console (not shown); the upper end of the track support frame is provided with a hydraulic device 6 with adjustable lifting height, the suspended track comprises straight tracks and a flexible track steering component 7, and the flexible track steering component is arranged at the top of the hydraulic device to connect the two straight tracks together; the central control console is connected and controls the control cabin with the hook arm through a wireless network, and the control cabin with the hook arm is provided with a camera and an intelligent controller, so that the hook arm can be remotely and automatically controlled to move. The sliding seat is characterized in that at least 2 protective stable hook feet used for clamping the straight rail are arranged on two sides of the sliding seat, when the hook arm is used, in order to guarantee the balance of the box body to prevent overturning, the protective stable hook feet are put down through hydraulic equipment to clamp the straight rail, and the protective stable hook feet are folded through the hydraulic equipment when the hook arm is not used.
The track control system of the present invention is a multi-functional, multi-purpose system, and the enclosure may be a manned mobile controlled house, which may serve as a temporary environmental observation station. Of course, the box body can also be an intelligent integrated control cabin, and the remote control operation can be realized just like an unmanned airplane. The box body is arranged on the sliding seat and moves on the suspended track through the driving device, the manipulator, the transmission device, the agricultural instrument assembly frame, the water pump and the particle scattering absorber are arranged on the box body, agricultural instruments can be installed in a matched mode, and the agricultural instruments comprise a water sprinkling pipeline, a seeding instrument, a harvesting instrument, a soil loosening instrument and a fishing instrument; the control cabin with the hook arm is arranged on the upper portion of the box body and connected with the box body through a control line, and a manipulator, a transmission device, a water pump and a particle scattering absorber which are arranged on the box body can be remotely controlled, so that the agricultural apparatus can be remotely operated.
In order to automatically identify and manage all the devices, the intelligent controller of the control cabin with the hook arm is further connected with RFID electronic tag reading and writing equipment, passive UHF ultrahigh frequency RFID electronic tags are pasted on different agricultural instruments, the system automatically identifies the currently adopted agricultural instruments by reading the RFID electronic tags, different operation programs are called, corresponding agricultural instruments are grabbed by a manipulator and assembled, and agricultural operation control operation is carried out.
A water pump, a particle scattering absorber and a transmission device are arranged below the agricultural instrument assembly frame, a water sprinkling pipeline, a sowing instrument, a harvesting instrument, a soil loosening instrument and a fishing instrument are sequentially placed on the agricultural instrument assembly frame, and passive UHF (ultra high frequency) RFID (radio frequency identification) electronic tags are pasted on the agricultural instrument assembly frame. When sowing operation is needed, a remote control person utilizes the camera to check, operates the RFID electronic tag reading and writing equipment to read the RFID electronic tag, the system automatically identifies the currently needed agricultural apparatus, calls a sowing operation program, grabs the sowing apparatus through the mechanical arm and installs the sowing apparatus on the particle sowing absorber, and can sow on two sides of the track with the width of 20-30 meters. Certainly, the sprinkling operation procedure can be called, the water pump and the sprinkling pipeline are replaced on the agricultural instrument assembly frame, large-area sprinkling can be realized, the agricultural instrument assembly frame is very suitable for field cultivation of hundreds of acres, and the whole process can be remotely controlled.
The suspension rail can be a single rail or a parallel double-rail structure and can be flexibly erected according to the actual height and ground shape of the field forest land.
As shown in fig. 2, the present inventors have employed unique rail flexible steering members to facilitate small turns in field or mountain layout track routes. The flexible track steering component comprises a turntable base 10, an inner arc guide rail 12 is sleeved in an outer arc guide rail 11 on the turntable base, the outer arc guide rail is connected with an inlet end 13 and a guide block 14, the inlet end 13 is connected with a straight rail, a rack belt (not shown) is arranged on two sides of the inner arc guide rail and can rotate in the outer arc guide rail in a stepping mode according to scales, the inner arc guide rail is connected with at least one outlet end 15 and a limiting block 16 used for limiting the running direction, the turning angle can be accurately determined, and the outlet end 15 is connected with another straight rail. Therefore, the sliding seat wheel of the box body moves forwards from the inlet end, runs along the outer arc guide rail in the direction limited by the guide block 14, and comes out from the outlet end to complete small-range steering control, so that a large-length bent track is avoided being customized, and the track is more flexible and portable to mount.
And the sliding seat of the box body is also provided with an infrared detector and a storage battery, wherein the infrared detector is used for detecting rail gaps and obstacles, and the storage battery is connected with the driving device and the control cabin. And a stress sensor for detecting the deformation of the track is arranged at the position of the lower part of the sliding seat connected with the pulley, and the infrared detector and the stress sensor are connected with the control cabin with the hook arm through data lines. Therefore, the rail deformation and dislocation caused by severe weather can be detected in time, the running safety of the box body and the control cabin is improved, and the high-altitude falling of the rollover is avoided.
The intelligent controller of the control cabin comprises a navigation chip, a wireless signal receiving and transmitting circuit and a memory, the control cabin exchanges data with the Beidou satellite and the central console fixed on the ground, and the satellite differential algorithm is adopted to be combined with the topographic map correction algorithm for positioning. Specifically, differential positioning calculation is performed on the mobile communication differential data and the received navigation satellite differential data by receiving the mobile communication differential data and the received satellite navigation signals of the central control station. The differential positioning calculation specifically refers to performing differential positioning calculation on 3G mobile communication differential data and single-frequency pseudo range differential data to obtain a single-frequency pseudo range differential positioning calculation result; carrying out differential positioning calculation on the 3G mobile communication differential data and the single-frequency carrier phase difference data to obtain a single-frequency carrier phase difference positioning calculation result; and (4) obtaining the two differential positioning calculation results, combining a topographic map in a memory, performing correction algorithm positioning, and averaging to obtain accurate position coordinates of the control cabin. The position coordinates of the control cabin are recorded to the data center, track points are displayed on a screen of the central console, for example, the personnel on the ground central console know that spraying of the field in the No. 3 position area is finished, fertilization of the field in the No. 2 position area is finished, grid management is carried out on an electronic map, operation results are marked, and the system is efficient, accurate and suitable for large-scale management of new agriculture. For thousands of mu of field management, the position of the control cabin with the hook arm is conveniently and accurately positioned, and operations such as water sprinkling and fertilization or sowing and harvesting are carried out.
As an improved implementation mode, the control cabin with the hook arm is divided into a master machine and a plurality of slave machines, the control cabin with the hook arm as the first master machine is arranged on the first box body, the control cabin with the hook arm as the second slave machine is arranged on the second box body and can be coordinated and controlled, a master-slave machine cooperative work control mode is adopted and comprises a command type mode and a follow-up type mode, command information is sent to the command type master machine, the slave machines are informed of reaching a specified position, and the slave machines carry out action control according to the target position information, the current position and the course; for the following type slave machine to follow the master machine to perform operation, the distance and the speed between the master machine and the slave machine are kept constant, and the same operation is performed.
The host and the slave adopt a WiFi802.11n protocol to carry out wireless data transmission, the control cabin with the first hook arm as the host analyzes and processes self pose estimation information of the control cabin with the second hook arm as the slave in the motion process and position interaction information of the host, an incremental local map is constructed, and meanwhile, the map is utilized to update the positioning of the slave, so that the automatic control host and the slave cannot collide together.
The working efficiency and safety are improved by adopting a master-slave cooperative working control mode, for example, when two boxes of a control cabin provided with a hook arm move on a track to carry out comprehensive agricultural operation, a first box provided with the control cabin provided with the hook arm is controlled to carry out seeding, a second box provided with the control cabin provided with the hook arm at the position of 10 m behind carries out water spraying and fertilization, the control cabin provided with the first hook arm cannot collide with the control cabin provided with the second hook arm, and the control linkage can simultaneously complete the related agricultural operation.
Claims (5)
1. The multifunctional track control system capable of carrying goods and operating agricultural instruments is characterized by comprising a track support frame, a suspended track, a box body, a driving device, a control cabin with a hook arm and a central console; the upper end of the track support frame is provided with a hydraulic device capable of adjusting the lifting height, the suspended track comprises a straight track and a flexible track steering component, the flexible track steering component comprises a turntable base, an inner arc guide rail is sleeved in an outer arc guide rail on the turntable base, the outer arc guide rail is connected with an inlet end and a guide block, the two sides of the inner arc guide rail are provided with toothed belts which can rotate in the outer arc guide rail according to scales, the inner arc guide rail is connected with at least one outlet end and a limiting block, and the flexible track steering component connects the two straight tracks together;
the central control console is connected with and controls the control cabin with the hook arm through a wireless network, and the control cabin with the hook arm is provided with a camera and an intelligent controller and can remotely and automatically control the hook arm to move; the box body is arranged on the sliding seat and moves on the suspended track through the driving device, the manipulator, the transmission device, the agricultural instrument assembly frame, the water pump and the particle scattering absorber are arranged on the box body, the box body can be matched with and provided with agricultural instruments, and the box body comprises a water sprinkling pipeline, a seeding instrument, a harvesting instrument, a soil loosening instrument and a fishing instrument; the control cabin with the hook arm is arranged at the upper part of the box body and is connected with the box body through a control line, so that the agricultural apparatus can be operated remotely;
the device comprises a box body and is characterized in that an infrared detector used for detecting rail gaps and obstacles is further mounted on a sliding seat of the box body, a stress sensor used for detecting rail deformation is arranged at the position of a sliding seat lower connecting pulley, and the infrared detector and the stress sensor are connected with a control cabin with a hook arm through data lines.
2. The multifunctional track control system capable of carrying goods and operating agricultural instruments according to claim 1, wherein the intelligent controller of the control cabin with the hook arm is further connected with an RFID electronic tag reading and writing device, passive UHF RFID electronic tags are pasted on different agricultural instruments, the system automatically identifies the currently adopted agricultural instruments by reading the RFID electronic tags, calls different operation programs, grabs the corresponding agricultural instruments through a manipulator, and is assembled, so as to perform agricultural operation control operation.
3. A multi-functional track control system for carrying cargo and operating agricultural equipment as claimed in claim 1, wherein the control cabin of the hook arm is divided into a master and a plurality of slaves, the control cabin of the first hook arm as the master is disposed on the first casing, the control cabin of the second hook arm as the slave disposed on the second casing is controlled in a coordinated and coordinated manner, a master-slave cooperative operation control mode including both a command type and a follow-up type is adopted, the master of the command type sends command information to notify the slaves to reach a designated position, and the slaves perform motion control according to the target position information, the current position and the course; for the following type slave machine to follow the master machine to perform operation, the distance and the speed between the master machine and the slave machine are kept constant, and the same operation is performed.
4. The multifunctional track control system capable of carrying cargoes and operating agricultural instruments according to claim 3, wherein the master machine and the slave machine adopt a WiFi802.11n protocol for wireless data transmission, the control cabin with the first hook arm as the master machine analyzes and processes self pose estimation information of the control cabin with the second hook arm as the slave machine in a motion process and position interaction information with the master machine, an incremental local map is constructed, and meanwhile the map is used for updating the positioning of the slave machine.
5. A multifunctional orbital control system for carrying cargo and operating agricultural equipment as claimed in claim 1 wherein said intelligent controller of said control pod with hook arm comprises a navigation chip, a wireless signal receiving and transmitting circuit, a memory, detects data exchanged with the beidou satellite and said central control station fixed to the ground, and uses a satellite differential algorithm in combination with a terrain-map correction algorithm for positioning.
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| CN201910006600.1A CN109725365B (en) | 2019-01-04 | 2019-01-04 | Multifunctional track control system capable of carrying goods and operating agricultural equipment |
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| CN201910006600.1A CN109725365B (en) | 2019-01-04 | 2019-01-04 | Multifunctional track control system capable of carrying goods and operating agricultural equipment |
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| CN109725365B true CN109725365B (en) | 2021-04-16 |
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| CN110989618A (en) * | 2019-12-23 | 2020-04-10 | 福建工程学院 | Cooperative carrying control system and method for swarm type carrying vehicle |
| CN113830679B (en) * | 2021-09-14 | 2024-02-09 | 济南轨道交通集团有限公司 | Multiple track flat crane reconnection hardware circuit control system and working method |
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| DE10258347B4 (en) * | 2002-12-12 | 2005-03-03 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and device for the detection of objects such as bird beds and animals in agriculture and crop production |
| CN201187173Y (en) * | 2008-03-31 | 2009-01-28 | 陈仁多 | Railway aerial field land |
| CN201406759Y (en) * | 2009-04-30 | 2010-02-17 | 唐谊光 | House without occupying land |
| CN103499973B (en) * | 2013-09-30 | 2016-04-20 | 中国农业大学 | A kind of master-slave machine work compound agricultural machinery intelligent guidance system |
| CN104737660A (en) * | 2013-12-31 | 2015-07-01 | 邱丽琴 | Method of arranging rail construction facility field in farmland and facility thereof |
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