CN109804757A - Automation seed level based on satellite navigation regulates and controls telescopic platform - Google Patents
Automation seed level based on satellite navigation regulates and controls telescopic platform Download PDFInfo
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- CN109804757A CN109804757A CN201910145227.8A CN201910145227A CN109804757A CN 109804757 A CN109804757 A CN 109804757A CN 201910145227 A CN201910145227 A CN 201910145227A CN 109804757 A CN109804757 A CN 109804757A
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- seed level
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- suspension
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The invention discloses a kind of, and the automation seed level based on satellite navigation regulates and controls telescopic platform, including platform rack, automatic guide walking mechanism, suspension hoisting device, satellite navigation control system, hydraulic power system, seed level self-con-tained unit and sensor detecting device etc..Set of the present invention Navigation Control technology, electromechanical integration technology and sensor monitoring technology.Automatic navigation technology energy control accurate depth of planting, is effectively ensured seed level consistency, meets the technical requirements of precision agriculture；Platform rack is integrally formed formula rigid connection nested structure with seeding machinary, and operation process can be made more steady reliable；The lighter in weight compared with traditional tractor not only can be reduced wheel to the degree that rolls of soil, but also can reduce operation oil consumption, meet resource-conserving development model；The seeding machinary that a variety of different work modes require can be carried, agricultural seeder work can be completed under unmanned state.
Description
Technical field
The invention belongs to agricultural automation technical fields, are related to a kind of intelligent Agricultural Machinery Equipment, more particularly to a kind of base
Regulate and control telescopic platform in the automation seed level of satellite navigation.
Background technique
It is well known that sowing is one of important link of agricultural production, operation effectiveness plays decision to crops high yield
The effect of property.But Mechanization sowing still has problems at this stage, and Shang Buneng fully meets the needs of modern agriculture, than
Such as: most of mechanical work still needs human assistance, cannot still liberate labour completely；Field surface relief is not usually most
Depth of planting is substantially adjusted by the experience of driver, degree of regulation and operating efficiency be not high；Realize seeding operation
When almost driven by own wt biggish tractor suspension, soil can be rolled repeatedly in operation process, soil pressure
Real degree increases, and causes soil hardening to aggravate, to be unfavorable for the growth of crops and recycling for soil；In addition, dilatory
The combination that machine carries seeding machinary has aggravated oil consumption again, is unfavorable for the economical environment-protective of resource.
In recent years, as information technology is grown rapidly, automatic navigation technology is harvested in farming sowing, field management and crop
It is widely applied in equal Agricultural Activities.The technology obtains agricultural machinery (agricultural vehicle by various kinds of sensors or positioning system
Or agricultural machinery and implement) changing coordinates and posture information, so that it is walked along object of planning path by process control, completes farm work and appoint
Business.The single repeated labor of driver can effectively be liberated using automatic navigation technology, artificial technology is reduced and operate requirement and enhance
Operating efficiency；In addition, automatic navigation technology can also be precisely controlled depth of planting, seed level consistency is effectively ensured, meets accurate agriculture
Industry technical requirements.
Summary of the invention
In order to overcome a series of defects of the existing technology, the purpose of the present invention is collection Navigation Control technologies, electromechanics one
Body technology and sensor monitoring technology are all over the body, to provide a kind of automation seed level regulation telescopic platform, can be unmanned
Agricultural seeder work is completed under state, is effectively solved the problems, such as existing in the prior art various.
Different from the connection type of traditional tractor trifilar suspension, the rack and seeding machinary of platform of the present invention are integral type
Nested rigid connection structure keeps operation process more steady reliable；Platform weight is lighter compared with traditional tractor, both can be reduced
To soil packing degree, and operation oil consumption can be reduced, meet resource-effective idea of development.
The present invention to achieve the goals above, the present invention provides the following technical scheme that
A kind of telescopic platform of automation seed level regulation based on satellite navigation, including platform rack, automatic guide walking
Mechanism, suspension hoisting device, satellite navigation control system, hydraulic power system, the platform rack include platform frame main beam
14 and two platform frame side members 16；The automatic guide walking mechanism includes wheel 1, wheel leading truck 2；The suspension is promoted
Device includes riser guide and single-beam suspension hoisting apparatus；The hydraulic power system include hydraulic pump 20, diesel engine 26,
Hydraulicdirectional control valve 28, single-piston-rod hydraulic cylinder 18 and girder hydraulic cylinder；The satellite navigation control system includes controller 5, defends
Star antenna 22, signal receiver 24 and vehicle angular transducer 17.
Specifically, the girder hydraulic cylinder is two, they are respectively arranged at two ends of the platform frame main beam 14
On face, the platform frame main beam 14 is affixed by described two girder hydraulic cylinders and described two platform frame side members 16.
Specifically, the hydraulicdirectional control valve 28 pushes and pulls institute by responding the program command of the controller 5 to distribute oil circuit
It states the girder hydraulic cylinder on platform frame main beam 14 and carries out stretching motion, and then drive the platform frame side members 16 separate
Or it is close, to adjust the working width of the platform rack.
Specifically, the signal receiver 24 obtains 22 received signal of satellite antenna, right via the controller 5
The signal, which is handled, arrives trench digging ditch with the vertical height and the satellite antenna 22 of extracting the satellite antenna 22 to earth's surface
The difference of the vertical height at bottom obtains real-time seed level value in operation process.
Specifically, the vehicle angular transducer 17 on the wheel leading truck 2 will test the inclined of the wheel 1
Rotaring signal passes to the controller 5, by changing the valve body position of the hydraulicdirectional control valve 28 to regulate and control oil circuit flow direction, and then adjusts
It moves the single-piston-rod hydraulic cylinder 18 and carries out stretching motion, to control the rotation of wheel 1 with motor car wheel leading truck 2 and change and turn
To angle.
Specifically, the riser guide includes guide rail base 11, sliding rail 8, rail slider 27, screw axis 10, guide rail
Top cover 9, guide rail bottom cover, nut fixing seat, workbench 12.
Specifically, the first mounting fixed plate 7 and the second mounting fixed plate 13 are provided on the workbench 12, they with broadcast
The sowing rack 31 of kind equipment carries out affixed in the workbench 12 (the first hanging position).
Specifically, the single-beam suspension hoisting apparatus includes the first suspension hook fixing seat 3, the second suspension hook fixing seat 15, suspension hook
Sliding slot 34, hook nut 35, suspension hook screw rod 37 and suspension suspension hook 38.
Specifically, the hook nut 35 slides along the suspension hook sliding slot 34 to adjust the second hanging position, works as alignment
The suspension suspension hook 38 is discharged when the installation site of the mounting support frame 33 of seeding machinary, mounting fixation is carried out to seeding machinary.
Specifically, the controller 5 compares practical seed level value and sets the deviation between seed level value, is promoted to the suspension
Device issues adjustment signal, and the hydraulic power system responds the instruction of the controller 5 to adjust hydraulic oil feeding distance, from
And the riser guide control seeding machinary is driven to adjust up and down and change seed level.
Present invention tool it is following the utility model has the advantages that
1) present invention collection Navigation Control technology, electromechanical integration technology and sensor monitoring technology are that all over the body, can promote agriculture
Machine operation and intellectual technology application integration, promote the operating efficiency and reliability of agricultural equipment, to promotion intelligent agriculture, information
The development of change has important practical significance；
2) present invention can carry the seeding machinary that a variety of different work modes require, and can complete agriculture under unmanned state
Industry sows work, liberates the single repeated labor of driver, reduces artificial technology and operates requirement, enhances operating efficiency；
3) automatic navigation technology of the invention can in operation process control accurate depth of planting, it is consistent that seed level is effectively ensured
Property, meet the technical requirements of precision agriculture；
4) it is different from the connection type of traditional tractor trifilar suspension, platform rack of the invention and seeding machinary constitute one
Body formula rigid connection nested structure can make operation process more steady reliable；
5) main screw lift of the invention is relatively light compared with traditional tractor, both can be reduced wheel and has rolled degree to soil,
Operation oil consumption can be reduced again, meet resource-conserving development model.
Detailed description of the invention
Fig. 1 is the front view that the automation seed level of the invention based on satellite navigation regulates and controls telescopic platform；
Fig. 2 is the right view that the automation seed level of the invention based on satellite navigation regulates and controls telescopic platform；
Fig. 3 is the cross-sectional view that the automation seed level of the invention based on satellite navigation regulates and controls telescopic platform；
Description of symbols are as follows:
1- wheel, 2- wheel leading truck, 3- the first suspension hook fixing seat, 4- connecting flange 5- controller, 6- satellite antenna disk,
7- first mounts fixed plate, 8- sliding rail, 9- guide rail top cover, 10- screw axis, 11- guide rail base, 12- workbench, 13- the
Two mounting fixed plates, 14- platform frame main beam, 15- the second suspension hook fixing seat, 16- platform frame side members, 17- vehicle angle sensor
Device, 18- single-piston-rod hydraulic cylinder, 20- hydraulic pump, 21- headstock, 22- satellite antenna, the radio station 23- receiving antenna, 24- signal
Receiver, 25- engine radiator, 26- diesel engine, 27- rail slider, 28- hydraulicdirectional control valve, 31- sow rack,
33- mounts support frame, 34- suspension hook sliding slot, 35- hook nut, 37- suspension hook screw rod, 38- suspension suspension hook.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The word of embodiment and directionality below with reference to attached drawing description
It is exemplary, it is intended to be used to explain the present invention, and be not considered as limiting the invention.Based on the implementation in the present invention
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The scope of protection of the invention.
Automation seed level based on satellite navigation of the invention regulates and controls telescopic platform, is the collection unmanned system of satellite navigation
System, electromechanical integration technology and sensor monitoring technology are the agricultural machinery working platform of the whole body, and can be remembered by vehicle-mounted display terminal
Record, storage and export job data carry out real-time monitoring and effect analysis to operation overall process.
Below for a preferred embodiment of the present invention, that is, carry a duplicate rows corn seeding equipment as an example, together
When in conjunction with attached drawing 1-3, specific embodiments of the present invention will be described in detail.
As shown in Figs. 1-3, it is shown that the automation seed level based on satellite navigation regulates and controls the overall construction drawing of telescopic platform.
The platform mainly includes platform rack, automatic guide walking mechanism, suspension hoisting device, satellite navigation control system, hydraulic
Dynamical system, seed level self-con-tained unit and sensor detecting device etc..
The platform rack is in concave structure on the whole comprising and the platform frame main beam 14 extended transversely is described flat
14 both ends of platform frame main beam are affixed with platform frame side members 16 respectively.
The automatic guide walking mechanism is located at the downside of the platform rack on the whole, is generally configured to bilateral symmetry and ties
Structure, including the wheel 1, wheel leading truck 2 and connecting flange 4 etc. set gradually from bottom to up.
The suspension hoisting device includes center (the first hanging position) right angle setting in platform frame main beam 14
Riser guide and the second hanging position installation single-beam suspension hoisting apparatus.
The hydraulic power system is located at the upside of the platform rack, including hydraulic pump 20, diesel engine on the whole
26, engine radiator 25, hydraulicdirectional control valve 28, single-piston-rod hydraulic cylinder 18 and girder hydraulic cylinder etc., the girder hydraulic cylinder
It is set on the platform frame main beam 14, the platform frame main beam 14 passes through the girder hydraulic cylinder and the platform rack
Curb girder 16 is affixed.
The satellite navigation control system is located at upside one end of the platform rack, including controller 5, satellite on the whole
Antenna bay 6, satellite antenna 22, radio station receiving antenna 23, signal receiver 24, vehicle angular transducer 17 etc..
Generally speaking, the controller 5 carries out the program command for being processed and converted to each moving component to signal is received,
I.e. diesel engine 26 drives hydraulic pump 20 to make hydraulic oil flow through hydraulicdirectional control valve 28 to distribute oil circuit and be delivered to each movement
Execution unit, to realize the functions such as the angle of wheel 1 turns to and the mounting of equipment is promoted.
Specifically, the center of the platform frame main beam 14 is arranged in hydraulicdirectional control valve 28, passes through response control
The program command of device 5 pushes and pulls the girder hydraulic cylinder on platform frame main beam 14 and carries out stretching motion to distribute oil circuit, and then drives
Platform frame side members 16 are separate or close, to adjust the working width of the platform rack.
Specifically, it is connect in 21 outside of headstock equipped with controller 5, satellite antenna 22, radio station receiving antenna 23 and signal
Receipts machine 24 etc., to receive and handle satellite-signal,
The seed level automatic control system is based on GNSS-R signal inversion principle, by being mounted on 21 outside of headstock
Signal receiver 24 obtain 22 received signal of satellite antenna, via controller 5 to signal processing, extract satellite antenna 22 and arrive
The vertical height and satellite antenna 22 of earth's surface seek the two difference DELTA h, can be obtained operation to the vertical height of trench digging bottom of trench
Real-time seed level value in journey, and transfer signals on display screen to record seed level change procedure.
Specifically, when path shifts, the vehicle angular transducer 17 on wheel leading truck 2 detects wheel 1
Defection signal and relevant information is passed into controller 5, by change hydraulicdirectional control valve 28 valve body position to regulate and control oil circuit stream
To, so transfer single-piston-rod hydraulic cylinder 18 carry out stretching motion, thus with motor car wheel leading truck 2 control wheel 1 rotation and
Change steering angle.
Specifically, the riser guide of the suspension hoisting device mainly includes guide rail base 11, sliding rail 8, rail
Road sliding block 27, screw axis 10, guide rail top cover 9, guide rail bottom cover, nut fixing seat, workbench 12 etc. are arranged on the workbench 12
There are the first mounting fixed plate 7 and the second mounting fixed plate 13, the sowing rack 31 of they and seeding machinary is in the workbench 12
(the first hanging position) carries out affixed, and the single-beam suspension hoisting apparatus mainly includes that the first suspension hook fixing seat 3, the second suspension hook are solid
Reservation 15, suspension hook sliding slot 34, hook nut 35, suspension hook screw rod 37 and suspension suspension hook 38 etc., the hook nut 35 can be along described
Suspension hook sliding slot 34 slides to adjust the second hanging position, releases when being directed at the installation site of mounting support frame 33 of seeding machinary
The suspension suspension hook 38 is put, mounting fixation is carried out to seeding machinary.
Specifically, operator inputs the seed level value of setting on a display screen, and controller 5 will be by comparing practical seed level value
Deviation between setting seed level value, Xiang Suoshu suspension hoisting device issue adjustment signal, the hydraulic power system response control
The instruction of device 5 processed is to adjust hydraulic oil feeding distance, so that the riser guide control seeding machinary be driven to adjust and change up and down
Become seed level, platform rack and seeding machinary is made to form integral type nested structure, this kind rigidity mounting mode can make operation process more
Add steady reliable.
Other than the duplicate rows corn seeding equipment of the preferred embodiment of the present invention, can also mount wheat, soybean, peanut etc. other
Crop seeder, versatility are preferable；According to actual job demand, which can also be wide according to the change adjustment rack of sowing line number
Degree, thus with suitable different work breadth demand；Component part using engineering crampon as platform hanging device such as uses
Other mount boom hoisting such as hanging electric block and are equally protected by this patent.
The present invention can carry out agricultural seeder work under unmanned state, and can be carried out according to field actual operation
The real-time adjustment of position and posture guarantees that Mechanization sowing is accurate to row in the process, seed level is consistent, to improve seeding accuracy；
Platform can mount the seeding machinary that a variety of different works require, and can adjust platform according to different work breadth
The fit dimension of rack, accurate nesting work tool.
Platform uses GNSS-R technology inverting depth of planting, parses the collected GNSS of satellite earth antenna by module and believes
Number, extraction height component simultaneously establish seed level computation model, obtain satellite antenna to soil surface and satellite antenna to trench digging
Height difference Δ h between bottom surface, the final inverting for realizing depth of planting.
In the practical seeding operation of platform, seed level value can be regulated and controled by controller 5 according to the fluctuations of earth's surface,
Control seed level value in entire seeding process within a certain error range, to guarantee the basic of depth of planting in operation process
Unanimously.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, the essence for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
Claims (10)
1. a kind of automation seed level based on satellite navigation regulates and controls telescopic platform, including platform rack, automatic guide vehicle with walking machine
Structure, suspension hoisting device, satellite navigation control system, hydraulic power system, which is characterized in that
The platform rack includes platform frame main beam (14) and two platform frame side members (16)；
The automatic guide walking mechanism includes wheel (1), wheel leading truck (2)；
The suspension hoisting device includes riser guide and single-beam suspension hoisting apparatus；
The hydraulic power system includes that hydraulic pump (20), diesel engine (26), hydraulicdirectional control valve (28), single-piston rod are hydraulic
Cylinder (18) and girder hydraulic cylinder；
The satellite navigation control system includes controller (5), satellite antenna (22), signal receiver (24) and vehicle angle sensor
Device (17).
2. the automation seed level according to claim 1 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
Stating girder hydraulic cylinder is two, they are respectively arranged on two end faces of the platform frame main beam (14), the platform machine
Frame girder (14) is affixed by described two girder hydraulic cylinders and described two platform frame side members (16).
3. the automation seed level according to claim 2 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
It states the program command of hydraulicdirectional control valve (28) by responding the controller (5) and to distribute oil circuit, pushes and pulls the platform rack master
The girder hydraulic cylinder on beam (14) carries out stretching motion, and then drives the platform frame side members (16) separate or close,
To adjust the working width of the platform rack.
4. the automation seed level according to claim 1 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
State signal receiver (24) and obtain satellite antenna (22) received signal, via the controller (5) to the signal into
Row processing arrives hanging down for trench digging bottom of trench with the vertical height and the satellite antenna (22) of extracting the satellite antenna (22) to earth's surface
The difference of straight height obtains real-time seed level value in operation process.
5. the automation seed level according to claim 1 based on satellite navigation regulates and controls telescopic platform, which is characterized in that position
Institute is passed in the defection signal that the vehicle angular transducer (17) on the wheel leading truck (2) will test the wheel 1
Controller (5) are stated, by changing the valve body position of the hydraulicdirectional control valve (28) to regulate and control oil circuit flow direction, and then transfer the list
Hydraulic piston rod cylinder (18) carries out stretching motion, to control the rotation of wheel (1) with motor car wheel leading truck (2) and change steering
Angle.
6. the automation seed level according to claim 1 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
Stating riser guide includes guide rail base (11), sliding rail (8), rail slider (27), screw axis (10), guide rail top cover (9), work
Make platform (12).
7. the automation seed level according to claim 6 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
It states and is provided with the first mounting fixed plate (7) and the second mounting fixed plate (13) on workbench (12), they broadcast with seeding machinary
Kind rack (31) carries out affixed in the workbench (12) i.e. the first hanging position.
8. the automation seed level according to claim 7 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
Stating single-beam suspension hoisting apparatus includes the first suspension hook fixing seat (3), the second suspension hook fixing seat (15), suspension hook sliding slot (34), suspension hook
Nut (35), suspension hook screw rod (37) and suspension suspension hook (38).
9. the automation seed level according to claim 8 based on satellite navigation regulates and controls telescopic platform, which is characterized in that institute
It states hook nut (35) to slide along the suspension hook sliding slot (34) to adjust the second hanging position, when the mounting of alignment seeding machinary
The suspension suspension hook (38) is discharged when the installation site of support frame (33), and mounting fixation is carried out to seeding machinary.
10. the automation seed level according to claim 9 based on satellite navigation regulates and controls telescopic platform, which is characterized in that
Deviation between the practical seed level value of the controller (5) and setting seed level value, Xiang Suoshu suspension hoisting device issue regulation
Signal, the hydraulic power system respond the instruction of the controller (5) to adjust hydraulic oil feeding distance, thus described in driving
Riser guide control seeding machinary adjusts up and down and changes seed level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910145227.8A CN109804757B (en) | 2019-02-27 | 2019-02-27 | Automatic broadcasting depth regulation and control telescopic platform based on satellite navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910145227.8A CN109804757B (en) | 2019-02-27 | 2019-02-27 | Automatic broadcasting depth regulation and control telescopic platform based on satellite navigation |
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| Publication Number | Publication Date |
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| CN109804757A true CN109804757A (en) | 2019-05-28 |
| CN109804757B CN109804757B (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910145227.8A Active CN109804757B (en) | 2019-02-27 | 2019-02-27 | Automatic broadcasting depth regulation and control telescopic platform based on satellite navigation |
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Cited By (6)
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| CN110313260A (en) * | 2019-08-15 | 2019-10-11 | 苏州智泉农业科技有限公司 | A kind of lightweight rice growing device |
| CN110637542A (en) * | 2019-08-30 | 2020-01-03 | 江苏大学 | Pull steering type liftable heavy-load chassis for bundling and film-coating integrated machine |
| CN110786104A (en) * | 2019-11-19 | 2020-02-14 | 中国农业大学 | Automatic community seeder and seeding method based on prescription chart |
| CN113615357A (en) * | 2021-08-30 | 2021-11-09 | 扬州大学 | Automatic seeder of big dipper navigation |
| CN115176562A (en) * | 2022-08-02 | 2022-10-14 | 中国农业大学 | Corn no-tillage sowing robot capable of realizing path tracking |
| CN115443788A (en) * | 2022-10-24 | 2022-12-09 | 刘贺祥 | Automatic correction device for hanging and ditching machine |
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| CN110637542A (en) * | 2019-08-30 | 2020-01-03 | 江苏大学 | Pull steering type liftable heavy-load chassis for bundling and film-coating integrated machine |
| CN110786104A (en) * | 2019-11-19 | 2020-02-14 | 中国农业大学 | Automatic community seeder and seeding method based on prescription chart |
| CN110786104B (en) * | 2019-11-19 | 2020-10-23 | 中国农业大学 | Automatic community seeder and seeding method based on prescription chart |
| CN113615357A (en) * | 2021-08-30 | 2021-11-09 | 扬州大学 | Automatic seeder of big dipper navigation |
| CN115176562A (en) * | 2022-08-02 | 2022-10-14 | 中国农业大学 | Corn no-tillage sowing robot capable of realizing path tracking |
| CN115443788A (en) * | 2022-10-24 | 2022-12-09 | 刘贺祥 | Automatic correction device for hanging and ditching machine |
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