CN111670715A - Label inspection flower thinning device, orchard mechanical equipment and flower thinning method - Google Patents
Label inspection flower thinning device, orchard mechanical equipment and flower thinning method Download PDFInfo
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- CN111670715A CN111670715A CN202010608295.6A CN202010608295A CN111670715A CN 111670715 A CN111670715 A CN 111670715A CN 202010608295 A CN202010608295 A CN 202010608295A CN 111670715 A CN111670715 A CN 111670715A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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Abstract
The invention discloses a mark patrol and flower thinning device, orchard mechanical equipment and a flower thinning method, wherein the mark patrol and flower thinning device comprises a flower thinning mechanism, a mark patrol mechanism, a control system and a hydraulic system, the flower thinning mechanism is arranged on the mark patrol mechanism, distance sensors are arranged on the flower thinning mechanism and the mark patrol mechanism, the distance sensors and the hydraulic system are respectively connected with the control system, and the flower thinning mechanism and the mark patrol mechanism are respectively connected with the hydraulic system; the label inspection mechanism is used for enabling the flower thinning mechanism to move horizontally and/or adjusting the angle; the distance sensor transmits the detected target distance information to the control system, and the control system controls the hydraulic system to work according to the target distance information, so that the hydraulic system drives the flower thinning mechanism and the label patrol mechanism to act. The invention can effectively solve the problem of flower thinning of the orchard in the prior art, reduce the labor intensity and improve the flower thinning efficiency.
Description
Technical Field
The invention relates to a label-patrolling flower thinning device, orchard mechanical equipment and a flower thinning method, and belongs to the field of agricultural mechanization and automatic production.
Background
In recent years, with the rapid development of agriculture in China, the fruit tree planting area of an orchard is increasingly enlarged, huge economic benefits are created for farmers, flower thinning is one of important measures for improving fruit quality, reducing nutrient consumption, promoting flower bud differentiation and continuously stabilizing high yield in orchard management, and the quality and yield of fruits are directly influenced by the quality and quality of flowering management, so that the economic benefit of farmers is finally influenced. At present, most domestic orchards adopt manual flower thinning or hand-held machines (such as electric flower thinning devices, bamboo poles and the like) flower thinning, and have the problems of poor adaptability, high labor intensity, low working efficiency and the like.
Disclosure of Invention
The first purpose of the invention is to provide a label-patrolling flower thinning device which can effectively solve the problems of flower thinning in orchards in the prior art, reduce labor intensity and improve flower thinning efficiency.
The second purpose of the invention is to provide orchard mechanical equipment carrying the mark patrol and flower thinning device.
The third purpose of the invention is to provide a flower thinning method based on the label patrol flower thinning device.
The first purpose of the invention can be achieved by adopting the following technical scheme:
a mark patrol and flower thinning device comprises a flower thinning mechanism, a mark patrol mechanism, a control system and a hydraulic system, wherein the flower thinning mechanism is arranged on the mark patrol mechanism, distance sensors are arranged on the flower thinning mechanism and the mark patrol mechanism, the distance sensors and the hydraulic system are respectively connected with the control system, and the flower thinning mechanism and the mark patrol mechanism are respectively connected with the hydraulic system;
the label inspection mechanism is used for enabling the flower thinning mechanism to move horizontally and/or adjusting the angle; the distance sensor transmits the detected target distance information to the control system, and the control system controls the hydraulic system to work according to the target distance information, so that the hydraulic system drives the flower thinning mechanism and the label patrol mechanism to act.
Further, flower thinning mechanism is including thinning out flower axle, shaft coupling, holder, L shape support, hydraulic motor and many flower thinning adhesive tape, and many flower thinning adhesive tape pass the flower thinning axle equidistantly to the fastening is on the flower thinning axle, the holder is fixed in the vertical section upper end of L shape support to be connected perpendicularly with the upper end of flower thinning axle, the lower extreme of flower thinning axle passes the horizontal segment of L shape support to be connected with hydraulic motor through the shaft coupling, hydraulic motor is connected with hydraulic system.
Furthermore, a rotary encoder is arranged above the retainer, and is coaxially and fixedly connected with the flower thinning shaft and connected with a control system;
and/or a torque sensor is arranged between the flower thinning shaft and the hydraulic motor, and the torque sensor is connected between the two parts of the coupler and is connected with the control system.
Further, the mark inspection mechanism comprises a linear guide rail, a first hydraulic cylinder, a second hydraulic cylinder, a first supporting plate, a second supporting plate, a first support column, a second support column and a third support column;
the first support column, the second support column and the third support column are arranged on the first support plate, the first support column is hinged with the fixed end of the first hydraulic cylinder, the telescopic end of the first hydraulic cylinder is hinged with the vertical section of the L-shaped support, and the second support column and the third support column are respectively hinged with two sides of the horizontal section of the L-shaped support; the first support plate is arranged on the slide block of the linear guide rail, the linear guide rail is arranged on the second support plate, the fixed end of the second hydraulic cylinder is arranged on the second support plate, and the telescopic end of the second hydraulic cylinder is arranged on the first support plate; the first hydraulic cylinder and the second hydraulic cylinder are respectively connected with a hydraulic system.
Furthermore, an angle sensor is arranged on an axis of the flower thinning mechanism rotating around the first supporting plate and connected with a control system;
and/or, a displacement sensor is arranged on the first supporting plate and is connected with a control system.
Further, hydraulic system includes oil tank, oil circuit board, solenoid valve, surge damping valve, directional control valve, proportional flow control valve and proportional flow amplifier, the oil tank passes through oil pipe and oil circuit board intercommunication, be equipped with the oil pump on the oil pipe, solenoid valve, surge damping valve, directional control valve and proportional flow control valve are connected with the oil circuit board respectively, proportional flow amplifier is connected with proportional flow control valve, solenoid valve, directional control valve and proportional flow amplifier are connected with control system respectively, the oil circuit board respectively with sparse flower mechanism, patrol mark mechanism and be connected.
Furthermore, a flow sensor is arranged at the position where the oil pipe is connected with the oil circuit board, and the flow sensor is connected with a control system;
and/or, the oil circuit board is provided with a pressure sensor and a pressure gauge, and the pressure sensor is connected with the control system.
Furthermore, the control system comprises a control cabinet, a programmable logic controller, an analog-to-digital conversion module, a digital-to-analog conversion module and a relay, wherein the programmable logic controller, the analog-to-digital conversion module, the digital-to-analog conversion module and the relay are arranged in the control cabinet, the programmable logic controller is respectively connected with the distance sensor, the analog-to-digital conversion module, the digital-to-analog conversion module and the relay, and the digital-to-analog conversion module and the relay are respectively connected with the hydraulic system.
The second purpose of the invention can be achieved by adopting the following technical scheme:
the orchard mechanical equipment is provided with the mark patrol and flower thinning device.
The third purpose of the invention can be achieved by adopting the following technical scheme:
a flower thinning method based on the label patrol flower thinning device comprises the following steps:
when the position of the fruit tree to be thinned is reached, the label patrol mechanism is controlled to act, so that the flower thinning mechanism moves horizontally and/or the angle is adjusted;
and controlling the flower thinning mechanism to act according to the part of the branch of the fruit tree to be thinned, driving a flower thinning shaft on the flower thinning mechanism to rotate, and carrying out flower thinning operation on the branch of the fruit tree to be thinned.
Compared with the prior art, the invention has the following beneficial effects:
the invention arranges the distance sensors on the flower thinning mechanism and the label patrolling mechanism, transmits the detected target distance information to the control system through the distance sensors, the control system controls the hydraulic system to work according to the target distance information, so that the hydraulic system drives the flower thinning mechanism and the label patrolling mechanism to act, wherein the label patrolling mechanism can enable the flower thinning mechanism to horizontally move and/or adjust the angle, so as to form multi-mechanism coupling motion to fulfill the aim of label patrolling, therefore, the flower thinning mechanism can be controlled to thin the branches of the fruit trees only in the effective working range away from the fruit trees, the structure is simple and easy to realize, the problems of poor adaptability, high labor intensity, low working efficiency and the like of the flower thinning of the traditional manual flower thinning or handheld machine are solved, the invention is suitable for mechanical flower thinning of orchards, compared with the existing flower thinning machine, target detection can be carried out, and more intelligent control is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a front view structural diagram of a flower thinning apparatus according to an embodiment of the present invention.
Fig. 2 is a side view structural diagram of the flower thinning apparatus according to the embodiment of the present invention.
Fig. 3 is a perspective view of a flower thinning apparatus according to a first angle in the embodiment of the present invention.
Fig. 4 is a perspective view of a second angle of the flower thinning apparatus according to the embodiment of the present invention.
Fig. 5 is a three-dimensional structure diagram of a flower thinning apparatus according to a third angle in the embodiment of the present invention.
Fig. 6 is a perspective view of a flower thinning apparatus at a fourth angle according to an embodiment of the present invention.
Fig. 7 is a schematic block diagram of a control system in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 8 is a plan view structural diagram of the relationship between the flower thinning mechanism and the label patrol mechanism in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 9 is a perspective structural view of the relationship between the flower thinning mechanism and the label patrol mechanism in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 10 is a schematic movement diagram of a flower thinning mechanism in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 11 is a block diagram of a hydraulic system in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 12 is a front structural view of a hydraulic system in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 13 is a side view structural diagram of a hydraulic system in the flower thinning apparatus according to the embodiment of the present invention.
Fig. 14 is a perspective view of a hydraulic system of the flower thinning apparatus according to the embodiment of the present invention.
Wherein, 1-crawler chassis, 2-chassis bracket, 3-power source, 4-first operating lever, 5-second operating lever, 6-third operating lever, 7-fourth operating lever, 8-fifth operating lever, 9-driver seat, 10-flower thinning mechanism, 1001-flower thinning shaft, 1002-coupler, 1003-retainer, 1004-L-shaped bracket, 10041-second articulated piece, 10042-first L-shaped connecting piece, 10043-second L-shaped connecting piece, 1005-hydraulic motor, 1006-flower thinning rubber strip, 11-mark inspection mechanism, 1101-linear guide rail, 1102-first hydraulic cylinder, 1103-second hydraulic cylinder, 1104-first supporting plate, 11041-fifth articulated piece, 1105-second supporting plate, 11051-sixth articulated piece, 1106-first column, 11061-first hinge, 1107-second column, 11071-third hinge, 1108-third column, 11081-fourth hinge, 12-control system, 1201-control cabinet, 1202-programmable logic controller, 1203-analog-to-digital conversion module, 1204-digital-to-analog conversion module, 1205-first relay, 1206-second relay, 1207-third relay, 1208-fourth relay, 1209-fifth relay, 1210-sixth relay, 1211-seventh relay, 1212-button switch, 1213-touch screen, 13-hydraulic system, 1301-oil tank, 13011-oil filler, 1302-oil circuit board, 1303-solenoid valve, 1304-oil pump, 1305-first direction control valve, 1306-second direction control valve, 1307-third directional control valve, 1308-fourth directional control valve, 1309-fifth directional control valve, 1310-sixth directional control valve, 1311-first proportional flow control valve, 1312-second proportional flow control valve, 1313-third proportional flow control valve, 1314-fourth proportional flow control valve, 1315-first proportional flow amplifier, 1316-second proportional flow amplifier, 1317-third proportional flow amplifier, 1318-fourth proportional flow amplifier, 1319-first pressure maintaining valve, 1320-second pressure maintaining valve, 1321-third pressure maintaining valve, 1322-fourth pressure maintaining valve, 1323-flow sensor, 1324-pressure sensor, 1325-pressure gauge, 1326-water guard, 14-rotary encoder, 15-torsion sensor, 16-angle sensor, 17-displacement sensor, 18-first distance sensor, 19-second distance sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example (b):
as shown in fig. 1 to 6, the present embodiment provides a flower thinning apparatus, which includes a mark patrol flower thinning device and a traveling device, wherein the mark patrol flower thinning device is mounted on the traveling device.
The running gear of the embodiment is a crawler-type running gear, which comprises a crawler chassis 1, a chassis support 2, a power source 3, a first operating lever 4, a second operating lever 5, a third operating lever 6, a fourth operating lever 7, a fifth operating lever 8 and a driver seat 9, wherein the power source 3, the first operating lever 4, the second operating lever 5, the third operating lever 6, the fourth operating lever 7, the fifth operating lever 8 and the driver seat 9 are all arranged on the chassis support, and the power source 3, the first operating lever 4, the second operating lever 5, the third operating lever 6, the fourth operating lever 7 and the fifth operating lever 8 are respectively connected with the crawler chassis, wherein the first operating lever 4 is used for switching forward and backward, the second operating lever 5 is used for switching speed, the third operating lever 6 is a right-turn operating lever, the fourth operating lever 7 is a clutch operating lever, the fifth operating lever 8 is a left-turn operating lever, and the crawler chassis 1 can, From driving wheel, track, differential mechanism etc. differential mechanism can adopt agricultural differential mechanism, and power supply 3 can adopt the diesel engine, shifts through differential mechanism and diesel engine throttle control can realize carrying out the walking operation under different speeds. It is understood that the walking device of the present embodiment may also be a wheeled walking device or the like.
The mark patrol and flower thinning device of the embodiment is specifically arranged on a chassis support 2 of a walking device, and comprises a flower thinning mechanism 10, a mark patrol mechanism 11, a control system 12 and a hydraulic system 13, the flower thinning mechanism 10 is arranged on the mark patrol mechanism 11, distance sensors are arranged on the flower thinning mechanism and the mark patrol mechanism, the distance sensors and the hydraulic system 13 are respectively connected with the control system 12, the flower thinning mechanism 10 and the mark patrol mechanism 11 are respectively connected with the hydraulic system 13, the distance sensors are used for detecting target (fruit tree) distance information, and the detected target distance information is transmitted to the control system 12.
As shown in fig. 1 to 7, the control system 12 may control the hydraulic system 13 to operate according to the target distance information, so that the hydraulic system 13 drives the flower thinning mechanism 10 and the label inspecting mechanism 11 to operate, the control system 12 of this embodiment is disposed behind the flower thinning mechanism 10 and the label inspecting mechanism 11, and includes a control cabinet 1201, a Programmable Logic Controller (PLC)1202, an analog-to-digital (AD) conversion module 1203, a digital-to-analog (DA) conversion module 1204, and a relay, the programmable logic controller 1202, the analog-to-digital (AD) conversion module 1203, the digital-to-analog conversion module 1204, and the relay are disposed in the control cabinet 1201, and the programmable logic controller 1202 is respectively connected to the distance sensor, the analog-to-digital conversion module 1203, the digital-to-analog conversion module 1204, and the relay, and the digital-to-analog conversion.
The programmable logic controller 1201 is a control center of the control system 12, is powered by a 24V direct-current power supply, is triggered by a logic point, realizes control over the hydraulic system 13 by programming, and is controlled by the programmable logic controller 1201, so that the stability is better; the analog-to-digital conversion module 1203 is a four-channel analog-to-digital conversion module, and is connected with the programmable logic controller 1201 through a data shielded wire; the control system 12 realizes real-time acquisition and automatic flower thinning of the information of the flower thinning mechanism 10 by integrating a series of sensors, can read signals sent by the series of sensors in real time by programming a program through the programmable logic controller 1201, and realizes conversion of the series of sensor signals into digital signals which can be processed by the programmable logic controller 1201; the digital-to-analog conversion module 1204 is a four-channel digital-to-analog conversion module, and can convert the result processed by the programmable logic controller 1201 into an analog quantity to be transmitted to the hydraulic system 13, so as to realize real-time control over the hydraulic system 13, and thus, the flower thinning mechanism 10 completes flower thinning operation.
Further, there are seven relays, which are respectively a first relay 1205, a second relay 1206, a third relay 1207, a fourth relay 1208, a fifth relay 1209, a sixth relay 1210 and a seventh relay 1211, where the first relay 1205 is a main switch relay for operating or stopping the hydraulic system 13, the second relay 1206 and the third relay 1207 are respectively a forward relay and a reverse relay, the forward relay and the reverse relay can control the flower thinning mechanism 10 to rotate through the hydraulic system 13, the fourth relay 1208 and the fifth relay 1209 are respectively a forward relay and a reverse relay, the forward relay and the reverse relay can control the label inspecting mechanism 11 through the hydraulic system 13, so that the flower thinning mechanism 10 can be adjusted to move horizontally, and the sixth relay 1210 and the seventh relay 1211 can control the label inspecting mechanism 11 through the hydraulic system 13, so that the thinning mechanism 10 is angularly adjusted.
Further, the control system 12 may further include a button switch 1212 and a touch screen 1213, the button switch 1212 and the touch screen 1213 are respectively connected to the programmable logic controller 1201, the program written by the programmable logic controller 1201 includes an operating program and a touch screen program, the button switch 1212 includes a system start button, a system stop button, an automatic flower thinning button and a manual flower thinning button, by pressing or locking different buttons, the system can be started, the system can be stopped, or different flower thinning modes can be switched, and the manual flower thinning mode is: after a system starting button is pressed down, a manual flower thinning button is pressed down, at the moment, system parameters need to be manually operated or input on a touch screen, and the adjustment of flower thinning angle, distance and rotating speed is realized; the automatic flower thinning mode is as follows: after a start button is pressed down and an automatic flower thinning button is pressed down, the system can activate a series of sensors to acquire signals, so that external environments such as an orchard can be sensed, the hydraulic system 13 can be controlled in real time, and the distance, the angle and the speed can be controlled in real time.
Further, the control system 12 may further include a voltage stabilizing module (EV240-C2424), a fuse (RT18), an electrical switch (2P-25A), a wiring terminal strip, a wiring slot, an aluminum guide rail, a solderless butt terminal, an aluminum profile, a guide rail fixing part, and a wire, where the voltage stabilizing module is a 24V voltage stabilizing module, an input end of the voltage stabilizing module is connected to an output end of the fuse, an output end of the voltage stabilizing module is connected to the wiring terminal strip, and mainly supplies power to the programmable logic controller 1202 and the series sensor, and the analog-to-digital (AD) conversion module 1203, and an input end of the fuse is connected to an output end of the electrical; the input end of the electrical switch is connected with the output end of the direct current power supply; aluminum guide rail, trough, wire, guide rail mounting, aluminium alloy, binding post row etc. are the accessory of equipment switch board 1201, and solderless butt joint terminal mainly is that series sensor and switch board 1201 plug make things convenient for the design, through this design, the series sensor can plug at any time, simple to operate realizes the modularized design to switch board 1201, portable and transportation installation etc..
As shown in fig. 1 to 9, the flower thinning mechanism 10 includes a flower thinning shaft 1001, a coupling 1002, a holder 1003, an L-shaped bracket 1004, a hydraulic motor 1005, and twenty-three flower thinning adhesive tapes 1006, where the twenty-three flower thinning adhesive tapes 1006 penetrate through the flower thinning shaft 1001 at equal intervals and are fastened on the flower thinning shaft 1001, specifically, through holes are drilled on the flower thinning shaft 1001 at equal intervals, the interval is 10cm, and the flower thinning adhesive tapes 1006 penetrate through the through holes and are fastened and connected with the flower thinning shaft 1001 through screws, it is easy to understand that the number of the flower thinning adhesive tapes 1006 can be set according to the flower thinning requirement, for example, forty-four flower thinning adhesive tapes 1006 are set, and the interval is 5cm at this time; the retainer 1003 is fixed at the upper end of the vertical section of the L-shaped bracket 1004 and is vertically connected with the upper end of the flower thinning shaft 1001, and specifically, the retainer 1003 is fastened and connected at the upper end of the vertical section of the L-shaped bracket 1004 through screws and is vertically connected with the upper end of the flower thinning shaft 1001; the lower end of the flower thinning shaft 1001 penetrates through the horizontal section of the L-shaped support 1004 and is connected with a hydraulic motor 1005 through a coupler 1002, namely, the two ends of the coupler 1002 are respectively connected with the lower end of the flower thinning shaft 1001 and the hydraulic motor 1005; the hydraulic motor 1005 is connected to the hydraulic system 13.
As shown in fig. 1 to 9, the patrol mechanism 11 is used for horizontally moving and/or adjusting the angle of the thinning mechanism 10, and includes a linear guide 1101, a first hydraulic cylinder 1102, a second hydraulic cylinder 1103, a first support plate 1104, a second support plate 1105, a first strut 1106, a second strut 1107 and a third strut 1108, wherein the first strut 1106, the second strut 1107 and the third strut 1108 are disposed on the first support plate 1104, the first strut 1106 is hinged to a fixed end of the first hydraulic cylinder 1102, a telescopic end of the first hydraulic cylinder 1102 is hinged to a vertical section of the L-shaped support 1004, and the second strut 1107 and the third strut 1108 are hinged to two sides of a horizontal section of the L-shaped support 1004 respectively; the first support plate 1104 is arranged on a sliding block of the linear guide 1101, the linear guide 1101 is arranged on the second support plate 1105, the fixed end of the second hydraulic cylinder 1103 is arranged on the second support plate 1105, and the telescopic end of the second hydraulic cylinder 1103 is arranged on the first support plate 1104; the first hydraulic cylinder 1102 and the second hydraulic cylinder 1103 are connected to the hydraulic system 13, respectively, and the second support plate 1105 is disposed on the chassis frame 2.
In order to realize that the first support 1106 is hinged to the fixed end of the first hydraulic cylinder 1102 and the telescopic end of the first hydraulic cylinder 1102 is hinged to the vertical section of the L-shaped bracket 1004, in this embodiment, a first hinge 11061 is arranged at the upper end of the first support 1106, and a second hinge 10041 is welded to one side of the vertical section of the L-shaped bracket 1004, the first hinge 11061 is hinged to the fixed end of the first hydraulic cylinder 1102, and the second hinge 10041 is hinged to the telescopic end of the first hydraulic cylinder 1102; in order to realize that the second strut 1107 and the third strut 1108 are respectively hinged with both sides of the horizontal section of the L-shaped bracket 1004, in this embodiment, a first L-shaped connector 10042 and a second L-shaped connector 10043 are respectively welded on both sides of the horizontal section of the L-shaped bracket 1004, a third hinge 11071 is arranged at the upper end of the second strut 1107, a fourth hinge 11081 is arranged at the upper end of the third strut 1108, the third hinge 11071 is hinged with the end of the first L-shaped connector 10042, and the fourth hinge 11081 is hinged with the end of the second L-shaped connector 10043.
In order to realize that the fixed end of the second hydraulic cylinder 1103 is disposed on the second supporting plate 1105 and the telescopic end of the second hydraulic cylinder 1103 is disposed on the first supporting plate 1104, in this embodiment, the fifth hinge 11041 is disposed on the upper portion of the second supporting plate 1105, the sixth hinge 11051 is disposed on the upper portion of the first supporting plate 1104, the fixed end of the second hydraulic cylinder 1103 is hinged to the fifth hinge 11041, so as to be disposed on the second supporting plate 1105, and the telescopic end of the second hydraulic cylinder 1103 is hinged to the sixth hinge 11051, so as to be disposed on the first supporting plate 1104.
The whole breadth of the flower thinning mechanism 10 of the embodiment is larger than two meters, the hydraulic motor 1005 is adopted for driving, the crawler chassis 1 is used as a carrier, the distance sensor is fused for detecting a target, and according to the combination, the multi-mechanism coupling motion is formed, the aim of patrolling is achieved, and therefore the branch part of a fruit tree can be found by the flower thinning mechanism 10 only within an effective working range from the fruit tree.
The series of sensors of the embodiment includes a rotary encoder 14, a torsion sensor 15, an angle sensor 16 and a displacement sensor 17, the rotary encoder 14 is arranged above the holder 1003, the rotary encoder 14 is coaxially and fixedly connected with the flower thinning shaft 1001 and is connected with a programmable logic controller 1201 of the control system 12, and the rotary encoder 14 can monitor a speed signal of the rotation of the flower thinning shaft 1001; the torque sensor 15 is a dynamic torque sensor, is arranged between the flower thinning shaft 1001 and the hydraulic motor 1005, is connected between the two parts of the coupling 1002, and is connected with the analog-to-digital conversion module 1203 of the control system 12, and the torque sensor 15 can acquire a torque signal loaded on the flower thinning shaft 1001; the angle sensor 16 is arranged on the axis of the flower thinning mechanism 10 rotating around the first supporting plate 1104 and is connected with the analog-to-digital conversion module 1203 of the control system 12, and the angle sensor 16 can record the angle signal of the flower thinning mechanism 10 rotating; the displacement sensor 17 is a stay wire type displacement sensor, which is disposed on the first support plate 1104 and connected to the analog-to-digital conversion module 1203 of the control system 12, and the displacement sensor 17 can monitor a distance signal of the movement of the thinning mechanism 10.
In this embodiment, the distance sensor disposed on the mark patrol mechanism 11 is the first distance sensor 18, the distance sensor disposed on the flower thinning mechanism 10 is the second distance sensor 19, the first distance sensor 18 is mounted on the third pillar 1108 through a bracket printed by a 3D printer, the second distance sensor 19 is mounted on the holder 1003 through a bracket printed by a 3D printer, the first distance sensor 18 and the second distance sensor 19 both adopt ultrasonic sensors, the working range of the selected ultrasonic sensor is in the range of 0.3-3m, the operating requirement of flower thinning is met, the ultrasonic sensor can calculate the distance from the flower thinning shaft 1001 to the fruit tree by collecting the distance from the mounting position and transmitting the signal to the programmable logic controller 1202, the distance from the flower thinning shaft 1001 to the fruit tree can be calculated through the processing of the programmable logic controller 1202, and the signal is transmitted to the hydraulic system 13 in the orchard at this time, the hydraulic system 13 controls the first hydraulic cylinder 1102 and the second hydraulic cylinder 1103 by opening and closing oil passages, thereby achieving precise spacing and approximate profiling.
As shown in fig. 1 to 10, L1 is the distance from the first distance sensor 18 to the bottom of the crown, L2 is the distance from the second distance sensor 19 to the top of the crown, a is the distance between the thinning axis 1001 and the outer layer of the crown when thinning flowers, H is the installation distance between the first distance sensor 18 and the second distance sensor 19, a, b and c are known quantities, and α is the rotation angle of the thinning mechanism 10, and in order to ensure that the copying can complete the movement and deflection at the same time, the following formula is used to calculate:
horizontal movement: l is*＝L1-A
Required movement distance of deflection angle: c*＝C1-C
If it is desired to reach the working position at the same time, it can be found that:
from the above basic formula plus known quantities can be derived:
and because:
it can be derived that:
finally, the following results are obtained:
as shown in fig. 1 to 9 and 11 to 13, the hydraulic system 13 includes an oil tank 1301, an oil passage plate 1302, an electromagnetic valve 1303, a pressure stabilizing valve, a directional control valve, a proportional flow control valve, and a proportional flow amplifier, where the electromagnetic valve 1303, the proportional flow control valve, and the proportional flow amplifier are main core components, an oil filler 13011 is disposed on the upper portion of the oil tank 1301, the oil tank 1301 is communicated with the oil passage plate 1302 through an oil pipe, the oil pipe is provided with an oil pump 1304, the oil passage plate 1302 is provided with an oil inlet and an oil outlet, the electromagnetic valve 1303, the pressure stabilizing valve, the directional control valve, and the proportional flow control valve are respectively connected with the oil passage plate 1302, the proportional flow control valve is connected with the proportional flow amplifier, and the electromagnetic valve 1303; the oil circuit board 1302 is connected to the thinning mechanism 10 and the label inspection mechanism 11.
Further, six directional control valves are provided, namely a first directional control valve 1305, a second directional control valve 1306, a third directional control valve 1307, a fourth directional control valve 1308, a fifth directional control valve 1309 and a sixth directional control valve 1310, and a solenoid valve 1303, a first directional control valve 1305, a second directional control valve 1306, a third directional control valve 1307, a fourth directional control valve 1308, a fifth directional control valve 1309 and a sixth directional control valve are respectively connected with a first relay 1205, a second relay 1310, a third relay 1207, a fourth relay 1208, a fifth relay 1209, a sixth relay 1210 and a seventh relay 1211; the electromagnetic valve 1303 is a one-way two-way hydraulic valve, when the electromagnetic valve 1303 is energized, the hydraulic system works, when the electromagnetic valve 1303 is de-energized, the hydraulic system stops working, the first direction control valve 1305 controls the hydraulic motor 1005 to rotate forward through the oil plate 1302, the second direction control valve 1306 controls the hydraulic motor 1005 to rotate backward through the oil plate 1302, the third direction control valve 1307 controls the first hydraulic cylinder 1102 to move forward through the oil plate 1302, the fourth direction control valve 1308 controls the first hydraulic cylinder 1102 to move backward through the oil plate 1302, the fifth direction control valve 1309 controls the second hydraulic cylinder 1103 to move forward through the oil plate 1302, and the sixth direction control valve 1310 controls the second hydraulic cylinder 1103 to move backward through the oil plate 1302.
Further, the number of the proportional flow control valves and the proportional flow amplifiers is four, the four proportional flow control valves are a first proportional flow control valve 1311, a second proportional flow control valve 1312, a third proportional flow control valve 1313 and a fourth proportional flow control valve 1314, the four proportional flow control valves are three-position four-way valves, and are arranged side by side to form a proportional flow control valve group, the four proportional flow amplifiers are a first proportional flow amplifier 1315, a second proportional flow amplifier 1316, a third proportional flow amplifier 1317 and a fourth proportional flow amplifier 1318, and the four proportional flow amplifiers are arranged side by side to form a proportional flow amplifier group, in this embodiment, only three proportional flow control valves (a first proportional flow control valve 1311, a second proportional flow control valve 1312 and a third proportional flow control valve 1313) and three proportional flow amplifiers (a first proportional flow amplifier 1315, a third proportional flow control valve 1313) are used, and the four, Second proportional flow amplifier 1316, third proportional flow amplifier 1317), first proportional flow control valve 1311, second proportional flow control valve 1312, third proportional flow control valve 1313, which are respectively connected to first proportional flow amplifier 1315, second proportional flow amplifier 1316, and third proportional flow amplifier 1317, respectively, first proportional flow amplifier 1315, second proportional flow amplifier 1316, and third proportional flow amplifier 1317, which are respectively connected to digital-to-analog conversion module 1204, each proportional flow amplifier can amplify the current of the signal sent by programmable logic controller 1202 through digital-to-analog conversion module 1204 to control the corresponding proportional flow control valve, the three proportional flow control valves can realize different opening degrees (positive and negative opening degrees) according to the magnitude and direction of the amplified current signal, realize flow control under constant pressure, and realize control of hydraulic motor 1005 through oil passage 1302, Actuation of the first hydraulic cylinder 1102 and the second hydraulic cylinder 1103.
Further, there are four pressure maintaining valves, the four pressure maintaining valves are respectively a first pressure maintaining valve 1319, a second pressure maintaining valve 1320, a third pressure maintaining valve 1321 and a fourth pressure maintaining valve 1322, the four pressure maintaining valves are arranged side by side to form a pressure maintaining valve group, and the pressure maintaining valve group, the proportional flow control valve group and the proportional flow amplifier group are sequentially arranged from bottom to top.
Further, a flow sensor 1323 is arranged at the position where the oil pipe is connected with the oil circuit board 1302, the flow sensor 1323 is connected with the programmable logic controller 1202 of the control system 12, a pressure sensor 1324 and a pressure gauge 1325 are arranged on the oil circuit board 1302, and the pressure sensor 1324 is connected with the programmable logic controller 1202 of the control system 12; the flow sensor 1323 and the pressure sensor 1324 are mainly used for more accurately controlling the hydraulic system 13, when the temperature of the oil in the hydraulic system 13 rises, the system pressure, the system flow and the viscosity of the hydraulic oil are influenced to a certain extent, at the moment, the real-time pressure and the flow of the system can be collected through the flow sensor 1323 and the pressure sensor 1324, signals are collected and transmitted to the programmable logic controller 1202, and the constant-pressure flow control of the hydraulic system 13 is realized by programming a control program.
Further, a water baffle 1326 is further arranged above the oil tank 1301 of the embodiment, four corners of the water baffle 1326 are connected with the upper portion of the oil tank 1301 through four brackets, and the control cabinet 1201, the oil channel plate 1302, the electromagnetic valve 1303, the pressure stabilizing valve, the direction control valve, the proportional flow control valve and the proportional flow amplifier are arranged in a space surrounded by the water baffle 1326 and the oil tank 1301.
The embodiment also provides a flower thinning method, which is realized based on the flower thinning equipment and comprises the following steps:
and S1, when the circuit is detected to be in good condition, the power supply is switched on, the electric switch is turned on, and the power-on operation of the programmable logic controller and the like is completed.
And S2, pressing a system start button after the human-computer interaction interface of the touch screen is started, and starting the system.
S3, selecting the mode, if the mode is the manual flower thinning mode, then going to step S4.
And S4, carrying out button driving according to the execution time of the thinning mechanism and the mark patrol mechanism judged by people, and realizing the control of the thinning mechanism and the mark patrol mechanism.
And S5, pressing a system stop button after finishing the flower thinning operation to stop the system, and cutting off the power supply to finish the work.
S6, selecting the mode, if the mode is the automatic flower thinning mode, then the step goes to S7.
S7, when the automatic thinning mode button is pressed, the system can automatically activate the automatic thinning program to execute the automatic thinning operation, at the moment, the system can activate the series sensors and acquire signals through the analog-to-digital conversion module, the system finishes operation through the automatic thinning intelligent program written in the programmable logic controller and sends the signals through the digital-to-analog conversion module to finish the thinning operation, the signals of the series sensors can be sent back in real time in the operation process, the programmable logic controller can judge the operation to be carried out according to the difference of the signals and carry out adjustment in real time until receiving the instruction of stopping thinning or stopping the system.
And S8, after the flower thinning operation is finished, pressing a system stop button, stopping the system, cutting off the power supply at the moment, finishing the work, and resetting the system.
The flower thinning operation specifically comprises the following steps: and controlling the first hydraulic cylinder and the second hydraulic cylinder of the label inspection mechanism to act so as to enable the flower thinning mechanism to move horizontally and/or adjust the angle, controlling the flower thinning mechanism to act according to the position of the to-be-thinned branch of the fruit tree, driving a flower thinning shaft on the flower thinning mechanism to rotate, and carrying out flower thinning operation on the to-be-thinned branch of the fruit tree.
In the mark patrol flower thinning device of the embodiment, the control system 12 adopts a modular design idea, is simple to install and can meet different operation requirements, so that the mark patrol flower thinning device can also be applied to orchard mechanical equipment such as trimming equipment, picking equipment and pesticide applying equipment.
In summary, the invention arranges the distance sensors on the flower thinning mechanism and the label patrol mechanism, transmits the detected target distance information to the control system through the distance sensors, the control system controls the hydraulic system to work according to the target distance information, so that the hydraulic system drives the flower thinning mechanism and the label patrol mechanism to act, wherein the label patrol mechanism can horizontally move and/or adjust the angle of the flower thinning mechanism, so as to form multi-mechanism coupling motion, thereby achieving the purpose of label patrol, therefore, the flower thinning mechanism can be controlled to thin the branches of the fruit trees only by aiming at the branch parts of the fruit trees within the effective working range from the fruit trees, the structure is simple, the realization is easy, the problems of poor adaptability, high labor intensity, low working efficiency and the like of the traditional manual flower thinning or hand-held machine for flower thinning are solved, the invention is suitable for mechanical flower thinning in orchards, compared with the existing flower thinning machine, target detection can be carried out, and more intelligent control is realized.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.
Claims (10)
1. A mark patrol and flower thinning device is characterized by comprising a flower thinning mechanism, a mark patrol mechanism, a control system and a hydraulic system, wherein the flower thinning mechanism is arranged on the mark patrol mechanism;
the label inspection mechanism is used for enabling the flower thinning mechanism to move horizontally and/or adjusting the angle; the distance sensor transmits the detected target distance information to the control system, and the control system controls the hydraulic system to work according to the target distance information, so that the hydraulic system drives the flower thinning mechanism and the label patrol mechanism to act.
2. The patrol mark flower thinning device according to claim 1, wherein the flower thinning mechanism comprises a flower thinning shaft, a coupling, a retainer, an L-shaped support, a hydraulic motor and a plurality of flower thinning rubber strips, the flower thinning rubber strips penetrate through the flower thinning shaft at equal intervals and are fastened on the flower thinning shaft, the retainer is fixed at the upper end of the vertical section of the L-shaped support and is vertically connected with the upper end of the flower thinning shaft, the lower end of the flower thinning shaft penetrates through the horizontal section of the L-shaped support and is connected with the hydraulic motor through the coupling, and the hydraulic motor is connected with a hydraulic system.
3. The patrol mark flower-thinning device according to claim 2, wherein a rotary encoder is arranged above the retainer, and the rotary encoder is coaxially and fixedly connected with the flower-thinning shaft and is connected with a control system;
and/or a torque sensor is arranged between the flower thinning shaft and the hydraulic motor, and the torque sensor is connected between the two parts of the coupler and is connected with the control system.
4. The patrol mark flower thinning device according to claim 2, wherein the patrol mark mechanism comprises a linear guide rail, a first hydraulic cylinder, a second hydraulic cylinder, a first support plate, a second support plate, a first pillar, a second pillar and a third pillar;
the first support column, the second support column and the third support column are arranged on the first support plate, the first support column is hinged with the fixed end of the first hydraulic cylinder, the telescopic end of the first hydraulic cylinder is hinged with the vertical section of the L-shaped support, and the second support column and the third support column are respectively hinged with two sides of the horizontal section of the L-shaped support; the first support plate is arranged on the slide block of the linear guide rail, the linear guide rail is arranged on the second support plate, the fixed end of the second hydraulic cylinder is arranged on the second support plate, and the telescopic end of the second hydraulic cylinder is arranged on the first support plate; the first hydraulic cylinder and the second hydraulic cylinder are respectively connected with a hydraulic system.
5. The patrol mark flower-thinning device according to claim 4, wherein an angle sensor is arranged on an axis of the flower-thinning mechanism rotating around the first supporting plate, and the angle sensor is connected with a control system;
and/or, a displacement sensor is arranged on the first supporting plate and is connected with a control system.
6. The patrol mark flower thinning apparatus according to any one of claims 1-5, wherein the hydraulic system comprises an oil tank, an oil circuit board, an electromagnetic valve, a pressure stabilizing valve, a directional control valve, a proportional flow control valve and a proportional flow amplifier, the oil tank is communicated with the oil circuit board through an oil pipe, an oil pump is arranged on the oil pipe, the electromagnetic valve, the pressure stabilizing valve, the directional control valve and the proportional flow control valve are respectively connected with the oil circuit board, the proportional flow amplifier is connected with the proportional flow control valve, the electromagnetic valve, the directional control valve and the proportional flow amplifier are respectively connected with the control system, and the oil circuit board is respectively connected with the flower thinning mechanism and the patrol mark mechanism.
7. The patrol mark flower thinning device according to claim 6, wherein a flow sensor is arranged on the oil pipe at a position connected with the oil circuit board, and the flow sensor is connected with a control system;
and/or, the oil circuit board is provided with a pressure sensor and a pressure gauge, and the pressure sensor is connected with the control system.
8. The patrol mark flower thinning device according to any one of claims 1-5, wherein the control system comprises a control cabinet, a programmable logic controller, an analog-to-digital conversion module, a digital-to-analog conversion module and a relay, the programmable logic controller, the analog-to-digital conversion module, the digital-to-analog conversion module and the relay are arranged in the control cabinet, the programmable logic controller is respectively connected with the distance sensor, the analog-to-digital conversion module, the digital-to-analog conversion module and the relay, and the digital-to-analog conversion module and the relay are respectively connected with the hydraulic system.
9. An orchard machinery apparatus equipped with the patrol pattern thinning device according to any one of claims 1 to 8.
10. A flower thinning method based on the patrol flower thinning device according to any one of claims 1 to 8, wherein the method comprises the following steps:
when the position of the fruit tree to be thinned is reached, the label patrol mechanism is controlled to act, so that the flower thinning mechanism moves horizontally and/or the angle is adjusted;
and controlling the flower thinning mechanism to act according to the part of the branch of the fruit tree to be thinned, driving a flower thinning shaft on the flower thinning mechanism to rotate, and carrying out flower thinning operation on the branch of the fruit tree to be thinned.
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| CN202010608295.6A CN111670715A (en) | 2020-06-30 | 2020-06-30 | Label inspection flower thinning device, orchard mechanical equipment and flower thinning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010608295.6A CN111670715A (en) | 2020-06-30 | 2020-06-30 | Label inspection flower thinning device, orchard mechanical equipment and flower thinning method |
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| CN113099869A (en) * | 2021-04-28 | 2021-07-13 | 华南农业大学 | Multi-section self-adaptive flower thinning device, orchard mechanized operation equipment and flower thinning method |
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Application publication date: 20200918 |