CN112056049B - Intelligent fertilizing robot - Google Patents
Intelligent fertilizing robot Download PDFInfo
- Publication number
- CN112056049B CN112056049B CN202010977564.6A CN202010977564A CN112056049B CN 112056049 B CN112056049 B CN 112056049B CN 202010977564 A CN202010977564 A CN 202010977564A CN 112056049 B CN112056049 B CN 112056049B
- Authority
- CN
- China
- Prior art keywords
- fertilizer
- fertilizer box
- robot
- valve
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003337 fertilizer Substances 0.000 claims abstract description 146
- 230000004720 fertilization Effects 0.000 claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000000712 assembly Effects 0.000 claims abstract description 19
- 238000000429 assembly Methods 0.000 claims abstract description 19
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 230000001154 acute effect Effects 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 4
- 239000002689 soil Substances 0.000 description 30
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 235000015097 nutrients Nutrition 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/02—Special arrangements for delivering the liquid directly into the soil
- A01C23/021—Sludge injectors, i.e. liquid manure injectors
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Fertilizing (AREA)
Abstract
The utility model provides an intelligence fertilization robot belongs to agricultural machinery technical field. Comprises a chassis, a traveling mechanism and a fertilizing mechanism. The traveling mechanism comprises a driving motor and two crawler driving assemblies, each crawler driving assembly comprises a crawler and a plurality of driving wheels, the crawlers are wound on the driving wheels, the chassis is provided with a mounting surface, and the driving motor is fixedly connected to the mounting surface and is in transmission connection with at least one driving wheel of the two crawler driving assemblies respectively. Fertilizing mechanism includes the fertilizer can, annotates fertile pipe, flexible arm and positioner, and positioner includes two slide bars and slide rail, and the slide rail is connected with the other end of flexible arm is perpendicular, and the one end of two slide bars is respectively through sliding motor and slide rail sliding connection, and the other end of two slide bars all is connected with the ploughshare, annotates fertile pipe including being responsible for and two and the branch pipe of being responsible for the intercommunication, be responsible for and fertilizer can intercommunication, and two branch connection are at the end of ploughshare. This intelligence fertilization robot can improve fertilization efficiency.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, in particular to intelligent fertilization robot.
Background
When the soil is not provided with the nutrients required for the growth and development of crops, the action of artificially supplementing nutrient elements to the crops is called fertilization, and organic fertilizers or inorganic fertilizers are applied to the soil around the crops to increase the soil nutrients.
In the related art, when crops are fertilized, a manual or agricultural fertilizer applicator is usually adopted to drag a plowshare to turn over and ditch the soil around the crops, and then the fertilizer is released into the turned soil ditch, so that the crops can absorb the fertilizer conveniently.
Adopt the manual work to pull the ploughshare and fertilize, intensity of labour is big, and operational environment is poor, and the not easily controllable of fertilization volume, causes the waste of fertilizer easily, and adopts agricultural fertilizer distributor to pull the ploughshare and fertilize, exists and turns to inconvenient problem because of the narrow and small soil in shed room space leads to, when agricultural fertilizer distributor walks between the crop, often only can stir and fertilize the soil of crop one side, leads to the region of fertiliziing not enough even, and fertilization efficiency is low.
Disclosure of Invention
The embodiment of the disclosure provides an intelligent fertilization robot, which can fertilize on two opposite sides of crops simultaneously, so that fertilizers around the crops are distributed more uniformly, and the fertilization efficiency is improved.
The technical scheme is as follows:
the embodiment of the present disclosure provides an intelligent fertilization robot, this intelligent fertilization robot includes:
a chassis, a traveling mechanism and a fertilizing mechanism,
the traveling mechanism comprises a driving motor and two crawler driving assemblies, the crawler driving assemblies comprise a crawler and a plurality of transmission wheels, the crawler is wound on the plurality of transmission wheels, the plurality of transmission wheels are provided with external teeth, the external teeth of the plurality of transmission wheels are meshed with the internal teeth of the crawler, the chassis is provided with a mounting surface, the driving motor is fixedly connected on the mounting surface and is respectively in transmission connection with at least one transmission wheel of the two crawler driving assemblies, the two crawler driving assemblies are arranged on two opposite sides of the mounting surface at intervals,
the fertilizer mechanism comprises a fertilizer box, a fertilizer injection pipe, a telescopic arm and a positioning device, wherein the fertilizer box is arranged on the installation surface, one end of the telescopic arm is fixedly connected with the chassis, the telescopic arm and the installation surface are arranged in an acute angle, the positioning device comprises two sliding rods and a sliding rail, the sliding rail is vertically connected with the other end of the telescopic arm, the length direction of the sliding rail is parallel to the installation surface, one ends of the two sliding rods are respectively connected with the sliding rail in a sliding way through a sliding motor, the other ends of the two sliding rods are both connected with a plough head, the fertilizer injection pipe comprises a main pipe and two branch pipes communicated with the main pipe, the main pipe is communicated with the fertilizer box and extends along the length direction of the telescopic arm, the two branch pipes respectively extend along the axial direction of the two sliding rods and are fixedly connected with the tail end of the plough head,
the ploughshare includes two first plough bodies and the second plough body that closes, the inside of first plough body and second plough body has the inner chamber of intercommunication, first plough body and second plough body all articulate with the slide bar, the branch pipe slide bar of annotating the fertile pipe is worn to establish in the inner chamber, be provided with telescopic link and ejector pin in the inner chamber of first plough body and second plough body, the one end and the slide bar of telescopic link are connected, the axis direction of telescopic link is parallel with the length direction of slide bar, and the middle part of ejector pin is connected with the other end of telescopic link is perpendicular, the both ends of ejector pin are passed through the pulley respectively with the chamber wall of first plough body and the chamber wall sliding connection of second plough body.
Optionally, the chassis has a first end surface and a second end surface for connecting with two track driving assemblies, one end of the telescopic arm is connected with the first end surface or the second end surface respectively, and the telescopic arm is located between the plurality of transmission wheels.
Optionally, the axial direction of the two sliding rods is parallel to the length direction of the telescopic arm.
Optionally, the intelligent fertilization robot further comprises a control mechanism, the control mechanism is located on the chassis, the control mechanism comprises an image sensor and a controller, the image sensor and the controller are respectively connected with the driving motor, the telescopic arm and the positioning device, the image sensor is used for collecting environment image information, the controller is used for sending a control instruction to the driving motor, the telescopic arm and the positioning device according to the environment image information, so that the intelligent fertilization robot can move to the position of the crop to fertilize, and the environment image information comprises the type, the size and the position coordinates of the crop.
Optionally, intelligent fertilization robot still includes fertilizer box, and fertilizer box fixed mounting just is located the fertilizer box below on the chassis, and the import and the fertilizer box intercommunication of fertilizer box, the export of fertilizer box with be responsible for the intercommunication, be provided with first valve between the import of fertilizer box and the fertilizer box, be provided with the second valve between the export of fertilizer box and the person in charge.
Optionally, the intelligent fertilization robot further comprises a pressure sensor for detecting the fertilizer quality in the fertilizer box, the pressure sensor is mounted at the bottom of the fertilizer box, the pressure sensor is respectively connected with the controller, the first valve and the second valve, and the controller is configured to control the first valve to be turned on and control the second valve to be turned off when the fertilizer quality in the fertilizer box is smaller than a first threshold value; or when the fertilizer quality in the fertilizer box is larger than a second threshold value, the first valve is controlled to be closed, the second valve is controlled to be communicated, and the second threshold value is larger than the first threshold value.
Optionally, the intelligent fertilization robot further comprises an air pump, the air pump is fixedly mounted on the chassis, an air outlet of the air pump is communicated with the fertilizer box, the air pump is connected with the controller, and the air pump is configured such that when the second valve is switched on, the controller controls the air pump to start; alternatively, the controller controls the air pump to be closed when the second valve is closed.
Optionally, the intelligent fertilizing robot further comprises a steering wheel, the steering wheel is rotatably mounted at the bottom of the chassis, a rotating shaft of the steering wheel is parallel to a rotating shaft of the driving wheel, and the steering wheel is connected with the controller.
Optionally, the fertilizing mechanism comprises two telescopic arms and a positioning device correspondingly connected with the telescopic arms, and the two telescopic arms are symmetrically arranged along the fertilizer box.
Optionally, the telescopic arm comprises a plurality of groups of support arms, each group of support arms comprises a first support arm and a second support arm, the middle parts of the first support arm and the second support arm are hinged, the two ends of the first support arm are hinged to the second support arms of the two adjacent groups of support arms respectively, and the two ends of the second support arm are hinged to the first support arms of the two adjacent groups of support arms respectively.
The beneficial effects brought by the technical scheme provided by the embodiment of the disclosure at least comprise:
a plurality of driving wheels are controlled to rotate through a driving motor, the driving wheels drive the tracks which are wound and meshed on the driving wheels to rotate, and then the intelligent fertilizing robot is driven to move on the uneven crop ploughing field. After the intelligent fertilization robot arrives at the corresponding fertilization position, the telescopic arm is controlled to extend, the positioning device connected to the other end of the telescopic arm is driven to move relative to the ground where crops are located, the positioning device comprises a sliding rail and two sliding rods, the sliding rail is vertically connected with the telescopic arm, and one ends of the two sliding rods are slidably mounted on the sliding rail through a sliding motor. The distance between the two plowshares connected with the other ends of the two sliding rods can be adjusted by controlling the two sliding rods to slide relatively, so that crops are positioned between the two sliding rods and the plowshares. The telescopic arm of extension drives two slide bars and ploughshare and inserts in the soil that is located the crop both sides, utilizes the ploughshare to turn soil, and later the fertilizer that is located in the fertilizer box pours into soil into by the end of ploughshare through being responsible for and two branch pipes, realizes fertilizing simultaneously in the relative both sides of crop, makes the fertilizer distribution around the crop more even, improves fertilization efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent fertilization robot provided by an embodiment of the present disclosure;
FIG. 2 is a schematic view of a portion of a travel mechanism provided by an embodiment of the present disclosure;
fig. 3 is a schematic structural front view of an intelligent fertilization robot provided by the embodiment of the present disclosure;
fig. 4 is a schematic structural front view of another intelligent fertilization robot provided by the embodiment of the disclosure;
fig. 5 is a schematic structural right view of another intelligent fertilization robot provided by the embodiment of the disclosure;
fig. 6 is a block diagram of a control system of an intelligent fertilization robot provided by an embodiment of the present disclosure;
fig. 7 is a schematic bottom view of a chassis of an intelligent fertilization robot provided in an embodiment of the present disclosure;
FIG. 8 is a schematic view of a closed structure of a plowshare provided by the embodiment of the present disclosure;
fig. 9 is a schematic view of an opening structure of a plowshare provided by the embodiment of the disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
In the related art, when crops are fertilized, a manual or agricultural fertilizer applicator is usually adopted to drag a plowshare to turn over and ditch the soil around the crops, and then the fertilizer is released into the turned soil ditch, so that the crops can absorb the fertilizer conveniently.
Adopt the manual work to pull the ploughshare and fertilize, intensity of labour is big, and operational environment is poor, and the not easily controllable of fertilization volume, causes the waste of fertilizer easily, and adopts agricultural fertilizer distributor to pull the ploughshare and fertilize, exists and turns to inconvenient problem because of the narrow and small soil in shed room space leads to, when agricultural fertilizer distributor walks between the crop, often only can stir and fertilize the soil of crop one side, leads to the region of fertiliziing not enough even, and fertilization efficiency is low.
Fig. 1 is a schematic structural diagram of an intelligent fertilization robot provided by an embodiment of the present disclosure. As shown in fig. 1, the present inventors have provided an intelligent fertilizing robot by practice, comprising a chassis 100, a traveling mechanism 200, and a fertilizing mechanism 300. Wherein,
fig. 2 is a partial structural schematic diagram of a traveling mechanism provided in the embodiment of the present disclosure. As shown in fig. 1 and 2, the travel mechanism 200 includes a drive motor 210 and two track drive assemblies 220, the track drive assemblies 220 including a track 221 and a plurality of drive wheels 222. The track 221 is wound around a plurality of transmission wheels 222, the plurality of transmission wheels 222 have external teeth 2221, and the external teeth 2221 of the plurality of transmission wheels 222 are engaged with the internal teeth 2211 of the track 221. The chassis 100 has a mounting surface 110, and the driving motor 210 is fixedly connected to the mounting surface 110 and is respectively in transmission connection with at least one transmission wheel 222 of two track driving assemblies 220, and the two track driving assemblies 220 are arranged at intervals on two opposite sides of the mounting surface 110.
Fig. 3 is a schematic structural front view of an intelligent fertilization robot provided by the embodiment of the present disclosure. As shown in fig. 3, the fertilizing mechanism 300 comprises a fertilizer box 310, a fertilizer injection pipe 320, a telescopic arm 330 and a positioning device 340. The fertilizer box 310 is installed on the installation surface 110, one end of the telescopic arm 330 is fixedly connected with the chassis 100, and the telescopic arm 330 is arranged at an acute angle with the installation surface 110. The positioning device 340 comprises two sliding rods 341 and a sliding rail 342, the sliding rail 342 is vertically connected with the other end of the telescopic arm 330, the length direction of the sliding rail 342 is parallel to the mounting surface 110, one end of each of the two sliding rods 341 is slidably connected with the sliding rail 342 through a sliding motor 343, and the other end of each of the two sliding rods 341 is connected with the plowshare 400. The fertilizer injection pipe 320 comprises a main pipe 321 and two branch pipes 322 communicated with the main pipe 321, the main pipe 321 is communicated with the fertilizer box 310 and extends along the length direction of the telescopic arm 330, and the two branch pipes 322 respectively extend along the axial direction of the two sliding rods 341 and are fixedly connected to the tail end of the plowshare 400.
In the embodiment of the disclosure, when the intelligent fertilizing robot needs to be used for fertilizing crops, a worker can start the driving motor 210 through remote control, the driving motor drives the driving wheels 222 in transmission connection with the driving motor to rotate, the driving wheels 222 can be used as driving wheels, other driving wheels 222 are used as driven wheels, the driving wheels 222 are meshed with the inner teeth 2211 on the crawler belt 221 through the outer teeth 2221, the crawler belt 221 is enabled to rotate along with the driving wheels 222, the intelligent fertilizing robot is driven to travel on uneven crop ploughing fields, and the fertilizing position is adjusted.
After the intelligent fertilizing robot reaches the corresponding fertilizing position of the crop, because the telescopic arm 330 with one end connected with the chassis 100 is arranged at an acute angle with the mounting surface 110 on the chassis 100, that is, the length direction of the telescopic arm 330 faces the ground, the telescopic arm 330 drives the positioning device 340 connected to the other end to move towards the ground where the crop is located by controlling the telescopic arm 330 to extend. The positioning device 340 includes a sliding rail 342 and two sliding rods 341, the two sliding rails 342 can be slidably connected to the sliding rail 342 through a sliding motor 343, that is, the distance between the two sliding rods 341 can be adjusted in the length direction of the sliding rail 342 by controlling the two sliding motors 343 to slide on the sliding rail 342, and then the distance between the two plowshares 400 connected to the other end of the sliding rods 341 can be adjusted. The distance between the two sliding rods 341 can be adjusted to enable the crops to be located between the two sliding rods 341 and the plowshare 400, the two sliding rods 341 and the plowshare 400 are driven by the elongated telescopic arm 330 to be inserted into soil located on two sides of the crops, the plowshare 400 is used for turning the soil, then fertilizer located in the fertilizer box 310 is injected into the soil from the tail end of the plowshare 400 through the main pipe 321 and the two branch pipes 322, simultaneous fertilization on two opposite sides of the crops is achieved, the fertilizer around the crops is distributed more uniformly, and the fertilizing efficiency is improved.
According to the intelligent fertilizing robot provided by the embodiment of the disclosure, the driving motors 210 control the plurality of driving wheels 222 to rotate, the plurality of driving wheels 222 drive the caterpillar tracks 221 which are wound and meshed on the plurality of driving wheels 222 to rotate, and then the intelligent fertilizing robot is driven to move on uneven crop plowing land. After the intelligent fertilization robot reaches the corresponding fertilization position, the positioning device 340 connected to the other end of the telescopic arm 330 is driven to move towards the ground where the crops are located by controlling the telescopic arm 330 to extend, the positioning device 340 comprises a sliding rail 342 and two sliding rods 341 which are vertically connected with the telescopic arm 330, and one ends of the two sliding rods 341 are slidably mounted on the sliding rail 342 through a sliding motor 343. The distance between the two plowshare 400 connected to the other end of the sliding rod 341 can be adjusted by controlling the relative sliding of the two sliding rods 341 so that the crop is positioned between the two sliding rods 341 and the plowshare 400. The elongated telescopic arm 330 drives the two sliding rods 341 and the plowshare 400 to be inserted into soil on two sides of crops, the plowshare 400 is used for turning the soil, and then fertilizer in the fertilizer box can be injected into the soil from the tail end of the plowshare 400 through the main pipe 321 and the two branch pipes 322 under the action of gravity, so that fertilizer can be simultaneously applied on two opposite sides of the crops, the fertilizer around the crops is more uniformly distributed, and the fertilizing efficiency is improved.
Illustratively, in the disclosed embodiment, the plow head 400 is hinged at the other end of the sliding bar 341 with the hinge axis of the plow head 400 being parallel to the mounting surface 110. The plowshare 400 can be driven by a motor or other driving devices during working, so that the plowshare face of the plowshare 400 rotates towards the direction close to the sliding rod 341, the tip of the plowshare 400 can be inserted into soil and dig out a groove, fertilizer can be injected into the groove from the branch pipe 322 at the tail end of the plowshare 400, after the fertilizer is released, the plowshare face of the plowshare 400 rotates towards the direction far from the sliding rod 341, the tip of the plowshare 400 leaves the groove along the original track, and the soil turned up by the plowshare face of the plowshare 400 can be backfilled into the groove, so that the fertilizer is covered, the fertilizer is prevented from being lost, and the fertilizing efficiency is further improved.
Optionally, the chassis 100 has a first end 120 and a second end 130 for coupling to two track drive assemblies 220, one end of a telescoping arm 330 is coupled to the first end 120 or the second end 130, and the telescoping arm 330 is positioned between the plurality of drive wheels 222. Illustratively, in the embodiment of the present disclosure, the rotation shafts of the plurality of driving wheels 222 are rotatably inserted into the chassis 100 through bearings, and the driving wheels 222 are rotatably inserted through the first end surface 120 and the second end surface 130 and coaxially connected to the two driving wheels 222 of the two track driving assemblies 220, respectively. One of the shafts is drivingly connected to the driving motor 210 to receive power from the driving motor and drive the two driving wheels 222 to drive the two track driving assemblies 220 to operate as driving wheels. In the crawler driving assembly 220, the crawler 221 is wound on the plurality of driving wheels 222 and tensioned, a certain space is formed between the plurality of driving wheels 222, the telescopic arm 330 penetrates through the space and is fixedly connected to one of the first end surface 120 or the second end surface 130, so that the fertilizing mechanism 300 is closer to the ground where the crops are located, the length of the telescopic arm 330 can be reduced, the overall height and the volume of the intelligent fertilizing robot are reduced, the intelligent fertilizing robot can work in a traveling mode when more compact crops are planted, the production cost is reduced, and the practicability of the intelligent fertilizing robot is improved.
Fig. 4 is a schematic structural front view of another intelligent fertilization robot provided by the embodiment of the disclosure. As shown in fig. 1 to 4, the fertilizing mechanism 300 comprises two telescopic arms 330 and a positioning device 340 correspondingly connected with the telescopic arms 330, wherein the two telescopic arms 330 are symmetrically arranged along the fertilizer box 310. Exemplarily, in the embodiment of the present disclosure, by symmetrically arranging two telescopic arms 330 and the positioning devices 340 connected correspondingly on two sides of the fertilizer box 310, the intelligent fertilizing robot can fertilize the crops on two sides simultaneously during the process of moving between the crops, thereby further improving the fertilizing efficiency.
It should be noted that one end of each of the two telescopic arms 330 is fixedly connected to the first end surface 120 and the second end surface 130 of the chassis, and both pass through the space formed between the plurality of driving wheels 222.
Alternatively, the axial directions of the two sliding rods 341 are parallel to the length of the telescopic arm 330. Illustratively, in the embodiment of the present disclosure, by setting the axial direction of the two sliding rods 341 to be parallel to the length direction of the telescopic arm 330, when the telescopic arm 330 is extended, the two sliding rods 341 and the plowshare 400 connected to the other end of the sliding rods can move in the same direction as the telescopic arm 330, so that the plowshare 400 contacts and turns over with the soil on both sides of the crop within the shortest moving distance, the overall structure of the telescopic arm 330 and the positioning device 340 is made more compact, the length of the telescopic arm 330 is reduced, the volume and the occupied space of the intelligent fertilizing robot in the horizontal direction are reduced, and the practicability of the intelligent fertilizing robot is further improved.
For example, in other possible implementation manners, when fertilizing different crops and soils, the axial direction of the two sliding rods 341 may also be arranged at an acute angle or an obtuse angle with the length direction of the telescopic arm 330 for different turning requirements, as long as turning of the soils can be achieved and fertilizer is applied therein to complete the fertilizing operation, which is not limited by the embodiment of the present disclosure.
Fig. 5 is a schematic structural right view of another intelligent fertilization robot provided by the embodiment of the disclosure. With reference to fig. 1 to 5, the telescopic arm 330 includes a plurality of sets of support arms, each set of support arm includes a first support arm 331 and a second support arm 332, the middle portions of the first support arm 331 and the second support arm 332 are hinged, two ends of the first support arm 331 are respectively hinged to the second support arm 332 of the two adjacent sets of support arms, and two ends of the second support arm 332 are respectively hinged to the first support arm 331 of the two adjacent sets of support arms. Illustratively, in the embodiment of the present disclosure, the telescopic arm 330 is composed of a plurality of sets of support arms, the first support arm 331 and the second support arm 332 in each set of support arms are hinged through a middle portion, the first support arm 331 and the second support arm 332 can approach or depart from each other by rotating each other, and between two adjacent sets of support arms, one end of the first support arm 331 in one set is hinged with one end of the second support arm 331 in the other set, and the second support arm 332 in one set is hinged with one end of the first support arm 332 in the other set. And in a set of support arms connected to the first end surface 120 or the second end surface 130 of the base plate 100, one of the first support arm 331 and the second support arm 332 is directly hinged to the first end surface 120 or the second end surface 130, and the other of the first support arm 331 and the second support arm 332 is slidably connected to the slide rail 140 provided on the first end surface 120 or the second end surface 130.
As shown in fig. 5, in the group of support arms connected to the first end surface 120, one end of the first support arm 331 is hinged to the first end surface 120, one end of the second support arm 332 is slidably connected to the slide rail 140 by the second slide motor 3321, and the length direction of the slide rail 140 is parallel to the mounting surface 110. When the supporting arm 331 needs to be extended, the second sliding motor 3321 is controlled to drive the second supporting arm 332 to move towards the direction close to the first supporting arm 331, the first supporting arm 331 and the second supporting arm 332 hinged to the middle part rotate relatively, and the hinged part of the first supporting arm 331 and the second supporting arm 332 is far away from the first end surface 120. Further, in the group of support arms adjacently connected to the group of support arms connected to the first end surface 120, the first support rod 331 and the second support rod 332 are also linked to rotate relatively, so that the hinged position of the first support rod 331 and the second support rod 332 in the group of support rods is far away from the first end surface 120, and so on, and finally the whole extension of the telescopic arm 330 is realized.
Through the flexible arm 330 of above-mentioned structural connection, have the multiunit support arm to make up and form, when one of them group support arm damaged, can dismantle the change through the support arm of that group with the damage, and the support arm of other groups still can use, avoids scrapping of whole flexible arm 330, and simple structure makes things convenient for the maintenance and repair, has improved intelligent fertilization robot's life.
Fig. 6 is a control system block diagram of an intelligent fertilization robot provided by the embodiment of the disclosure. With reference to fig. 1, 5 and 6, the intelligent fertilization robot may further include a control mechanism 500, the control mechanism 500 is located on the chassis 100, the control mechanism 500 includes an image sensor 510 and a controller 520, and the image sensor 500 is respectively connected to the driving motor 210, the telescopic arm 330 and the positioning device 340, the image sensor 510 is configured to collect environment image information, the controller 520 is configured to send a control instruction to the driving motor 210, the telescopic arm 330 and the positioning device 340 according to the environment image information, so that the intelligent fertilization robot moves to a location of a crop for fertilization, and the environment image information includes a type, a size and a position coordinate of the crop. The environmental image information collected by the image sensor 510 may be transmitted to the controller 520. The controller 520 performs corresponding processing and recognition on the environment image based on a preset image recognition algorithm, for example, an algorithm such as a trained convolutional neural network, so as to recognize the crop in the environment image. And determining the actual position of each crop and the relative position relation between the crop and the actual position of each crop through calculation of an internal corresponding calculation program according to the type, the size and the position coordinates of the crops in the image. A movement path from the current location to the location of each crop can then be determined. Finally, the controller 520 may send a control instruction to the driving motor 210, so that the intelligent fertilizing robot moves to the position of the crop along the path to fertilize. Through setting up control mechanism 500, realize the automatic control to intelligent fertilization robot's removal route, alleviateed the work load that the staff was artificial control intelligent fertilization robot, improved intelligent fertilization robot's practicality and fertilization efficiency.
Illustratively, in the disclosed embodiment, the image sensor 510 may be a panoramic camera disposed on the chassis 100.
Illustratively, during movement, the image sensor 510 will continuously capture images of the environment, so that the controller 520 can continuously modify the path. So that the intelligent fertilizing robot moves to the position of the crops. In general, in practical applications, the position of the nearest crop is moved first, and after the crop is fertilized, the position of the next nearest crop is moved.
Optionally, the intelligent fertilization robot may further include a fertilizer box 600, the fertilizer box 600 is fixedly mounted on the chassis 100 and located below the fertilizer box 310, an inlet of the fertilizer box 600 is communicated with the fertilizer box 310, an outlet of the fertilizer box 600 is communicated with the main pipe 321, a first valve 610 is disposed between the inlet of the fertilizer box 600 and the fertilizer box 310, and a second valve 620 is disposed between the outlet of the fertilizer box 600 and the main pipe 321. Illustratively, in the disclosed embodiment, when fertilization is not needed, the first valve 610 and the second valve 620 are both closed, and by opening the first valve 610, fertilizer in the fertilizer box 310 falls into the fertilizer box 600 under the action of gravity. When fertilization is required, the first valve 610 is closed, and the second valve 620 is opened, so that the fertilizer stored in the fertilizer box 600 is finally discharged from the end of the plow head 400 through the main pipe 321 and the branch pipe 322 and injected into the soil. Through controlling switching on and closing of first valve 610 and second valve 620, fertilizer box 600 can carry out the prestorage to the fertilizer that needs to apply, avoids the too much waste that causes of fertilizer of disposable emission, has improved intelligent fertilization robot's practicality.
Optionally, the intelligent fertilization robot may further include a pressure sensor 630 for detecting fertilizer quality in the fertilizer box 310, the pressure sensor 630 is installed at the bottom of the fertilizer box 600, the pressure sensor 630 is respectively connected to the controller 520, the first valve 610 and the second valve 620, and the controller 520 is configured to control the first valve 610 to be turned on and the second valve 620 to be turned off when the fertilizer quality in the fertilizer box 600 is smaller than a first threshold; or, when the fertilizer mass in the fertilizer box 600 is greater than a second threshold value, the first valve 610 is controlled to be closed, and the second valve 620 is controlled to be opened, wherein the second threshold value is greater than the first threshold value. Illustratively, in the embodiment of the disclosure, by providing the pressure sensor 630 at the bottom of the fertilizer box 600 and connecting the pressure sensor 630 to the controller 520, the first valve 610 and the second valve 620, respectively, the controller can control the first valve 610 and the second valve 620 according to the fertilizer quality in the fertilizer box 310 detected by the pressure sensor 630. When the fertilizer quality in the fertilizer box 600 is less than the first threshold value, the fertilizer amount in the fertilizer box 600 is not enough to ensure the amount of fertilizer for one time, the controller 520 controls the first valve 610 to be switched on, the second valve 620 is switched off, and the fertilizer in the fertilizer box 310 can be introduced into the fertilizer box 600 for replenishment. And when the mass in the fertilizer box 600 is enough and exceeds a second threshold value, the controller 520 controls the first valve 610 to be closed, and the second valve 620 to be conducted, so that the fertilizer stored in the fertilizer box 600 is finally discharged from the end of the plowshare 400 through the main pipe 321 and the branch pipe 322 and is injected into the soil. The control accuracy of the fertilizer amount required by fertilization is improved, and the practicability of the intelligent fertilization robot is further improved.
Optionally, the intelligent fertilization robot may further include an air pump 700, the air pump 700 is fixedly mounted on the chassis 100, an air outlet of the air pump 700 is communicated with the fertilizer box 600, the air pump 700 is connected with the controller 520, and the air pump 700 is configured such that when the second valve 620 is turned on, the controller 520 controls the air pump 700 to start; alternatively, when the second valve 620 is closed, the controller 520 controls the air pump 700 to be closed. Because the whole height of intelligent fertilization robot in the vertical direction is lower, the angular extent between telescopic link 430330 and installation face 110 is generally between 30 to 45. The solid fertilizer in the fertilizer box 600 is discharged to the end of the plowshare 400 through the fertilizer injection pipe 320 by the simple gravity, and the problems of difficult fertilizer discharge or slow fertilizer discharge speed due to insufficient power may occur. Illustratively, in the embodiment of the present disclosure, by providing the air pump 700 controlled by the controller 520, when the second valve 620 is turned on, that is, when fertilizer needs to be discharged, the controller 520 controls the air pump 700 to start, and high-pressure air is injected into the fertilizer box 600 to raise air pressure, and the high-pressure air provides power for the solid fertilizer in the fertilizer box 600 and pushes the solid fertilizer into the main pipe 321 communicated with the fertilizer box 600, so that the fertilizer can be smoothly discharged from the end of the plow head 400 through the fertilizer injection pipe 320. When the second valve 620 is closed, the controller 520 controls the air pump 700 to be closed, so that the situation that the pressure in the fertilizer box 600 is too high is avoided, and fertilizer is conveniently supplemented into the fertilizer box 600 from the fertilizer box 310. Realize providing extra power for the emission of fertilizer automatically, further improved fertilization efficiency.
Fig. 7 is a schematic bottom view of a chassis of an intelligent fertilization robot provided by an embodiment of the present disclosure. As shown in fig. 7, the intelligent fertilizing robot may further include a steering wheel 800, the steering wheel 800 is rotatably mounted at the bottom of the chassis 100, a rotating shaft of the steering wheel 800 is parallel to a rotating shaft of the driving wheel 222, and the steering wheel 800 is connected to the controller 520. Because the crop is ploughed or the shed room space is narrow and small, intelligent fertilization robot often need carry out certain turning and adjust the position for the crop, fertilize the crop in different regions. In the embodiment of the present disclosure, by installing the steering wheel 800 connected to the controller 520 at the bottom of the chassis 100, after the image sensor 510 collects the image information of the crop to be fertilized, if the crop is not in the current direction of travel of the intelligent fertilization robot, the controller 520 controls the steering wheel 800 to rotate, so as to drive the intelligent fertilization robot to steer, and move to the position of the crop to be fertilized. The automatic adjustment of the advancing route of the intelligent fertilizing robot is realized, and the fertilizing efficiency is further improved.
For example, in the embodiment of the present disclosure, the number of the steering wheels 800 is 1, and according to different sizes of the chassis 100, in order to improve steering accuracy, a plurality of steering wheels 800 may be simultaneously disposed on the chassis 100, as long as the controller 520 can control the steering wheels 800 to rotate, and further drive the intelligent fertilization robot to steer, which is not limited in the embodiment of the present disclosure.
Fig. 8 is a schematic view of a closed structure of a plowshare provided by the embodiment of the disclosure. Fig. 9 is a schematic view of an opening structure of a plowshare provided by the embodiment of the disclosure. As shown in fig. 8 to 9, in another embodiment of the disclosed embodiment, the plough head 400 comprises a first plough body 410 and a second plough body 420 which are oppositely combined, the first plough body 410 and the second plough body 420 have a communicated inner cavity 400a inside, the first plough body 410 and the second plough body 420 are both hinged with a sliding rod 341, a branch pipe 322 sliding rod 341 of the fertilizer injection pipe 320 is arranged in the inner cavity 400a, an expansion link 430 and an ejector rod 440 are arranged in the inner cavities 400a of the first plough body 410 and the second plough body 420, one end of the expansion link 430 is connected with the sliding rod 341, the axial direction of the expansion link 430 is parallel with the length direction of the sliding rod 341, the middle part of the ejector rod 440 is vertically connected with the other end of the expansion link 430, and the two ends of the ejector rod 440 are respectively connected with the cavity wall of the first plough body 410 and the cavity wall of the second plough body 420 in a sliding manner through pulleys. The interval between the chamber wall of first plough body 410 and the chamber wall of second plough body 420 reduces in the direction of keeping away from slide bar 341 gradually, after ploughshare 400 inserts in the soil, through the extension of control telescopic link 430, make the ejector pin 440 that is located the telescopic link 430 other end to the direction removal of keeping away from slide bar 341 and open first plough body 410 and the tight top of second plough body 420, fertilizer can directly pour into soil into from the branch pipe 322 that is arranged in inner chamber 400a this moment, can avoid earth to enter into the end of annotating fertilizer pipe 320 and cause the jam when ploughshare 400 stirs soil, reduce the artifical frequency of clearing up the maintenance that carries out, intelligent fertilization robot's practicality and fertilization efficiency have further been improved.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, which may also change accordingly when the absolute position of the object being described changes.
The above description is intended to be exemplary only and not to limit the present disclosure, and any modification, equivalent replacement, or improvement made without departing from the spirit and scope of the present disclosure is to be considered as the same as the present disclosure.
Claims (10)
1. An intelligent fertilization robot, comprising: a chassis, a traveling mechanism and a fertilizing mechanism,
the travelling mechanism comprises a driving motor and two crawler driving assemblies, the crawler driving assemblies comprise a crawler and a plurality of transmission wheels, the crawler is wound on the transmission wheels, the transmission wheels are provided with external teeth, the external teeth of the transmission wheels are meshed with the internal teeth of the crawler, the chassis is provided with a mounting surface, the driving motor is fixedly connected on the mounting surface and is respectively in transmission connection with at least one of the transmission wheels in the two crawler driving assemblies, the two crawler driving assemblies are arranged on two opposite sides of the mounting surface at intervals,
the fertilizing mechanism comprises a fertilizer box, a fertilizer injection pipe, a telescopic arm and a positioning device, wherein the fertilizer box is installed on the installation surface, one end of the telescopic arm is fixedly connected with the chassis, the telescopic arm and the installation surface are arranged in an acute angle, the positioning device comprises two sliding rods and a sliding rail, the sliding rail is vertically connected with the other end of the telescopic arm, the length direction of the sliding rail is parallel to the installation surface, one ends of the two sliding rods are respectively connected with the sliding rail in a sliding manner through a sliding motor, the other ends of the two sliding rods are both connected with a plough head, the fertilizer injection pipe comprises a main pipe and two branch pipes communicated with the main pipe, the main pipe is communicated with the fertilizer box and extends along the length direction of the telescopic arm, and the two branch pipes extend along the axis direction of the two sliding rods and are fixedly connected at the tail end of the plough head respectively,
the ploughshare includes two first plough bodies and the second plough body that closes, the inside of first plough body and second plough body has the inner chamber of intercommunication, first plough body and second plough body all articulate with the slide bar, the branch pipe slide bar of annotating the fertile pipe is worn to establish in the inner chamber, be provided with telescopic link and ejector pin in the inner chamber of first plough body and second plough body, the one end and the slide bar of telescopic link are connected, the axis direction of telescopic link is parallel with the length direction of slide bar, and the middle part of ejector pin is connected with the other end of telescopic link is perpendicular, the both ends of ejector pin pass through the pulley respectively with the chamber wall of first plough body and the chamber wall sliding connection of second plough body.
2. The intelligent fertilization robot of claim 1, wherein the chassis has a first end surface and a second end surface for connection with the two crawler drive assemblies, one end of the telescopic arm is connected with the first end surface or the second end surface, and the telescopic arm is located between the plurality of transmission wheels.
3. The intelligent fertilization robot of claim 2, wherein the axial direction of the two sliding rods is parallel to the length direction of the telescopic arm.
4. The intelligent fertilizing robot of claim 1, further comprising a control mechanism, wherein the control mechanism is located on the chassis, the control mechanism comprises an image sensor and a controller, the image sensor is connected with the driving motor, the telescopic arm and the positioning device respectively, the image sensor is used for collecting environmental image information, the controller is used for sending control commands to the driving motor, the telescopic arm and the positioning device according to the environmental image information, so that the intelligent fertilizing robot can move to the position of a crop to fertilize, and the environmental image information comprises the type, size and position coordinates of the crop.
5. The intelligent fertilization robot of claim 4, further comprising a fertilizer box fixedly mounted on the chassis and located below the fertilizer box, wherein an inlet of the fertilizer box is communicated with the fertilizer box, an outlet of the fertilizer box is communicated with the main pipe, a first valve is arranged between the inlet of the fertilizer box and the fertilizer box, and a second valve is arranged between the outlet of the fertilizer box and the main pipe.
6. The intelligent fertilization robot of claim 5, further comprising a pressure sensor for detecting fertilizer quality in the fertilizer box, wherein the pressure sensor is mounted at the bottom of the fertilizer box, the pressure sensor is respectively connected with the controller, the first valve and the second valve, and the controller is configured to control the first valve to be turned on and the second valve to be turned off when the fertilizer quality in the fertilizer box is smaller than a first threshold value; or when the fertilizer quality in the fertilizer box is larger than a second threshold value, controlling the first valve to be closed and controlling the second valve to be conducted, wherein the second threshold value is larger than the first threshold value.
7. The intelligent fertilization robot of claim 6, further comprising an air pump fixedly mounted on the chassis, wherein an air outlet of the air pump is communicated with the fertilizer box, the air pump is connected with the controller, and the air pump is configured to control the air pump to be activated when the second valve is turned on; or, when the second valve is closed, the controller controls the air pump to be closed.
8. The intelligent fertilization robot of claim 7, further comprising a steering wheel rotatably mounted at the bottom of the chassis, wherein a rotating shaft of the steering wheel is parallel to a rotating shaft of the transmission wheel, and the steering wheel is connected with the controller.
9. The intelligent fertilization robot of claim 1, wherein the fertilization mechanism comprises two telescopic arms and the positioning devices correspondingly connected with the telescopic arms, and the two telescopic arms are symmetrically arranged along the fertilizer box.
10. The intelligent fertilization robot of claim 9, wherein the telescopic arms comprise a plurality of groups of support arms, each group of support arms comprises a first support arm and a second support arm, the middle parts of the first support arm and the second support arm are hinged, two ends of the first support arm are respectively hinged with the second support arm of two adjacent groups of support arms, and two ends of the second support arm are respectively hinged with the first support arm of two adjacent groups of support arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977564.6A CN112056049B (en) | 2020-09-17 | 2020-09-17 | Intelligent fertilizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977564.6A CN112056049B (en) | 2020-09-17 | 2020-09-17 | Intelligent fertilizing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112056049A CN112056049A (en) | 2020-12-11 |
| CN112056049B true CN112056049B (en) | 2022-08-30 |
Family
ID=73680602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010977564.6A Active CN112056049B (en) | 2020-09-17 | 2020-09-17 | Intelligent fertilizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112056049B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114503804B (en) * | 2022-02-25 | 2023-03-10 | 连云港双亚机械有限公司 | Agricultural rotary cultivator with automatic fertilization function |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4530904B2 (en) * | 2005-04-21 | 2010-08-25 | ヤマト農磁株式会社 | Rice transplanter-mounted pesticide sprayer |
| CN106577609B (en) * | 2016-12-12 | 2021-05-11 | 浙江海洋大学 | Agricultural spraying machine |
| CN108934350A (en) * | 2017-08-19 | 2018-12-07 | 合肥永威机械设备有限责任公司 | A kind of fertilizer applicator and its operating method |
| CN107493744A (en) * | 2017-09-22 | 2017-12-22 | 禹州市宇胜机械制造有限公司 | A kind of fertilization system of fertilizer applicator for fruit trees |
| CN107810697B (en) * | 2017-10-30 | 2020-12-15 | 滨州农一电子商务有限公司 | A fertilizer injection unit for walnut topdressing |
| CN207531339U (en) * | 2017-12-08 | 2018-06-26 | 元氏县科宝生态农业开发有限公司 | A kind of agricultural fruit tree fertilization device |
| CN209497894U (en) * | 2019-01-25 | 2019-10-18 | 张海红 | A kind of injecting type rate fertilization robot |
| CN209882549U (en) * | 2019-02-19 | 2020-01-03 | 石家庄鑫农机械有限公司 | Suspension type intelligence orchard ditching fertilizer distributor |
| CN110393071A (en) * | 2019-09-04 | 2019-11-01 | 郭德财 | Multichannel fertilizer apparatus for corn planting |
| CN110832976A (en) * | 2019-11-14 | 2020-02-25 | 林辉 | Deep fertilization equipment for agricultural planting |
-
2020
- 2020-09-17 CN CN202010977564.6A patent/CN112056049B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112056049A (en) | 2020-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101595817B (en) | Paddy field operation system | |
| CN112056049B (en) | Intelligent fertilizing robot | |
| CN215683870U (en) | Wheel-leg type tree planting robot | |
| CN113951087A (en) | Desert tree planting robot and control method thereof | |
| CN115443887A (en) | Intelligent soft water channel irrigation, drainage and fertilizer integration system | |
| CN110402628A (en) | A kind of intelligent irrigation robot device with weeding function | |
| CN109673236B (en) | Application method of intelligent environment-friendly deep-application irrigation system for organic fertilizer | |
| CN201008266Y (en) | Automatic seedling transplanter | |
| CN110972879A (en) | Tree planting machine for changing seedlings by cylindrical coordinate system | |
| CN201438827U (en) | Rice-field operating system | |
| CN2383309Y (en) | Suspended device for fertilizing and spraying pesticide | |
| CN205681805U (en) | Electric traction formula farming operation system | |
| CN203775818U (en) | Hilling mechanism for plastic mulching machine for tobaccos | |
| CN112889374B (en) | Full-automatic integrated machine for cultivating, transplanting, watering, fertilizing and ridging | |
| CN204937290U (en) | A kind of hydraulic pressure trac. | |
| CN212034820U (en) | Fertilizer applicator | |
| CN210928573U (en) | Multifunctional arched shed inserting frame film laminating all-in-one machine | |
| CN209572390U (en) | A kind of solar-electricity power drive machine for planting Chinese yam | |
| CN220493809U (en) | Transplanting vehicle suitable for sand | |
| CN208143815U (en) | A kind of taro excavator using preposition lateral operation mode | |
| CN210900348U (en) | Garden fertilizing device | |
| CN105960869B (en) | Electric traction formula farming operation method and system | |
| CN215269388U (en) | Agricultural machine fertilizer injection unit | |
| CN220712352U (en) | Automatic tree planting robot | |
| CN215735793U (en) | Saline and alkaline land soil improvement is with automatic fertilizer injection unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 430000, 21st Floor, Chensheng Center, No. 130 Shipailing Road, Wuchang District, Wuhan City, Hubei Province Patentee after: Hubei Provincial Institute of Mechanical and Electrical Engineering Group Co.,Ltd. Address before: 430000 No.118 shipailing, Wuchang District, Wuhan City, Hubei Province Patentee before: HUBEI MECHANICAL AND ELECTRICAL RESEARCH AND DESIGN INSTITUTE CO.,LTD. |