CN113348842A - Orchard automatic variable rate fertilizer distributor based on multi-line laser radar - Google Patents

Orchard automatic variable rate fertilizer distributor based on multi-line laser radar Download PDF

Info

Publication number
CN113348842A
CN113348842A CN202110674558.8A CN202110674558A CN113348842A CN 113348842 A CN113348842 A CN 113348842A CN 202110674558 A CN202110674558 A CN 202110674558A CN 113348842 A CN113348842 A CN 113348842A
Authority
CN
China
Prior art keywords
laser radar
carriage
variable rate
driving
main control
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.)
Pending
Application number
CN202110674558.8A
Other languages
Chinese (zh)
Inventor
王卫华
钟成润
蔡礼良
石芬芬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kunming University of Science and Technology
Original Assignee
Kunming University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kunming University of Science and Technology filed Critical Kunming University of Science and Technology
Priority to CN202110674558.8A priority Critical patent/CN113348842A/en
Publication of CN113348842A publication Critical patent/CN113348842A/en
Pending legal-status Critical Current

Links

Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C23/00Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/04Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C23/00Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/001Sludge spreaders, e.g. liquid manure spreaders
    • A01C23/002Sludge spreaders, e.g. liquid manure spreaders provided with auxiliary arrangements, e.g. pumps, agitators, cutters
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01CPLANTING; SOWING; FERTILISING
    • A01C23/00Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/007Metering or regulating systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

The invention discloses an orchard automatic variable rate fertilizer distributor based on a multi-line laser radar, which comprises: the device comprises a vehicle body, a fertilizing device, a driving device, a laser radar device and a main control device; the vehicle body comprises a compartment and a partition board horizontally arranged in the compartment; the laser radar device is arranged at the top of the carriage and is electrically connected with the main control device; the driving device is arranged at the bottom of the carriage; the fertilizing device is electrically connected with the main control device, is arranged on one side of the outer part of the carriage and is fixedly connected with the carriage through a fixing frame; the main control device is arranged on the top surface of the partition board. The invention can effectively solve the problems of uneven fertilization, excessive fertilization and low fertilizer utilization rate, and provides supplement for modern, intelligent and unmanned development of agriculture.

Description

Orchard automatic variable rate fertilizer distributor based on multi-line laser radar
Technical Field
The invention relates to the technical field of fruit tree fertilization, in particular to an orchard automatic variable rate fertilizer applicator based on a multi-line laser radar.
Background
The laser radar technology (Lidar) is earlier than the 20 th century, is applied to the field of aviation mapping in the 70 th year, is gradually applied to laser radar imaging and aerospace satellite recovery accurate positioning along with the maturity of electronic devices in the 80 th year, is continuously reduced along with the cost of components and parts, has continuously improved performance, is generally applied to the civil field, intelligent robots, automobile assistance/automatic driving and the like, and is used as an optical detection means because of a plurality of advantages of high precision, directionality, monochromaticity, coherence and the like of laser. Most of the existing agricultural instruments are single-line laser radars for ranging, the measurement accuracy is poor after the distance exceeds 20m, and meanwhile, the agricultural instrument has poor using effect on complex terrains of farmlands and strong light or dark weather. Therefore, a set of multi-line laser radar device is adopted, surrounding three-dimensional geographic information can be collected in real time, accuracy reaches centimeter level, and normal operation can be performed under the conditions of strong light and darkness.
Fertilization is an essential step in the growth and development process of crops, the distribution of soil nutrients in the same land is uneven, most of the current fertilization processes have the problems of uneven fertilization, low fertilizer utilization efficiency and the like, and the phenomena of soil environmental pollution, crop seedling burning, improvement of planting cost and the like are easily caused. Therefore, the precise and quantitative variable fertilization technology needs to be developed urgently, and meanwhile, the development trend of continuous improvement, no humanization and intellectualization of the labor cost is imperative.
Disclosure of Invention
The invention aims to provide an orchard automatic variable rate fertilizer applicator based on a multi-line laser radar, which solves the problems in the prior art, can effectively solve the problems of uneven fertilization, excessive fertilization and low fertilizer utilization rate, and provides supplement for agricultural modernization, intellectualization and unmanned development.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an orchard automatic variable rate fertilizer distributor based on a multi-line laser radar, which comprises: the device comprises a vehicle body, a fertilizing device, a driving device, a laser radar device and a main control device;
the vehicle body comprises a compartment and a partition board horizontally arranged in the compartment; the laser radar device is arranged at the top of the carriage and is electrically connected with the main control device; the driving device is arranged at the bottom of the carriage; the fertilizing device is electrically connected with the main control device, is arranged on one side of the outer portion of the carriage and is fixedly connected with the carriage through a fixing frame; the main control device is arranged on the top surface of the partition plate.
Preferably, the fertilizing device comprises a fertilizer tank; the fertilizer can is divided into a plurality of cavities; the cavities are respectively communicated with fertilizer injection pipes; the other end of the fertilizer injection pipe is communicated with a liquid mixing tank, and the bottom end of the fertilizer injection pipe is fixedly connected and communicated with a first electromagnetic valve; a stirring shaft is arranged in the center of the inner cavity of the liquid mixing tank; one end of the stirring shaft penetrates through the top surface of the liquid mixing tank and is connected with a stirring motor in a transmission way; the stirring motor is fixedly connected to the top surface of the liquid mixing tank; the side wall of the stirring shaft is fixedly connected with a spiral sheet; the bottom surface of the liquid mixing tank is sequentially communicated with a second electromagnetic valve and a liquid outlet through a pipeline; the first electromagnetic valve and the second electromagnetic valve are electrically connected with the main control device.
Preferably, the main control device comprises a main board, a chipset, a USB interface, a touch screen, a WIFI module, a power switch and a power module; the main board is fixedly arranged on the top surface of the partition board; the chipset, the USB interface, the touch screen and the WIFI module are respectively matched with and electrically connected with the mainboard; the power supply module is electrically connected with the mainboard through a power switch; the first electromagnetic valve, the second electromagnetic valve, the laser radar device, the driving device, the USB interface, the touch screen and the WIFI module are electrically connected with the mainboard respectively; the touch screen is embedded in the top of the carriage; the power module is fixedly arranged on the bottom surface of the inner cavity of the carriage.
Preferably, the drive means comprises a drive shaft; the two sides of the driving shaft are rotatably connected with driving wheels, the middle part of the driving shaft is fixedly connected with a driven gear, and the driven gear penetrates through the bottom surface of the carriage and is meshed with a driving gear; the driving gear is in transmission connection with a driving motor; the driving motor is electrically connected with the main board; and the other side of the bottom surface of the carriage is fixedly connected with a steering device.
Preferably, the steering device comprises a steering mechanism; two sides of the steering mechanism are rotationally connected with the two driving wheels; the steering mechanism is in transmission connection with the steering motor; the steering motor is electrically connected with the main board.
Preferably, the driving motor and the steering motor are servo motors.
Preferably, the laser radar device adopts a laser radar with multiple laser channels, the range L of the laser radar device is more than or equal to 0.5m and less than or equal to 200m, the identification precision is +/-3 cm, and a pulse type ranging and 360-degree scanning mode is adopted to generate a three-dimensional image in real time.
Preferably, the laser radar device is communicated and interacted with the mainboard in a wireless mode and a wired mode.
Preferably, the middle part of the side wall of the carriage is fixedly connected with a plurality of crash cushions.
Preferably, the axis of the helical blade coincides with the axis of the stirring shaft.
The invention discloses the following technical effects:
the fertilizer applicator provided by the invention can perform precise fertilization according to the fertilizer amount required by different positions of an orchard, and a fertilization path and fertilization points are planned by combining a soil nutrient distribution diagram, so that excessive fertilization and uneven fertilization are avoided, intelligent and precise variable fertilization is realized, the fertilization efficiency and the fertilizer utilization rate are improved, and manpower and material resources are saved; meanwhile, aiming at the conditions of poor civil satellite navigation precision and complex outdoor orchard environment, the obstacle avoidance action in the advancing process of the positioning and fertilizer applying machine is matched with the nutrient distribution map for fixed-point fertilizer application by adopting a multi-line laser radar, so that the fertilizer applying process is smoother, and the fertilizer applying effect is better; and the soil nutrient distribution map drawn by adopting different sampling methods can be suitable for different geographical environments, so that the adaptability of the fertilizer applicator is stronger.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic side view of the present invention.
Fig. 2 is a schematic view of the structure of the liquid mixing tank.
Fig. 3 is a side view of the steering device.
Fig. 4 is a schematic side view of the main control device.
Fig. 5 is a flow chart of the fertilizing process of the fertilizer applicator.
The intelligent control system comprises a main control device-1, a main board-1 a, a chipset-1 b, a USB interface-1 c, a touch screen-1 d, a WIFI module-1 e, a first electromagnetic valve-2, a second electromagnetic valve-3, a stirring motor-4, a laser radar device-5, a power switch-6, a partition-7, an anti-collision buffer pad-8, a steering device-9, a steering mechanism-91, a steering motor-92, a power module-10, a driving motor-11, a liquid outlet-12, a liquid mixing tank-13, a stirring shaft-14, a fertilizer injection pipe-15, a fertilizer tank-16, a carriage-17, a spiral sheet-19 and a fixing frame-20.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides an orchard automatic variable rate fertilizer distributor based on a multi-line laser radar, which comprises: the device comprises a vehicle body, a fertilizing device, a driving device, a laser radar device 5 and a main control device 1;
the vehicle body comprises a compartment 17 and a partition 7 horizontally arranged in the compartment 17; the laser radar device 5 is arranged at the top of the carriage 17 and is electrically connected with the main control device 1; the driving device is arranged at the bottom of the carriage 17; the fertilizing device is electrically connected with the main control device 1, is arranged on one side of the outer portion of the carriage 17 and is fixedly connected with the carriage 17 through a fixing frame 20; the main control device 1 is arranged on the top surface of the clapboard 7.
In a further optimized scheme, the fertilizing device comprises a fertilizer tank 16; the fertilizer can 16 is divided into a plurality of cavities; the cavities are respectively communicated with a fertilizer injection pipe 15; the other end of the fertilizer injection pipe 15 is communicated with a liquid mixing tank 13, and the bottom end of the fertilizer injection pipe 15 is fixedly connected and communicated with a first electromagnetic valve 2; a stirring shaft 14 is arranged in the center of the inner cavity of the liquid mixing tank 13; one end of the stirring shaft 14 penetrates through the top surface of the liquid mixing tank 13 and is connected with a stirring motor 4 in a transmission way; the stirring motor 4 is fixedly connected to the top surface of the liquid mixing tank 13; the side wall of the stirring shaft 14 is fixedly connected with a spiral sheet 19; the bottom surface of the liquid mixing tank 13 is sequentially communicated with a second electromagnetic valve 3 and a liquid outlet 12 through pipelines; the first solenoid valve 2 and the second solenoid valve 3 are electrically connected to the main control device 1.
Further, the first electromagnetic valve 2 is arranged in the inner cavity of the liquid mixing tank 13.
Further, the fertilizer injection pipe 15 is a rigid pipe, and two ends of the fertilizer injection pipe are fixedly connected and communicated with the fertilizer tank 16 and the liquid mixing tank 13 respectively, so that the fertilizer tank 16 is sufficiently supported.
In a further optimized scheme, the main control device 1 comprises a main board 1a, a chipset 1b, a USB interface 1c, a touch screen 1d, a WIFI module 1e, a power switch 6 and a power module 10; the main board 1a is fixedly arranged on the top surface of the clapboard 7; the chipset 1b, the USB interface 1c, the touch screen 1d and the WIFI module 1e are respectively matched with and electrically connected with the main board 1 a; the power module 10 is electrically connected with the mainboard 1a through the power switch 6; the first electromagnetic valve 2, the second electromagnetic valve 3, the laser radar device 5, the driving device, the USB interface 1c, the touch screen 1d and the WIFI module 1e are electrically connected with the main board 1a respectively; the touch screen 1d is embedded at the top of the carriage 17; the power module 10 is fixedly arranged on the bottom surface of the inner cavity of the carriage 17.
Furthermore, the power switch 6 is embedded in the top of the side surface of the carriage 17, so that the operation of personnel is facilitated.
Further, nutrient distribution map data are imported through the USB interface 1c or remotely and wirelessly transmitted through the WIFI module 1e, meanwhile, the main control device 1 transmits collected geographic position information to a remote upper computer through the WIFI module 1e for workers to monitor in real time, and the upper computer is used for monitoring the position and the behavior of the fertilizer applicator; the touch screen 1d is a manual operation terminal and is used as a standby operation mode after equipment maintenance and remote control means fail.
Furthermore, the soil nutrient distribution map is sampled in advance, data statistics and analysis are carried out by SPSS19.0 software, a spatial variation theory is combined, a land statistics module of ArcGIS10.0 is utilized, and a reverse distance weighted interpolation method is adopted to establish and draw the soil nutrient parameter spatial variation distribution map. The main control device 1 adopts an industrial integrated PC machine as a processor, a Win10 operating system supports touch operation, and variable fertilizing software is developed by adopting a c #, and is communicated with the laser radar device 5, the first electromagnetic valve 2, the driving motor 11, the second electromagnetic valve 3, the stirring motor 4 and the steering motor 92 through serial ports.
In a further optimized scheme, the driving device comprises a driving shaft; the two sides of the driving shaft are rotatably connected with driving wheels, the middle part of the driving shaft is fixedly connected with a driven gear, and the driven gear penetrates through the bottom surface of the carriage 17 and is meshed with a driving gear; the driving gear is connected with a driving motor 11 in a transmission way; the driving motor 11 is electrically connected with the main board 1 a; the other side of the bottom surface of the carriage 17 is fixedly connected with a steering device 9.
In a further preferred embodiment, the steering device 9 comprises a steering mechanism 91; two sides of the steering mechanism 91 are rotationally connected with two driving wheels; the steering mechanism 91 is in transmission connection with a steering motor 92; the steering motor 92 is electrically connected to the main board 1 a.
Further, the steering device 9 is a steering system of an existing vehicle, and is powered by a steering motor 92.
In a further optimized scheme, the driving motor 11 and the steering motor 92 are servo motors.
Further, the driving motor 11 and the steering motor 92 are high-precision direct current servo motors, power is supplied by the power module 10, and the main board 1a controls the driving motor and the steering motor to accurately realize the preset movement of the carriage 17 and complete the set task.
In a further optimization scheme, the laser radar device 5 adopts a laser radar with multiple laser channels, the range L of the laser radar device 5 is more than or equal to 0.5m and less than or equal to 200m, the identification precision is +/-3 cm, and a pulse type ranging and 360-degree scanning mode is adopted to generate a three-dimensional image in real time.
In a further optimized scheme, the laser radar device 5 is communicated and interacted with the main board 1a in a wireless mode and a wired mode.
In a further optimized scheme, the middle part of the side wall of the carriage 17 is fixedly connected with a plurality of crash cushions 8.
In a further optimized scheme, the axis of the spiral piece 19 is coincident with the axis of the stirring shaft 14.
In embodiment 1 of the present invention, a flow meter is further disposed on the fertilizer injection pipe 15, the flow meter is electrically connected to the main board 1a, the flow meter is disposed in series with the first electromagnetic valve 2, the fertilizer in the fertilizer tank 16 flows to the liquid mixture tank 13 through the flow meter and the first electromagnetic valves 2, and the remaining amount of the fertilizer in the fertilizer tank 16 can be monitored in real time according to the amount of the fertilizer initially added and the amount of the waste flowing through the flow meter.
In embodiment 2 of the present invention, the present invention provides a small-sized automatic variable fertilizer applicator based on laser radar positioning, which comprises the following main steps:
step 1: the working personnel injects fertilizer into the fertilizer tank 16, transmits the data of the soil nutrient distribution diagram, turns on the power switch 6 of the fertilizer applicator, waits for the self-checking of the fertilizer applicator, and starts the functions of all parts.
Step 2: and starting the laser radar device 5 to complete scanning, transmitting the geographic data back to the main control device 1 and the upper computer, planning a traveling route and fertilizing points by combining a soil nutrient distribution map, and calculating the fertilizing amount.
And step 3: and (5) driving to a fertilizing point, completing fertilizing, feeding back the amount of the residual fertilizer in the fertilizer tank 16, and judging whether the next fertilizing is satisfied. If the fertilizer is not enough, the signals indicating that the fertilizer is not enough are transmitted back to the upper computer to prompt the staff, and the fertilizer applicator is driven to return to the initial point to wait for fertilizer application.
In embodiment 3 of the present invention, the plurality of pressure sensors are embedded in the crash cushion 8 at equal intervals, and the pressure sensors are electrically connected to the main board 1a, so that when the crash cushion works, once touching other people or objects, the impact resistance of the crash cushion 8 can be utilized to reduce the damage to the people or objects, and the current situation can be timely identified by the pressure sensors embedded in the crash cushion 8, so as to stop the vehicle in time.
In embodiment 4 of the invention, the fertilizing device is hung behind a vehicle body and fixed by a fixing frame 20, the driving device is arranged in the lower part of the vehicle body, is driven by a direct current servo motor and is connected with the main control device 1, and the main control device 1 sends a driving signal to the driving device to drive the fertilizing machine to travel to a fertilizing point and complete obstacle avoidance; the laser radar device 5 is arranged on one side of the top surface of the carriage 17, which is close to the advancing direction of the invention, is connected with the main control device 1 and is used for detecting obstacles, completing the positioning operation and feeding back the acquired position information to the main control device 1; the main control device 1 is arranged on the top surface of the clapboard 7 in a built-in mode and is used for controlling the fertilizer applicator to advance and carry out fixed-point fertilization.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (10)

1. The utility model provides an orchard automatic variable rate fertilizer distributor based on multiline laser radar which characterized in that includes: the device comprises a vehicle body, a fertilizing device, a driving device, a laser radar device (5) and a main control device (1);
the vehicle body comprises a compartment (17) and a partition plate (7) horizontally arranged in the compartment (17); the laser radar device (5) is arranged at the top of the carriage (17) and is electrically connected with the main control device (1); the driving device is arranged at the bottom of the carriage (17); the fertilizing device is electrically connected with the main control device (1), is arranged on one side of the outer portion of the carriage (17), and is fixedly connected with the carriage (17) through a fixing frame (20); the main control device (1) is arranged on the top surface of the partition plate (7).
2. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: the fertilizing device comprises a fertilizer tank (16); the fertilizer tank (16) is divided into a plurality of cavities; the cavities are respectively communicated with fertilizer injection pipes (15); the other end of the fertilizer injection pipe (15) is communicated with a liquid mixing tank (13), and the bottom end of the fertilizer injection pipe (15) is fixedly connected and communicated with a first electromagnetic valve (2); a stirring shaft (14) is arranged in the center of the inner cavity of the liquid mixing tank (13); one end of the stirring shaft (14) penetrates through the top surface of the liquid mixing tank (13) and is connected with a stirring motor (4) in a transmission way; the stirring motor (4) is fixedly connected to the top surface of the liquid mixing tank (13); the side wall of the stirring shaft (14) is fixedly connected with a spiral sheet (19); the bottom surface of the liquid mixing tank (13) is sequentially communicated with a second electromagnetic valve (3) and a liquid outlet (12) through a pipeline; the first electromagnetic valve (2) and the second electromagnetic valve (3) are electrically connected with the main control device (1).
3. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 2 is characterized in that: the main control device (1) comprises a main board (1a), a chipset (1b), a USB interface (1c), a touch screen (1d), a WIFI module (1e), a power switch (6) and a power module (10); the main board (1a) is fixedly arranged on the top surface of the clapboard (7); the chipset (1b), the USB interface (1c), the touch screen (1d) and the WIFI module (1e) are respectively matched with and electrically connected with the mainboard (1 a); the power supply module (10) is electrically connected with the mainboard (1a) through a power switch (6); the first electromagnetic valve (2), the second electromagnetic valve (3), the laser radar device (5), the driving device, the USB interface (1c), the touch screen (1d) and the WIFI module (1e) are respectively and electrically connected with the main board (1 a); the touch screen (1d) is embedded at the top of the carriage (17); the power module (10) is fixedly arranged on the bottom surface of the inner cavity of the carriage (17).
4. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 3 is characterized in that: the drive device comprises a drive shaft; the two sides of the driving shaft are rotatably connected with driving wheels, the middle part of the driving shaft is fixedly connected with a driven gear, and the driven gear penetrates through the bottom surface of the carriage (17) and is meshed with a driving gear; the driving gear is in transmission connection with a driving motor (11); the driving motor (11) is electrically connected with the main board (1 a); and the other side of the bottom surface of the carriage (17) is fixedly connected with a steering device (9).
5. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 4 is characterized in that: the steering device (9) comprises a steering mechanism (91); two sides of the steering mechanism (91) are rotationally connected with the two driving wheels; the steering mechanism (91) is in transmission connection with the steering motor (92); the steering motor (92) is electrically connected with the main board (1 a).
6. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 5 is characterized in that: the driving motor (11) and the steering motor (92) are servo motors.
7. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: the laser radar device (5) adopts a laser radar with a plurality of laser channels, the range L of the laser radar device (5) is more than or equal to 0.5m and less than or equal to 200m, the identification precision is +/-3 cm, and a pulse type ranging and 360-degree scanning mode is adopted to generate a three-dimensional image in real time.
8. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 3 is characterized in that: the laser radar device (5) is communicated and interacted with the main board (1a) in a wireless mode and a wired mode.
9. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 1 is characterized in that: and the middle part of the side wall of the carriage (17) is also fixedly connected with a plurality of crash cushions (8).
10. The orchard automatic variable rate fertilizer distributor based on multi-line laser radar of claim 2 is characterized in that: the axis of the spiral piece (19) is coincident with the axis of the stirring shaft (14).
CN202110674558.8A 2021-06-17 2021-06-17 Orchard automatic variable rate fertilizer distributor based on multi-line laser radar Pending CN113348842A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110674558.8A CN113348842A (en) 2021-06-17 2021-06-17 Orchard automatic variable rate fertilizer distributor based on multi-line laser radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110674558.8A CN113348842A (en) 2021-06-17 2021-06-17 Orchard automatic variable rate fertilizer distributor based on multi-line laser radar

Publications (1)

Publication Number Publication Date
CN113348842A true CN113348842A (en) 2021-09-07

Family

ID=77535110

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110674558.8A Pending CN113348842A (en) 2021-06-17 2021-06-17 Orchard automatic variable rate fertilizer distributor based on multi-line laser radar

Country Status (1)

Country Link
CN (1) CN113348842A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005176741A (en) * 2003-12-19 2005-07-07 Yanmar Co Ltd Agricultural working vehicle
CN103314689A (en) * 2013-06-24 2013-09-25 西北农林科技大学 Intelligent orchard ditching and fertilizing machine with automatic navigation function
CN204669873U (en) * 2015-05-04 2015-09-30 昆明理工大学 A kind of fluid pressure type annular fertilization device
CN205357493U (en) * 2016-02-24 2016-07-06 山东莱芜绿之源节水灌溉设备有限公司 Liquid manure integration fertigation machine
CN110476576A (en) * 2018-05-15 2019-11-22 宿州学院 A kind of farmland intelligence fertilization system
CN112136423A (en) * 2020-10-15 2020-12-29 杨立 Multifunctional agricultural robot
US20210055417A1 (en) * 2019-08-23 2021-02-25 Cnh Industrial America Llc Methods for generating treatment prescriptions based on uav-derived plant height data and related crop management systems

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005176741A (en) * 2003-12-19 2005-07-07 Yanmar Co Ltd Agricultural working vehicle
CN103314689A (en) * 2013-06-24 2013-09-25 西北农林科技大学 Intelligent orchard ditching and fertilizing machine with automatic navigation function
CN204669873U (en) * 2015-05-04 2015-09-30 昆明理工大学 A kind of fluid pressure type annular fertilization device
CN205357493U (en) * 2016-02-24 2016-07-06 山东莱芜绿之源节水灌溉设备有限公司 Liquid manure integration fertigation machine
CN110476576A (en) * 2018-05-15 2019-11-22 宿州学院 A kind of farmland intelligence fertilization system
US20210055417A1 (en) * 2019-08-23 2021-02-25 Cnh Industrial America Llc Methods for generating treatment prescriptions based on uav-derived plant height data and related crop management systems
CN112136423A (en) * 2020-10-15 2020-12-29 杨立 Multifunctional agricultural robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王卫华等: "淡水滴灌条件下红壤土水力特征", 《排灌机械工程学报》 *

Similar Documents

Publication Publication Date Title
CN105700533B (en) Automatic driving of agricultural machinery control system and method based on Beidou navigation
CN207322127U (en) A kind of polyhouse-based agriculture robot based on machine vision
CN203012509U (en) Electronic control system of driverless tractor
CN1326442C (en) Virtual GPS accurate agricultural variable subsoil application system
CN103425134B (en) The satellite navigation automated driving system of high-speed transplanter and method thereof
CN109240284B (en) Autonomous path planning method and device for unmanned agricultural machine
CN103988824A (en) Automatic targeting and spraying system based on binocular vision technology
CN103959973A (en) Refined crop fertilization system and nitrogenous fertilizer fertilization method
CN102726273A (en) Decision-making method for soil moisture monitoring and intelligent irrigation of root zone of crop
CN103999841A (en) Automatic targeting and spraying system
CN203860304U (en) Automatic targeting and spraying system
CN204104581U (en) A kind of automatic target detection spraying system based on binocular vision technology
CN105911985A (en) Agricultural machinery automatic driving control device based on Beidou navigation
CN203909300U (en) Portable farmland boundary and barrier point GPS data acquisition device
CN105629973A (en) RTK technology-based agricultural machinery straight driving method and RTK technology-based agricultural machinery straight driving device
CN109213167A (en) A kind of unmanned wisdom control system of agricultural machinery and its control method
CN103548461A (en) Precise agricultural automatic/manual variable fertilizing machine based on virtual GPS (global position system)
Wang et al. The design of agricultural machinery autonomous navigation system based on Linux-ARM
CN113348842A (en) Orchard automatic variable rate fertilizer distributor based on multi-line laser radar
CN203860038U (en) Refined crop soil fertilization system
CN106962147A (en) UAV Intelligent water-saving irrigation system and construction method based on Beidou satellite system
CN202814363U (en) Automatic area measurement instrument
Song et al. Development of path planning algorithm for an autonomous mower tractor
CN204305615U (en) A kind of single armed loop wheel machine formula Variable Fertilization System
CN204191146U (en) A kind of loop wheel machine formula Variable Fertilization System

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