CN114051781B - Intelligent navigation system for cooperative operation agricultural mechanical equipment - Google Patents
Intelligent navigation system for cooperative operation agricultural mechanical equipment Download PDFInfo
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- CN114051781B CN114051781B CN202111483943.0A CN202111483943A CN114051781B CN 114051781 B CN114051781 B CN 114051781B CN 202111483943 A CN202111483943 A CN 202111483943A CN 114051781 B CN114051781 B CN 114051781B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention provides an intelligent navigation system for cooperative operation of agricultural machinery and equipment. The intelligent navigation system of the cooperative operation agricultural mechanical equipment comprises a terrain simulation system and a mechanical equipment control system, wherein the terrain simulation system comprises: a terrain acquisition module: the method comprises the steps of collecting the area shape of the land needing to be operated; the intelligent navigation system of the cooperative operation agricultural mechanical equipment can convert a cultivated land area into a plane digital geographic image through the cooperation of the terrain acquisition module and the terrain plane conversion module in the terrain simulation system, is convenient for digitally determining the boundary of the land and setting the starting point and the terminal point of cultivation and the advancing path of the agricultural mechanical equipment, and is matched with the self coordinate positioning module and the running state monitoring module in the mechanical equipment control system, so that the intelligent navigation of the agricultural mechanical equipment is realized, and the cultivation effect and the cultivation efficiency of the agricultural mechanical equipment are improved.
Description
Technical Field
The invention relates to the technical field of agricultural mechanical equipment, in particular to an intelligent navigation system for cooperative operation of agricultural mechanical equipment.
Background
Agricultural machinery refers to various machines used in the production process of crop planting and animal husbandry, as well as in the primary processing and treatment process of agricultural products. Agricultural machines include agricultural power machines, farmland construction machines, soil cultivation machines, planting and fertilizing machines, and the like.
When the agricultural mechanical equipment is used, a driver is required to operate the mechanical equipment to control the traveling direction and speed of the mechanical equipment so as to achieve the purpose of cultivating the land, but the conventional agricultural mechanical equipment does not have a special navigation system, the traveling direction and speed of the agricultural mechanical equipment are controlled by the driver by means of feeling, the phenomenon that the traveling direction of the agricultural machine is excessively deviated or the boundary position of the land is not completely cultivated easily occurs, the land needs to be repeatedly cultivated for multiple times, and the effect and the efficiency of land cultivation are affected.
Disclosure of Invention
In order to realize the purpose of the intelligent navigation system of the agricultural mechanical equipment for cooperative operation, the invention is realized by the following technical scheme: an intelligent navigation system for cooperative work agricultural machinery, comprising a terrain simulation system and a machinery control system, the terrain simulation system comprising:
a terrain acquisition module: the method comprises the steps of acquiring the area shape of the land needing to be operated;
a terrain plane conversion module: the device is used for converting the land area shape acquired by the terrain acquisition module into a planar digital geographic graph;
a terrain boundary identification module: determining the boundary position of a land area in a planar digital geographic graph according to a terrain plane conversion module, wherein an early warning distance and early warning speed setting unit is arranged in the terrain boundary identification module;
early warning distance and early warning speed setting unit: the early warning device is used for setting an early warning distance when the mechanical equipment reaches a terrain boundary position and the maximum allowable speed when the mechanical equipment reaches the early warning position;
start/end position setting unit: the system comprises a terrain plane conversion module, a mechanical device, a control module and a display module, wherein the terrain plane conversion module is used for converting a terrain plane figure into a plane figure;
a travel route setting unit: setting a running path of the mechanical equipment in the plane digital geographic graph converted by the terrain plane conversion module according to the starting position and the operation ending position in the starting/ending position setting unit;
a path coordinate identification module: converting the driving path of the mechanical equipment into a plane digital coordinate according to the driving path of the mechanical equipment set by the driving path setting unit, wherein an early warning deviation setting unit is arranged in the path coordinate identification module;
early warning deviation setting unit: for setting a maximum distance that allows the mechanical device to deviate from the path coordinates;
the mechanical equipment control system includes:
the self coordinate positioning module: the position coordinates are used for positioning the operation point of the mechanical equipment;
the operation control center: the operation control center is internally provided with a power system;
a power system: the power system is used for controlling the running state of mechanical equipment and comprises a direction control module and a speed control module;
a direction control module: for controlling the direction of travel of the mechanical device;
a speed control module: the speed control module is internally provided with a driving state monitoring module;
the driving state monitoring module: for monitoring the travel speed of the mechanical device.
Furthermore, a first comparison unit is arranged between the path coordinate identification module and the coordinate positioning module, and the first comparison unit and the early warning deviation setting unit jointly act to judge whether the deviation between the operating point of the mechanical equipment and the digital plane coordinate in the path coordinate identification module exceeds the maximum deviation distance set by the early warning deviation equipment setting unit.
Furthermore, the early warning deviation setting unit and the comparison unit act together and are connected with the operation control center and the coordinate positioning module of the operation control center.
Furthermore, a second comparison unit is arranged between the driving state monitoring module and the terrain boundary identification module, and the second comparison unit and the early warning distance and early warning speed setting unit act together to judge whether the speed of the mechanical equipment when reaching the early warning distance from the terrain boundary exceeds the set maximum early warning speed or not.
Furthermore, the early warning distance and early warning speed setting unit and the comparison unit act together and are connected with the operation control center and the running state monitoring module.
The utility model provides an agricultural pre-buried formula fertilization is with automatic pre-buried device, includes organism, workbin, material pipe and ploughshare, the lower surface of organism rotates and is connected with the carousel, the carousel is located the rear side of ploughshare along organism advancing direction, the side surface of carousel rotates and is connected with the bracing piece, the one end that the carousel was kept away from to the bracing piece is provided with the push pedal, the upper portion of carousel is provided with the lantern ring, the grooved rail has been seted up to the side surface of the lantern ring, the grooved rail is closed spout, comprises horizontal spout and slope spout, the sliding surface of grooved rail is connected with the regulation pole, the lower extreme and the bracing piece sliding connection of adjusting the pole.
Furthermore, the supporting rods are uniformly distributed on the side surface of the turntable, guide blocks are arranged on the side surface of the supporting rods, and the lower end of the adjusting rod is connected with the guide blocks in a sliding mode.
Further, the lantern ring is fixedly connected with the lower surface of the machine body, the upper end of the adjusting rod is located inside the sliding groove in the groove rail, the adjusting rod is connected with the rotary table in a sliding mode in the vertical direction, a worm wheel is arranged on the upper surface of the rotary table, and a transmission worm is meshed on the surface of the worm wheel.
Further, the inside of workbin is equipped with the arc bottom plate, the arc bottom plate corresponds with the position of material pipe, the lower extreme of material pipe is equipped with the drain hole, the drain hole is located the rear side of ploughshare along organism advancing direction.
Furthermore, the inside of workbin is equipped with accuse material mechanism, and accuse material mechanism includes transmission lead screw, the screw ring with transmission lead screw thread engagement, the connecting rod of being connected with screw ring rotation, is located the push rod of the connecting rod one end of keeping away from screw ring and is located the blowing board of material intraduct, the blowing board is connected with the push rod.
Compared with the prior art, the invention has the following beneficial effects:
1. the intelligent navigation system of the cooperative operation agricultural mechanical equipment can convert a cultivated land area into a planar digital geographic image through the cooperation of the terrain acquisition module and the terrain plane conversion module in the terrain simulation system, is convenient for digitally determining the boundary of the land and setting the starting point and the terminal point of cultivation and the travelling path of the agricultural mechanical equipment, and is matched with the self coordinate positioning module and the travelling state monitoring module in the mechanical equipment control system at the same time, so that the travelling direction and the travelling speed of the agricultural mechanical equipment can be monitored in real time, the intelligent navigation of the agricultural mechanical equipment is realized, and the cultivation effect and efficiency of the agricultural mechanical equipment are improved.
2. This intelligent navigation system of operation agricultural machine equipment in coordination, establish the cooperation of intelligent navigation system and organism through agricultural machine, can carry out real-time supervision to the direction of travel and the speed of advancing of the automatic pre-buried device of fertilizer, be convenient for improve fertilizer pre-buried effect and efficiency, carousel and bracing piece are used with the cooperation of push pedal, can realize the automation pre-buried to fertilizer, the grooved rail is used with the cooperation of adjusting the pole, the distance of steerable push pedal and soil, both the automatic pre-buried of fertilizer is realized to usable push pedal, can alleviate the load of carousel simultaneously, prevent that the push pedal from promoting the soil of plough head position beyond the route of advancing.
Drawings
FIG. 1 is a schematic view of an intelligent navigation system of agricultural machinery of the present invention;
FIG. 2 is a schematic diagram of a terrain simulation system according to the present invention;
FIG. 3 is a schematic view of a mechanical device control system of the present invention;
FIG. 4 is a first schematic view of a front view of an agricultural mechanical apparatus of the present invention;
FIG. 5 is a schematic view of the structure at A in FIG. 4 according to the present invention;
FIG. 6 is a second schematic view of the agricultural machine of the present invention;
FIG. 7 is a schematic view of the turntable structure of the present invention.
In the figure: 1. a body; 2. a material box; 21. an arc-shaped bottom plate; 3. a material pipe; 31. a discharging port; 4. a material control mechanism; 41. a transmission screw rod; 42. a threaded ring; 43. a connecting rod; 44. a push rod; 45. a material placing plate; 5. a plowshare; 6. a turntable; 61. a support bar; 611. a guide block; 62. pushing a plate; 7. a collar; 71. a groove rail; 72. adjusting a rod; 8. a drive worm; 81. a worm gear.
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.
The embodiment of the intelligent navigation system of the cooperative operation agricultural machinery equipment is as follows:
referring to fig. 1-3, an intelligent navigation system for cooperative work agricultural machinery comprises a terrain simulation system and a machinery control system, wherein the terrain simulation system comprises:
a terrain acquisition module: the method comprises the steps of acquiring the area shape of the land needing to be operated;
a terrain plane conversion module: the land area shape acquired by the terrain acquisition module is converted into a planar digital geographical graph;
a terrain boundary identification module: determining the boundary position of a land area in a planar digital geographic graph according to a terrain plane conversion module, wherein an early warning distance and early warning speed setting unit is arranged in a terrain boundary identification module;
early warning distance and early warning speed setting unit: the early warning device is used for setting the early warning distance from the mechanical equipment to the topographic boundary position and the maximum allowable speed from the mechanical equipment to the early warning position;
start/end position setting unit: the system comprises a terrain plane conversion module, a mechanical device, a control module and a display module, wherein the terrain plane conversion module is used for converting a terrain plane figure into a plane figure;
a travel route setting unit: setting a running path of the mechanical equipment in the plane digital geographic graph converted by the terrain plane conversion module according to the starting position and the operation ending position in the starting/ending position setting unit;
a path coordinate identification module: converting the driving path of the mechanical equipment into a plane digital coordinate according to the driving path of the mechanical equipment set by the driving path setting unit, wherein an early warning deviation setting unit is arranged in the path coordinate identification module;
early warning deviation setting unit: for setting a maximum distance that allows the mechanical device to deviate from the path coordinates;
the mechanical equipment control system includes:
the self coordinate positioning module: the position coordinates are used for positioning the operation point of the mechanical equipment;
the operation control center: the operation control center is internally provided with a power system;
a power system: the power system is used for controlling the running state of mechanical equipment and comprises a direction control module and a speed control module;
a direction control module: for controlling the direction of travel of the mechanical device;
a speed control module: the speed control module is internally provided with a driving state monitoring module;
the driving state monitoring module: for monitoring the travel speed of the mechanical device.
A first comparison unit is arranged between the path coordinate identification module and the coordinate positioning module of the path coordinate identification module, and the first comparison unit and the early warning deviation setting unit act together to judge whether the deviation between the operating point of the mechanical equipment and the digital plane coordinate in the path coordinate identification module exceeds the maximum deviation distance set by the early warning deviation equipment setting unit.
The early warning deviation setting unit and the comparison unit play a role together and are connected with the operation control center and the coordinate positioning module per se.
And a second comparison unit is arranged between the driving state monitoring module and the terrain boundary identification module, and the second comparison unit and the early warning distance and early warning speed setting unit act together to judge whether the speed of the mechanical equipment when the mechanical equipment reaches the early warning distance from the terrain boundary exceeds the set maximum early warning speed or not.
The early warning distance and early warning speed setting unit and the comparison unit are jointly acted, and are simultaneously connected with the operation control center and the driving state monitoring module.
The intelligent navigation system can convert a cultivated land area into a plane digital geographic image through the cooperation of the terrain acquisition module and the terrain plane conversion module in the terrain simulation system, is convenient for digitally determining the boundary of the land and setting the starting point, the terminal point and the traveling path of cultivation of the agricultural mechanical equipment, and can be matched with the self coordinate positioning module and the traveling state monitoring module in the mechanical equipment control system to monitor the traveling direction and the traveling speed of the agricultural mechanical equipment in real time, thereby realizing the intelligent navigation of the agricultural mechanical equipment and being beneficial to improving the cultivation effect and efficiency of the agricultural mechanical equipment.
When the navigation system of the agricultural mechanical equipment is used, firstly, the terrain of the land needing to be worked is determined by utilizing a terrain simulation system, and the terrain is converted into a digital geographic graph form, and the specific operation is as follows:
the land area shape of the land needing to be operated is collected by the terrain collection module, and then the land area shape collected by the terrain collection module is converted into a plane digital geographical graph by the terrain plane conversion module.
And then, setting the early warning distance when the mechanical equipment reaches the terrain boundary position and the maximum allowable speed when the mechanical equipment reaches the early warning position by using an early warning distance and early warning speed setting unit in the terrain boundary identification module.
And then, a driving path setting unit is used for setting a driving path of the mechanical equipment in the plane digital geographic graph converted by the terrain plane conversion module by combining the starting position and the operation ending position in the starting/ending position setting unit.
The method comprises the steps of converting a driving path of mechanical equipment into plane digital coordinates by using a path coordinate identification module and combining the driving path of the mechanical equipment set by a driving path setting unit, and setting a maximum distance allowing the mechanical equipment to deviate from the path coordinates by using an early warning deviation setting unit in the path coordinate identification module, wherein the terrain simulation of a land area needing to be operated is completed at the moment.
The operation control center is used for controlling a power system in the machine, and the driving state of the machine, including the traveling direction and the traveling speed of the machine, is controlled by the power system.
The direction control module is used for controlling the driving direction of the mechanical equipment, the speed control module is used for controlling the driving speed of the mechanical equipment, the coordinate positioning module can position the position coordinate of the operation point of the mechanical equipment in real time when the mechanical equipment drives, and the speed control module can monitor the driving speed of the mechanical equipment in real time.
When the mechanical equipment moves, the comparison unit compares the deviation between the operating point of the mechanical equipment and the digital plane coordinate in the path coordinate identification module in real time, when the deviation between the coordinate of the operating point of the mechanical equipment and the digital plane coordinate in the path coordinate identification module exceeds the maximum deviation distance set by the early warning deviation equipment setting unit, the early warning deviation setting unit and the comparison unit act together to send out early warning to the operation control center to remind the operation control center to adjust the moving direction of the mechanical equipment, and the operation control center can adjust the moving direction of the mechanical equipment through the direction control module in the power system.
When the mechanical equipment travels, the speed of the mechanical equipment when reaching the early warning distance from the terrain boundary is compared with the maximum early warning speed set in the early warning distance and early warning speed setting unit through the traveling state monitoring module by the comparison unit II, when the speed of the mechanical equipment when reaching the early warning distance exceeds the maximum early warning speed set in the early warning distance and early warning speed setting unit, the early warning distance and early warning speed setting unit and the comparison unit II act together to send out early warning to the operation control center, the operation control center is reminded to adjust the traveling speed of the mechanical equipment, and the traveling speed of the mechanical equipment can be adjusted through the speed control module in the power system by the operation control center.
Referring to fig. 4-7, an automatic pre-buried device for agricultural pre-buried fertilizer application includes a machine body 1, a material box 2, a material pipe 3 and a plowshare 5, wherein a rotary disc 6 is rotatably connected to the lower surface of the machine body 1, the rotary disc 6 is located at the rear side of the plowshare 5 along the traveling direction of the machine body 1 and is used for driving a push plate 62 to rotate, a support rod 61 is rotatably connected to the side surface of the rotary disc 6 and is used for supporting the push plate 62, the push plate 62 is arranged at one end of the support rod 61 away from the rotary disc 6 and is used for burying fertilizer in soil, a lantern ring 7 is arranged at the upper portion of the rotary disc 6, a groove rail 71 is formed on the side surface of the lantern ring 7, the groove 71 is a closed sliding groove and is composed of a horizontal sliding groove and an inclined sliding groove and is used for controlling up and down movement of an adjusting rod 72, the surface of the groove rail 71 is slidably connected with the adjusting rod 72, and the lower end of the adjusting rod 72 is slidably connected with the support rod 61 and is used for driving the supporting rod 61 to rotate.
The supporting rods 61 are uniformly distributed on the side surface of the rotating disc 6, the guide blocks 611 are arranged on the side surface of the supporting rods 61, and the lower ends of the adjusting rods 72 are slidably connected with the guide blocks 611 and used for driving the supporting rods 61 to rotate.
Establish intelligent navigation and organism 1's cooperation through agricultural machine, can carry out real-time supervision to the advancing direction and the speed of advance of the automatic pre-buried device of fertilizer, be convenient for improve fertilizer pre-buried effect and efficiency, carousel 6 and bracing piece 61 use with push pedal 62's cooperation, can realize the automatic pre-buried to fertilizer, grooved rail 71 uses with the cooperation of adjusting pole 72, the distance of steerable push pedal 62 and soil, both usable push pedal 62 realizes the automatic pre-buried of fertilizer, can alleviate the load of carousel 6 simultaneously, prevent that push pedal 62 from promoting the soil of position beyond the route of ploughshare 5.
The inside of workbin 2 is equipped with arc bottom plate 21, and arc bottom plate 21 corresponds with the position of material pipe 3, and the fertilizer of being convenient for enters into material pipe 3, and the lower extreme of material pipe 3 is equipped with drain hole 31, and drain hole 31 is located ploughshare 5 along the rear side of 1 advancing direction of organism for put in fertilizer in the groove that ploughshare 5 ploughed out.
The inside of workbin 2 is equipped with accuse material mechanism 4 for the speed that the control fertilizer got into in material pipe 3, accuse material mechanism 4 includes drive screw 41, with the meshing of screw ring 42, drive screw ring 42 and remove, with the screw ring 42 of drive screw 41 threaded engagement, be used for driving connecting rod 43 and remove, connecting rod 43 of being connected with screw ring 42 rotation, be used for driving push rod 44 and remove, be located the push rod 44 that connecting rod 43 kept away from screw ring 42 one end, be used for driving blowing board 45 and remove, be located the blowing board 45 of material pipe 3 inside, blowing board 45 is connected with push rod 44, be used for the speed that the control fertilizer got into in material pipe 3.
When the machine is used, a terrain simulation system is utilized to obtain a digital geographical graph of the land needing fertilization, and meanwhile, a mechanical equipment control system is combined to carry out driving control on the machine body 1, so that the advancing direction and speed of the machine body 1 are controlled.
The plowshare 5 is stretched into the soil, when the machine body 1 moves forwards, the plowshare 5 is used for turning over the soil, the transmission screw rod 41 is rotated simultaneously, the transmission screw rod 41 is meshed with the threaded ring 42 to drive the connecting rod 43 to move, the connecting rod 43 drives the push rod 44 to move, the push rod 44 drives the material discharging plate 45 to move, the size of the channel in the material pipe 3 can be changed by the movement of the material discharging plate 45, the speed of the fertilizer in the material box 2 entering the material pipe 3 is controlled, and the fertilizer in the material pipe 3 can enter the soil after the plowshare 5 is turned over through the material discharging opening 31.
The transmission worm 8 is rotated through related driving equipment, the transmission worm 8 is meshed with the worm wheel 81 to drive the worm wheel 81 to rotate, the worm wheel 81 drives the rotary disc 6 to rotate, the rotary disc 6 drives the supporting rod 61 to rotate, the supporting rod 61 drives the push plate 62 to rotate, when the push plate 62 rotates to a position close to the rear part of the plowshare 5, the adjusting rod 72 can move downwards under the action of the groove rail 71 on the side surface of the lantern ring 7, the adjusting rod 72 drives the supporting rod 61 to rotate downwards, the supporting rod 61 drives the push plate 62 to move together, the push plate 62 is enabled to be in contact with soil turned out by the plowshare 5, the rotation of the rotary disc 6 can push the soil into a groove newly ploughed by the plowshare 5 through the push plate 62, and meanwhile, fertilizers are buried into the soil.
When soil is pushed into the groove, the adjusting rod 72 moves upwards under the action of the groove rail 71, the adjusting rod 72 drives the push plate 62 to move upwards through the supporting rod 61, so that the push plate 62 is separated from the surface of the soil, the load of the rotary table 6 is relieved, and meanwhile, the push plate 62 is prevented from pushing the soil at a position outside the traveling path of the plough head 5.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides an adopt pre-buried formula of agricultural of intelligent navigation system of operation agricultural machinery equipment in coordination fertilizies and uses automatic pre-buried device which characterized in that: including organism (1), workbin (2), material pipe (3) and ploughshare (5), its characterized in that: the lower surface of the machine body (1) is rotatably connected with a rotary disc (6), the rotary disc (6) is located on the rear side of the plowshare (5) along the advancing direction of the machine body (1), the side surface of the rotary disc (6) is rotatably connected with a supporting rod (61), a push plate (62) is arranged at one end, far away from the rotary disc (6), of the supporting rod (61), a lantern ring (7) is arranged on the upper portion of the rotary disc (6), a groove rail (71) is arranged on the side surface of the lantern ring (7), the groove rail (71) is a closed sliding groove and consists of a horizontal sliding groove and an inclined sliding groove, an adjusting rod (72) is slidably connected to the surface of the groove rail (71), and the lower end of the adjusting rod (72) is slidably connected with the supporting rod (61);
the supporting rods (61) are uniformly distributed on the side surface of the turntable (6), guide blocks (611) are arranged on the side surface of the supporting rods (61), and the lower end of the adjusting rod (72) is connected with the guide blocks (611) in a sliding mode;
the lantern ring (7) is fixedly connected with the lower surface of the machine body (1), the upper end of the adjusting rod (72) is located inside a sliding groove in the groove rail (71), the adjusting rod (72) is connected with the rotary table (6) in a sliding mode in the vertical direction, a worm wheel (81) is arranged on the upper surface of the rotary table (6), and a transmission worm (8) is meshed with the surface of the worm wheel (81);
an arc-shaped bottom plate (21) is arranged inside the material box (2), the arc-shaped bottom plate (21) corresponds to the material pipe (3), a discharge hole (31) is formed in the lower end of the material pipe (3), and the discharge hole (31) is located on the rear side of the plowshare (5) in the advancing direction of the machine body (1);
the feeding box (2) is internally provided with a material control mechanism (4), the material control mechanism (4) comprises a transmission screw rod (41), a threaded ring (42) in threaded engagement with the transmission screw rod (41), a connecting rod (43) rotatably connected with the threaded ring (42), a push rod (44) positioned at one end of the connecting rod (43) far away from the threaded ring (42) and a material discharging plate (45) positioned inside the material pipe (3), and the material discharging plate (45) is connected with the push rod (44);
the intelligent navigation system of the cooperative operation agricultural mechanical equipment comprises a terrain simulation system and a mechanical equipment control system;
the terrain simulation system includes:
a terrain acquisition module: the method comprises the steps of collecting the area shape of the land needing to be operated;
a terrain plane conversion module: the land area shape acquired by the terrain acquisition module is converted into a planar digital geographical graph;
a terrain boundary identification module: determining the boundary position of a land area in a plane digital geographic graph according to a terrain plane conversion module, wherein an early warning distance and early warning speed setting unit is arranged in the terrain boundary identification module;
early warning distance and early warning speed setting unit: the early warning device is used for setting an early warning distance when the mechanical equipment reaches a terrain boundary position and the maximum allowable speed when the mechanical equipment reaches the early warning position;
start/end position setting unit: the system comprises a terrain plane conversion module, a mechanical device, a control module and a display module, wherein the terrain plane conversion module is used for converting a terrain plane figure into a plane figure;
a travel route setting unit: setting a running path of the mechanical equipment in the plane digital geographic graph converted by the terrain plane conversion module according to the starting position and the operation ending position in the starting/ending position setting unit;
a path coordinate identification module: converting the driving path of the mechanical equipment into a plane digital coordinate according to the driving path of the mechanical equipment set by the driving path setting unit, wherein an early warning deviation setting unit is arranged in the path coordinate identification module;
early warning deviation setting unit: for setting a maximum distance that allows the mechanical device to deviate from the path coordinates;
the mechanical equipment control system includes:
the self coordinate positioning module: the position coordinates are used for positioning the operation point of the mechanical equipment;
the operation control center: the operation control center is internally provided with a power system;
a power system: the power system is used for controlling the running state of mechanical equipment and comprises a direction control module and a speed control module;
a direction control module: for controlling the direction of travel of the mechanical device;
a speed control module: the speed control module is internally provided with a driving state monitoring module;
the driving state monitoring module: for monitoring the travel speed of the mechanical device.
2. The agricultural pre-buried fertilizer application automatic pre-buried device of claim 1, which is characterized in that: and a first comparison unit is arranged between the path coordinate identification module and the self coordinate positioning module, and the first comparison unit and the early warning deviation setting unit act together to judge whether the deviation between the operating point of the mechanical equipment and the digital plane coordinate in the path coordinate identification module exceeds the maximum deviation distance set by the early warning deviation equipment setting unit.
3. The agricultural pre-buried type fertilization automatic pre-buried device according to claim 2, characterized in that: the early warning deviation setting unit and the comparison unit play a role together and are connected with the operation control center and the coordinate positioning module of the operation control center.
4. The agricultural pre-buried fertilizer application automatic pre-buried device of claim 1, which is characterized in that: and a second comparison unit is arranged between the driving state monitoring module and the terrain boundary identification module, and the second comparison unit and the early warning distance and early warning speed setting unit act together to judge whether the speed of the mechanical equipment when reaching the early warning distance from the terrain boundary exceeds the set maximum early warning speed or not.
5. The agricultural pre-buried type fertilization automatic pre-buried device according to claim 4, characterized in that: the early warning distance and early warning speed setting unit and the comparison unit act together and are connected with the operation control center and the driving state monitoring module.
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|---|---|---|---|---|
| CN101833334B (en) * | 2010-02-09 | 2011-09-21 | 北京农业信息技术研究中心 | Tractor automatic navigation control system and method thereof |
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| CN111568322B (en) * | 2020-04-15 | 2021-12-24 | 长沙中联重科环境产业有限公司 | Obstacle avoidance method, device and equipment for epidemic prevention disinfection cleaning robot |
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| CN112309369A (en) * | 2020-09-29 | 2021-02-02 | 天津工程机械研究院有限公司 | Rice transplanter unmanned system and method based on voice recognition |
| CN112959994B (en) * | 2021-05-18 | 2021-07-30 | 天津所托瑞安汽车科技有限公司 | Path following algorithm, device and medium |
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2021
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