CN114176061A - Control system and method of multifunctional orchard operation machine - Google Patents
Control system and method of multifunctional orchard operation machine Download PDFInfo
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- CN114176061A CN114176061A CN202111491751.4A CN202111491751A CN114176061A CN 114176061 A CN114176061 A CN 114176061A CN 202111491751 A CN202111491751 A CN 202111491751A CN 114176061 A CN114176061 A CN 114176061A
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- 239000002420 orchard Substances 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000000575 pesticide Substances 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000005507 spraying Methods 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 239000002917 insecticide Substances 0.000 claims abstract description 7
- 239000007921 spray Substances 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 235000013399 edible fruits Nutrition 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 230000004927 fusion Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000011161 development Methods 0.000 abstract description 7
- 239000003814 drug Substances 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000026058 directional locomotion Effects 0.000 description 3
- 238000007590 electrostatic spraying Methods 0.000 description 3
- 239000008141 laxative Substances 0.000 description 3
- 230000002475 laxative effect Effects 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000361 pesticidal effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000007062 hydrolysis Effects 0.000 description 1
- 238000006460 hydrolysis reaction Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000010525 oxidative degradation reaction Methods 0.000 description 1
- 238000006303 photolysis reaction Methods 0.000 description 1
- 230000015843 photosynthesis, light reaction Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a control system and a method of a multifunctional orchard operation machine, wherein the system comprises an automatic navigation chassis, a platform accessory and a pesticide sprayer accessory are arranged on the automatic navigation chassis, the automatic navigation chassis comprises a chassis and a GNSS-RTK navigation system arranged on the chassis, and the GNSS-RTK navigation system comprises a satellite signal receiving antenna, a satellite signal power divider, a satellite signal power amplifier and a satellite navigation reference receiver; the platform accessory comprises a scissor-fork type lifting mechanism, an operation platform, a car hopper and a leveling mechanism, wherein the car hopper is provided with a leveling CPU, a double-shaft tilt sensor, a display screen and a control panel which are electrically connected with the leveling CPU; the insecticide sprayer accessory comprises an insecticide sprayer controller, an insecticide box, a water pump, an electrostatic sprayer and a fan. The control system and the control method of the multifunctional orchard operation machine have multiple functions of automatic navigation, leveling control, spraying, pesticide spraying and the like, and can meet the development requirements of a multifunctional intelligent orchard operation platform.
Description
Technical Field
The invention relates to the technical field of orchard operation equipment, in particular to a control system and a control method of a multifunctional orchard operation machine.
Background
With the upgrading and optimization of agricultural industrial structures, orchard economy becomes an important economic industry in many areas, and farmers have more demands on orchard machinery during orchard operation. In order to realize the automatic navigation of agricultural machinery in a complex orchard environment, scholars at home and abroad carry out extensive and deep research and obtain great results.
GNSS-RTK and INS integrated positioning and attitude determination, global and local combined path planning and accurate motion control are key technologies for realizing automatic navigation of agricultural machinery. Information and communication technologies have facilitated the development of intelligent agriculture. The construction of the Beidou navigation satellite system in China further assists in the intelligent agriculture, and the research, development and application of the intelligent navigation technology of agricultural machinery become bright spots for developing the intelligent agriculture in China.
At present, the existing orchard operation platform with the leveling function is large in size and inconvenient to turn and turn around during field operation; moreover, the multifunctional orchard operating platform is single in function, does not have additional functions of pesticide spraying and the like for crops, and cannot meet the development requirements of the multifunctional orchard operating platform. Therefore, the application of the technologies such as GNSS-RTK and INS to the orchard operation platform is enhanced, and the development of the multifunctional intelligent orchard operation platform is further promoted.
Disclosure of Invention
The invention aims to solve the problems of low mechanical intelligence degree and lack of integrated equipment in hilly and mountain orchards in China, and provides a control system and a control method of a multifunctional orchard operation machine, which are simple in structure and flexible in control, have multiple functions of automatic navigation, leveling control, spraying, insecticide spraying and the like, and can meet the development requirements of a multifunctional intelligent orchard operation platform.
In order to achieve the purpose, the invention provides the following scheme:
a control system of a multifunctional orchard operation machine comprises an automatic navigation chassis, wherein at least one of a platform accessory and a pesticide sprayer accessory is arranged on the automatic navigation chassis, the automatic navigation chassis comprises a chassis and a GNSS-RTK navigation system arranged on the chassis, the bottom of the chassis is provided with a plurality of moving wheels, the GNSS-RTK navigation system comprises a satellite signal receiving antenna, a satellite signal power divider, a satellite signal power amplifier and a satellite navigation reference receiver, the satellite signal power divider is used for distributing signals to a surrounding differential system, the satellite signal amplifier is used for amplifying the collected signals, the satellite signal receiving antenna is connected with a satellite signal power amplifier, the satellite signal power amplifier is connected with a satellite signal power divider, and the satellite signal power divider is connected with a satellite navigation reference receiver;
the platform accessory comprises a scissor type lifting mechanism, an operation platform and a car hopper, wherein the bottom of the scissor type lifting mechanism is fixedly connected with the chassis, the operation platform is arranged at the upper part of the scissor type lifting mechanism, and the car hopper is arranged on the operation platform; leveling mechanisms are arranged between the car hopper and the operation platform, and the leveling mechanisms are leveling electric push rods arranged at four corners of the operation platform respectively; the car hopper is provided with a leveling CPU, a double-shaft tilt sensor, a display screen and a control panel, wherein the double-shaft tilt sensor is electrically connected with the leveling CPU and is used for acquiring the tilt angle of the car hopper relative to the horizontal plane;
the pesticide sprayer accessory comprises a pesticide spraying controller, a pesticide box, a water pump, an electrostatic sprayer and a fan, wherein the pesticide box is connected with the electrostatic sprayer through the water pump, the fan is arranged on the electrostatic sprayer, and the pesticide spraying controller is electrically connected with the water pump and the fan.
Further, the automatic navigation chassis further comprises an INS positioning system arranged on the chassis, the INS positioning system comprises an accelerometer and a gyroscope, the accelerometer and the gyroscope jointly form an inertia measurement unit for collecting the position and the attitude information of the multifunctional orchard operation machine, and the satellite navigation reference receiver and the inertia measurement unit perform data fusion.
Furthermore, the satellite signal power divider, the satellite signal power amplifier, the satellite navigation reference receiver, the accelerometer and the gyroscope are all arranged in a signal protection box, and the signal protection box is fixedly arranged on the chassis.
Further, the signal receiving antenna is arranged at the top of the front end of the chassis.
Furthermore, the pesticide spraying controller is connected with a manual control switch.
Furthermore, a plurality of fixed convex angles are arranged on the chassis, and a plurality of bayonets matched with the fixed convex angles are arranged at the bottoms of the platform accessory and the pesticide sprayer accessory.
The invention also provides a control method of the multifunctional orchard operation machine, which is applied to the control system of the multifunctional orchard operation machine and comprises the following steps:
step 1, dotting and building a map, walking a circle on a position boundary needing operation in an orchard by a remote control automatic navigation chassis, and marking a green advancing track on an electronic map;
step 2, establishing a barrier, setting the fruit tree as the barrier, and marking red on the electronic map;
step 3, establishing a charging path, remotely controlling the automatic navigation chassis to the position of a charging point, dotting and drawing on a map;
and 4, performing operation, controlling the automatic navigation chassis to move according to a set operation track, and driving the platform accessory or the pesticide sprayer accessory to work.
Further, in step 4, the driving the platform accessory to work includes:
103, the leveling mechanism acts to keep the car hopper horizontal;
and 104, circularly detecting the inclination angle of the car hopper relative to the horizontal plane by the double-shaft inclination angle sensor.
Further, in step 4, the driving of the accessories of the pesticide sprayer includes:
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a control system and a method of a multifunctional orchard operation machine, firstly, an automatic navigation chassis is mainly based on a GNSS-RTK navigation system, and based on a geometric theory, the position of a certain point on the earth is obtained by measuring the distance between the point and three or more artificial satellites; secondly, in the platform accessory, the leveling CPU acquires the inclination angle of the platform relative to the horizontal plane through a double-shaft inclination angle sensor and controls the stretching of 4 groups of electric push rods below the car hopper according to an angle signal, so that the platform is always in the horizontal position, a manual control mode is also set, and an operator can control the stretching of the electric push rods through a control panel according to inclination angle information on a display screen; thirdly, the laxative machine annex adopts the electrostatic spraying technique, can be so that the preliminary atomizing fog drip is charged when flowing through the shower nozzle, and then does directional motion between nozzle and target crop and improve the fog drip adhesion rate, and operating personnel manual control opens or closes, and when opening, the water pump is with the medicine pumping to electrostatic spray head department in the medicine case, makes the liquid medicine take the static blowout, and the fan is further atomized with aerial liquid medicine this moment, makes its more pesticides drift to the fruit tree in.
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 structural view of a control system of a multifunctional orchard working machine according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a three-ball positioning system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an INS positioning system according to an embodiment of the present invention;
FIG. 4 is a front view of an automated navigation chassis according to an embodiment of the present invention;
FIG. 5 is a top view of an automated navigation chassis according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a platform accessory according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an accessory of a pesticide sprayer according to an embodiment of the invention;
FIG. 8 is a schematic diagram illustrating a data fusion positioning process performed by a GNSS-RTK navigation system and an INS positioning system according to an embodiment of the present invention;
description of reference numerals: 1. a chassis; 2. a moving wheel; 101. a satellite signal receiving antenna; 102. a satellite signal power divider; 103. a signal protection box; 104. a satellite signal amplifier; 105. a first gyroscope; 106. an accelerometer; 107. a second gyroscope; 108. a satellite navigation reference receiver; 109. a fixed lobe A; 110. a fixed lobe B; 111. a fixed lobe C; 112. a fixed lobe D; 113. a fixed lobe E; 114. a fixed lobe F;
201. a display screen; 202. leveling the CPU; 203. leveling the electric push rod; 204. a scissor lift mechanism; 205. an operation platform; 206. a car hopper;
301. a fan; 302. an electrostatic spray head; 303. a medicine chest; 304. laxative machine controller.
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 invention aims to provide a control system and a control method of a multifunctional orchard operation machine, which are simple in structure and flexible in control, have multiple functions of automatic navigation, leveling control, spraying, pesticide spraying and the like, and can meet the development requirements of a multifunctional intelligent orchard operation platform.
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.
As shown in fig. 1 to 8, the present invention provides a control system for a multi-functional orchard working machine, including: the automatic navigation chassis is provided with at least one of a platform accessory and a pesticide sprayer accessory, the automatic navigation chassis comprises a chassis 1 and a GNSS-RTK navigation system arranged on the chassis 1, the bottom of the chassis 1 is provided with a plurality of moving wheels 2, the GNSS-RTK navigation system comprises a satellite signal receiving antenna 101, a satellite signal power divider 102, a satellite signal amplifier 104 and a satellite navigation reference receiver 108, the satellite signal power divider 102 is used for distributing signals to a surrounding differential system, the satellite signal amplifier 104 is used for amplifying the collected signals, the satellite signal receiving antenna 101 is connected with the satellite signal power divider 104, the satellite signal power divider 104 is connected with the satellite signal power divider 102, the satellite signal power divider 102 is connected with the satellite navigation reference receiver 108 and sends the position information of a positioning terminal to a position differential system in the satellite navigation reference receiver, obtaining a differential signal; the automatic navigation ground plate is mainly based on a GNSS-RTK navigation system, and based on a geometric theory, the position of a point on the earth is obtained by measuring the distance between the point and three or more artificial satellites, such as a three-ball positioning technology shown in FIG. 2; the RTK positioning technology is to utilize a receiver to observe the satellite signal carrier phase in real time, combine data communication and satellite positioning, and adopt the modes of real-time solution and data processing to realize high-precision positioning in a short time. Furthermore, in certain specific scenarios (e.g., when the signal is occluded), the system may utilize the INS positioning system to position without relying on external information.
The automatic navigation chassis further comprises an INS positioning system arranged on the chassis, the INS positioning system comprises 2 accelerometers 106, a first gyroscope 105 and a second gyroscope 107, the accelerometers 106, the first gyroscope 105 and the second gyroscope 107 jointly form an inertial measurement unit for collecting position and attitude information of the multifunctional orchard operation machine, and the satellite navigation reference receiver 108 and the inertial measurement unit perform data fusion as shown in figure 8. The GNSS-RTK and INS fusion positioning system carries out preprocessing, data registration, data fusion and other processing on the obtained data and can output information such as real-time speed, position, attitude and the like of the multifunctional orchard operation machine.
The invention uses a GNSS/INS tight coupling mode based on pseudo range and pseudo range rate for reference. The close coupling system is used for subtracting a pseudo range and a pseudo range rate which are obtained by resolving a GNSS code ring and a carrier tracking ring from a pseudo range and a pseudo range rate which are obtained by calculating an inertial navigation system by combining self information and satellite ephemeris to obtain a measurement residual error of the pseudo range and the pseudo range rate, and the measurement residual error is used as an input observed quantity of a fusion filter to obtain a calculation error of the inertial navigation system and a sensor deviation so as to finish the correction of the inertial navigation system and obtain an optimal estimation value of a position and a speed. The advantage of this combination mode is that it is easy to implement in engineering, and it is relatively loose to combine, still can measure and upgrade when the number of visible satellites is less than 4. Therefore, the tight combination has obvious advantages under the condition that visible satellites are few, such as canyons, mountains and cities.
The satellite signal power divider 102, the satellite signal power amplifier 104, the satellite navigation reference receiver 108, the accelerometer 106, the first gyroscope 105, and the second gyroscope 107 are all disposed in a signal protection box 103, and the signal protection box 103 is fixedly disposed on the chassis 1.
The signal receiving antennas 101 are arranged in 2 groups, located at the top of the front end of the chassis 1, and used for receiving satellite navigation signals.
The platform accessory comprises a scissor type lifting mechanism 204, a working platform 205 and a car hopper 206, wherein the bottom of the scissor type lifting mechanism 204 is fixedly connected with the chassis 1, the working platform 205 is arranged on the upper part of the scissor type lifting mechanism 204, and the car hopper 206 is arranged on the working platform 205; leveling mechanisms are arranged between the car hopper 206 and the working platform 205, and the leveling mechanisms are leveling electric push rods 203 arranged at four corners of the working platform 205 respectively; the car hopper 206 is provided with a leveling CPU202, a double-shaft tilt sensor, a display screen 201 and a control panel, wherein the double-shaft tilt sensor is electrically connected with the leveling CPU202 and is used for acquiring the tilt angle of the car hopper 206 relative to the horizontal plane, and the leveling CPU202 is electrically connected with the leveling mechanism;
an electronic double-shaft tilt angle sensor is arranged at the center of the bottom of the car hopper 206 of the platform accessory, and the tilt angle of the platform is monitored in real time. When the inclination angle is greater than 5 °, the inclination angle information is sent to the leveling CPU202, and the leveling CPU202 controls the action of the leveling mechanism so that the car hopper 206 is kept in balance. When the inclination angle is larger than 15 degrees, the buzzer on the control panel buzzes to remind the working personnel to pay attention to safety.
The pesticide spraying machine accessory comprises a pesticide spraying controller 304, a pesticide box 303, a water pump, an electrostatic spray head 302 and a fan 301, wherein the pesticide box 303 is connected with the electrostatic spray head 302 through the water pump, the fan 301 is arranged on the electrostatic spray head 302, and the pesticide spraying controller 304 is electrically connected with the water pump and the fan 301. The pesticide spraying controller 304 is connected with a manual control switch. The sprayer accessory adopts an electrostatic spraying technology, so that the preliminarily atomized fog drops are charged when flowing through the spray head, and then the directional movement is carried out between the spray nozzle and the target crops to improve the fog drop attachment rate.
The pesticide sprayer accessory is an electrostatic spray type pesticide sprayer, and can generate a claying effect on a target under the action of a strong electric field force, the pesticide utilization rate can reach over 90% generally, and the pesticide effect is high. The electrostatic oil agent with quick and lasting effect has affinity to the body wall (wax layer) of the pests, is easy to penetrate the body wall to enter the pests, and is poisoned quickly; in addition, the hydrolysis, photolysis and oxidative degradation processes of the pesticide are delayed, so that the pesticide effect is prolonged.
The chassis 1 is provided with a plurality of fixed lobes, as shown in fig. 5, which are respectively a fixed lobe a-109, a fixed lobe B-110, a fixed lobe C-111, a fixed lobe D-112, a fixed lobe E-113 and a fixed lobe F-114; and a plurality of bayonets matched with the fixed convex angles are arranged at the bottoms of the platform accessory and the pesticide sprayer accessory. For example, four sets of bayonets are disposed at each corner of the bottom of the platform attachment, each of which mates with a fixed lobe A, C, D, F in the autopilot chassis and is secured by a cross-shaft. Two sides of the bottom of the pesticide sprayer accessory are respectively provided with 3 groups of bayonets, 6 in total, which are respectively matched with the fixed convex angle A, B, C, D, E, F in the automatic navigation chassis and are firmly clamped through a transverse shaft.
The invention also provides a control method of the multifunctional orchard operation machine, which is applied to the control system of the multifunctional orchard operation machine and comprises the following steps:
step 1, dotting and building a map, walking a circle on a position boundary needing operation in an orchard by a remote control automatic navigation chassis, and marking a green advancing track on an electronic map;
step 2, establishing a barrier, setting the fruit tree as the barrier, and marking red on the electronic map;
step 3, establishing a charging path, remotely controlling the automatic navigation chassis to the position of a charging point, dotting and drawing on a map;
and 4, performing operation, controlling the automatic navigation chassis to move according to a set operation track, and driving the platform accessory or the pesticide sprayer accessory to work.
In step 4, the driving the platform accessory to work includes:
103, the leveling mechanism acts to keep the car hopper horizontal;
and 104, circularly detecting the inclination angle of the car hopper relative to the horizontal plane by the double-shaft inclination angle sensor.
In step 4, the driving of the accessories of the pesticide sprayer comprises:
The invention provides a control system and a method of a multifunctional orchard operation machine, firstly, an automatic navigation chassis is mainly based on a GNSS-RTK navigation system, and based on a geometric theory, the position of a certain point on the earth is obtained by measuring the distance between the point and three or more artificial satellites; secondly, in the platform accessory, the leveling CPU acquires the inclination angle of the platform relative to the horizontal plane through a double-shaft inclination angle sensor and controls the stretching of 4 groups of electric push rods below the car hopper according to an angle signal, so that the platform is always in the horizontal position, a manual control mode is also set, and an operator can control the stretching of the electric push rods through a control panel according to inclination angle information on a display screen; thirdly, the laxative machine annex adopts the electrostatic spraying technique, can be so that the preliminary atomizing fog drip is charged when flowing through the shower nozzle, and then does directional motion between nozzle and target crop and improve the fog drip adhesion rate, and operating personnel manual control opens or closes, and when opening, the water pump is with the medicine pumping to electrostatic spray head department in the medicine case, makes the liquid medicine take the static blowout, and the fan is further atomized with aerial liquid medicine this moment, makes its more pesticides drift to the fruit tree in.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A control system of a multifunctional orchard operation machine, comprising: the automatic navigation system comprises an automatic navigation chassis, wherein at least one of a platform accessory and a pesticide sprayer accessory is arranged on the automatic navigation chassis, the automatic navigation chassis comprises a chassis and a GNSS-RTK navigation system arranged on the chassis, a plurality of moving wheels are arranged at the bottom of the chassis, the GNSS-RTK navigation system comprises a satellite signal receiving antenna, a satellite signal power divider, a satellite signal amplifier and a satellite navigation reference receiver, the satellite signal power divider is used for distributing signals to a surrounding differential system, the satellite signal power amplifier is used for amplifying the collected signals, the satellite signal receiving antenna is connected with the satellite signal power amplifier, the satellite signal power divider is connected with the satellite signal power divider, and the satellite signal power divider is connected with the satellite navigation reference receiver;
the platform accessory comprises a scissor type lifting mechanism, an operation platform and a car hopper, wherein the bottom of the scissor type lifting mechanism is fixedly connected with the chassis, the operation platform is arranged at the upper part of the scissor type lifting mechanism, and the car hopper is arranged on the operation platform; leveling mechanisms are arranged between the car hopper and the operation platform, and the leveling mechanisms are leveling electric push rods arranged at four corners of the operation platform respectively; the car hopper is provided with a leveling CPU, a double-shaft tilt sensor, a display screen and a control panel, wherein the double-shaft tilt sensor is electrically connected with the leveling CPU and is used for acquiring the tilt angle of the car hopper relative to the horizontal plane;
the pesticide sprayer accessory comprises a pesticide spraying controller, a pesticide box, a water pump, an electrostatic sprayer and a fan, wherein the pesticide box is connected with the electrostatic sprayer through the water pump, the fan is arranged on the electrostatic sprayer, and the pesticide spraying controller is electrically connected with the water pump and the fan.
2. The control system of the multifunctional orchard operation machine according to claim 1, wherein the automatic navigation chassis further comprises an INS positioning system arranged on the chassis, the INS positioning system comprises an accelerometer and a gyroscope, the accelerometer and the gyroscope jointly form an inertial measurement unit for collecting position and attitude information of the multifunctional orchard operation machine, and the satellite navigation reference receiver and the inertial measurement unit perform data fusion.
3. The control system of a multi-functional orchard working machine according to claim 2, wherein the satellite signal power divider, the satellite signal power amplifier, the satellite navigation reference receiver, the accelerometer and the gyroscope are all arranged in a signal protection box, and the signal protection box is fixedly arranged on the chassis.
4. The control system for a multi-purpose orchard working machine according to claim 1, wherein the signal receiving antenna is provided on top of the front end of the chassis.
5. The control system of a multi-functional orchard work machine according to claim 1, wherein a manual control switch is connected to the insecticide sprayer controller.
6. The control system of claim 1, wherein the chassis is provided with a plurality of fixed lobes, and wherein the bottom of the platform attachment and the bottom of the insecticide sprayer attachment are each provided with a plurality of bayonets that mate with the fixed lobes.
7. A control method of a multi-functional orchard working machine applied to the control system of the multi-functional orchard working machine according to any one of claims 1 to 6, characterized by comprising the steps of:
step 1, dotting and building a map, walking a circle on a position boundary needing operation in an orchard by a remote control automatic navigation chassis, and marking a green advancing track on an electronic map;
step 2, establishing a barrier, setting the fruit tree as the barrier, and marking red on the electronic map;
step 3, establishing a charging path, remotely controlling the automatic navigation chassis to the position of a charging point, dotting and drawing on a map;
and 4, performing operation, controlling the automatic navigation chassis to move according to a set operation track, and driving the platform accessory or the pesticide sprayer accessory to work.
8. The control method of a multi-functional orchard working machine according to claim 7, wherein in step 4, driving the platform attachment to work comprises:
step 101, detecting inclination angle information of a car hopper relative to a horizontal plane through a double-shaft inclination angle sensor, and sending a deviation signal to a leveling CPU (central processing unit) when the car hopper deviates relative to the horizontal plane;
step 102, the leveling CPU determines an action instruction of the leveling mechanism according to the deviation signal and sends the action instruction to the leveling mechanism;
103, the leveling mechanism acts to keep the car hopper horizontal;
and 104, circularly detecting the inclination angle of the car hopper relative to the horizontal plane by the double-shaft inclination angle sensor.
9. The control method of a multi-functional orchard working machine according to claim 7, wherein in step 4, driving the insecticide sprayer attachment to work comprises:
step 201, setting a large dosage and a large dosage track;
step 202, setting a walking speed according to the dosage;
step 203, the water pump and the fan are controlled to be started by the pesticide spraying controller, the water pump pumps the pesticide in the pesticide box to the electrostatic spray head to enable the pesticide liquid to be sprayed out in an electrostatic manner, and the fan further atomizes the pesticide liquid in the air at the moment to enable more pesticides to drift to fruit trees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111491751.4A CN114176061A (en) | 2021-12-08 | 2021-12-08 | Control system and method of multifunctional orchard operation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| WO2023173509A1 (en) * | 2022-03-17 | 2023-09-21 | 李国强 | Future farm command vehicle |
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