CN115075214A

CN115075214A - Full-automatic grass square lattice sand barrier laying device and method

Info

Publication number: CN115075214A
Application number: CN202210856466.6A
Authority: CN
Inventors: 张良; 余平安; 刘旭光; 卢家烨; 刘亦凡; 朱文涛; 朱立红
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2022-05-20
Filing date: 2022-07-19
Publication date: 2022-09-20
Anticipated expiration: 2042-07-19
Also published as: CN115075214B

Abstract

The invention relates to a full-automatic grass square sand barrier seed paving device and a method, wherein the full-automatic grass square sand barrier seed paving device comprises a soil covering mechanism for covering soil on a grass curtain inserted into sand and compacting the grass curtain, soil covering assemblies and connecting rod assemblies are symmetrically arranged on the soil covering mechanism along the central axis of the advancing direction of the seed paving device, and the soil covering assemblies are connected with the output end of power equipment through the connecting rod assemblies; in the first stage of downward movement of the output end of the power equipment, the connecting rod assembly drives the soil covering assembly to approach to the central axis to complete the soil covering operation; in the second stage of downward movement of the output end of the power equipment, the connecting rod assembly drives the soil covering assembly to extrude sandy soil downwards. The full-automatic grass square sand barrier seed paving method comprises the following steps: and formulating a walking plan of the seed paving device based on the position parameters of the seed paving device and the received instruction, and formulating an operation plan based on the motor parameters and the walking plan to control the seed paving device to insert grass and control the soil covering mechanism to cover soil and compact so as to complete the stable arrangement of the grass sand barriers.

Description

Full-automatic grass square lattice sand barrier laying device and method

Technical Field

The invention relates to the technical field of mechanical sand stabilization, in particular to a full-automatic grass grid sand barrier seed paving device and method.

Background

Desertification is a sign of environmental degradation and is a positive feedback process of environmental instability. Extreme arid, semi-arid and semi-humid regions and the like are affected by various factors such as climatic variation, artificial activities and the like, and the land in the region is seriously degraded. The desertification causes a great amount of loss of soil organic matters, nitrogen, phosphorus, potassium and the like in the soil, and the productivity of the soil is seriously declined; natural disasters are aggravated, for example, sand storms frequently occur, so that thousands of herdsmen are forced to change the place of residence to become "ecological citizens"; meanwhile, the land resources available for human beings are reduced, a large amount of grasslands and woodlands become desert, and the survival pressure of human beings is increased.

The desertification control direction mainly comprises wind prevention and sand fixation, and the main modes specifically comprise sand barriers, plant control, water-saving irrigation and the like. The grass square sand barrier is made of wheat straw, rice straw, reed and other materials, and is tied on a flowing dune to form a wind-shield wall so as to weaken the erosion of wind power, and meanwhile, the grass square sand barrier has the function of intercepting rainfall, so that the water content of a sand layer can be improved, and the growth of sand plants is facilitated. Practice proves that one of the most effective methods in engineering sand control technology is to lay grass square sand barriers. The straw materials such as wheat straw, rice straw, reed and the like used for paving are easy to obtain, the weight is light, and the material transportation and planting cost is low. The manual grass square sand barrier laying method includes the steps that firstly, square grids are fed out on a sand slope surface in a routing mode through lines or lime and the like, then straws are flatly laid along the square grid lines, then, flat-end milling and other blunt-edge materials are used for forcibly pressing the flatly laid straws into a sand layer in the middle of grass, and then, the straws are straightened through sand around the straws. The operation process has many working procedures and consumes manpower; due to limited energy of personnel, the quality uniformity of the laid grass sand barrier cannot be guaranteed.

For laying grass sand barriers in desert and saving manpower, prior art CN102021902B discloses a stepping transverse grass inserting device, including the transverse grass case, the below of transverse grass case is equipped with cuts the decker and send the grass device with the intermittent type, and the place ahead of sending the grass device with the intermittent type is equipped with scrapes grass ratchet and auxiliary roller, scrapes grass ratchet and auxiliary roller department and is equipped with the transport hold-in range, and the transport hold-in range send the grass board along the slope and send the grass board with the level and extend to stepping transverse slotting tool department. The transverse grass box is internally provided with a grass pressing device and a grass shaking device. The shearing and layering mechanism adopted in the technical scheme disclosed in the patent can control the grass conveying capacity and thickness, and is used for extending and retracting a stepping transverse slotting tool for pressing grass into sand by means of the stretching of a hydraulic oil cylinder when grass pressing is realized, and grass sand barriers are paved in a mechanical mode. But the slotting tool controlled by the hydraulic oil cylinder easily cuts off the forage when extending out, so that the forage can not be normally pressed into the sandy soil, and the normal laying of the grass sand barrier can not be realized, even the forage is wasted.

In order to solve the problem of cutting off the forage, the technical scheme disclosed in the patent with publication number CN106149669B is that trapezoidal teeth are designed on the side of the grass-inserting knife acting on the grass, and the trapezoidal teeth can limit the position of the grass in the process of inserting the grass into the sand, so that the forage is smoothly brought into the sand by the grass-inserting knife, and the grass is not easily cut off directly.

CN210315492U discloses a sand-fixing grass-inserting vehicle. In the technical scheme of this patent, the conveyer belt that still is as the hay when the track is as advancing device, the hay is retrained it owing to lack the structure in the process of transporting to ground by the goods railway carriage or compartment, and the hay easily scatters and influences the marching function of track. The rolling grass pressing disc can only compact the sand-fixing grass grids on the sand surface, but cannot insert the sand-fixing grass grids into the sand surface to play an effective wind-proof and sand-fixing role.

Although the technical scheme solves the problem that the forage is easy to cut, the inserting depth of the forage in the mode of inserting the forage into the sand by only depending on the grass inserting cutter driven by the connecting rod or the hydraulic device depends on the action force and the hardness of the sand, and for the sand with different hardness, the inserting depth of the forage is difficult to control, so that the fixing effect of the forage is unstable, and the improvement is needed.

The above prior art does not describe the method and structure of covering soil in detail, and CN111877301A discloses a straw sand barrier setting device for desert sand prevention and a using method thereof, wherein aligned straws are planted in gullies through pushing blocks, fixing blocks and a soil covering mechanism, and the lower ends of the straws are buried with sandy soil, the pushing blocks arranged in parallel push the sandy soil towards the middle, which can bury the lower parts of the straws. However, the device omits the soil compacting step after covering soil, the sand-soil structure without soil compacting is loose, the contact with the straw is not tight, the wind resistance of the grass sand barrier is reduced, and the long-term use effect of the grass sand barrier is affected, so that the improvement of the device is still needed.

Furthermore, on the one hand, due to the differences in understanding to those skilled in the art; on the other hand, since the applicant has studied a great deal of literature and patents when making the present invention, but the disclosure is not limited thereto and the details and contents thereof are not listed in detail, it is by no means the present invention has these prior art features, but the present invention has all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a full-automatic grass square sand barrier seed paving device which comprises a soil covering mechanism for covering soil and compacting grass curtains inserted into sand, wherein a soil covering assembly and a connecting rod assembly are symmetrically arranged on the soil covering mechanism along the central axis of the advancing direction of the seed paving device, and the soil covering assembly is connected with the output end of power equipment through the connecting rod assembly to obtain soil covering and soil compacting power;

in the first stage of downward movement of the output end of the power equipment, the connecting rod assembly drives the soil covering assembly to approach to the central axis to complete soil covering operation; in a second stage of downward movement of the output end of the power equipment, the connecting rod assembly drives the soil covering assembly to extrude sandy soil downward to complete compaction operation.

The soil covering soles can be driven to complete the actions of bulldozing towards the middle and pressing the soil downwards through the repeated movement of the power equipment, so that the covered soil is in close contact with the inserted grass sand barrier, the windproof performance of the grass sand barrier can be further improved, meanwhile, the oblique soil pressing is beneficial to forming butterfly-shaped grooves in grass grids in advance, and the formation of the butterfly-shaped grooves is beneficial to the stability of the ground in the sand barrier. The problem of the rotation machinery jam that directly transports scattered grass easily leads to shop's grass mechanism among the prior art, this application weaves scattered grass in advance for the grass curtain, cuts the grass curtain to certain width in advance according to the operation needs, has avoided the raw materials to get into the screening control process of shop's grass mechanism from storing up the grass case, has also simplified the structure of shop's grass mechanism, is showing the ability that improves mechanical continuous operation, reduces because of the probability that card grass blockked up and take place mechanical failure, is applicable to intelligent control's the automatic machinery that sets up grass square sand barrier.

According to a preferred embodiment, the soil covering assembly comprises at least one pair of soil covering footpads which are configured with a first bottom surface and a second bottom surface in such a way that they can squeeze sand, wherein the first bottom surface arranged close to the central axis is inclined upwards towards the central axis and the second bottom surface arranged away from the central axis is inclined to a lesser extent than the first bottom surface.

When bulldozing at the first stage, based on the first bottom surface of slope, first bottom surface and second bottom surface can push the soil around to the centre, can press the soil around the straw screen in inserting the sand simultaneously from at least two directions when pressing the soil based on first bottom surface and the second bottom surface that has the contained angle. The included angle of the first bottom surface and the second bottom surface is also suitable for the stable accumulation state of soil, and after soil compaction is completed, sandy soil is in a stable butterfly-shaped groove and cannot flow to become loose and is easy to blow away. Although the sand ground needs to be dug when the grass sand barrier is planted, the sand soil of the sand ground is still tightly arranged after the planting is finished by using the device and the planting method provided by the invention; when wind blows, the sand and soil in the sand are difficult to blow away by the wind based on the wind prevention effect of the grass sand barrier and the close arrangement of the sand and soil, so that the grass sand barrier planted by using the device and the planting method provided by the invention has a better sand fixing effect.

According to a preferred embodiment, the casing means further comprises a grid. The connecting rod assembly comprises a second driving rod, a first driving rod and an intermediate rod which are respectively connected with the first bottom surface and the second bottom surface,

one end of the second driving rod is connected with the intermediate rod, the other end of the second driving rod and the first driving rod are connected to the output end of the power equipment together, and the other end of the intermediate rod is connected to the grating plate in a rotatable mode;

under the condition that the output end of the power equipment moves up and down, the output end of the power equipment can drive the first driving rod and the second driving rod to rotate relative to the output end of the power equipment.

According to a preferred embodiment, in a first stage of downward movement of the output end of the power equipment, the first driving rod pushes the first bottom surface to approach to the central axis, so that the first bottom surface can push sandy soil to approach to the central axis by means of the inclined bottom surface to complete the soil covering operation;

in the second stage of downward movement of the output end of the power equipment, the included angle between the middle rod and the vertical direction is reduced by pushing the middle rod to approach the central axis through the second driving rod, so that the second bottom surface connected with the middle rod downwards extrudes sandy soil to complete compaction operation.

According to a preferred embodiment, the seed laying device further comprises a grooving mechanism arranged on one side of the seed laying device close to the advancing direction,

the grooving mechanism is provided with an electric telescopic rod and a grooving block connected to the front end of the electric telescopic rod in a manner of controlling the grooving depth.

The grass inserting mechanism in the prior art only inserts grass into sand by means of driving force or elasticity, and the arrangement mode causes the problems of inconsistent depth and poor fixing effect when the grass is inserted. This application is slotted in advance through setting up at the grooving mechanism that machinery is close to direction of advance one end, the fluting size is steerable, just can form degree of depth and the even recess of width in the target area based on the hardness adjustment fluting size in sand, generate protruding in the sand face and along the sand heap of groove edge arrangement in the both sides of recess, when the straw curtain transmits to the target area through the mechanism of spreading grass, based on preferred size, the straw curtain can cover the recess symmetrically and erect in the recess top, straw curtain both sides edge erects on the slope of sand heap top or sand heap leaning on to the recess. Because the existence of recess and the limiting displacement of sand heap to the grass curtain, insert the effect of grass mechanism to the grass curtain and can obtain certain buffering, the grass curtain is difficult to be broken under the effort in the twinkling of an eye for the grass curtain can be based on recess symmetry buckle in order to form highly even grass wall, has improved the degree of accuracy and the success rate of inserting the grass.

According to a preferred embodiment, the seed paving device further comprises a grass paving mechanism for conveying the grass curtain, the grass paving mechanism comprises a roller wheel assembly, the roller wheel assembly comprises a driving roller wheel, the driving roller wheel comprises two roller wheels which are arranged in parallel, the driving roller wheel provides friction for the grass curtain in a mode that the two roller wheels arranged in parallel press the grass curtain and reversely rotate around respective axes, so that the grass curtain is paved to the target area by the roller wheel assembly based on the friction, wherein,

the driving roller obtains the rotating torque by connecting at least one of two mutually meshed driving gears which are respectively connected with the two rollers which are arranged in parallel with the first speed reducing motor.

According to a preferred embodiment, the planting device further comprises a grass-inserting mechanism for inserting the grass mat delivered to the target area into the sand, the grass-inserting mechanism comprising a slider-crank assembly,

the crank of the crank block component is connected with a second speed reducing motor, so that the crank can rotate along with the second speed reducing motor,

the torque M of the crank block component ₁ Calculated according to the following formula:

wherein, P is the vertical thrust that the slider received, R is the crank radius, alpha is the contained angle of crank and slider motion straight line, beta is the contained angle of connecting rod and slider motion straight line, and lambda is the ratio of crank and connecting rod.

When the torque of the second speed reducing motor is more than M ₁ And the grass inserting force of the second speed reducing motor meets the requirement.

According to a preferred embodiment, the seed paving device further comprises an electric control mechanism for realizing full-automatic control of the seed paving device, a detection module for detecting data and an interaction module for transmitting a control instruction, wherein the electric control mechanism outputs the control instruction based on analysis of one or more of position parameters, posture parameters, walking parameters and environment parameters of the seed paving device detected by the detection module so as to realize automatic operation and automatic adjustment;

the control module makes a walking plan of the machine based on the position parameters acquired by the detection module and the instructions sent by the interaction module,

the control module formulates an operation plan based on the motor parameters and the walking plan so as to control the motion parameters of the grass paving mechanism, the grass inserting mechanism and the soil covering mechanism, so that the operation plan is adapted to the walking plan, and the cooperation of intermittent walking and intermittent operation is realized.

In another aspect, the invention further provides a fully automatic grass square sand barrier paving method, which comprises one or more of the following steps:

formulating a walking plan of the seed paving device based on the position parameters of the seed paving device and the received instruction, wherein the walking plan comprises a walking path, a paving length, a paving speed and a slotting size;

an operation plan is made based on motor parameters and a walking plan to control the motion parameters of the grass paving mechanism, the grass inserting mechanism and the soil covering mechanism, so that the operation plan is adapted to the walking plan, and the cooperation of intermittent walking and intermittent operation is realized;

judging the obstacle in the advancing direction of the seed paving device based on the acquired environmental parameters, and marking the position parameters and the path change parameters of the obstacle;

correcting the quality detection data, comparing the corrected quality detection data with a standard operation quality range under the current operation plan, and sending a first-level early warning to remind an operator of whether the machine is abnormal or not when the corrected quality detection data exceeds the standard operation quality range for the first time;

when the corrected quality detection data continuously exceed the standard operation quality range for three times, sending a second-level early warning, and stopping the operation of machinery;

and marking the position parameters with quality problems and sending the position parameters to the interaction module through the communication module. The invention also provides an earth covering mechanism, wherein earth covering components and connecting rod components are symmetrically arranged on the earth covering mechanism along the central axis of the advancing direction of the seed paving device, and the earth covering components are connected with the output end of power equipment through the connecting rod components to obtain earth covering and soil compacting power;

Drawings

FIG. 1 is a simplified overall structural schematic of a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the construction of a preferred embodiment of the paving mechanism of the present invention;

FIG. 3 is a schematic structural view of a grass cutting mechanism according to a preferred embodiment of the present invention;

FIG. 4 is a schematic view of a soil covering mechanism according to a preferred embodiment of the present invention;

FIG. 5 is a schematic view of a soil covering and compacting mechanism according to a preferred embodiment of the present invention;

FIG. 6 is a schematic view of a force analysis of a portion of the grass cutting mechanism according to a preferred embodiment of the present invention;

FIG. 7 is a schematic view of the connection of the electrical control mechanism of a preferred embodiment of the present invention;

fig. 8 is a schematic view of the arrangement of an electric control mechanism according to a preferred embodiment of the present invention.

List of reference numerals

1: a grass paving mechanism; 11: a first reduction motor; 12: a roller assembly; 121: a drive roller; 122: a first driven roller; 123: a second driven roller; 13: a drive gear; 2: a grass inserting mechanism; 21: a second reduction motor; 22: a slider-crank assembly; 221: a crank; 222: a straight rod; 223: a slider; 23: a slide rail; 24: a grass inserting shovel; 3: a soil covering mechanism; 31: a power plant; 311: an output end; 32: a connecting rod assembly; 321: a first drive lever; 322: a second drive lever; 323: an intermediate lever; 33: a soil covering assembly; 331: covering the sole with soil; 332: a first bottom surface; 333: a second bottom surface; 34: a grid plate; 4: a grooving mechanism; 41: an electric telescopic rod; 42: grooving blocks; 5: a traveling mechanism; 51: a drive motor; 52: a traveling wheel; 53: a steering assembly; 6: an electric control mechanism; 61: a detection module; 62: a control module; 63: a communication module; 64: an interaction module; 611: a positioning element; 612: a motor measurement element; 613: an attitude control sensor; 614: an obstacle avoidance sensor; 615: a mass detection element; 7: a grass storage box; 71: reserving a port; 8: and (4) a mechanical shell.

Detailed Description

The present invention is described in detail below with reference to FIGS. 1-8.

Example 1

The application provides a full-automatic grass square sand barrier seed spreading device, which comprises a grass spreading mechanism 1 for conveying grass curtains from a grass storage box 7 to a target area, wherein the grass curtains with preset width after being woven are stored in the grass storage box 7 arranged at the upper part of the grass spreading mechanism 1, and the grass curtains are arranged in a rolled manner or in a folded manner in the grass storage box 7, as shown in figure 1; as shown in fig. 2, under the action of the friction force applied to the grass curtain by the roller assembly 12 of the grass paving mechanism 1, the grass curtain is continuously output from the grass storage box 7 close to the reserved opening 71 in the machine traveling direction, passes through the first driven roller 122, the driving roller 121 and the second driven roller 123 in sequence, and is finally paved on a target area. The first driven roller 122 arranged close to the reserved opening 71 of the grass storage box 7 can level the grass curtain for the first time based on the tension of the grass curtain while changing the conveying direction of the grass curtain; the driving roller wheel 121 can compress the straw mat and provide friction for the straw mat in a mode of rotating around respective axes reversely according to the two roller wheels arranged in parallel, so that the straw mat can be paved to a target area by the driving roller wheel 121 and the second driven roller wheel 123 based on the friction, and the driving roller wheel 121 and the second driven roller wheel 123 can flatten and flatten the straw mat again to eliminate wrinkles or curls generated when the straw mat is stored in the straw storage box 7. The first driven roller 122 and the second driven roller 123 are connected to the mechanical housing 8 in a manner that they can rotate, the driving roller 121 is driven by the first reduction motor 11, and the driving roller 121 obtains a rotation moment by connecting to the first reduction motor 11 at least one of two driving gears 13 engaged with each other, which are respectively connected to two rollers disposed in parallel.

As shown in fig. 3, in the case where the grass mat is conveyed to the target area via the grass laying mechanism 1, the grass inserting mechanism 2 is disposed at an end of the machine distant from the traveling direction so that the grass inserting mechanism 2 can be located above the target area. The grass inserting mechanism 2 for inserting the grass mat into the sand includes a slider-crank assembly 22, and a crank 221 of the slider-crank assembly 22 is connected to the second reduction motor 21 so that the crank 221 can rotate following the second reduction motor 21. Slider 223 of slider-crank assembly 22 is connected to crank 221 through straight rod 222 so that the rotational motion of crank 221 can be converted into linear motion of slider 223 on slide rail 23. The grass cutting blade 24 connected to the slider 223 can simulate a manual insertion process based on the up and down movement of the slider 223 on the slide rail 23. The slider-crank assembly 22 realizes the conversion of rotary motion and reciprocating linear motion, efficiently finishes the grass inserting process, has compact and reliable structure, and improves the adaptability of the device to severe environment.

As shown in fig. 4, in the case that the straw mat is inserted into the sand by the straw inserting mechanism 2, the covering mechanism 3 can fix the straw mat in such a way that the power device 31 drives the connecting rod assembly 32 to drive the covering assembly 33 to push and compact the sand located in the target area toward the center. The soil covering mechanism 3 for covering and compacting the soil is disposed at an end opposite to the advancing direction of the machine on the machine so that the soil covering mechanism 3 can be moved to a target area based on the machine which intermittently travels. The earthing mechanisms 3 are symmetrically provided with earthing components 33 along the central axis of the machine advancing direction, and the earthing components 33 directly acting with sandy soil are connected with the output end 311 of the power equipment 31 through the connecting rod assembly 32. By utilizing the TRIZ theory, the invention designs the parallel connecting rod assembly 32, realizes one-step completion of soil covering and soil pressing, and improves the efficiency of mechanical soil covering and soil pressing. Preferably, the power plant 31 is an electric cylinder.

Preferably, in the case that the soil covering assembly 33 is symmetrically arranged along the central axis, the soil covering assembly 33 includes at least one pair of soil covering leg portions 331, and the soil covering leg portions 331 are configured with a first bottom surface 332 and a second bottom surface 333 in a manner capable of squeezing sand, wherein the first bottom surface 332 disposed close to the central axis is inclined upward toward the central axis, and the second bottom surface 333 disposed away from the central axis is inclined to a lesser degree than the first bottom surface 332 or parallel to the sand surface.

Preferably, the first bottom surface 332 and the second bottom surface 333 may be curved surfaces with a curvature, and the first bottom surface 332 and the second bottom surface 333 are provided with a texture to enhance friction.

Preferably, the link assembly 32 includes a first driving lever 321 and an intermediate lever 323 connected to the first and second bottom surfaces 332 and 333, respectively, and a second driving lever 322 having both ends connected to the first and

intermediate levers

321 and 323, respectively. One end of the second driving rod 322 is connected with the intermediate rod 323, the other end of the second driving rod 322 and the first driving rod 321 are connected to the output end 311 of the power device 31, and the other end of the intermediate rod 323 is connected to the grid plate 34 in a rotatable manner; under the condition that the output end 311 of the power device 31 moves up and down, the output end 311 of the power device 31 can drive the first driving rod 321 and the second driving rod 322 to rotate relative to the output end 311 of the power device 31, wherein, as shown in fig. 5, in a first stage of downward movement of the output end 311 of the power device 31, the first driving rod 321 pushes the first bottom surface 332 to approach to the central axis, so that the first bottom surface 332 can push sandy soil to approach to the central axis by means of the inclined bottom surface to complete the soil covering operation; in the second stage of downward movement of the output end 311 of the power device 31, the second driving rod 322 pushes the middle rod 323 to approach to the central axis, so that the included angle between the middle rod 323 and the vertical direction is reduced, and further the second bottom surface 333 connected with the middle rod 323 downwards extrudes sandy soil to complete compaction operation; when the output end 311 of the power device 31 moves upwards, the connecting rod assembly 32 drives the covering assembly 33 to reset.

As shown in fig. 1, the grooving mechanism 4 can be disposed on one side of the machine close to the advancing direction, and the grooving mechanism 4 is connected with the grooving block 42 through the electric telescopic rod 41, so that the grooving mechanism 4 can control the depth of the grooving block 42 inserted into the sand based on the extension or contraction of the electric telescopic rod 41, and the grooving depth is determined according to the width size and construction requirements of the grass curtain. Through the mode of slotting in advance at the target area that the straw curtain inserted, it hangs in the upper portion of recess at the straw curtain center of target area to lay, and the straw curtain can buckle fast based on inserting the effort of grass shovel 24 for the straw curtain can buckle based on the symmetry and form the highly uniform grass wall. The groove can restrain the grass curtain from being bent from the middle position, and can prevent the grass curtain from being cut off due to overlarge force of the grass inserting shovel 24.

The running gear 5 comprises a drive motor 51 for providing running power, the drive motor 51 being directly connected with at least one pair of running wheels 52, such that the running gear 5 can be arranged as a front-wheel drive, a rear-wheel drive or a multi-wheel drive, the running gear 5 comprising a steering assembly 53 for controlling the machine's direction of travel.

As shown in fig. 7, the electric control mechanism 6 for implementing automatic control of a machine may obtain one or more of a position parameter, an attitude parameter, a walking parameter, and an environmental parameter of the machine based on the detection module 61, the control module 62 may implement automatic operation and automatic adjustment of the machine in a manner of analyzing data acquired by the detection module 61 and outputting a control instruction, the communication module 63 may transmit acquisition information provided by the detection module 61 and the control instruction generated by the control module 62 to the interaction module 64 based on wireless communication or wired communication, and the interaction module 64 may be an operation screen disposed on the machine housing 8 or an intelligent terminal.

Preferably, the detection module 61 includes, but is not limited to: a positioning element 611 for determining where the machine is located; a motor measuring unit 612 for measuring parameters of the first reduction motor 11, the second reduction motor 21, and the drive motor 51; an attitude control sensor 613 for detecting a mechanical attitude; and an obstacle avoidance sensor 614 for detecting the environment outside the mechanical walking area.

The control module 62 may make a walking plan of the machine based on the position parameters acquired by the detection module 61 and the instructions sent by the interaction module 64, wherein the walking plan includes, but is not limited to, a walking path, a paving length, a paving speed, a grooving size, and the like; the control module 62 can make an operation plan based on the motor parameters and the walking plan to control the motion parameters of the grass paving mechanism 1, the grass inserting mechanism 2 and the soil covering mechanism 3, so that the operation plan is adapted to the walking plan, and the cooperation of intermittent walking and intermittent operation is realized.

Preferably, the control module 62 may determine an obstacle in the forward direction of the machine based on the environmental parameters acquired by the detection module 61, when there is an obstacle on the current route, the control module 62 sends a steering command to the traveling mechanism 5 to drive the steering assembly 53 to change the machine traveling direction, so that the machine may bypass the current obstacle and continue working, and the control module 62 marks the position parameter and the path change parameter of the obstacle and sends the mark to the interaction module 64 through the communication module 63.

Preferably, the control module 62 may preset a plurality of walking plans and working plans, and the operator may directly select the walking plans and the working plans through the interaction module 64; the operator can also autonomously select variable parameters of the walking plan and the operation plan on the interaction module 64 according to the environmental change, thereby improving the control flexibility of the device.

Example 2

This embodiment is the experiment analogue means of the full-automatic grass square sand barrier kind of spread device of this application. The drive gear 13 of the grass-paving mechanism 1 is designed as follows: the size and position of the driving roller wheel 121 are determined by the size of the grass curtain, and the center distance obtained by the installation position of the first speed reducing motor 11 and the position of the driving roller wheel 121 is 47.36 mm. The distance is small, belt transmission and chain transmission are not suitable, and straight toothed spur gears are adopted for transmission. Selection of gear module: and (3) primarily selecting gears with the modulus of 1.5mm, the pressure angle of 20 degrees and high-quality 45# steel according to the bending strength. In order to ensure that the grass spreading speed is matched with the travelling speed, and the rotating speed of the first speed reducing motor 11 and the rotating speed of the driving motor 51 are both at reasonable values, a big gear with the tooth number of 39 and the tooth thickness of 15mm and a small gear with the tooth number of 18 and the tooth thickness of 15mm are selected. The maximum value of the gear transmission torque is 0.5kg.cm, the power is about 4w, and the rotating speed ratio of the first speed reducing motor 11 to the driving motor 51 is 4: 1.

moment calculation of the crank block assembly 22 of the grass inserting mechanism 2: force analysis is performed on the slide block 223, and as shown in FIG. 6, the crank length l is preliminarily determined from the target position ₁ And link length l ₂ ，l ₁ Taking 30mm, l ₂ Taking 70mm, assuming that the motor has enough torque during grass cutting during operation, by the following calculation,

Lsinβ＝R sinα、

M ₁ ＝P _AB ·m ₁ 、m ₁ ＝R sin(α+β)、M ₁ ＝P _AB R·sin(α+β)

obtaining:

wherein P is vertical thrust applied to the slider, R is the radius of the crank, alpha is the included angle between the crank and the movement line of the slider, beta is the included angle between the connecting rod and the movement line of the slider, lambda is the ratio of the crank to the connecting rod, and P is _AB Is a connecting rodForce on the slide, R being the length of the crank, m ₁ Is P _AB A force arm corresponding to the rotation center of the crank. The maximum torque meeting the minimum grass cutting force is found to be 0.5kg.cm by a coded motor parameter table.

As shown in fig. 8, the overall control concept: after the machine is started, a user sends a motion signal to the HC05 Bluetooth module through the mobile phone client, data are transmitted to the STM32 main control through the serial port, and the main control performs corresponding actions according to information content after receiving the signal.

The STM32 main control chip sends current signals to the PID controller, and sends the current signals to the coding motor responsible for chassis motion after PID processing, controls the rotating speed of the coding motor, and enables the experimental device to complete the basic advancing function. The coding motor can also return the state parameters to a single chip microcomputer containing an STM32 main control chip in the operation process, the data is used for adjusting and correcting the operation errors, in addition, the single chip microcomputer transmits the feedback data to the motor which is responsible for grass laying and sending actions, the movement of the motor is controlled after PID calculation, and the function of proportional linkage following movement is realized. Meanwhile, the reciprocating motion of the electric cylinder completes the earthing function.

The singlechip is connected with a GPS module and an MPU6050 gyroscope sensor. The GPS module returns the position information of the machine through the serial port. Data read by the MPU6050 sensor is fed back to the single chip microcomputer through I2C communication. The single chip microcomputer adjusts the attitude through inertial guidance after obtaining the machine attitude information through Kalman filtering and settlement, and realizes the path correction function of the machine through fusion calculation with GPS feedback information. In the process of machine motion, all motion states can be sent to the Bluetooth module from the serial port and returned to the mobile phone client, and a user can know the motion states of the machine in real time and can send signals at any time to change the motion of the machine.

The motor is internally provided with an encoder which can convert the rotation information of the motor into a pulse signal. Preferably, the experimental device adopts a magnetic Hall coded motor. The single chip microcomputer can acquire related information such as the rotating angular speed and the rotating speed of the motor by monitoring signals output by the encoder, and further can quantitatively measure the motion condition of the motor by calculation.

This experimental apparatus has used multiunit motor and electric jar to accomplish the motion and marchd, send the grass, insert the grass and earthing function. The following linkage control method of the coding motor is adopted, and the output value of the coder of the followed motor is used as the PID input expected value of the following motor, so that the linkage control of the two motors is realized, the synchronism of the operation of each part of the product is ensured, and the control precision is improved. The driving motor 51, the first speed reducing motor and the second speed reducing motor move along with the grass spreading machine according to a certain proportion, and grass spreading and traveling speed synchronization are achieved. The linkage control of the coding motors can reduce the errors of the machine in the motion process and avoid some asynchronous problems.

The path self-correction function of the product is achieved through three modes of motor closed loop, gyroscope detection and GPS correction, and the product is more stable and reliable in the actual use process.

The PID cascade control can be adopted to control the operation of the motor, namely, two PID algorithm controllers are adopted to work in series, the output of the outer ring controller is used as the set value of the inner ring controller, and the control valve is operated by the output of the inner ring, so that the better control effect is achieved on the controlled quantity of the outer ring. By adopting the control mode, the stable operation of the product in motion can be ensured.

With the MPU6050 sensor, the angle can be measured by a gyro sensor and the acceleration can be measured by an acceleration sensor, respectively. The sensor transmits the measured value to the single chip microcomputer through I2C communication, and the single chip microcomputer can further calculate the motion state and the posture of the machine from the returned data, so that the motion state and the traveling route of the machine can be corrected in time.

The G28Z2FTTL module is adopted to realize the GPS positioning function, the module returns the position information of the machine through the serial port, so that visual path display can be realized, and in addition, the singlechip can also carry out self-correction of the path according to the position information returned by the GPS.

Human-computer interaction and Bluetooth remote control: the JDY-31 Bluetooth module is adopted in the product. The module supports multi-platform data transparent transmission including android based on Bluetooth 3.0SPP design, and supports a user to modify instructions such as device name and specific rate through AT commands, so that the use is convenient and fast.

A user can perform Bluetooth communication with a product main control through a mobile phone and a computer client, and sends a control instruction to realize remote control of the product. Meanwhile, the data of the working state and the position information of the machine can also be sent back to the user through the Bluetooth module, so that the user can master the relevant state of the equipment in time. The use of bluetooth module makes this product more nimble convenient, has expanded the usage space of product.

Example 3

This embodiment is a further supplement to embodiment 1, and repeated content is not described again.

Preferably, the detection module 61 comprises a quality detection element 615 for checking the quality of the grass cutting operation, and the quality detection element 615 can realize the judgment of the quality of the grass cutting operation by detecting the verticality and the relative height of the grass curtain at intervals through a sensor. The control module 62 corrects the job quality data measured by the quality detection element 615 and compares the corrected job quality data with a standard job quality range under the current job plan. When the corrected operation quality data exceeds the standard operation quality range for the first time, the control module 62 sends a first-level early warning to the interaction module 64 through the communication module 63 to remind an operator to pay attention to whether the machine is abnormal or not; when the corrected data continuously exceeds the standard operation quality range for three times, the control module 62 sends a second-level early warning to the interaction module 64 through the communication module 63, and stops the operation of the machine; the control module 62 marks the location parameters for which a quality problem occurs and sends them to the interaction module 64 via the communication module 63.

Preferably, the correction is: comparing the data detected by the attitude control sensor 613 with the control command, comparing the work quality detection data detected by the quality detection element 615 with the actual work quality data calculated based on the attitude data of the seed placement device detected by the attitude control sensor 613 when the lateral inclination angle and the longitudinal inclination angle of the machine detected by the attitude control sensor 613 are in accordance with the control command or within an error range allowed by the control command, and controlling the quality detection element 615 to use a threshold value of the actual work quality range as the corrected work quality detection data when the work quality detection data of the quality detection element 615 exceeds the actual work quality range to reduce the error of the work quality detection data detected by the quality detection element 615. When the lateral tilt angle and the longitudinal tilt angle of the machine detected by the attitude control sensor 613 do not match the control command, it is determined that the machine has a fault, and the data detected by the attitude control sensor 613 at this time is not used as the correction reference data of the quality detection element 615, and the quality detection element 615 is subject to detection by itself.

Preferably, the time period of three consecutive judgments can be set according to the roughness of the field. For example, when the sand land has more weeds and particles, the time period is shortened, and the problem of false alarm caused by the fact that accidental detection quality does not reach the standard due to the weeds and the particles is avoided.

The areas needing to be paved with the grass sand barriers are mostly large-area sand dunes. When the large tracts of land dune was laid, an operating personnel was responsible for supervising the full-automatic grass square sand barrier of many simultaneous workings and laid kind of device, was difficult to accomplish real-time supervision to the operation quality of device, reworks when discovering the problem and can waste a large amount of time and energy. Carry out the mode that quality detection by oneself to the grass sand barrier of just laying through the device of spreading kind and can reduce the rate of doing over again, promote work efficiency, carry out the early warning through the machine simultaneously and can assist the device of spreading kind and carry out the control command adjustment of adaptability based on the place of laying of reality for the device of spreading kind has higher adaptability. The quality detection element 615 detects data such as perpendicularity of the grass mat, relative height of the exposed soil surface, and distance between the grass mats at intervals through sensors, but due to influences of terrain of the laying site, weeds and obstacles on the laying site, and the like, certain errors exist in the data acquired by the quality detection element 615. Different working postures of the machine have correlation with actual working quality, and the actual working quality range corresponding to working parameters can be calculated by collecting the working parameters of the machine in the actual working process through the posture control sensor 613. It is therefore possible to correct the work quality detection data of the quality detection element 615 by the actual work quality range to reduce the error of the work quality detection data detected by the quality detection element 615.

Preferably, when the data detected by the attitude control sensor 613 does not match the control command, the control command is adjusted by using the data detected by the attitude control sensor 613 as standard data, and when the data detected by the attitude control sensor 613 is larger than the data indicated by the control command, there may be a problem that the connection of components becomes loose, and the like, and at this time, by reducing the control command, the data detected by the attitude control sensor 613 is adjusted to be equal to the data of the original control command, and the operation is continued on the basis.

When the detection data of the quality detection element 615 can be adjusted to the ideal control state of the original control instruction by adjusting the control instruction, the position is marked as a part needing to be checked, and fault data at least including the control instruction and the detection data of the mechanical attitude control sensor 613 receiving the control instruction is sent to the interaction module 64;

when the detection data of the attitude control sensor 613 cannot be adjusted to the required work attitude by the adjustment control command, the machine operation is stopped.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept. Throughout this document, the features referred to as "preferably" are only an optional feature and should not be understood as necessarily requiring that such applicant reserves the right to disclaim or delete the associated preferred feature at any time.

Claims

1. A full-automatic grass square sand barrier seed paving device comprises a soil covering mechanism (3) for covering soil and compacting grass curtains inserted into sand, and is characterized in that,

the earthing mechanism (3) is symmetrically provided with an earthing component (33) and a connecting rod component (32) along the central axis of the advancing direction of the seed paving device,

the soil covering assembly (33) is connected with an output end (311) of the power equipment (31) through the connecting rod assembly (32) to obtain soil covering and pressing power;

in the first stage of downward movement of the output end (311) of the power equipment (31), the connecting rod assembly (32) drives the soil covering assembly (33) to approach to the central axis to complete soil covering operation;

in the second stage of downward movement of the output end (311) of the power device (31), the connecting rod assembly (32) drives the soil covering assembly (33) to squeeze sandy soil downwards to complete compaction operation.

2. A fully automated grass square sand barrier planting device according to claim 1, wherein the earth covering assembly (33) comprises at least one pair of earth covering soles (331),

the soil-covered sole 331 is provided with a first bottom surface 332 and a second bottom surface 333 so as to be capable of squeezing sandy soil,

wherein the first bottom surface (332) disposed close to the central axis is inclined upward toward the central axis, and the second bottom surface (333) disposed away from the central axis is inclined to a lesser extent than the first bottom surface (332).

3. A fully automatic grass grid sand barrier planting device according to claim 2, characterized in that the earthing mechanism (3) further comprises a grid plate (34),

the connecting rod assembly (32) comprises a second driving rod (322) and a first driving rod (321) and an intermediate rod (323) which are respectively connected with the first bottom surface (332) and the second bottom surface (333),

one end of the second driving rod (322) is connected with the intermediate rod (323), the other end of the second driving rod (322) and the first driving rod (321) are connected to the output end (311) of the power device (31) together, and the other end of the intermediate rod (323) is connected to the grating (34) in a rotatable manner;

under the condition that the output end (311) of the power equipment (31) moves up and down, the output end (311) of the power equipment (31) can drive the first driving rod (321) and the second driving rod (322) to rotate relative to the output end (311) of the power equipment (31).

4. The full-automatic grass square sand barrier seeding device according to any one of claims 1 to 3,

in the first stage of downward movement of the output end (311) of the power equipment (31), the first driving rod (321) pushes the first bottom surface (332) to approach to the central axis, so that the first bottom surface (332) can push sandy soil to approach to the central axis by means of the inclined bottom surface to complete soil covering operation;

in a second stage of downward movement of the output end (311) of the power equipment (31), the second driving rod (322) reduces an included angle between the middle rod (323) and the vertical direction by pushing the middle rod (323) to approach to the central axis, so that the second bottom surface (333) connected with the middle rod (323) downwards extrudes sandy soil to complete compaction operation.

5. The full-automatic grass square sand barrier spreading device according to any one of claims 1 to 4, characterized in that the spreading device further comprises a slotting mechanism (4) arranged on one side of the spreading device close to the advancing direction,

the grooving mechanism (4) is provided with an electric telescopic rod (41) and a grooving block (42) connected to the front end of the electric telescopic rod (41) according to a mode capable of controlling the grooving depth.

6. The fully automatic grass grid sand barrier planting device according to any one of claims 1 to 5, characterized in that the planting device further comprises a grass spreading mechanism (1) for conveying a grass curtain, the grass spreading mechanism (1) comprises a roller wheel assembly (12), the roller wheel assembly (12) comprises a driving roller wheel (121) with two roller wheels arranged in parallel, the driving roller wheel (121) provides friction for the grass curtain in a manner that the two roller wheels arranged in parallel press the grass curtain and rotate reversely around the respective axes, so that the grass curtain is spread to the target area by the roller wheel assembly (12) based on the friction, wherein,

the driving roller (121) obtains the rotating moment by connecting at least one of two mutually meshed driving gears (13) respectively connected with the two rollers arranged in parallel with a first speed reducing motor (11).

7. The full-automatic grass square sand barrier seeding device according to any one of claims 1 to 6,

the seed-laying device also comprises a grass-inserting mechanism (2) for inserting the grass curtain delivered to the target area into the sand, the grass-inserting mechanism (2) comprises a crank block assembly (22),

the crank (221) of the crank block component (22) is connected with the second speed reducing motor (21) so that the crank (221) can rotate along with the second speed reducing motor (21),

torque M of the slider-crank assembly (22) ₁ Calculated according to the following formula:

8. The full-automatic grass square sand barrier planting device according to any one of claims 1 to 7, characterized in that the planting device further comprises an electric control mechanism (6) for realizing full-automatic control of the planting device, a detection module (61) for detecting data and an interaction module (64) for communicating control instructions, wherein the electric control mechanism (6) realizes automatic operation and automatic adjustment based on the way of analyzing one or more of position parameters, posture parameters, walking parameters and environment parameters of the planting device detected by the detection module (61) and outputting the control instructions;

a control module (62) makes a walking plan of the machine based on the position parameters acquired by the detection module (61) and the instructions sent by the interaction module (64),

the control module (62) formulates an operation plan based on the motor parameters and the walking plan so as to control the motion parameters of the grass paving mechanism (1), the grass inserting mechanism (2) and the soil covering mechanism (3), so that the operation plan is adapted to the walking plan, and the cooperation of intermittent walking and intermittent operation is realized.

9. A fully automatic grass square sand barrier planting method, characterized in that the method comprises one or more of the following steps:

making a walking plan of the seed paving device based on the position parameters of the seed paving device and the received instructions, wherein the walking plan comprises a walking path, a paving length, a paving speed and a grooving size;

an operation plan is made based on the motor parameters and the walking plan to control the motion parameters of the grass paving mechanism (1), the grass inserting mechanism (2) and the soil covering mechanism (3), so that the operation plan is adaptive to the walking plan, and the cooperation of intermittent walking and intermittent operation is realized;

correcting the quality detection data, comparing the corrected data with a standard operation quality range under the current operation plan, and sending a first-level early warning to remind an operator of whether the machine is abnormal or not when the corrected data exceeds the standard operation quality range for the first time;

when the corrected data continuously exceed the standard operation quality range for three times, sending a second-level early warning, and stopping the operation of the machine;

the location parameters where the quality problem occurs are marked and sent to the interaction module (64) through the communication module (63).

10. A method as claimed in claim 9, wherein the correction is to compare the quality measurement data with the pose data of the planter as detected by a pose control sensor (613).