CN206639041U - One kind is based on sterically defined farm work device - Google Patents
One kind is based on sterically defined farm work device Download PDFInfo
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- CN206639041U CN206639041U CN201720306867.9U CN201720306867U CN206639041U CN 206639041 U CN206639041 U CN 206639041U CN 201720306867 U CN201720306867 U CN 201720306867U CN 206639041 U CN206639041 U CN 206639041U
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- electric motor
- farm work
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- motor wheel
- sterically defined
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- 238000002372 labelling Methods 0.000 claims abstract description 30
- 230000008447 perception Effects 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 5
- 241000209094 Oryza Species 0.000 claims description 23
- 235000007164 Oryza sativa Nutrition 0.000 claims description 23
- 235000009566 rice Nutrition 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 5
- 230000005021 gait Effects 0.000 description 6
- 238000009331 sowing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000010899 nucleation Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 240000000359 Triticum dicoccon Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
Abstract
It the utility model is related to one kind and be based on sterically defined farm work device.Including running gear, labelling apparatus (3), posture perception device (2), the running gear includes left Electric Motor Wheel (1), right Electric Motor Wheel (5), the left Electric Motor Wheel (1), right Electric Motor Wheel (5) are connected by bridge-set (4), labelling apparatus (3) is arranged on the lower section of bridge-set (4), or on the extension outside of bridge-set (4)；The Installation posture sensing device (2) on bridge-set (4) or labelling apparatus (3), motor (6) is set on the left Electric Motor Wheel (1), right Electric Motor Wheel (5)；Also include：Central processing unit, the central processing unit are connected with posture perception device (2), labelling apparatus (3), motor (6)；Navigating processor, the navigating processor are connected with central processing unit.The action of the labelling apparatus (3) of the present apparatus is controlled by posture perception device (2) independently of running gear, walking and mark is acted and is not linked, more stable；Calculated by navigating processor and determine robot in the locus in field；Precision can realize Centimeter Level.
Description
Technical field
The utility model belongs to Machinery Automation technical field, and in particular to one kind is made based on sterically defined field
Industry device.
Background technology
The plantation of crops is that requirement ensures certain density, therefore its sowing and transplanting are required for positioning in field.
By taking rice as an example, during machine rice transplantation, the side of linkage is mechanically or electrically controlled using point slotting speed and rice transplanter gait of march
Method, gait of march is then divided soon inserts soon, and gait of march is then divided slowly inserts slowly, so as to ensure that the spacing in the rows of rice shoot meets production requirement.Here,
The action of rice transplanting each time of rice transplanter, equivalent to the once mark to field ad-hoc location.
Live rice cave is a kind of wide variety of planting type, and existing technology is also all to use seeding speed and sowing
The method that machine gait of march mechanically or electrically controls linkage, then seeding is fast soon for gait of march, and then seeding is slow slowly for gait of march, so as to ensure
Sowing spacing is away from meeting production requirement.The sowing each time of seeder, also correspond to seed to field ad-hoc location once
Mark.
Utility application by the Application No. CN201510944704.9 of Shandong Agricultural University's application is " self-propelled
Paddy planter ", it is that the rotary speed information collection of tire is got up by photoelectric encoder and is returned to control system, is by control
The rotation of seed wheel under system control current driving speed.
It is " a kind of single by the Application No. CN201410216875.5 of Agricultural University Of South China's application utility application
Body copying type rice wheat dual-purpose precision drill ", is to be connected by walking machine clutch end with bunch planting formula sowing mechanism, is realized
The mechanical linkage that travel speed and seed wheel rotate.
R＆D institution will often set the cell and spacing of specification in strict field test experiment is carried out to crop.
In the field test of many crop handwork transplants, in order to mark cell and spacing in field, often use manually in field point stone
Ash, pulling cord, the methods such as son, pitching pile of paddling, it is time consuming, also it is unfavorable for field operation.
On the other hand, the agriculture wisdom tide that internet is brought, it is centered on computer, to current information technology
Comprehensive integration, integrate perception, transmission, control, operation, save agricultural production human cost, improve the quality of agricultural product
Control ability.
In farming production link, Beidou navigation is mainly applied and on the agricultural machinery such as tractor, seeder, major product is
Inertia combination (GNSS+DR) navigation product.
The 3S technologies being integrated using remote sensing (RS), GIS-Geographic Information System (GIS), global positioning system (GPS) is wisdom agricultures
Industry provides technical support.
RS technologies utilize high resolution sensor in wisdom agricultural, the object spectrum reflection of collection ground space distribution or
Radiation information, in different crop growth periods, implement comprehensive monitoring, according to spectral information, progress space is qualitative, positioning analysis,
Substantial amounts of field change in time and space information is provided for positioning prescription farming.
GPS can provide real-time, round-the-clock and global navigation, positioning, timing services, be provided efficiently for agricultural machinery working
Navigation information.
Utility model content
The utility model is intended to one of technical problem at least solving in above-mentioned correlation technique to a certain extent.Therefore,
The utility model provides a kind of convenient and reliable based on sterically defined farm work device, meets the production need of proportion of crop planting
Will.
Technical solution of the present utility model is：One kind is based on sterically defined farm work device, including walking dress
Put, labelling apparatus, posture perception device, the running gear includes left Electric Motor Wheel, right Electric Motor Wheel, the left Electric Motor Wheel, right electricity
Driving wheel is connected by bridge-set, and labelling apparatus is arranged on the lower section of bridge-set, or outside the extension of bridge-set
On side；The Installation posture sensing device on bridge-set or labelling apparatus, driving electricity is set in the left Electric Motor Wheel, right Electric Motor Wheel
Machine.
Posture perception device, it is to perceive locus and the posture of running gear by detecting and calculating determination, including inclines
Oblique degree and direction, and the speed according to running gear, direction, acceleration and inclination etc. determine the field positional number of labelling apparatus
According to, including speed, direction, acceleration and inclination etc., then calculate and predict labelling apparatus reality or current spatial location and
The locus of corresponding operation；Prediction, the action that fulfils assignment have delay.
According to the utility model embodiment, the junction in the left Electric Motor Wheel, right Electric Motor Wheel with bridge-set is set respectively
Put positioning signal reception and control device, battery and counterweight adjusting device.
According to the utility model embodiment, the posture perception device is acceleration transducer, gyroscope, gps antenna, super
Sound wave range sensor, image sensor, infrared sensor, laser range sensor.
According to the utility model embodiment, the posture perception device is arranged on the bridge-set outside extended, or
The outside of left Electric Motor Wheel, right Electric Motor Wheel.
According to the utility model embodiment, one kind is based on sterically defined farm work device, in addition to：
Central processing unit, the central processing unit are connected with posture perception device, labelling apparatus, motor；
Navigating processor, the navigating processor are connected with central processing unit；
The navigating processor connection dynamic receiver, correction receiver.
According to the utility model embodiment, receiver antenna is set, the receiver antenna is used above the bridge-set
In the signal for receiving central processing unit.
According to the utility model embodiment, the labelling apparatus is seed metering device or marking ga(u)ge, or seeder, or is inserted
Label machine, or seedling claw of transplanter or pile engine or cast feeder.
According to the utility model embodiment, one kind is based on sterically defined farm work device, in addition to：Rice field benchmark
Stand, the rice field base station is used for the connection of central processing unit, navigating processor.
According to the utility model embodiment, the satellite of the navigating processor reception signal is that GPS or Beidou navigation are defended
Star or Galileo navigation satellite.
According to the utility model embodiment, one kind is based on sterically defined farm work device, in addition to：Wireless telecommunications mould
Block, the wireless communication module are connected with mobile phone, computer.
The beneficial effects of the utility model are：One kind receives satellite-signal based on sterically defined farm work device, together
When receive base station signal, by navigating processor calculate determine apparatus for work in the locus in field；Precision can be realized li
Meter level, such as 2 centimetres of ＜；The posture of acceleration transducer and gyro sensor detection operation device, determined according to attitude data
The position of labelling apparatus；Central processing unit foundation requires that the corresponding action of (such as respective distance position) control (such as forward-reverse, turns
To, acceleration-deceleration, mark, seeding, line etc.).
The action of the labelling apparatus of this apparatus for work is controlled by field location aware device independently of running gear, left
Electric Motor Wheel, right Electric Motor Wheel are controlled by central processing unit respectively, the problem of advantageously accounting for driving wheel sideslip, skidding, brake, make row
Walk and mark action does not link, it is more stable.
Brief description of the drawings
Fig. 1 is that one kind is based on sterically defined farm work device stereochemical structure sketch.
Fig. 2 is that one kind is based on sterically defined farm work device schematic elevation view.
Fig. 3 is projection-type seed metering device structural representation.
Fig. 4 is that one kind is based on sterically defined farm work apparatus control system schematic diagram.
Fig. 5 is rice field marking ga(u)ge structural representation.
Fig. 6 is rice field seeder structural representation.
Fig. 7 is that label machine structural representation is inserted in rice field.
In figure：The left Electric Motor Wheels of 1-；2- posture perception devices；3- labelling apparatus；4- bridge-sets；The right Electric Motor Wheels of 5-；6- drives
Dynamic motor；7- receiver antennas；8- positioning signal receptions and control device；9- batteries and counterweight adjusting device；10- marking ga(u)ges；
11- seeders；12- labels；13- label propulsion plants；The reciprocating hammers of 14-；15- is inserted in the label in rice field.
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings.Below by
The embodiment being described with reference to the drawings is exemplary, it is intended to for explaining the utility model, and it is not intended that new to this practicality
The limitation of type.
As shown in Figure 1, Figure 2, Figure 3 shows, it is a kind of to be based on sterically defined farm work device, including running gear, mark dress
3, posture perception device 2 is put, the running gear includes left Electric Motor Wheel 1, right Electric Motor Wheel 5, the left Electric Motor Wheel 1, right Electric Motor Wheel 5
Being connected by bridge-set 4, labelling apparatus 3 is arranged on the lower section of bridge-set 4, or outside the extension of bridge-set 4
On side；The Installation posture sensing device 2 on bridge-set 4 or labelling apparatus 3, set in the left Electric Motor Wheel 1, right Electric Motor Wheel 5
Motor 6；Labelling apparatus 3 in Fig. 3 is projection-type feed mechanism for seed.
As shown in Figure 4, Figure 5, the left Electric Motor Wheel 1, set respectively with the junction of bridge-set 4 in right Electric Motor Wheel 5 it is fixed
Position signal receives and control device 8, battery and counterweight adjusting device 9.
The posture perception device 2 is acceleration transducer, gyroscope, gps antenna, ultrasonic distance sensor, image
Sensor, infrared sensor, laser range sensor.
One kind is based on sterically defined farm work apparatus control system, including：
Central processing unit, the central processing unit are connected with posture perception device 2, labelling apparatus 3, motor 6；
Navigating processor, the navigating processor are connected with central processing unit；
The navigating processor connection dynamic receiver, correction receiver.
The top of bridge-set 4 sets receiver antenna 7, and the receiver antenna 7 is used to receive central processing unit
Signal.
It is easy to accurately determine position, rice field base station is set, and the rice field base station is used for central processing unit, navigation is handled
The connection of device, rice field base station are arranged near operation ground.
The satellite of the navigating processor reception signal is that GPS or Beidou navigation satellite or Galileo navigation are defended
Star.
Increase wireless communication module, can be connected with mobile phone, computer etc., realize controlled in wireless can data exchange, conveniently make
With.
Fig. 3 labelling apparatus 3 is projection-type seed metering device, when posture perception device 2 perceives the position of setting, is touched
Send out feed mechanism for seed seeding.
Fig. 5 labelling apparatus 3 is marking ga(u)ge 10, and marking ga(u)ge is triggered when posture perception device 2 perceives the position of setting
10 paddle.
Fig. 6 labelling apparatus 3 is seeder 11, and seeder is triggered when posture perception device 2 perceives the position of setting
11 sowings.
Fig. 7 labelling apparatus 3 is that label machine is inserted in rice field, and label machine is inserted in rice field includes label 12；Label propulsion plant 13；It is past
The hammer 14 moved again；Trigger when posture perception device 2 perceives the position of setting and inserted in the rice field of label propulsion plant 13
Enter label, 15- is inserted in the label in rice field.
Labelling apparatus 3 can also be a seedling claw of transplanter, when posture perception device 2 perceives the position of setting, touch
Send out seedling pawl rice transplanting.
Labelling apparatus 3 can also be a pile engine, and when posture perception device 2 perceives the position of setting, triggering is beaten
Stake device piling.
It is a cast feeder that labelling apparatus 3, which can also be, when posture perception device 2 perceives the position of setting, triggering
Cast feeder launches mark material.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
"front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " axial direction ", " radial direction ", " circumference " etc.；
The orientation or position relationship of instruction are based on orientation shown in the drawings or position relationship, are for only for ease of description the utility model
Described with simplifying, rather than the device or element of instruction or hint meaning there must be specific orientation, with specific orientation structure
Make and operate, therefore it is not intended that to limitation of the present utility model.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In description of the present utility model, " multiple " are meant that at least two, such as two
It is individual, three etc., unless otherwise specifically defined.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be
Mechanically connect or electrically connect or can communicate each other；Can be joined directly together, the indirect phase of intermediary can also be passed through
Even, can be two element internals connection or two elements interaction relationship, limited unless otherwise clear and definite.For this
For the those of ordinary skill in field, concrete meaning of the above-mentioned term in the utility model can be understood as the case may be.
In the utility model, unless otherwise clearly defined and limited, fisrt feature is "above" or "below" second feature
Can be that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, first is special
Sign second feature " on ", " top " and " above " can be fisrt feature directly over second feature or oblique upper, or only
Only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can
Be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height and be less than second feature.
In the description of this specification, reference term " embodiment ", " specific embodiment ", " example " or " specific example " etc.
Description mean that combining specific features, structure, material or feature that the embodiment or example describe is contained in the utility model
At least one embodiment or example in.In this manual, phase is necessarily directed to the schematic representation of above-mentioned term
Same embodiment or example.Moreover, specific features, structure, material or the feature of description can be in any one or more implementations
Combined in an appropriate manner in example or example.In addition, in the case of not conflicting, those skilled in the art can be by this
Different embodiments or example and the feature of different embodiments or example described in specification are combined and combined.
Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as to limitation of the present utility model, one of ordinary skill in the art is in the scope of the utility model
It is interior above-described embodiment to be changed, changed, replaced and modification.
Claims (10)
1. one kind is based on sterically defined farm work device, including running gear, labelling apparatus (3), posture perception device
(2), it is characterised in that the running gear includes left Electric Motor Wheel (1), right Electric Motor Wheel (5), and the left Electric Motor Wheel (1), the right side are electronic
Take turns (5) to connect by bridge-set (4), labelling apparatus (3) is arranged on the lower section of bridge-set (4), or fills installed in bridge joint
Put on the outside of the extension of (4)；The Installation posture sensing device (2) on bridge-set (4) or labelling apparatus (3), the left side are electronic
Motor (6) is set on wheel (1), right Electric Motor Wheel (5).
2. one kind according to claim 1 is based on sterically defined farm work device, it is characterised in that the left side is electronic
Positioning signal reception and control device (8), electricity are set respectively on wheel (1), right Electric Motor Wheel (5) with the junction of bridge-set (4)
Pond and counterweight adjusting device (9).
3. one kind according to claim 1 is based on sterically defined farm work device, it is characterised in that the posture sense
It is acceleration transducer, gyroscope, gps antenna, ultrasonic distance sensor, image sensor, infrared sensing to know device (2)
Device, laser range sensor.
4. one kind according to claim 1 is based on sterically defined farm work device, it is characterised in that the posture sense
Know that device (2) is arranged on bridge-set (4) outside extended, or left Electric Motor Wheel (1), the outside of right Electric Motor Wheel (5).
5. one kind according to claim 1 is based on sterically defined farm work device, it is characterised in that also includes：
Central processing unit, the central processing unit are connected with posture perception device (2), labelling apparatus (3), motor (6)；
Navigating processor, the navigating processor are connected with central processing unit；
The navigating processor connection dynamic receiver, correction receiver.
6. one kind according to claim 5 is based on sterically defined farm work device, it is characterised in that the bridge joint dress
Put and receiver antenna (7) is set above (4), the receiver antenna (7) is used for the signal for receiving central processing unit.
7. one kind according to claim 1 is based on sterically defined farm work device, it is characterised in that the mark dress
It is seed metering device or marking ga(u)ge (10) to put, or seeder (11), or slotting label machine, or seedling claw of transplanter or pile engine or
Cast feeder.
8. one kind according to claim 5 is based on sterically defined farm work device, it is characterised in that also includes：Rice field
Base station, the rice field base station are used for the connection of central processing unit, navigating processor.
9. one kind according to claim 5 is based on sterically defined farm work device, it is characterised in that at the navigation
The satellite for managing device reception signal is GPS or Beidou navigation satellite or Galileo navigation satellite.
10. one kind according to claim 1 is based on sterically defined farm work device, it is characterised in that also includes：Nothing
Line communication module, the wireless communication module are connected with mobile phone, computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720306867.9U CN206639041U (en) | 2017-03-28 | 2017-03-28 | One kind is based on sterically defined farm work device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720306867.9U CN206639041U (en) | 2017-03-28 | 2017-03-28 | One kind is based on sterically defined farm work device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206639041U true CN206639041U (en) | 2017-11-14 |
Family
ID=60258759
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720306867.9U Expired - Fee Related CN206639041U (en) | 2017-03-28 | 2017-03-28 | One kind is based on sterically defined farm work device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476676A (en) * | 2018-04-18 | 2018-09-04 | 华南农业大学 | Field intelligent seeder device people and type of seeding |
-
2017
- 2017-03-28 CN CN201720306867.9U patent/CN206639041U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108476676A (en) * | 2018-04-18 | 2018-09-04 | 华南农业大学 | Field intelligent seeder device people and type of seeding |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 |