CN208689444U - A kind of control system of orchard fertilizer apparatus - Google Patents
A kind of control system of orchard fertilizer apparatus Download PDFInfo
- Publication number
- CN208689444U CN208689444U CN201821751002.4U CN201821751002U CN208689444U CN 208689444 U CN208689444 U CN 208689444U CN 201821751002 U CN201821751002 U CN 201821751002U CN 208689444 U CN208689444 U CN 208689444U
- Authority
- CN
- China
- Prior art keywords
- fertilizer apparatus
- orchard
- main control
- wheel
- fertilizer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Fertilizing (AREA)
Abstract
The utility model relates to a kind of control systems of orchard fertilizer apparatus, it is characterized in that, including main control module, and chassis drive module, vision detection system, inertial navigation system, switch key group and the fertilizer distributor being connected to the main control module, the chassis drive module is connected with underpan walking device, in control cabinet, the control cabinet is arranged on the chassis of orchard fertilizer apparatus for the main control module and the chassis drive module setting.The switch key group includes master switch, chassis control switch and fertilizer distributor control switch.The vision detection system includes binocular sensor, and the binocular sensor is connect with the master controller of the main control module.The inertial navigation system includes inertial navigation sensor, and the inertial navigation sensor is connect with the master controller of the main control module.The utility model structure is simple, low in cost, and easy to use and flexible is easy to operate, and energy is convenient, fast, accurately completes fertilising operation, has the features such as practical, to reduce manpower and material resources.
Description
Technical field
The utility model belongs to agricultural machinery technological field, and in particular to a kind of control system of orchard fertilizer apparatus.
Background technique
Vast territory and abundant resources in China, and fruit variety is various, and fruit output is munificent.Under good policy of reforming and opening up to the outside world, the fruit in China
Tree planting area and fruit output increase swift and violent.Fertilising is the important link in orchard operation, and rationally in due course fertilising is to fruit tree
Growth and increasing income for orchard worker be of great significance.
The major way of China orchard fertilising operation has artificial caving & fertilizing, mechanical ditching-fertilizing, liquid manure one at this stage
Water-saving irrigation technique etc..Wherein poor-water drought-hit area orchardist will use ditching-fertilizing technology, there are operation power consumptions big, low efficiency, fertilizer
Expect the problems such as low utilization rate, fertilization depth and position are unsatisfactory for agriculture requirement；Water-fertilizer integral water-saving irrigation technique is applied
The limitation of region, be used primarily in meet trickle irrigation, slight irrigation requirement fixation water source hydrous fluids orchard.
Moreover, China's chemical fertilizer total output accounts for the 16.6% of the world, second place of the world is occupied, total amount of application ranks first in the world.Often
Hectare dosage is 4 times of world's average dose, but effective rate of utilization is less than 30%.Chronic administration chemical fertilizer, though crops increasing can be obtained
The economic benefit of production, but can also generate many environmental problems, such as soil pollution, acidification, hardened, soil element is unbalance.It is excessive
Chemical fertilizer underground is flushed to by water quickly, influence the nutrient balance of soil, cause water eutrophication, influence the ecological balance.In view of
Increasingly serious medicine, fertile behaviour in service, the Ministry of Agriculture in 2015 propose two zero growth rate schemes: " making to the year two thousand twenty chemical fertilizer
Dosage zero growth rate action scheme " and " arriving the year two thousand twenty Pesticide use amount zero growth rate action scheme ".It has formulated within 2017 and " has carried out again
Fruit and vegetable tea organic fertilizer replacing fertilizer action scheme ", to accelerate to promote agriculture Green Development, resource circulation utilization is promoted, further
Reduce agriculture chemical dosage.
In response to national policy, fertilizer amount is reduced, improves chemical fertilizer utilization ratio, is solved above-mentioned present in the fertilising of orchard
It is imperative to design a kind of precisely easy-operating orchard fertilizer apparatus and its control system for problem.
Utility model content
The utility model devises a kind of control system of orchard fertilizer apparatus, it is desirable to provide one kind is easy to operate, can save
The fertilizer apparatus control system for saving fertilizer, improving utilization rate of fertilizer.
To achieve the goals above, the utility model uses following technical scheme:
A kind of control system of orchard fertilizer apparatus, including main control module, and the chassis being connected to the main control module
Drive module, vision detection system, inertial navigation system, switch key group and fertilizer distributor, the chassis drive module and chassis row
Walking apparatus connection.
Further, the switch key group is connect with the master controller of the main control module.
Further, the switch key group includes master switch, chassis control switch and fertilizer distributor control switch.
Further, the vision detection system includes binocular sensor, the binocular sensor and the main control module
Master controller connection.
Further, the inertial navigation system includes inertial navigation sensor, the master control of the inertial navigation sensor and the main control module
Device connection processed.
Further, the chassis drive module includes multiple wheel electrical machine drivers, the wheel electrical machine driver and institute
The wheel electrical machine stated in underpan walking device corresponds.
Further, the underpan walking device includes wheel group and motor group, and the wheel group includes multiple wheels, described
Motor group includes multiple wheel electrical machines；The wheel and the wheel electrical machine correspond.
Further, there are four the wheels, the wheel electrical machine is DC speed-reducing.
Further, the fertilizer distributor includes stepper motor driver, stepper motor, outer groove-wheel fertilizer apparatus and fertilizer box,
The stepper motor and the outer groove-wheel fertilizer apparatus are coaxially connected, and the fertilizer box is mounted on the upper of the outer groove-wheel fertilizer apparatus
Side, the stepper motor driver are connect with the master controller of the main control module.
Further, the main control module includes master controller, and the master controller uses single-chip microcontroller.
Further, in control cabinet, the control cabinet setting exists for the main control module and the chassis drive module setting
On the chassis of orchard fertilizer apparatus.
It further, further include battery, the battery is arranged among the rear portion on orchard fertilizer apparatus chassis.
Further, the bottom frame that the ontology on the chassis of orchard fertilizer apparatus is made of criss-cross rod piece；The bottom frame
On be provided with several columns upwardly extended, pull rod is provided between adjacent columns to forming frame structure；The fertilizer distributor
It is arranged on the column in the middle part of the frame structure, the binocular sensor of the vision detection system is arranged in the frame structure
On the pull rod of front, the front end of the bottom frame is arranged in the inertial navigation sensor of the inertial navigation system.
When work, firstly, the control system of orchard fertilizer apparatus carries out system initialization；
Secondly, pressing each switch in switch key group；System judges switch key group state, judges respective mode
Whether the switch key of block is pressed, when all switch keys are pressed, system runs program instruction；When there is switch key not have
When being pressed, system issues prompt until all switch keys are pressed；
Then, main control module drives underpan walking device walking by chassis drive module, and orchard fertilizer apparatus moves ahead；It is used
The deflection situation on guiding systems real-time detection orchard fertilizer apparatus chassis, and defection signal is sent to main control module, main control module
After receiving defection signal, sends angular adjustment signal and give chassis drive module, chassis drive module changes four wheel electrical machines
Revolving speed, realize adjusting to chassis, after the completion of inertial navigation sensor detects chassis angular adjustment, send angular adjustment and complete
Signal is to main control module；When the binocular sensor of vision detection system detects fruit tree, pomology information letter is sent to main control module
Number；
Finally, completing signal and binocular sensing when main control module receives the angular adjustment that inertial navigation sensor is sent simultaneously
When the pomology information signal that device is sent, the stepper motor that main control module sends order control fertilizer apparatus is rotated forward, and rotates forward duration
T1, stepper motor and outer groove-wheel fertilizer apparatus are coaxially connected to realize that the rotation of outer groove-wheel fertilizer apparatus is applied fertilizer；It is tied when rotating forward time t1
Beam, main control module send order and stop stepper motor rotating forward, complete the fertilising of single fruit tree.To each fruit tree weight in orchard
Multiple above-mentioned steps, complete the fertilising to orchard.
The control system of the orchard fertilizer apparatus has the advantages that
(1) the utility model may be implemented to determine section and quantitative fertilization to fruit tree, and the effective dosage for reducing chemical fertilizer improves
The effective rate of utilization of chemical fertilizer reduces operating cost brought by artificially applying fertilizer；The device, which has, saves fertilizer, easy to operate, energy
The features such as improving utilization rate of fertilizer.
(2) the utility model simple, efficiently can be detected and determined applying fruit trees with fertilizer position, provide in conjunction with agronomy
Material has certain flexibility and versatility to applying fruit trees with fertilizer.
(3) the utility model, structure is simple, low in cost, and easy to use and flexible is simple and fast, easy to operate, can facilitate,
Fast, fertilising operation is accurately completed, there is the features such as practical, to reduce manpower and material resources, provides one kind for orchard fertilising
Simply, efficiently method.
Detailed description of the invention
Fig. 1: the modular construction schematic diagram of the control system of orchard fertilizer apparatus in the utility model embodiment；
Fig. 2: the modular construction schematic diagram of the utility model embodiment indsole dish driving module and underpan walking device；
Fig. 3: the structural schematic diagram of orchard fertilizer apparatus in the utility model embodiment；
Fig. 4: the work flow diagram of the control system of orchard fertilizer apparatus in the utility model embodiment.
Description of symbols:
1-underpan walking device；11-motor groups；111-DC speed-reducings I；112-DC speed-reducings II；
113-DC speed-reducings III；114-DC speed-reducings IV；12-wheel groups；121-wheels I；122-wheels II；
123-wheels III；124-wheels IV；2-chassis drive modules；21-wheel electrical machine drivers I；The driving of 22-wheel electrical machines
Device II；23-wheel electrical machine drivers III；24-wheel electrical machine drivers IV；3-inertial navigation sensors；4-binocular sensors；
5-switch key groups；51-master switch；52-chassis controls switch；53-fertilizer distributor control switches；6-main control modules；
7-fertilizer distributors；71-stepper motor drivers；72-stepper motors；73-outer groove-wheel fertilizer apparatus；74-fertilizer boxes；8-controls
Case processed；9-batteries.
Specific embodiment
With reference to the accompanying drawing, the utility model is described further:
Fig. 1 to Fig. 4 shows a kind of specific embodiment of the control system of orchard fertilizer apparatus of the utility model.Fig. 1
It is the modular construction schematic diagram of the control system of orchard fertilizer apparatus in present embodiment；Fig. 2 is chassis in present embodiment
The modular construction schematic diagram of drive module and underpan walking device；Fig. 3 is the structure of orchard fertilizer apparatus in present embodiment
Schematic diagram；Fig. 4 is the work flow diagram of the control system of orchard fertilizer apparatus in present embodiment.
As shown in Figure 1, the control system of the orchard fertilizer apparatus in present embodiment, including main control module 6, and with master
Control chassis drive module 2, vision detection system, inertial navigation system and fertilizer distributor 7 that module 6 connects, chassis drive module 2 and bottom
Disk running gear 1 connects.
Preferably, the control system of the orchard fertilizer apparatus in present embodiment, further includes switch key group 5, switch is pressed
Key group 5 is connect with main control module 6；Switch key group 5 includes master switch 51, chassis control switch 52 and fertilizer distributor control switch
53, as shown in Figure 1.
Preferably, the vision detection system includes binocular sensor 4, the main control of binocular sensor 4 and main control module 6
Device connection, as shown in Figure 1.In the present embodiment, binocular sensor 4 is connected on master controller by bus, is sensed using binocular
Device 4 obtains current fruit tree position, sends current fruit tree position to master controller, master controller judges whether to reach fertilization point.
Preferably, the inertial navigation system includes inertial navigation sensor 3, the master controller company of inertial navigation sensor 3 and main control module 6
It connects, as shown in Figure 1.In the present embodiment, inertial navigation sensor 3 is connected on master controller by bus, is obtained using inertial navigation sensor 3
Take the motion state when front chassis, send current motion state to master controller, master controller by current motion state with
Setting motion state is compared, and controls bobbin movement.
Preferably, chassis drive module 2 includes multiple wheel electrical machine drivers, and wheel electrical machine driver and chassis walking fill
The wheel electrical machine set in 1 corresponds, as shown in Figure 2.
Preferably, underpan walking device 1 includes wheel group 12 and motor group 11, and wheel group 12 includes multiple wheels, motor
Group 11 includes multiple wheel electrical machines；Wheel and wheel electrical machine correspond, as depicted in figs. 1 and 2.
In the present embodiment, there are four wheels, is wheel I 121, wheel II 122, wheel III 123 and wheel IV 124 respectively；
Wheel electrical machine is DC speed-reducing, and there are four wheel electrical machines, is DC speed-reducing I 111, DC speed-reducing II respectively
112, DC speed-reducing III 113 and DC speed-reducing IV 114；There are four wheel electrical machine drivers, is wheel electrical machine respectively
Driver I 21, wheel electrical machine driver II 22, wheel electrical machine driver III 23 and wheel electrical machine driver IV 24.Such as Fig. 2 institute
Show, wheel, wheel electrical machine, wheel electrical machine driver correspond.
Preferably, fertilizer distributor 7 includes stepper motor driver 71, stepper motor 72, outer groove-wheel fertilizer apparatus 73 and fertilizer
Case 74, stepper motor 72 and outer groove-wheel fertilizer apparatus 73 are coaxially connected, and fertilizer box 74 is mounted on the top of outer groove-wheel fertilizer apparatus 73, step
It is connect into motor driver 71 with the master controller of main control module 6, as described in Figure 1.
Preferably, main control module 6 includes master controller, and the master controller uses single-chip microcontroller.
Preferably, main control module 6 and chassis drive module 2 are arranged in control cabinet 8, and the setting of control cabinet 8 is applied fertilizer in orchard
On the chassis of device, as shown in Figure 3.
It preferably, further include battery 9, battery 9 is arranged among the rear portion on orchard fertilizer apparatus chassis, as shown in Figure 3.
Preferably, the bottom frame that the ontology on the chassis of orchard fertilizer apparatus is made of criss-cross rod piece；The bottom frame
On be provided with several columns upwardly extended, pull rod is provided between adjacent columns to forming frame structure；Fertilizer distributor 7 is arranged
On the column in the middle part of the frame structure, the binocular sensor 4 of the vision detection system is arranged before the frame structure
On the pull rod in portion, the front end of the bottom frame is arranged in the inertial navigation sensor 3 of the inertial navigation system, as shown in Figure 3.
As shown in figure 4, when work, firstly, the control system of orchard fertilizer apparatus carries out system initialization；
Secondly, pressing each switch in switch key group 5；System judges that 5 state of switch key group, judgement is corresponding
Whether the switch key of module is pressed, when all switch keys are pressed, system runs program instruction；When there is switch key
When not pressing, system issues prompt until all switch keys are pressed；
Then, main control module 6 drives underpan walking device 1 to walk by chassis drive module 2, before the fertilizer apparatus of orchard
Row；The deflection situation on inertial navigation system real-time detection orchard fertilizer apparatus chassis, and defection signal is sent to main control module 6, it is main
After control module 6 receives defection signal, angular adjustment signal is sent to chassis drive module 2, chassis drive module 2 changes four
The revolving speed of wheel electrical machine realizes the adjusting to chassis, after the completion of inertial navigation sensor 3 detects chassis angular adjustment, sends angle
Degree, which is adjusted, completes signal namely signal 1, gives main control module 6；When the binocular sensor 4 of vision detection system detects fruit tree, give
Main control module 6 sends pomology information signal namely signal 2；
Finally, when main control module 6 receives simultaneously, the angular adjustment that inertial navigation sensor 3 is sent completes signal and binocular passes
When the pomology information signal that sensor 4 is sent namely when main control module 6 is detected simultaneously by signal 1 and signal 2, main control module 6 is sent out
It loses one's life and the stepper motor 72 of control fertilizer apparatus 7 is enabled to rotate forward, rotate forward duration t1, stepper motor 72 and outer groove-wheel fertilizer apparatus 73 are coaxial
Connection is to realize the rotation fertilising of outer groove-wheel fertilizer apparatus 73；Terminate when rotating forward time t1, main control module 6 sends order and stops stepping
Motor 72 rotates forward, and completes the fertilising of single fruit tree.It repeats the above steps to each fruit tree in orchard, orchard is applied in completion
Fertilizer.
Specifically, vision system binocular sensor 4 obtain image, the master controller of main control module 6 to image at
Reason, obtains fruit tree location information.
The present invention is after being manually pressed by switch key group, bobbin movement, obtains chassis using inertial navigation sensors and transports
Dynamic state obtains pomology information to master controller using binocular sensor, and master controller sends fertilising signal, stepper motor driving
Device drives stepper motor rotation, rotates the t1 time, and stepper motor and outer groove-wheel fertilizer apparatus are coaxially connected, realizes outer groove-wheel fertilizer apparatus
Fertilizer.Energy is convenient, fast, accurately completes fertilising operation, has the features such as practical, to reduce manpower and material resources, applies for orchard
Fertilizer provides a kind of simple, efficiently method.
The utility model may be implemented to determine section and quantitative fertilization to fruit tree, the effective dosage for reducing chemical fertilizer, raisingization
The effective rate of utilization of fertilizer reduces operating cost brought by artificially applying fertilizer；The device, which has, saves fertilizer, easy to operate, can mention
The features such as high utilization rate of fertilizer.
The utility model simple, efficiently can be detected and determined applying fruit trees with fertilizer position, right in conjunction with agronomy data
Applying fruit trees with fertilizer has certain flexibility and versatility.
According to design scheme provided by the utility model, peasant household can use the orchard fertilizer apparatus of the utility model to fruit
Tree carries out fertilising operation, convenient and efficient, easy to operate.By the device, the location information of fruit tree is easily and efficiently obtained, is realized
The fertilising of fruit tree, the utility model provide a kind of saving chemical fertilizer, easy-operating fertilizer apparatus.
The utility model, structure is simple, low in cost, and easy to use and flexible is simple and fast, can be applied to existing orchard,
It is a kind of very easily orchard fertilizer apparatus.
Illustrative description has been carried out to the utility model above in conjunction with attached drawing, it is clear that the realization of the utility model not by
The limitation of aforesaid way, if the method concept of the utility model and the various improvement of technical solution progress are used, or without
It improves and the conception and technical scheme of the utility model is directly applied into other occasions, in the protection scope of the utility model
It is interior.
Claims (10)
1. a kind of control system of orchard fertilizer apparatus, which is characterized in that connect including main control module, and with the main control module
Chassis drive module, vision detection system, inertial navigation system, switch key group and the fertilizer distributor connect, the chassis drive module
It is connected with underpan walking device, in control cabinet, the control cabinet is set for the main control module and the chassis drive module setting
It sets on the chassis of orchard fertilizer apparatus.
2. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the switch key group includes
Master switch, chassis control switch and fertilizer distributor control switch.
3. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the vision detection system packet
Binocular sensor is included, the binocular sensor is connect with the master controller of the main control module.
4. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the inertial navigation system includes used
Derivative sensor, the inertial navigation sensor are connect with the master controller of the main control module.
5. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the chassis drive module packet
Multiple wheel electrical machine drivers are included, the wheel electrical machine one in the wheel electrical machine driver and the underpan walking device is a pair of
It answers.
6. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the underpan walking device packet
Wheel group and motor group are included, the wheel group includes multiple wheels, and the motor group includes multiple wheel electrical machines；The wheel and
The wheel electrical machine corresponds.
7. the control system of orchard fertilizer apparatus according to claim 6, which is characterized in that there are four the wheels, institute
Stating wheel electrical machine is DC speed-reducing.
8. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the fertilizer distributor includes step
Into motor driver, stepper motor, outer groove-wheel fertilizer apparatus and fertilizer box, the stepper motor and the outer groove-wheel fertilizer apparatus are coaxial
Connection, the fertilizer box are mounted on the top of the outer groove-wheel fertilizer apparatus, the stepper motor driver and the main control module
Master controller connection.
9. the control system of orchard fertilizer apparatus according to claim 1, which is characterized in that the main control module includes master
Controller, the master controller use single-chip microcontroller.
10. the control system of orchard fertilizer apparatus according to any one of claims 1 to 9, which is characterized in that further include electricity
Pond, the battery are arranged among the rear portion on orchard fertilizer apparatus chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821751002.4U CN208689444U (en) | 2018-10-27 | 2018-10-27 | A kind of control system of orchard fertilizer apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821751002.4U CN208689444U (en) | 2018-10-27 | 2018-10-27 | A kind of control system of orchard fertilizer apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208689444U true CN208689444U (en) | 2019-04-02 |
Family
ID=65889830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821751002.4U Expired - Fee Related CN208689444U (en) | 2018-10-27 | 2018-10-27 | A kind of control system of orchard fertilizer apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208689444U (en) |
-
2018
- 2018-10-27 CN CN201821751002.4U patent/CN208689444U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104885607B (en) | A kind of automatic variable seeding and fertilizing control system and multifunctional seed drill | |
| CN103314689B (en) | A kind of self-navigation orchard intelligence ditching-fertilizing machine | |
| CN203369088U (en) | Intelligent ditching fertilizer distributor for garden based on automatic navigation | |
| CN203884176U (en) | Self-propelled integrated corn management machine | |
| CN109085842A (en) | A kind of control system and its control method of orchard fertilizer apparatus | |
| CN204907112U (en) | Variable fertilizer distributor | |
| CN106612828B (en) | A kind of corn normotopia cave deep fertilizer spraying precision seeder and its Precision Seeding method | |
| CN107182385B (en) | Smart smart volume maize seeding monomer | |
| CN1726750A (en) | Virtual GPS accurate agricultural variable subsoil application system | |
| CN203675603U (en) | Variable-rate fertilization device | |
| CN104704953A (en) | Reseeding type potato seeding machine | |
| CN201418257Y (en) | Corn seeder | |
| CN105340443A (en) | Toward-target fertilizer applicator for orchard and variable control method thereof | |
| CN107593048B (en) | A kind of plant essence amount interval spot application system and method | |
| CN204482244U (en) | Novel potato sower | |
| CN104678928A (en) | Universal variable operation controller and control method thereof | |
| CN101715674A (en) | Variable liquid-fertilizer hole-application machine of steering wheel type | |
| CN208689444U (en) | A kind of control system of orchard fertilizer apparatus | |
| CN204859937U (en) | Rotary tillage is fertilizied entirely, and membrane divides soil smart volume hill -drop planter | |
| CN109042274A (en) | A kind of package root system precisely spraying ultrasonic atomizatio cultivation case and its method | |
| CN209563183U (en) | A kind of orchard fertilizer apparatus | |
| CN209201536U (en) | It is a kind of for the flat intelligent weeder for making milpa | |
| CN204287847U (en) | Tractor planting and fertilizing machine control system | |
| CN207148596U (en) | Precise proportions fertilising machine controller | |
| CN109168509A (en) | A kind of orchard fertilizer apparatus and its working method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20190402 Termination date: 20191027 |