CN210183873U - Membrane-breaking seedling-guiding hiller based on infrared technology - Google Patents
Membrane-breaking seedling-guiding hiller based on infrared technology Download PDFInfo
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- CN210183873U CN210183873U CN201920664664.6U CN201920664664U CN210183873U CN 210183873 U CN210183873 U CN 210183873U CN 201920664664 U CN201920664664 U CN 201920664664U CN 210183873 U CN210183873 U CN 210183873U
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Abstract
The utility model relates to a broken membrane draws seedling banking machine based on infrared technology. The device comprises a travelling device, a membrane breaking and seedling guiding device, a ridging device, a soil taking and conveying device, a sensor detection module and an intelligent control processing module; the travelling device is fixedly provided with a membrane breaking and seedling guiding device, a ridging device, a sensor detection module and an intelligent control processing module; the soil taking and conveying device is fixed on one side of the traveling device. The utility model utilizes the circular cut filaments heated in the film breaking and seedling guiding device to break the film of the seedling, thus reducing the damage to the peanut seedling; and a layer of loose and moist soil can be accurately covered around the peanut seedlings, so that the efficiency and the accuracy of the conventional film breaking and seedling guiding device are integrally improved.
Description
Technical Field
The utility model relates to a mechanical equipment that is used for the rupture of membranes to draw seedling banking up especially relates to a rupture of membranes draws seedling banking up machine based on infrared technology, belongs to the agricultural machine field.
Background
With the increase of population, people have more and more demand on crops such as peanuts, so that the mulching film is widely used by people so as to increase the capacity of soil fertility preservation, heat preservation and water retention. When two cotyledons of the peanuts are unfolded and the leaves turn green, the film is broken in time to guide seedlings and hilling, so that the phenomenon that the normal growth of the peanuts is influenced by 'roasted seedlings' due to overhigh temperature at noon is prevented. Because the peanut seedling emergence speed is different, the film breaking and seedling guiding are carried out in a plurality of times, and the film breaking and seedling guiding are carried out before 10 am, 3 pm or in cloudy days in sunny days so as to prevent 'roasting' of seedlings.
At present, most of peanuts need to be manually broken to guide seedlings, a 4-5cm round hole is formed above each seedling by three fingers, loose soil is randomly grabbed to cover the upper part of the membrane hole, a large amount of manpower is consumed, and batch seedling placement needs farmers to work in the field for a long time. For the above problems, solutions are endless, and the following are given as examples: chinese patent application No. CN95205877.4 discloses a film-breaking seedling-releasing machine, which drives a film-breaking device to complete the punching of a mulching film by the synchronous rotation of a traveling wheel and a cam, and uses machinery to replace manual work to punch holes on the mulching film, but the device still needs manual work to push and walk, and the position of seedlings is visually observed, and then the hand brake is pulled by a person to realize the film-breaking seedling-guiding; chinese patent with application number CN201711262820.8 discloses a crawler-type peanut membrane breaking seedling guiding machine, which utilizes pointed end and swing arm to pierce the mulching film, enlarges the split of the mulching film along with the swing arm gradually opens the pointed end, and the pointed end easily hurts the seedling when opening when the seedling is higher.
In order to improve the efficiency of membrane breaking and seedling guiding and realize automatic ridging, a machine capable of automatically realizing membrane breaking, seedling guiding and ridging is needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem of low efficiency of artificial film breaking and hilling, and provides a device for automatically identifying peanut seedlings, discharging the seedlings from the film and hilling automatically, which utilizes the circular cut shreds heated in the film breaking and seedling guiding device to break the film of the seedlings, thus reducing the damage to the peanut seedlings; by carrying out clustering, feature extraction and other analyses on the images acquired by the infrared camera, peanut seedlings can be accurately positioned, so that the peanut seedlings can be distinguished from weeds and miss-seeding positioning can be realized; through the design to the bucket of earthing up in conveyor and the device of earthing up that fetches earth, cover the loose moist soil of one deck around the peanut seedling that can be accurate, wholly improved the efficiency and the accuracy that present rupture of membranes led the seedling device.
The technical scheme of the utility model is that:
a membrane-breaking seedling-guiding hiller based on an infrared technology comprises a travelling device, a membrane-breaking seedling-guiding device, a hilling device, a soil-taking conveying device, a sensor detection module and an intelligent control processing module; the travelling device is fixedly provided with a membrane breaking and seedling guiding device, a ridging device, a sensor detection module and an intelligent control processing module; the soil taking and conveying device is fixed on one side of the traveling device;
the travelling device comprises a first driving wheel, a first driven wheel, a first stepping motor, a direct-current power supply, a first supporting rod, a first axle, a first fixing plate, a first automobile body fixing rod, an automobile frame, a first slideway, a second slideway and an infrared camera fixing frame;
the frame is a horizontal square cast iron frame, and the lower part of each end of the frame is connected with a group of first vehicle body fixing rods through two groups of first supporting rods; two ends of each first vehicle body fixing rod are respectively fixed on the two first fixing plates; the first fixing plates are respectively connected and installed on the wheels through bearings (namely the front end and the rear end are respectively provided with two first fixing plates, and each wheel is provided with one first fixing plate); the direct-current power supply is fixed above the first vehicle body fixing rod; the two first driven wheels are connected through a first axle; the first slideway and the second slideway are square frames with the same structure and are oppositely arranged, the bottom parts of the first slideway and the second slideway are horizontal rails, and the upper transverse plate is fixed at the upper part of the middle of the frame; the infrared camera fixing frame is fixed above the middle parts of the first slideway and the second slideway;
the direct current power supply is connected with the round slitting wire through a lead;
the direct current power supply is a storage battery;
the film breaking and seedling guiding device comprises a second driving wheel, a second driven wheel, a second stepping motor, a second fixing plate, a first hydraulic power unit, a combined track, a second axle, a second supporting rod, a second vehicle body fixing rod, a lifting rod, a columnar supporting rod, a first lifting oil cylinder, a hexagon nut, a circular cutting wire, a cutting wire support, a roller and a horizontal telescopic rod; the first hydraulic power unit comprises a first hydraulic controller, a first coupler and a third stepping motor;
a second driving wheel and a second driven wheel in front of the membrane breaking seedling guide device are arranged on a second slideway, a second driving wheel and a second driven wheel in back of the membrane breaking seedling guide device are arranged on a first slideway, and the membrane breaking seedling guide device is positioned at the left ends of the first slideway and the second slideway;
the whole combined track is a rectangular frame, and two sides of the frame are provided with a horizontal track; two groups of second supporting rods are fixed above each horizontal rail in the combined rails, each group of second supporting rods is two second supporting rods, and the top of each second supporting rod is connected with a second vehicle body fixing rod; two ends of the second vehicle body fixing rod are respectively fixed on the two second fixing plates; the second fixing plates are connected through bearings and are arranged on the wheels (namely the front end and the rear end of each second fixing plate are provided with two second fixing plates), the upper parts of the second fixing plates (positioned at the front end of the combined track) are respectively provided with a second stepping motor, and the rotor of each second stepping motor is connected with the axle center of the adjacent second driving wheel; the two second driven wheels are connected through a second axle;
the whole formed by the lifting rods is a lifting device, the lifting device comprises two lifting units arranged in a mirror image mode, each lifting unit comprises four lifting rods, two lifting rods are in a group, the middle lifting rods are hinged in a crossed mode, the upper ends of the lower groups are hinged with the lower ends of the upper groups respectively, the two tail ends of the upper groups are connected to one side of a track respectively (the left lifting rod is connected with a pulley, the right lifting rod is fixed with the track), and the two bottom ends of the lower groups are fixed through columnar supporting rods respectively; in the two lifting units, the ends (namely the hinged parts) of the lifting rods with the same height are connected through a columnar supporting rod; the middle parts of two columnar supporting rods at the lowest part of the lifting device are respectively fixed with a horizontal telescopic rod, and the tail ends of the horizontal telescopic rods are connected with the top ends of the cut filament supports; the two cut filament brackets are respectively and vertically fixed on the circumference of the circular cut filament; in the first hydraulic power unit, the first hydraulic controller is connected with the third stepping motor through a first coupler, and meanwhile, the first hydraulic controller is connected with the first lifting oil cylinder; one end of the first lifting oil cylinder is fixed on a columnar supporting rod (connected with the columnar supporting rod on the left side of the lowest part of the lower group of lifting rods in the two lifting units), and the other end of the first lifting oil cylinder is fixed on the columnar supporting rod in the middle of the interior of the lifting device (connected with the columnar supporting rod at the cross position in the lower group of lifting rods in the two lifting units);
the ridging device comprises a third driving wheel, a third driven wheel, a fourth stepping motor, a ridging barrel, a third supporting rod, a vertical connecting rod, a third vehicle body fixing rod, a third vehicle shaft, a third fixing plate and a supporting plate;
a third driving wheel and a third driven wheel in front of the hilling device are arranged on a second slideway, a third driving wheel and a third driven wheel in rear of the hilling device are arranged on a first slideway, and meanwhile, the hilling device is positioned at the right ends of the first slideway and the second slideway; the whole ridging barrel is made of cylindrical stainless steel, a solid cone with an upward pointed end is arranged inside the ridging barrel, a round hole is formed in the top of the ridging barrel, and the bottom of the ridging barrel is a hollowed round shape; the upper part of the ridging barrel is fixedly provided with four vertical connecting rods which are uniformly distributed, the top of each vertical connecting rod is fixedly provided with a supporting plate, the upper part of each supporting plate is respectively provided with two third supporting rods, and each third supporting rod is connected with a third vehicle body fixing rod; each third driving wheel or each third driven wheel is respectively provided with a third fixing plate through a bearing, every two third vehicle body fixing rods form a group, and two ends of each third vehicle body fixing rod are respectively fixed on the third fixing plates of one group of third driving wheels or third driven wheels; the two third driven wheels are connected through a third axle; a fourth stepping motor is arranged on the axis of each third driving wheel;
the soil taking and conveying device comprises a conveying belt, a motor conveying unit, a motor support, a second hydraulic power unit fixing frame, a second lifting oil cylinder, a third lifting oil cylinder, a fourth lifting oil cylinder, an oil cylinder fixing rod, a telescopic circular pipe, a large mechanical arm, a small mechanical arm, an excavator bucket, a conveying belt wheel support, a first movable plate and a second movable plate;
the motor transmission unit comprises a fifth stepping motor, a transmission belt rotating shaft, a driving chain wheel, a driven chain wheel, a first plug, a second plug, a first nut, a second nut and a chain; the second hydraulic power unit comprises a second hydraulic controller, a second coupler and a sixth stepping motor; the rotating shaft of the fifth stepping motor is fixed with the driving chain wheel through a first plug and is fixed again through a first nut; the rotating shaft of the conveying belt is fixed with the driven chain wheel by a second plug and is fixed again by a second nut; the chain link of the chain is meshed with the driving chain wheel; the chain links of the chain are meshed with the driven chain wheel; the axes of the driving chain wheel and the driven chain wheel are on the same horizontal line; the sixth stepping motor is connected with the second hydraulic controller through a second coupler;
the conveying belt is fixed on one side of the travelling device, the left side of the upper part of the conveying belt is connected with an inlet of a telescopic circular pipe, and the lower part of the left side of the telescopic circular pipe is fixed with a circular hole on the upper side of the hilling barrel; the second hydraulic power unit is fixed on the upper part of the middle of the conveying belt through a second hydraulic power unit fixing frame; one end of the large mechanical arm is connected with the second hydraulic power unit, and the other end of the large mechanical arm is connected with the small mechanical arm; the other end of the small mechanical arm is connected with the bucket through a first movable plate and a second movable plate; the oil cylinder fixing rods comprise three groups, the left group is fixed at the right lower part of the second hydraulic power unit and below the large mechanical arm, the middle group is fixed above the large mechanical arm and above the small mechanical arm, and the right group is fixed at the right upper part of the large mechanical arm and at two ends of the fixed part of the first movable plate and the second movable plate; the plurality of lifting oil cylinders are respectively fixed on the oil cylinder fixing rods and are respectively fixed by nuts; the motor support is fixed on the upper side of the starting end of the conveyor belt, and meanwhile, the fifth stepping motor is fixed on the upper side of the motor support; the conveyor belt wheel bracket is fixed at the right lower part of the starting end of the conveyor belt; the conveyor belt wheel is fixed below the conveyor belt wheel bracket; a plurality of lifting oil cylinders (a second lifting oil cylinder, a third lifting oil cylinder and a fourth lifting oil cylinder) in the soil taking and conveying device are connected with a second hydraulic controller;
the sensor detection module comprises a photosensitive sensor, a raindrop sensor, a first displacement sensor, a second displacement sensor and a third displacement sensor;
the photosensitive sensor and the raindrop sensor are arranged above the frame; the first displacement sensor is fixed above the combined track in the membrane breaking and seedling guiding device; the second displacement sensor is fixed above a support plate in the hilling device; the third displacement sensor is fixed on the outer side of a lifting rod in the membrane breaking and seedling guiding device;
the intelligent control processing module comprises an industrial personal computer, an infrared camera, a stepping motor driver and a GPS receiver;
the industrial personal computer, the stepping motor driver and the GPS receiver are respectively fixed above the first vehicle body fixing rod; the infrared camera is fixed below the infrared camera fixing frame;
the industrial personal computer is respectively in driving electric connection with the sensor detection module, the infrared camera and the stepping motor; the stepping motor driver is electrically connected with the first stepping motor, the second stepping motor and the sixth stepping motor;
the circular shredding wires are molybdenum wires.
The utility model has the advantages that:
1. the utility model discloses structural design is novel, has the rupture of membranes simultaneously and draws the function of seedling and accurate earthing up, uses farmland electronic map simultaneously, realizes accurate high-efficient and automatic rupture of membranes and draws the operation of seedling earthing up, can use manpower sparingly, raises the efficiency.
2. The utility model discloses use the circular silk of cutting after the heating to carry out accurate cutting to the film, do not use traditional mechanical tip to prick the film, reduced the loss to the peanut seedling.
3. The utility model discloses well utilize the picture that infrared camera gathered to through the K-means clustering algorithm of industrial computer, the binarization, corrode, the inflation, extract the shape characteristic, texture characteristic, the peanut seedling is discerned after three kinds of characteristics of fractal dimension, and make statistics of the number of peanut seedling blade, if the cotyledon of peanut seedling has not reached the state of two expansions yet, preserve this position record for treating the rupture of membranes and draw the seedling state, and show on the display screen of industrial computer, so that can direct positioning when drawing the seedling in the next rupture of membranes, realize then that the rupture of membranes in batches leads the seedling earthing up, the efficiency and the degree of accuracy of discerning the peanut seedling have been improved simultaneously.
4. The utility model discloses set up fixed plant spacing S between the peanut seedling in advance, if do not discern the peanut seedling after every S uses above-mentioned used algorithm analysis then to preserve this position record for the state of leaking broadcasting to show on the display screen of industrial computer, can directly utilize this accurate position during the benefit seedling, can realize intelligent field management.
5. The utility model discloses a photosensitive sensor, raindrop sensor and industrial computer's control can real-time detection light intensity and whether rain, when the light intensity surpassed certain threshold value or when raining, showed that unsuitable continuation of this moment is broken the membrane and is drawn seedling work of earthing up, can automatic control device stop work.
6. The utility model discloses can increase the number of infrared camera and according to the distance adjustment position according to the line number that covers the peanut under a plastic film, then use a camera if there is a ridge one line, if there is two lines of peanut seedlings that can use two cameras to detect needs rupture of membranes simultaneously in a ridge, rupture of membranes draws seedling device and earthing up device and all can control the removal, can carry out rupture of membranes to one line or two lines of peanuts simultaneously and draw seedling earthing up operation.
Drawings
FIG. 1 is a schematic view of the overall structure of an embodiment of the membrane-breaking seedling-leading banking machine of the present invention;
fig. 2 is a schematic structural view of a traveling device 1 of an embodiment of the membrane-breaking seedling-guiding banking machine of the present invention;
FIG. 3 is a schematic structural view of a membrane-breaking seedling-guiding device 2 according to an embodiment of the membrane-breaking seedling-guiding banking machine of the present invention;
fig. 4 is a schematic view of the internal structure of the membrane-breaking seedling-guiding device 2 according to an embodiment of the membrane-breaking seedling-guiding banking machine of the present invention;
fig. 5 is a schematic structural diagram of a first hydraulic power unit 205 in the membrane breaking and seedling guiding device 2 according to an embodiment of the membrane breaking and seedling guiding banking machine of the present invention;
FIG. 6 is a schematic structural view of a ridging device 3 according to an embodiment of the membrane-breaking seedling-leading ridging machine of the present invention;
FIG. 7 is a schematic structural view of a soil-taking and conveying device 4 according to an embodiment of the membrane-breaking seedling-guiding banking machine of the present invention;
fig. 8 is a schematic structural diagram of a second hydraulic power unit 404 in the soil taking and conveying device 4 according to an embodiment of the membrane breaking seedling-guiding banking machine of the present invention;
FIG. 9 is a schematic view showing the connection between a ridging device 3 and a soil-taking conveyer 4 according to an embodiment of the membrane-breaking seedling-guiding ridging machine of the present invention;
fig. 10 is a schematic structural view of a motor transmission unit 402 above a conveyor belt 401 according to an embodiment of the membrane-breaking seedling-guiding hiller of the present invention;
FIG. 11 is a block diagram of the overall structure of a control system of an embodiment of the membrane-breaking seedling-leading banking machine of the present invention;
FIG. 12 is a flow chart of the membrane-breaking seedling-guiding hiller of the present invention;
in the figure: 1. a traveling device; 2. a film breaking and seedling guiding device; 3. a ridging device; 4. a soil sampling and conveying device; 5. a sensor detection module; 6. an intelligent control processing module; 101. a first drive wheel; 102. a first driven wheel; 103. a first stepper motor; 104. a direct current power supply; 105. a first support bar; 106. a first axle; 107. a first fixing plate; 108. a first vehicle body fixing lever; 109. a frame; 110. a first slideway; 111. a second slideway; 112. an infrared camera mount; 201. a second drive wheel; 202. a second driven wheel; 203. a second stepping motor; 204. a second fixing plate; 205. a first hydraulic power unit; 206. a combined track; 207. a second axle; 208. a second support bar; 209. a second vehicle body fixing lever; 210. a lifting rod; 211. a columnar support rod; 212. a first lift cylinder; 213. a hexagonal nut; 214. cutting into circular shreds; 215. cutting the filament bracket; 216. a roller; 217. a horizontal telescopic rod; 2051. a first hydraulic controller; 2052. a first coupling; 2053. a third step motor; 301. a third driving wheel; 302. a third driven wheel; 303. a fourth stepping motor; 304. a ridging barrel; 305. a third support bar; 306. a vertical connecting rod; 307. a third vehicle body fixing rod; 308. a third axle; 309. a third fixing plate; 310. a support plate; 401. a conveyor belt; 402. a motor transfer unit; 403. a motor bracket; 404. a second hydraulic power unit; 405. a second hydraulic power unit mount; 406. a second lift cylinder; 407. a third lifting cylinder; 408. a fourth lifting cylinder; 409. an oil cylinder fixing rod; 410. a telescopic circular tube; 411. a large mechanical arm; 412. a small mechanical arm; 413. excavating a bucket; 414. a conveyor wheel; 415. a conveyor wheel support; 416. a nut; 417. a first movable plate; 418. a second movable plate; 4021. a fifth stepping motor; 4022. a conveyor belt shaft; 4023. a drive sprocket; 4024. a driven sprocket; 4025. a first plug; 4026. a second plug; 4027. a first nut; 4028. a second nut; 4029. a chain; 4041. a second hydraulic controller; 4042. a second coupling; 4043. a sixth stepping motor; 501. a photosensitive sensor; 502. a raindrop sensor; 503. a first displacement sensor; 504. a second displacement sensor; 505. a third displacement sensor; 601. an industrial personal computer; 602. an infrared camera; 603. a stepper motor driver; 604. a GPS receiver.
Detailed Description
The present invention will be described in more detail with reference to the following embodiments and the accompanying drawings, which are not intended to limit the scope of the claims of the present application.
The utility model discloses a broken membrane draws seedling banking machine (refer to fig. 1) based on infrared technology includes advancing device 1, broken membrane draws seedling device 2, banking device 3, conveyer 4, sensor detection module 5, intelligent control processing module 6 that fetches earth, be fixed with broken membrane on advancing device 1 and draw seedling device 2, banking device 3, sensor detection module 5 and intelligent control processing module 6 to provide walking power for it; the soil sampling and conveying device 4 is fixed on one side of the traveling device 1 and moves forward along with the forward movement of the traveling device 1;
the traveling device 1 (see fig. 2) includes a first driving wheel 101, a first driven wheel 102, a first stepping motor 103, a dc power supply 104, a first support rod 105, a first axle 106, a first fixing plate 107, a first body fixing rod 108, a frame 109, a first slideway 110, a second slideway 111, and an infrared camera fixing frame 112;
the frame 109 is a horizontal square cast iron frame, and the lower part of each end of the frame 109 is connected with a group of (two parallel) first body fixing rods 108 through two groups of first supporting rods 105; both ends of each first vehicle body fixing rod 108 are respectively fixed on the two first fixing plates 107; the first fixing plates 107 are respectively connected and mounted on the wheels through bearings (namely, the front end and the rear end of each first fixing plate 107 are respectively provided with one first fixing plate 107, each wheel is provided with one first fixing plate 107), the lower parts of the two first fixing plates 107 at the front end of the frame 109 are respectively provided with one first stepping motor 103, and the rotor of each first stepping motor 103 is connected with the axle center of the adjacent first driving wheel 101; the dc power source 104 is fixed above the first vehicle body fixing rod 108; the two first driven wheels 102 are connected by a first axle 106; the first slideway 110 and the second slideway 111 are square frames with the same structure and are arranged oppositely, the bottom of the first slideway 110 and the bottom of the second slideway 111 are horizontal rails, an upper transverse plate is fixed at the upper part of the middle of the frame 109, and the distance between the first slideway 110 and the second slideway 111 is 20 cm; the infrared camera fixing frame 112 is fixed above the middle parts of the first slideway 110 and the second slideway 111;
the direct current power supply 104 is connected with the circular shredding wire 214 through a lead;
the direct current power supply 104 is a storage battery;
the first stepping motor 103 drives the first driving wheel 101 to rotate, and then drives the first driven wheel 102 to rotate, so that the whole device advances; the direct-current power supply 104 supplies power to all the stepping motors and the whole device, so that the circular cutting threads 214 can emit heat, and the circular cutting threads 214 heated to a certain temperature can cut plastic films flatly; the infrared camera fixing frame 112 is used for fixing the infrared camera 602;
the membrane breaking and seedling guiding device 2 (see fig. 3-5) comprises a second driving wheel 201, a second driven wheel 202, a second stepping motor 203, a second fixing plate 204, a first hydraulic power unit 205, a combined track 206, a second axle 207, a second supporting rod 208, a second vehicle body fixing rod 209, a lifting rod 210, a columnar supporting rod 211, a first lifting oil cylinder 212, a hexagon nut 213, a circular cutting wire 214, a cutting wire support 215, a roller 216 and a horizontal telescopic rod 217; the first hydraulic power unit 205 includes a first hydraulic controller 2051, a first coupling 2052, and a third stepper motor 2053;
the second driving wheel 201 and the second driven wheel 202 in front of the film breaking seedling guiding device 2 are mounted on the second slideway 111, the second driving wheel 201 and the second driven wheel 202 in back of the film breaking seedling guiding device 2 are mounted on the first slideway 110, and the film breaking seedling guiding device 2 is positioned at the left ends of the first slideway 110 and the second slideway 111; the whole combined rail 206 is a rectangular frame, and both sides of the frame are horizontal rails (the horizontal rails are formed by clamping an upper cross beam and a lower cross beam, and both ends of the horizontal rails are fixed into the rectangular frame through connecting blocks); two groups of second support rods 208 are fixed above each horizontal rail in the combined rail 206, each group of second support rods 208 is two, and the top of each second support rod 208 is connected with a second vehicle body fixing rod 209; two ends of the second vehicle body fixing rod 209 are respectively fixed on the two second fixing plates 204; the second fixing plates 204 are respectively connected through bearings and are installed on wheels (namely, the front end and the rear end of each second fixing plate 204 are respectively provided with two second fixing plates 204), the upper parts of the second fixing plates 204 (the front end of the combined track 206) are respectively provided with a second stepping motor 203, and the rotor of each second stepping motor 203 is connected with the axle center of the adjacent second driving wheel 201; the two second driven wheels 202 are connected by a second axle 207; the whole formed by the lifting rods 210 is a lifting device, the lifting device comprises two lifting units arranged in a mirror image manner, each lifting unit comprises four lifting rods 210, two lifting rods are in a group, the middle lifting rods are hinged in a cross manner, the upper ends of the lower group are hinged with the lower ends of the upper group respectively, the two tail ends of the upper group are connected to one side of the track respectively, and the two bottom ends of the lower group are fixed through columnar supporting rods 211 respectively; in the two lifting units, the ends (i.e., the hinged parts) of the lifting rods 210 with the same height are connected through a columnar supporting rod 211, and the two ends are fixed by hexagonal nuts 213; the middle parts of two columnar supporting rods 211 at the lowest part of the lifting device are respectively fixed with a horizontal telescopic rod 217, and the tail end of the horizontal telescopic rod 217 is connected with the top end of the cut filament bracket 215; the two cut filament supports 215 are respectively and vertically fixed on the circumference of the circular cut filament 214 (the two fixed points and the center of the circumference are on the same line parallel to the horizontal track), (wherein, the cut filament supports 215 are two vertical rods, the circular cut filament 214 is a circular structure formed by molybdenum filaments with the diameter of 0.02 mm; the direct current power supply 104 is connected with the circular cut filament 214 through a lead, and the cut filament supports 215 are insulated with the circular cut filament), and the horizontal telescopic rod 217 can stretch out and draw back left and right along with the lifting of the lifting device; in the first hydraulic power unit 205, the first hydraulic controller 2051 is connected to the third stepping motor 2053 through a first coupling 2052, and the first hydraulic controller 2051 is connected to the first lifting cylinder 212; one end of the first lifting oil cylinder 212 is fixed on a columnar supporting rod 211 (connected with the columnar supporting rod 211 on the left side of the lowest part of the lower group of lifting rods 210 in the two lifting units), and the other end of the first lifting oil cylinder is fixed on the columnar supporting rod 211 in the middle of the interior of the lifting device (connected with the columnar supporting rod 211 at the cross position in the lower group of lifting rods 210 in the two lifting units); the first hydraulic controller 2051 supplies power to the first lifting cylinder 212 through a third stepping motor 2053, so that the first lifting cylinder 212 reciprocates, and the lifting of the lifting device is pushed; the first coupling 2052 plays a role of overload protection; in the lifting process of the lifting device, the roller 216 rolls on the combined track 206 under the traction of the lifting rod 210, and the horizontal telescopic rod 217 welded on the columnar supporting rod 211 stretches left and right along with the lifting of the lifting device; when the lifting device is lowered to a certain position, the heated circular shredding threads 214 contact the thin film and cut the thin film into circular holes with the diameter of 4 cm; the second driving wheel 201 and the second driven wheel 202 can move on the first slideway 110 and the second slideway 111, so that the position of the whole film-breaking seedling-guiding device 2 can be changed;
the ridging device 3 (see fig. 6) comprises a third driving wheel 301, a third driven wheel 302, a fourth stepping motor 303, a ridging barrel 304, a third supporting rod 305, a vertical connecting rod 306, a third vehicle body fixing rod 307, a third axle 308, a third fixing plate 309 and a supporting plate 310;
the front third driving wheel 301 and the third driven wheel 302 of the hilling device 3 are arranged on the second slideway 111, the rear third driving wheel 301 and the third driven wheel 302 are arranged on the first slideway 110, and the hilling device 3 is positioned at the right ends of the first slideway 110 and the second slideway 111; the whole ridging barrel 304 is made of cylindrical stainless steel, the inner wall of the ridging barrel is smooth, the inner space of the ridging barrel 304 is a solid cone with an upward pointed end, the outer wall of the ridging barrel is smooth, a round hole is formed in the top of the ridging barrel 304, and the bottom of the ridging barrel is a hollowed-out circle with the inner diameter of 4cm and the outer diameter of 8 cm; four vertical connecting rods 306 are uniformly distributed on the upper part of the hilling barrel 304, a supporting plate 310 is fixed on the top of each vertical connecting rod 306 (the left two of the four supporting plates 310 are parallel and the corresponding right side is on the same straight line), two third supporting rods 305 are respectively arranged on the upper part of each supporting plate 310, and each third supporting rod 305 is connected with a third vehicle body fixing rod 307; each third driving wheel 301 or third driven wheel 302 is respectively provided with a third fixing plate 309 and a third vehicle body fixing rod 307 in a group by two through bearings, and two ends of each third driving wheel 301 or third driven wheel 302 are respectively fixed on the third fixing plates 309 of the group of third driving wheels 301 or third driven wheels 302; the two third driven wheels 302 are connected through a third axle 308, and a fourth stepping motor 303 is installed on the axle center of each third driving wheel 301; the third driving wheel 301 and the third driven wheel 302 can move on the first slideway 110 and the second slideway 111, thereby realizing the position change of the whole hilling device 3;
the two fourth stepping motors 303 respectively drive the two third driving wheels 301 to rotate, and then drive the third driven wheels 302 to rotate, so that the hilling device 3 moves forward; the conical structure with the upward pointed end in the ridging barrel 304 can ensure that soil entering from the telescopic circular tube is loosened and uniformly covered around the circular hole of the film to preserve soil moisture and increase temperature;
the soil taking and conveying device 4 (see fig. 7-10) comprises a conveyor belt 401, a motor conveying unit 402, a motor support 403, a second hydraulic power unit 404, a second hydraulic power unit fixing frame 405, a second lifting oil cylinder 406, a third lifting oil cylinder 407, a fourth lifting oil cylinder 408, an oil cylinder fixing rod 409, a telescopic circular pipe 410, a large mechanical arm 411, a small mechanical arm 412, an excavator bucket 413, a conveyor belt wheel 414, a conveyor belt wheel support 415, a nut 416, a first movable plate 417 and a second movable plate 418, wherein the motor conveying unit 402 comprises a fifth stepping motor 4021, a conveyor belt rotating shaft 4022, a driving sprocket 4023, a driven sprocket 4024, a first plug 4025, a second plug 4026, a first nut 4027, a second nut 4028 and a chain 4029; the second hydraulic power unit 404 includes a second hydraulic controller 4041, a second coupling 4042, and a sixth stepper motor 4043;
the conveying belt 401 is fixed on one side of the traveling device 1, the left side of the upper part of the conveying belt 401 is connected with the inlet of the telescopic circular tube 410, and the lower part of the left side of the telescopic circular tube 410 is fixed with the circular hole on the upper side of the hilling barrel 304; the second hydraulic power unit 404 is fixed at the upper part of the middle of the conveyor belt 401 through a second hydraulic power unit fixing frame 405; one end of the large mechanical arm 411 is connected with the second hydraulic power unit 404, and the other end of the large mechanical arm is connected with the small mechanical arm 412; the cylinder fixing rods 409 comprise three groups, wherein the left group is fixed at the right lower part of the second hydraulic power unit 404 and below the large mechanical arm 411 respectively, the middle group is fixed above the large mechanical arm 411 and on the small mechanical arm 412 respectively, and the right group is fixed at the right upper part of the large mechanical arm 411 and two ends of the fixed part of the first movable plate 417 and the second movable plate 418 respectively; the other end of the small mechanical arm 412 is connected with the bucket 413 through a first movable plate 417 and a second movable plate 418; the plurality of lifting oil cylinders are respectively fixed on the oil cylinder fixing rod 409 and are respectively fixed by nuts 416; the motor bracket 403 is fixed on the upper side of the starting end of the conveyor belt 401, and the fifth stepping motor 4021 is fixed on the upper side of the motor bracket 403; the conveyor wheel bracket 415 is fixed at the lower right part of the starting end of the conveyor 401; the conveyor wheels 414 are fixed below the conveyor wheel brackets 415; a rotating shaft of the fifth stepping motor 4021 is fixed with the driving sprocket 4023 by a first plug 4025 and is fixed again by a first nut 4027; the transmission belt rotating shaft 4022 is fixed with the driven sprocket 4024 by a second plug 4026 and is fixed again by a second nut 4028; the chain links of the chain 4029 are meshed with the driving sprocket 4023; the chain links of the chain 4029 are meshed with the driven sprocket 4024; the axes of the driving sprocket 4023 and the driven sprocket 4024 are on the same horizontal line; the sixth stepping motor 4043 is connected with the second hydraulic controller 4041 through a second coupling 4042, and the plurality of lifting cylinders (the second lifting cylinder 406, the third lifting cylinder 407, and the fourth lifting cylinder 408) in the soil sampling and conveying device 4 are connected with the second hydraulic controller 4041; the telescopic circular tube 410 enables the soil conveyed by the conveyor belt 401 to reach the hilling barrel 304 through the telescopic circular tube 410; the second lifting oil cylinder 406 controls the large mechanical arm 411 to move; the third lifting oil cylinder 407 controls the small mechanical arm 412 to move; the fourth lift cylinder 408 performs piston movement to control the angular transformation between two crossed movable plates (a first movable plate 417 and a second movable plate 418) so as to control the movement of the bucket 413; the conveyor belt wheel 414 is used for controlling the soil taking and conveying device 4 to follow the traveling device 1 to advance; the fifth stepping motor 4021 drives the driving sprocket 4023 to rotate, so as to drive the chain 4029 to rotate, provide power for the driven sprocket 4024, and drive the driven sprocket 4024 to rotate along with the rotation of the chain 4029, so as to drive the whole conveyor belt 401 to rotate; the second hydraulic controller 4041 provides power for the second to fourth lifting oil cylinders through a sixth stepping motor 4043, controls the movement of the plurality of lifting oil cylinders, and completes one soil digging action;
the sensor detection module 5 comprises a photosensitive sensor 501, a raindrop sensor 502, a first displacement sensor 503, a second displacement sensor 504 and a third displacement sensor 505;
the photosensitive sensor 501 and the raindrop sensor 502 are arranged above the frame 109; the first displacement sensor 503 is fixed above the combined track 206 in the membrane breaking and seedling guiding device 2; the second displacement sensor 504 is fixed above the support plate 310 in the banking device 3; the third displacement sensor 505 is fixed on the outer side of the lifting rod 210 in the membrane breaking seedling guiding device 2;
the photosensitive sensor 501 is used for detecting the illumination intensity and sending the illumination intensity to the industrial personal computer 601, when the illumination intensity received by the industrial personal computer 601 exceeds a certain set threshold value, the illumination intensity is too high at the moment, the membrane breaking and seedling guiding work is not suitable to be continuously carried out, the first stepping motor 103 is driven to stop working, and therefore the whole device stops working; the raindrop sensor 502 sends a detected raindrop signal to the industrial personal computer 601, and the industrial personal computer 601 drives the first stepping motor 103 to stop working, so that the whole device stops working; the first displacement sensor 503 is used for monitoring the advancing and retreating distances of the membrane breaking seedling guiding device in real time, when the distance reaches T1, a signal is sent to the industrial personal computer, and the industrial personal computer 601 drives the second stepping motor 203 to stop rotating; the second displacement sensor 504 is used for monitoring the advancing and retreating distances of the hilling device 3 in real time, when the distance reaches T2, a signal is sent to the industrial personal computer 601, and the industrial personal computer 601 drives the fourth stepping motor 303 to stop rotating; the third displacement sensor 505 is used for monitoring the descending and ascending distances of the membrane breaking seedling guiding device 2 in real time, when the distance reaches S1, a signal is sent to the industrial personal computer 601, and the industrial personal computer 601 drives the third stepping motor 2053 to stop rotating; these sensors are all known devices, and their acquisition and use are well known to those skilled in the art and are not described in any detail herein.
The intelligent control processing module 6 comprises an industrial personal computer 601, an infrared camera 602, a stepping motor driver 603 and a GPS receiver 604;
the industrial personal computer 601, the stepping motor driver 603 and the GPS receiver 604 are respectively fixed above the first vehicle body fixing rod 108; the infrared camera 602 is fixed below the infrared camera fixing frame 112;
the industrial personal computer 601 is respectively and electrically connected with the sensor detection module 5, the infrared camera 602 and the stepping motor driver 603; the stepping motor driver 603 is electrically connected to the first to sixth stepping motors;
the industrial personal computer 601 is used for receiving signals of the sensor detection module 5 and performing corresponding intelligent processing, can drive the stepping motor to rotate and stop, and can also be used for receiving images transmitted by the infrared camera 602, dividing the images into soil and plants through a K-means clustering algorithm, performing binarization processing, corrosion and expansion on the images, and then extracting three characteristics of the plants: classifying and identifying the shape characteristics, the texture characteristics and the fractal dimension, namely distinguishing peanut seedlings from weeds, marking the identified leaves of the peanut seedlings, and counting the number of the peanut seedling leaves; the infrared camera 602 is used for collecting images of plants, and rapidly transmitting the images to a memory of the industrial personal computer 601 for processing by using an image collecting card which is installed in the industrial personal computer 601 in advance; the stepping motor driver 603 is used for accurately driving the stepping motor to rotate and stop; the GPS receiver 604 enables the membrane breaking seedling guiding hiller to realize automatic driving according to a specified predefined path, the GPS receiver 604 can acquire real-time motion parameters of the machine and compare the real-time position information of the machine with the predefined path, when the deviation between the driving path and the expected path is detected, the industrial personal computer 601 calculates the deviation information by using a navigation control algorithm and adjusts the front wheel steering of the machine so as to realize the automatic steering of the machine and position the machine in real time;
the device is further characterized in that the circular shredding wires 214 are molybdenum wires which are made of pure molybdenum sintered blanks or smelted ingots through forging and wire drawing, can be drawn into wires with small diameters and still extremely strong rigidity, are beneficial to the cutting quality of plastic films, and have long service life.
The device is further characterized in that the industrial personal computer is in a type of Mohua IPC-610H, the first to sixth stepping motors are 150 series three-phase stepping motors, drivers of the first to sixth stepping motors are F3922 series products, and the infrared camera is in a SpectraCAMSWIR series;
the utility model discloses the work flow of broken membrane draws seedling banking machine is:
the first step is as follows: farmers take the GPS receiver to walk along the farmland for a circle or drive the farmland for a circle to obtain the data of the boundary position of the farmland, generate a corresponding farmland electronic map in an industrial personal computer and measure the plant spacing S between peanut seedlings;
the second step is that: the method comprises the following steps of turning on a switch, enabling a traveling device to advance according to a predefined path, stopping after the traveling device advances by a plant spacing S, enabling an infrared camera to start working, collecting images, sending the images to an industrial personal computer, dividing the images into soil and plants through a K-means clustering algorithm, carrying out binarization processing, corrosion and expansion on the images, and then extracting three characteristics of the plants: the shape characteristics, the texture characteristics and the fractal dimension are classified and recognized, namely peanut seedlings and weeds can be distinguished, recognized leaves of the peanut seedlings are marked, the number of the peanut seedling leaves is counted, if the number of the leaves is less than two, film breaking and seedling guiding are temporarily not needed, the position is recorded and stored, so that film breaking and seedling guiding hilling work can be performed next time, and the device continues to move forward; if the peanut seedling record is not identified and the position is saved as miss-seeding, so that the seedling supplementing work is carried out, and the device continues to move forward; if the number of the leaves is more than or equal to two, the seedling needs to be subjected to membrane breaking, seedling leading and earthing operations;
the third step: the industrial personal computer drives the membrane breaking and seedling guiding device to advance by T1(T1 is the horizontal distance between the center of the membrane breaking and seedling guiding device and the infrared camera), then drives the second stepping motor to stop rotating, so that the membrane breaking and seedling guiding device stops, the first hydraulic controller provides power for the first lifting oil cylinder through the third stepping motor to enable the first lifting oil cylinder to do piston motion, then the lifting device extends, the third displacement sensor detects the descending distance of the lifting device by S1 in real time and feeds back the descending distance to the industrial personal computer, the industrial personal computer drives the third stepping motor to stop rotating, at the moment, the circular cut tobacco reaches the position of peanut seedlings, the heated circular cut tobacco cuts cut the thin film, the peanut seedlings expose out and drive the first hydraulic power unit to enable the lifting oil cylinder to contract, then the lifting device retracts, the third displacement sensor ascends by S1 and feeds back to the industrial personal computer, and the industrial personal; the industrial personal computer drives the second stepping motor to rotate reversely, the second stepping motor is driven to stop rotating after the industrial personal computer retreats for T1 distance, and the membrane breaking seedling guiding device returns to the original position.
The fourth step: the industrial personal computer drives the fourth stepping motor to rotate, the ridging device moves forwards, the second displacement sensor detects the advancing distance in real time, the advancing distance is transmitted to the industrial personal computer when the current advancing distance is T2(T2 is the distance between the center of the ridging device and the infrared camera), the industrial personal computer drives the fourth stepping motor to stop rotating, and the ridging device is arranged on the upper side of the peanut seedlings; the sixth stepping motor drives a second hydraulic controller in the hydraulic control unit to provide power for the lifting oil cylinders, one-time soil digging action of the bucket is completed through the cooperation of the three lifting oil cylinders, soil is placed on the conveyor belt, and then the sixth stepping motor is closed; at the moment, the fifth stepping motor is started to drive the conveyor belt to be started for a certain time t (t is the time required by soil to reach the top from the bottom of the conveyor belt), the industrial personal computer drives the fifth stepping motor to stop, the conveyor belt stops rotating, the soil at the top end of the conveyor belt falls into the hilling barrel through the telescopic circular tube with a smooth surface, and loose soil is covered around peanut seedlings accurately; the industrial computer drives the fourth stepping motor to rotate reversely, the displacement sensor returns to T2 distance and then sends a signal to the industrial computer, the industrial computer drives the fourth stepping motor to stop rotating, the ridging device returns to the original position, and one-time membrane breaking, seedling guiding and ridging operation is completed.
The utility model discloses in preceding, back, left and right, upper and lower equidirectional word be relative notion, wherein use first action wheel 101 place direction as preceding, use first driven wheel 102 place direction as the back, use the rupture of membranes to draw seedling device 2 place direction as a left side, use earthing device 3 place direction as the right side.
It should be emphasized that the embodiments described herein are illustrative and not restrictive, and thus the present invention includes but is not limited to the embodiments described in the detailed description, as well as other embodiments derived from the technical solutions of the present invention by those skilled in the art, which also belong to the scope of the present invention.
The algorithm in the utility model comprises a K-means clustering algorithm, binarization processing, corrosion and expansion, and the extraction of shape characteristics, texture characteristics, fractal dimension and the like is a known technology, but is not limited to the known technology.
The utility model is not the best known technology.
Claims (2)
1. A membrane-breaking seedling-guiding hiller based on infrared technology is characterized in that the device comprises a travelling device, a membrane-breaking seedling-guiding device, a hilling device, a soil-taking conveying device, a sensor detection module and an intelligent control processing module; the travelling device is fixedly provided with a membrane breaking and seedling guiding device, a ridging device, a sensor detection module and an intelligent control processing module; the soil taking and conveying device is fixed on one side of the traveling device;
the travelling device comprises a first driving wheel, a first driven wheel, a first stepping motor, a direct-current power supply, a first supporting rod, a first axle, a first fixing plate, a first automobile body fixing rod, an automobile frame, a first slideway, a second slideway and an infrared camera fixing frame;
the frame is a horizontal square cast iron frame, and the lower part of each end of the frame is connected with a group of first vehicle body fixing rods through two groups of first supporting rods; two ends of each first vehicle body fixing rod are respectively fixed on the two first fixing plates; the first fixing plates are respectively connected and installed on the wheels through bearings, namely the front end and the rear end of each first fixing plate are respectively provided with two first fixing plates, each wheel is provided with one first fixing plate, the upper parts and the lower parts of the two first fixing plates at the front end of the frame are respectively provided with one first stepping motor, and a rotor of each first stepping motor is connected with the axis of an adjacent first driving wheel; the direct-current power supply is fixed above the first vehicle body fixing rod; the two first driven wheels are connected through a first axle; the first slideway and the second slideway are square frames with the same structure and are oppositely arranged, the bottom parts of the first slideway and the second slideway are horizontal rails, and the upper transverse plate is fixed at the upper part of the middle of the frame; the infrared camera fixing frame is fixed above the middle parts of the first slideway and the second slideway;
the direct current power supply is connected with the round slitting wire through a lead;
the film breaking and seedling guiding device comprises a second driving wheel, a second driven wheel, a second stepping motor, a second fixing plate, a first hydraulic power unit, a combined track, a second axle, a second supporting rod, a second vehicle body fixing rod, a lifting rod, a columnar supporting rod, a first lifting oil cylinder, a hexagon nut, a circular cutting wire, a cutting wire support, a roller and a horizontal telescopic rod; the first hydraulic power unit comprises a first hydraulic controller, a first coupler and a third stepping motor;
a second driving wheel and a second driven wheel in front of the membrane breaking seedling guide device are arranged on a second slideway, a second driving wheel and a second driven wheel in back of the membrane breaking seedling guide device are arranged on a first slideway, and the membrane breaking seedling guide device is positioned at the left ends of the first slideway and the second slideway;
the whole combined track is a rectangular frame, and two sides of the frame are provided with a horizontal track; two groups of second supporting rods are fixed above each horizontal rail in the combined rails, each group of second supporting rods is two second supporting rods, and the top of each second supporting rod is connected with a second vehicle body fixing rod; two ends of the second vehicle body fixing rod are respectively fixed on the two second fixing plates; the second fixing plates are connected through bearings and are installed on the wheels, namely the front end and the rear end of each second fixing plate are provided with two second fixing plates, the upper parts of the second fixing plates positioned at the front end of the combined track are respectively provided with a second stepping motor, and the rotor of each second stepping motor is connected with the axle center of the adjacent second driving wheel; the two second driven wheels are connected through a second axle;
the whole formed by the lifting rods is a lifting device, the lifting device comprises two lifting units arranged in a mirror image manner, each lifting unit comprises four lifting rods, two lifting rods are in a group, the middle lifting rods are hinged in a cross manner, the upper ends of the lower groups are hinged with the lower ends of the upper groups respectively, the two tail ends of the upper groups are connected to one side of a track respectively, the left lifting rod is connected with a pulley, the right lifting rod is fixed with the track, and the two bottom ends of the lower groups are fixed through columnar supporting rods respectively; in the two lifting units, the hinged parts of the end parts of the lifting rods with the same height are connected through a columnar supporting rod; the middle parts of two columnar supporting rods at the lowest part of the lifting device are respectively fixed with a horizontal telescopic rod, and the tail ends of the horizontal telescopic rods are connected with the top ends of the cut filament supports; the two cut filament brackets are respectively and vertically fixed on the circumference of the circular cut filament; in the first hydraulic power unit, the first hydraulic controller is connected with the third stepping motor through a first coupler, and meanwhile, the first hydraulic controller is connected with the first lifting oil cylinder; one end of the first lifting oil cylinder is fixed on the columnar supporting rod, namely, the columnar supporting rod on the left side of the lowest part of the lower group of lifting rods in the two lifting units is connected, and the other end of the first lifting oil cylinder is fixed on the columnar supporting rod in the middle of the inside of the lifting device, namely, the columnar supporting rod at the cross position in the lower group of lifting rods in the two lifting units is connected;
the ridging device comprises a third driving wheel, a third driven wheel, a fourth stepping motor, a ridging barrel, a third supporting rod, a vertical connecting rod, a third vehicle body fixing rod, a third vehicle shaft, a third fixing plate and a supporting plate;
a third driving wheel and a third driven wheel in front of the hilling device are arranged on a second slideway, a third driving wheel and a third driven wheel in rear of the hilling device are arranged on a first slideway, and meanwhile, the hilling device is positioned at the right ends of the first slideway and the second slideway; the whole ridging barrel is made of cylindrical stainless steel, a solid cone with an upward pointed end is arranged inside the ridging barrel, a round hole is formed in the top of the ridging barrel, and the bottom of the ridging barrel is a hollowed round shape; the upper part of the ridging barrel is fixedly provided with four vertical connecting rods which are uniformly distributed, the top of each vertical connecting rod is fixedly provided with a supporting plate, the upper part of each supporting plate is respectively provided with two third supporting rods, and each third supporting rod is connected with a third vehicle body fixing rod; each third driving wheel or each third driven wheel is respectively provided with a third fixing plate through a bearing, every two third vehicle body fixing rods form a group, and two ends of each third vehicle body fixing rod are respectively fixed on the third fixing plates of one group of third driving wheels or third driven wheels; the two third driven wheels are connected through a third axle; a fourth stepping motor is arranged on the axis of each third driving wheel;
the soil taking and conveying device comprises a conveying belt, a motor conveying unit, a motor support, a second hydraulic power unit fixing frame, a second lifting oil cylinder, a third lifting oil cylinder, a fourth lifting oil cylinder, an oil cylinder fixing rod, a telescopic circular pipe, a large mechanical arm, a small mechanical arm, an excavator bucket, a conveying belt wheel support, a first movable plate and a second movable plate;
the conveying belt is fixed on one side of the travelling device, the left side of the upper part of the conveying belt is connected with an inlet of a telescopic circular pipe, and the lower part of the left side of the telescopic circular pipe is fixed with a circular hole on the upper side of the hilling barrel; the second hydraulic power unit is fixed on the upper part of the middle of the conveying belt through a second hydraulic power unit fixing frame; one end of the large mechanical arm is connected with the second hydraulic power unit, and the other end of the large mechanical arm is connected with the small mechanical arm; the other side of the small mechanical arm is connected with the bucket through a first movable plate and a second movable plate; the oil cylinder fixing rods comprise three groups, the left group is fixed at the right lower part of the second hydraulic power unit and below the large mechanical arm, the middle group is fixed above the large mechanical arm and above the small mechanical arm, and the right group is fixed at the right upper part of the large mechanical arm and at two ends of the fixed part of the first movable plate and the second movable plate; the plurality of lifting oil cylinders are respectively fixed on the oil cylinder fixing rods and are respectively fixed by nuts; the motor support is fixed on the upper side of the starting end of the conveyor belt, and meanwhile, the fifth stepping motor is fixed on the upper side of the motor support; the conveyor belt wheel bracket is fixed at the right lower part of the starting end of the conveyor belt; the conveyor belt wheel is fixed below the conveyor belt wheel bracket; a second lifting oil cylinder, a third lifting oil cylinder and a fourth lifting oil cylinder in the soil taking and conveying device are respectively connected with a second hydraulic controller;
the sensor detection module comprises a photosensitive sensor, a raindrop sensor, a first displacement sensor, a second displacement sensor and a third displacement sensor;
the photosensitive sensor and the raindrop sensor are arranged above the frame; the first displacement sensor is fixed above the combined track in the membrane breaking and seedling guiding device; the second displacement sensor is fixed above a support plate in the hilling device; the third displacement sensor is fixed on the outer side of a lifting rod in the membrane breaking and seedling guiding device;
the intelligent control processing module comprises an industrial personal computer, an infrared camera, a stepping motor driver and a GPS receiver;
the industrial personal computer, the stepping motor driver and the GPS receiver are respectively fixed above the first vehicle body fixing rod; the infrared camera is fixed below the infrared camera fixing frame;
the industrial personal computer is respectively in driving electric connection with the sensor detection module, the infrared camera and the stepping motor; the stepping motor driver is electrically connected to the first to sixth stepping motors.
2. The membrane-breaking seedling-leading hiller based on the infrared technology as claimed in claim 1, wherein the motor transmission unit comprises a fifth stepping motor, a transmission belt rotating shaft, a driving sprocket, a driven sprocket, a first plug, a second plug, a first nut, a second nut, and a chain; the second hydraulic power unit comprises a second hydraulic controller, a second coupler and a sixth stepping motor; the rotating shaft of the fifth stepping motor is fixed with the driving chain wheel through a first plug and is fixed again through a first nut; the rotating shaft of the conveying belt is fixed with the driven chain wheel by a second plug and is fixed again by a second nut; the chain link of the chain is meshed with the driving chain wheel; the chain links of the chain are meshed with the driven chain wheel; the axes of the driving chain wheel and the driven chain wheel are on the same horizontal line; and the sixth stepping motor is connected with the second hydraulic controller through a second coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920664664.6U CN210183873U (en) | 2019-05-10 | 2019-05-10 | Membrane-breaking seedling-guiding hiller based on infrared technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920664664.6U CN210183873U (en) | 2019-05-10 | 2019-05-10 | Membrane-breaking seedling-guiding hiller based on infrared technology |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199637A (en) * | 2019-05-10 | 2019-09-06 | 河北工业大学 | A kind of rupture of membranes based on infrared technique draws seedling banking machine |
| CN111727787A (en) * | 2020-07-08 | 2020-10-02 | 山东农业大学 | Chain-dragging type automatic film breaking machine and method for garlic seedlings |
| CN113359814A (en) * | 2021-05-17 | 2021-09-07 | 华南农业大学 | Plant protection unmanned aerial vehicle for garlic seedling film breaking and operation method and application thereof |
| CN114631419A (en) * | 2022-03-15 | 2022-06-17 | 詹爱秀 | Intelligent pouring and slurry filling equipment for growth promotion of root system of peanut seedlings |
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2019
- 2019-05-10 CN CN201920664664.6U patent/CN210183873U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199637A (en) * | 2019-05-10 | 2019-09-06 | 河北工业大学 | A kind of rupture of membranes based on infrared technique draws seedling banking machine |
| CN110199637B (en) * | 2019-05-10 | 2023-11-24 | 河北工业大学 | Film breaking seedling guiding hiller based on infrared technology |
| CN111727787A (en) * | 2020-07-08 | 2020-10-02 | 山东农业大学 | Chain-dragging type automatic film breaking machine and method for garlic seedlings |
| CN113359814A (en) * | 2021-05-17 | 2021-09-07 | 华南农业大学 | Plant protection unmanned aerial vehicle for garlic seedling film breaking and operation method and application thereof |
| CN113359814B (en) * | 2021-05-17 | 2023-09-15 | 华南农业大学 | Plant protection unmanned aerial vehicle for breaking membrane of garlic seedling, and operation method and application thereof |
| CN114631419A (en) * | 2022-03-15 | 2022-06-17 | 詹爱秀 | Intelligent pouring and slurry filling equipment for growth promotion of root system of peanut seedlings |
| CN114631419B (en) * | 2022-03-15 | 2024-05-28 | 河南万粮种业有限公司 | Intelligent dumping and pulp filling equipment for peanut seedling flower needle root system growth promotion |
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