CN216931206U - Full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance - Google Patents
Full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance Download PDFInfo
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- CN216931206U CN216931206U CN202220545188.8U CN202220545188U CN216931206U CN 216931206 U CN216931206 U CN 216931206U CN 202220545188 U CN202220545188 U CN 202220545188U CN 216931206 U CN216931206 U CN 216931206U
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Abstract
The utility model relates to the technical field of tree planting equipment, in particular to a full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance, which comprises a controller, a power supply device, a Beidou positioning navigation system, a man-machine interaction system, a pit drilling device, a seedling carrying device, a seedling conveying device, a three-axis mechanical arm planting device, a soil backfilling device, a soil ramming device, a front wheel steering device and a rear wheel driving device, the controller is electrically connected with a storage battery of the power supply device, a Beidou positioning and navigation system terminal, a touch screen of the human-computer interaction system, a pit drilling motor, a seedling bundling motor, a conveying motor, a tail end signal switch, a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera, a distance sensor, a soil filling lifting mechanism, a soil ramming lifting mechanism, a steering linear motor and a driving speed reducer, and controls respective actions of the controller and the driving speed reducer through electric signals. The utility model realizes the all-day operation and the autonomous tree planting operation of the tree planting vehicle; the tree planting efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of tree planting equipment, in particular to a full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance.
Background
Nowadays, the ecological civilization concept is increasingly in depth. In China, the desertification land area is 261 ten thousand square kilometers, which occupies 1/4 of the national soil area, the desertification land area is 172 ten thousand square kilometers, which occupies nearly 1/5 of the national soil area. If the people do not rain for a long time and the strong wind blows, the yellow sand in the desert can become 'shamo', and the people have too much abuse. The trees planted in the desert can effectively resist wind and sand, prevent the expansion of the desert, maintain water and soil, improve the ecological environment, and are in the present generation and beneficial to the autumn. The problem that people need to solve together is how to improve the tree planting efficiency in the desert, improve the survival rate of trees, ensure that trees are built into one piece, form one piece of shade, and exert one piece of benefit.
At present, artificial tree planting is mostly adopted in desert areas in China, and a series of problems exist, namely, the working environment is severe, and the planting efficiency is low; secondly, the tree species are single or the selection of the tree species is not reasonable enough, and a clear afforestation plan is lacked; thirdly, the early treatment of the land is insufficient, the planting technology is not professional, the consciousness of pest control and the like is lacked, and the management of the later period of tree planting cannot be followed in time; and fourthly, the intelligent and information technology cannot be effectively applied to tree planting operation and management.
SUMMERY OF THE UTILITY MODEL
Based on the technical problems, the utility model provides a full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance, and solves the problems of low planting efficiency and insufficient intellectualization, informatization and automation of tree planting operation.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance comprises a controller, a power supply device, a Beidou positioning navigation system, a man-machine interaction system, a pit drilling device, a seedling carrying device, a seedling conveying device, a three-axis mechanical arm planting device, a soil backfilling device, a soil tamping device, a front wheel steering device and a rear wheel driving device, the pit drilling device comprises a pit drilling motor, the seedling carrying device comprises a seedling tying motor, the seedling conveying device comprises a conveying motor and a tail end signal switch, the three-axis mechanical arm planting device comprises a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera and a distance sensor, the soil backfilling device comprises a soil backfilling lifting mechanism, the soil ramming device comprises a ramming lifting mechanism, the front wheel steering device comprises a steering linear motor, and the rear wheel driving device comprises a driving speed reducer; the controller is electrically connected with a storage battery of the power supply device, a Beidou positioning navigation system terminal, a touch screen of a man-machine interaction system, a pit drilling motor, a seedling bundling motor, a conveying motor, a tail end signal switch, a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera, a distance sensor, a soil filling lifting mechanism, a soil tamping lifting mechanism, a steering linear motor and a driving speed reducer, and the controller is controlled to act respectively through electric signals.
Furthermore, the controller receives signals of the terminal signal switch and controls actions of the seedling restraining motor and the conveying motor.
Furthermore, the controller receives signals of the camera and the distance sensor and controls the actions of the vertical driving motor, the longitudinal driving motor, the transverse driving motor and the mechanical claw.
Furthermore, the power devices of the soil filling lifting mechanism and the soil tamping lifting mechanism both adopt air cylinders, the controller is arduino MAG 2560, and the air cylinders of the soil filling lifting mechanism and the soil tamping lifting mechanism are controlled to act in a matched mode through a driving module.
Furthermore, the Beidou positioning and navigation system terminal comprises a signal receiving end and a signal sending end.
Has the advantages that: the utility model can autonomously cruise on the navigation line by means of Beidou satellite positioning, and realizes the all-day operation and autonomous tree planting operation of the tree planting vehicle; the tree planting efficiency and the intellectualization are improved;
the Beidou positioning and cruising system is an important component of the tree planting vehicle, provides important basis of an air route and specific positions of a tree planting place set during cruising and walking for the tree planting vehicle, and achieves intelligent automatic driving function indexes such as vehicle path control, auxiliary steering and navigation functions.
Drawings
FIG. 1 is a system block diagram of a control system of the present invention;
FIG. 2 is a schematic view of the overall assembly structure of the fully automatic tree planting vehicle;
FIG. 3 is a schematic view of the overall structure of the fully automatic tree planting vehicle;
FIG. 4 is a schematic view of the overall structure of the fully automatic tree planting vehicle;
FIG. 5 is a perspective view of the seedling-carrying restraining device;
FIG. 6 is a schematic side view of the seedling carrying restraining device;
FIG. 7 is a schematic perspective view of one of the conveyor units of the present invention;
FIG. 8 is a schematic side view of one of the conveyor units of the present invention;
fig. 9 is a schematic perspective view of the front wheel steering apparatus;
FIG. 10 is a schematic top view of the front wheel steering apparatus;
fig. 11 is a front view schematically showing the structure of the front wheel steering apparatus;
FIG. 12 is a schematic perspective view of a rear wheel drive;
FIG. 13 is a schematic perspective view of a three-axis robotic planting device;
in the figure, a seedling carrying restraining device 1, a seedling carrying fixing frame 11, a seedling carrying sliding block 12, a seedling carrying guide rail 13, a seedling binding nut block 14, a seedling binding screw rod 15, a seedling carrying lower bin 16, a seedling carrying upper bin 17, a seedling binding frame 18, a seedling conveying device 2, a conveying motor 21, a synchronous belt wheel 22, a roller 23, a roller frame 24, a conveying optical axis 25, a conveying spring 26, a conveying linear bearing 27, a pit drilling device 3, a front wheel steering device 4, a front wheel frame 41, a front guide stabilizing arm 42, a front damping spring 43, a parallelogram movable steering frame 44, a steering linear motor 45, a steering arm 46, a flexible connecting pin 47, a damping guide rail 48, a rear wheel driving device 5, a rear wheel frame 51, a driving stabilizing arm 52, a rear guide stabilizing arm 53, a rear damping spring 54, a chain wheel 55, a power supply device 6, a frame main body 7, a soil backfilling device 8, a soil tamping device 9, a three-axis mechanical arm planting device 10, the device comprises a vertical guide rail 101, a vertical movable frame 102, a longitudinal movable frame 103, a transverse driving motor 104, a transverse nut block 105, a longitudinal driving motor 106, a push rod motor 107 and a supporting optical axis 108.
Detailed Description
The utility model is further illustrated by the following examples and figures.
Example one
FIG. 1 shows a full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance, which comprises a controller, a power supply device, a Beidou positioning navigation system, a man-machine interaction system, a pit drilling device, a seedling carrying device, a sapling conveying device, a three-axis mechanical arm planting device, a soil backfilling device, a soil ramming device, a front wheel steering device and a rear wheel driving device, the pit drilling device comprises a pit drilling motor, the seedling carrying device comprises a seedling tying motor, the seedling conveying device comprises a conveying motor and a tail end signal switch, the three-axis mechanical arm planting device comprises a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera and a distance sensor, the soil backfilling device comprises a soil backfilling lifting mechanism, the soil ramming device comprises a ramming lifting mechanism, the front wheel steering device comprises a steering linear motor, and the rear wheel driving device comprises a driving speed reducer; the controller is electrically connected with a storage battery of the power supply device, a Beidou positioning navigation system terminal, a touch screen of a man-machine interaction system, a pit drilling motor, a seedling bundling motor, a conveying motor, a tail end signal switch, a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera, a distance sensor, a soil filling lifting mechanism, a soil tamping lifting mechanism, a steering linear motor and a driving speed reducer, and the controller is controlled to act respectively through electric signals.
The controller receives signals of the terminal signal switch and controls the actions of the seedling restraining motor and the conveying motor.
The controller receives signals of the camera and the distance sensor and controls the actions of the vertical driving motor, the longitudinal driving motor, the transverse driving motor and the mechanical claw.
The power devices of the filling lifting mechanism and the ramming lifting mechanism both adopt cylinders, the controller is arduino MAG 2560, and the cylinders of the filling lifting mechanism and the ramming lifting mechanism are controlled to act by matching with a driving module; the controller drives each motor through matching with the corresponding driving module. In addition, the Beidou positioning navigation system terminal comprises a signal receiving end and a signal sending end.
Example two
Some of the embodiments are not mentioned above.
Fig. 2 to 13 show a full-automatic tree planting vehicle based on Beidou satellite positioning guidance, which comprises a vehicle frame main body 7, a seedling carrying restraint device 1, a sapling conveying device 2, a pit drilling device 3, a front wheel steering device 4, a rear wheel driving device 5, a power supply device 6, a soil backfilling device 8, a soil ramming device 9, a three-axis mechanical arm planting device 10, an anti-collision device and a control system; the control system comprises a Beidou positioning navigation system and a satellite communication man-machine interaction control system, the Beidou positioning navigation system comprises a signal receiving end and a signal transmitting end, and the man-machine interaction system comprises a touch screen.
The seedling carrying restraint device 1 comprises a seedling carrying fixing frame 11 connected with a frame main body 7, a V-shaped seedling carrying upper bin 17 and a seedling carrying lower bin 16 are fixed on the seedling carrying fixing frame 11, a gantry-shaped seedling bundling frame 18 capable of moving back and forth is arranged between the seedling carrying upper bin 17 and the seedling carrying lower bin 16, seedling carrying sliders 12 are arranged on two sides of the seedling bundling frame 18, the seedling carrying sliders 12 are connected and fixed with seedling carrying guide rails 13 on the seedling carrying fixing frame 11 in a matched mode, the seedling bundling frame 18 is further connected with a seedling bundling nut block 14, the seedling bundling nut block 14 is connected with a seedling bundling screw rod 15 in a matched mode, the seedling bundling screw rod 15 is fixed through a bearing seat, and one end of the seedling bundling screw rod is connected with a seedling bundling motor.
The sapling conveying device 2 comprises two bilaterally symmetrical conveying units, each conveying unit comprises a conveying motor 21, a sapling conveying motor 21 is fixed on the outer side of each conveying motor 21, a roller frame 24 is fixed on the inner side of each conveying motor 21, a roller 23 is installed on each roller frame 24, and the sapling conveying motors 21 and the rollers 23 are in transmission connection through synchronous belt wheels 22 and conveying belts; the lower part of the conveying motor 21 is connected with a linear bearing, the conveying linear bearing 27 is matched on the conveying optical axis 25, the outer side of the conveying optical axis 25 is also sleeved with a conveying spring 26, and the conveying optical axis 25 is fixedly connected with the frame main body 7 through a fixed seat of the conveying optical axis 25.
The tail end of the sapling conveying device 2 is provided with a position switch or a proximity switch, the sapling can be stopped after being pushed to a preset position, and the sapling is waited for the clamping of the mechanical arm.
Because the thickness degree of the sapling is an uncontrollable variable factor, the device adopts differential homodromous rotation to push out two or more saplings corresponding to the seedling carrying bin.
In order to further ensure that only one sapling is pushed out by the push plate and the conveyor belt in linkage displacement each time, the displacement of the roller 23 conveyor belt of the sapling conveying device 2 and the gantry seedling-bundling frame 18 is in a functional relationship, and the specific functional relationship can be determined according to specific experiments.
And the pit drilling device 3 comprises a spiral pit drilling lifting mechanism, a drill bit and a pit drilling motor.
The front wheel steering device 4 comprises a front wheel frame 41 fixedly connected with a frame main body 7, a guide hole is formed in the front wheel frame 41, a front guide stabilizing arm 42 is matched in the guide hole, a front damping spring 43 is sleeved on the part, below the front wheel frame 41, of the front guide stabilizing arm 42, the lower end of the front guide stabilizing arm 42 is connected with a parallelogram steering mechanism, the parallelogram steering mechanism comprises a parallelogram movable steering frame 44, a steering arm 46 and a steering linear motor 45, front wheels are installed on two sides of the parallelogram movable steering frame 44, and the steering arm 46 is connected with the output end of the steering linear motor 45. The movable joints of the parallelogram movable bogies 44 are connected through connecting pins, wherein flexible connecting pins 47 are adopted at the joints with the steering arms.
The parallelogram movable bogie 44 is provided with a damping slide block, the damping slide block is matched in a damping guide rail 48, and the damping guide rail 48 is fixedly connected with the front wheel frame 41 in the vertical direction.
The rear wheel driving device 5 comprises two driving units, each driving unit comprises a rear wheel frame 51 on which a rear wheel is arranged, the rear wheel frame 51 is connected and fixed with a driving frame, a driving speed reducer 52 is arranged on the driving frame, and the output end of the driving speed reducer 52 is in transmission connection with a driving wheel chain wheel 55 of the rear wheel; a rear guide stabilizing arm 53 is fixed on the rear wheel frame 51 in the vertical direction, and a rear shock absorption spring 54 is sleeved on the rear guide stabilizing arm 53.
The power supply device 6 comprises a storage battery arranged in a storage battery bin, the storage battery bin is connected with the frame main body 7 through more than two mounting bolts, and the mounting bolts are sleeved with battery damping springs.
The soil backfilling device 8 comprises a soil filling lifting mechanism and an opening soil rising structure; the ramming device 9 comprises a horseshoe-shaped ramming structure and a ramming lifting mechanism, the soil filling lifting mechanism and the ramming lifting mechanism adopt cylinders, and the air source of the cylinders is powered by a vehicle-mounted inverter.
The three-axis mechanical arm planting device 10 comprises a three-coordinate-axis mechanism and mechanical arms moving along the X, Y, Z coordinate axes, cameras and sensors are fixed below the mechanical arms, and the position of a target is judged by the aid of a machine vision and the cooperation of a distance change quantity value.
The mechanical arm can link the seedling conveying device 2 to flexibly send out the seedlings at different speeds after being clamped, then the mechanical arm moves the seedlings to a preset position, and the operation is repeated in a circulating mode, so that the continuous planting of the seedlings is realized, and the flexible transportation of the seedlings from the seedling carrying bin to the pre-planting position is realized.
EXAMPLE III
Some of the embodiments are not mentioned above.
Fig. 13 shows a three-axis gripper planting device, which includes a set of vertical guide rails 101 fixed to a carriage body, the vertical guide rails 101 slidably connected to a vertical movable frame 102, and an output end of a vertical driving motor connected to a lower side of the vertical movable frame 102, the vertical driving motor being a push rod motor 107; a longitudinal guide rail is further arranged on the inner side of the vertical movable frame 102 and is slidably connected with the longitudinal movable frame 103, a longitudinal nut block is connected to the bottom of the longitudinal movable frame 103 and is in fit connection with a longitudinal lead screw, the longitudinal lead screw is connected with the output end of a longitudinal driving motor 106, and the longitudinal driving motor 106 is fixed on the vertical movable frame 102; a transverse driving motor 104 is fixed on the longitudinal movable frame 103, the output end of the transverse driving motor 104 is connected with a transverse lead screw, the transverse lead screw is connected with a transverse nut block 105 in a matched mode, and the transverse nut block 105 is connected with a mechanical claw.
A camera and a distance sensor are arranged below the vertical movable frame 102.
Two cameras and a distance sensor are arranged below the vertical movable frame 102, and the distance sensor is arranged in the middle of the two cameras.
A group of sliding sleeves are arranged below the longitudinal movable frame 103, the sliding sleeves are matched on a group of supporting optical axes 108, and two ends of each supporting optical axis 108 are connected with the vertical movable frame 102.
The end parts of the transverse screw rod and the longitudinal screw rod are fixedly installed through corresponding bearing seats; the transverse drive motor 104 and the longitudinal drive motor 106 are servo motors.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance is characterized by comprising a controller, a power supply device, a Beidou positioning navigation system, a man-machine interaction system, a pit drilling device, a seedling carrying device, a seedling conveying device, a three-axis mechanical arm planting device, a soil backfilling device, a soil ramming device, a front wheel steering device and a rear wheel driving device, wherein the pit drilling device comprises a pit drilling motor, the seedling carrying device comprises a seedling restraining motor, the seedling conveying device comprises a conveying motor and a terminal signal switch, the three-axis mechanical arm planting device comprises a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera and a distance sensor, the soil backfilling device comprises a soil backfilling lifting mechanism, the soil ramming device comprises a soil ramming lifting mechanism, and the front wheel steering device comprises a steering linear motor, the rear wheel driving device comprises a driving speed reducer; the controller is electrically connected with a storage battery of the power supply device, a Beidou positioning navigation system terminal, a touch screen of a man-machine interaction system, a pit drilling motor, a seedling bundling motor, a conveying motor, a tail end signal switch, a vertical driving motor, a longitudinal driving motor, a transverse driving motor, a mechanical claw, a camera, a distance sensor, a soil filling lifting mechanism, a soil tamping lifting mechanism, a steering linear motor and a driving speed reducer, and the controller is controlled to act respectively through electric signals.
2. The full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance as claimed in claim 1, wherein the controller receives signals of a terminal signal switch and controls actions of a seedling restraining motor and a conveying motor.
3. The full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance as claimed in claim 1, wherein the controller receives signals of the camera and the distance sensor and controls the actions of the vertical driving motor, the longitudinal driving motor, the transverse driving motor and the mechanical claw.
4. The full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance as claimed in claim 1, wherein the power devices of the soil filling lifting mechanism and the soil tamping lifting mechanism both adopt air cylinders, the controller is arduino MAG 2560, and the air cylinders of the soil filling lifting mechanism and the soil tamping lifting mechanism are controlled by matching with a driving module.
5. The full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance as claimed in claim 1, wherein the Beidou positioning navigation system terminal comprises a signal receiving end and a signal sending end.
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| CN202220545188.8U CN216931206U (en) | 2022-03-14 | 2022-03-14 | Full-automatic tree planting vehicle control system based on Beidou satellite positioning guidance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115903572A (en) * | 2022-10-17 | 2023-04-04 | 武汉纺织大学 | Desert tree planting machine control system based on 51 single-chip microcomputer |
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- 2022-03-14 CN CN202220545188.8U patent/CN216931206U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115903572A (en) * | 2022-10-17 | 2023-04-04 | 武汉纺织大学 | Desert tree planting machine control system based on 51 single-chip microcomputer |
| CN115903572B (en) * | 2022-10-17 | 2023-10-24 | 武汉纺织大学 | Desert tree planter control system based on 51 singlechip |
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