CN219536777U

CN219536777U - Seeding irrigation integrated ecological restoration device

Info

Publication number: CN219536777U
Application number: CN202320166442.8U
Authority: CN
Inventors: 庞经瑞; 高凡涛; 丁撼; 韩奉林; 陈捡; 程汉尧; 梁林睿; 林玮琛
Original assignee: Central South University
Current assignee: Central South University
Priority date: 2023-02-02
Filing date: 2023-02-02
Publication date: 2023-08-18
Anticipated expiration: 2033-02-02

Abstract

The utility model discloses a seeding and irrigation integrated ecological restoration device which comprises a mechanical vehicle body, a moving mechanism, a plowing mechanism, a seeding mechanism, a soil gathering mechanism, an irrigation mechanism, a soil detection module, a sensing module, a communication module, a control module and a power supply module. The environmental information quantity is collected by the sensing module, so that the control module performs data processing based on a path optimization algorithm, and the moving mechanism is controlled to enable the mechanical vehicle body to advance without deviation according to the track path. And the ploughing mechanism, the sowing mechanism, the soil gathering mechanism and the irrigation mechanism are mutually matched under the operation of the control module, so that the functions of ploughing, digging pits, sowing grass seeds, filling soil, tamping and watering irrigation are respectively completed. By utilizing the communication module, remote control of the device can be realized; meanwhile, the soil condition data collected by the soil detection module can be sent to the outside for deep learning, so that an intelligent ecological restoration scheme with better effect is obtained.

Description

Seeding irrigation integrated ecological restoration device

Technical Field

The utility model relates to the technical field of ecological restoration agricultural machinery devices, in particular to a seeding and irrigation integrated ecological restoration device.

Background

Currently, the seeder in China mainly comprises a traditional grass seed strip spraying machine, and the seeder matched with a small tractor and an animal-drawn grass seed seeding machine still take the dominant position. For the grass seed sowing machine produced by enterprises in the whole country, only a small number of factories produce the grass seed sowing machine matched with a large-sized and medium-sized tractor, compared with the lower-sized grass seed sowing machine matched with a small tractor, the yield of the grass seed sowing machine and the animal-drawn grass seed sowing machine is more than 90% of the yield of the grass seed sowing machine in the whole country.

For the grass seed planter in the modern ecological restoration field, the development trend is to develop direct sowing of combined operation. The combined seeding operation means that the operations such as soil tillage, fertilization, liquid spraying and the like are completed while seeding, and the combined seeding operation has the advantages that multiple operations can be completed at one time, the operation efficiency is high, timely seeding is ensured, the yield is improved, the matched power can be fully utilized, the energy is saved, the operation cost is reduced, compared with the traditional seeding method, the labor consumption of combined seeding operation can be greatly reduced, the unit ground entering times can be reduced, and the soil is prevented from being excessively compacted by machines. For the current practical application, a multifunctional and intelligent grass seed planter with combined operation in the ecological restoration field is lacking, so that the restoration and treatment effects are relatively general under some extremely special environments, such as in desert areas.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides a vehicle-mounted anti-asphyxia alarm device, which solves the problem that the current ecological restoration technology does not have a good ecological restoration effect in an extremely special environment.

According to the embodiment of the utility model, the seeding and irrigation integrated ecological restoration device comprises:

a mechanical car body, wherein the mechanical car body,

the moving mechanism is arranged on the mechanical car body and is used for realizing the movement of the mechanical car body;

the ploughing mechanism is arranged on the mechanical vehicle body and is used for ploughing and ditching;

the sowing mechanism is arranged on the mechanical vehicle body and used for sowing grass seeds;

the soil gathering mechanism is arranged on the mechanical vehicle body and used for filling soil;

the irrigation mechanism is arranged on the mechanical vehicle body and is used for watering irrigation;

the soil detection module is arranged on the mechanical vehicle body and is used for detecting the soil condition;

the sensing module is arranged on the mechanical car body and used for collecting the environmental information quantity around the mechanical car body;

the communication module is arranged on the mechanical car body and is at least used for receiving an external terminal instruction to control the moving mechanism;

The control module is respectively and electrically connected with the moving mechanism, the plowing mechanism, the sowing mechanism, the irrigation mechanism, the soil detection module, the sensing module and the communication module;

and the power supply module is used for supplying power to the device.

The seeding and irrigation integrated ecological restoration device provided by the embodiment of the utility model has at least the following beneficial effects:

the environmental information quantity is collected by the sensing module, so that the control module performs data processing based on a path optimization algorithm, and the moving mechanism is controlled to enable the mechanical vehicle body to advance without deviation according to the track path. And the ploughing mechanism, the sowing mechanism, the soil gathering mechanism and the irrigation mechanism are mutually matched under the operation of the control module, so that the functions of ploughing, digging pits, sowing grass seeds, filling soil, tamping and watering irrigation are respectively completed. By utilizing the communication module, the remote control of the device can be realized; meanwhile, the soil condition data acquired by the soil detection module can be sent to other terminals for deep learning so as to obtain an intelligent ecological restoration scheme with better effect. Therefore, for the seeding and irrigation integrated ecological restoration device provided by the embodiment of the utility model, the design and arrangement of the mechanisms and the modules are reasonable and mutually matched, the problem of low efficiency of the traditional seeding apparatus is solved, the efficiency is improved, the device can be automatically tracked and remotely controlled, the manpower resource is saved, the safety and the stability of the product are also ensured, and the integration of the artificial traditional seeding process into the full-automatic integrated machine is realized. Specifically, a plurality of procedures of traditional artificial planting are integrated, and the plow depth, seed type, watering amount and the like can be regulated and controlled according to soil parameters, so that the full-automatic sowing efficiency is improved, the labor force is liberated, the labor cost is reduced, and the sowing efficiency and the plant survival rate are improved. Meanwhile, the device provided by the embodiment of the utility model is environment-friendly and energy-saving, can be suitable for various planting working environments and sowing of various seeds, has wider applicability, can exert the effect of the device under the environment that certain human beings are difficult to work, especially in desert areas, and greatly accelerates the progress of grass planting, wind prevention and sand fixation in China.

According to some embodiments of the utility model, the sensing module comprises:

the inductive sensor is arranged on the mechanical car body and used for detecting a metal track where the mechanical car body is positioned;

the ultrasonic sensor is arranged on the mechanical car body and used for detecting an obstacle in the travelling direction of the mechanical car body;

and the infrared sensor is arranged on the mechanical car body and used for collecting the driving distance of the mechanical car body.

According to some embodiments of the utility model, the power module comprises:

the solar photovoltaic panel is arranged at the top of the mechanical car body and is provided with an inclination angle of 37 degrees and is used for supplying power to the device by utilizing solar energy;

and the storage battery pack is arranged on the mechanical car body and is used for supplying power to the device by using chemical energy.

According to some embodiments of the utility model, the plowing mechanism comprises:

the first motor is electrically connected with the control module;

one end of the electric push rod is connected with the output shaft of the first motor;

one end of the connecting rod is connected with the other end of the electric push rod;

one end of the H-shaped bracket is connected with the lower end of the bottom of the mechanical vehicle body, and the other end of the H-shaped bracket is connected with the connecting rod;

One end of the plow shovel is connected with the other end of the connecting rod, and the other end of the plow shovel is used for plowing.

According to some embodiments of the utility model, the sowing mechanism comprises:

the second motor is electrically connected with the control module;

the seed bin box is arranged at the upper end of the bottom of the mechanical vehicle body and is used for placing grass seeds;

the seed sowing wheel is arranged in the seed bin box and is connected with an output shaft of the second motor;

the brush wheel is arranged in the seed bin box and is horizontally embedded with the seed sowing wheel;

the inclined baffle plate is arranged in the seed bin box and is positioned on the upper side of the hairbrush wheel;

and one end of the seed discharging channel is communicated with the lower end of the seed bin box, and the other end of the seed discharging channel is used for discharging grass seeds.

According to some embodiments of the utility model, the soil gathering mechanism comprises:

one end of the first soil gathering baffle is connected with the lower end of the bottom of the mechanical vehicle body, and the other end of the first soil gathering baffle is used for filling soil;

one end of the second soil gathering baffle is connected with the lower end of the bottom of the mechanical vehicle body, and the other end of the second soil gathering baffle is used for filling soil; the second soil gathering baffle and the first soil gathering baffle are symmetrically arranged and are 75 degrees relative to each other.

According to some embodiments of the utility model, the irrigation mechanism comprises:

A water tank for supplying water;

the steering engine is electrically connected with the control module;

and the water valve is respectively connected with the water tank and the steering engine.

According to some embodiments of the utility model, the soil detection module comprises:

the soil transmitter is arranged on the mechanical vehicle body and is electrically connected with the control module;

the third motor is electrically connected with the control module;

and the lifting push rod is connected with an output shaft of the third motor and used for controlling the soil transmitter to be inserted into and pulled out of the soil.

According to some embodiments of the utility model, the movement mechanism comprises:

the first crawler wheel is arranged on one side of the lower end of the bottom of the mechanical vehicle body;

the second crawler wheel is arranged on the other side of the lower end of the bottom of the mechanical vehicle body;

the first trundle is arranged on one side of the lower end of the bottom of the mechanical vehicle body and is close to the first crawler wheel;

the second foot wheel is arranged on the other side of the lower end of the bottom of the mechanical vehicle body and is close to the second crawler wheel;

and the output shaft of the fourth motor is respectively connected with the first crawler wheel, the second crawler wheel, the first caster and the second caster.

Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic structural view of an integrated ecological restoration device for sowing and irrigation according to an embodiment of the present utility model;

FIG. 2 is a front view of a seeding and irrigating integrated ecological restoration device according to an embodiment of the present utility model;

FIG. 3 is a left side view of a seeding and irrigating integrated ecological restoration device according to an embodiment of the present utility model;

FIG. 4 is a bottom view of a seeding and irrigation integrated ecological restoration device in accordance with one embodiment of the present utility model;

FIG. 5 is a schematic diagram illustrating electrical connection between a sensing module and a control module according to an embodiment of the utility model;

FIG. 6 is a schematic view of the plow mechanism according to one embodiment of the utility model;

FIG. 7 is a schematic mechanical diagram of a plow mechanism according to one embodiment of the utility model;

FIG. 8 is a force diagram of a dihedral wedge according to one embodiment of the present utility model;

FIG. 9 is a schematic view of the structure of a sowing mechanism in accordance with an embodiment of the present utility model;

FIG. 10 is a cut-away view of a seed mechanism according to one embodiment of the present utility model;

FIG. 11 is a schematic view of the construction of a soil gathering baffle in accordance with one embodiment of the present utility model;

FIG. 12 is a schematic view of the steering engine and water valve of an embodiment of the present utility model;

FIG. 13 is a front view of a steering engine and water valve of an embodiment of the present utility model;

FIG. 14 is a schematic view of a soil detection module according to one embodiment of the present utility model;

fig. 15 is a flowchart of a control method of an embodiment of the present utility model.

Reference numerals:

a plowing mechanism 100; an electric push rod 110; a connecting rod 120; an H-shaped bracket 130; a plow blade 140;

a sowing mechanism 200; a second motor 210; a seed magazine 220; a seed metering wheel 230; brush wheel 240; a bevel blade 250; a seed metering channel 260; a coupling 270; a cylindrical gear 280;

an irrigation mechanism 300; a water tank 310; steering engine 320; a water valve 330;

a soil detection module 400; soil transmitter 410; lifting push rod 420;

a control module 500;

a solar photovoltaic panel 610;

an inductive sensor 710; an ultrasonic sensor 720; an infrared sensor 730;

a first soil gathering baffle 810; a second soil gathering baffle 820;

A first track wheel 910; a second crawler wheel 920; a first caster 930; a second caster 940.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, the description of first, second, etc. is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be determined reasonably by a person skilled in the art in combination with the specific content of the technical solution.

The following description of the embodiments of the present utility model will be made with reference to the accompanying drawings, in which it is apparent that the embodiments described below are some, but not all embodiments of the utility model.

Referring to fig. 1, a schematic structural diagram of a seeding and irrigation integrated ecological restoration device according to an embodiment of the present utility model includes: the device comprises a mechanical vehicle body, a moving mechanism, a plowing mechanism 100, a sowing mechanism 200, a soil gathering mechanism, an irrigation mechanism 300, a soil detection module 400, a sensing module, a communication module, a control module 500 and a power supply module. The moving mechanism is arranged on the mechanical car body and used for realizing the movement of the mechanical car body; the ploughing mechanism 100 is arranged on the machine body and is used for ploughing and ditching; the sowing mechanism 200 is arranged on the mechanical vehicle body and is used for sowing grass seeds; the soil gathering mechanism is arranged on the mechanical vehicle body and used for filling soil; the irrigation mechanism 300 is arranged on the mechanical vehicle body and is used for watering irrigation; the soil detection module 400 is arranged on the mechanical vehicle body and is used for detecting the soil condition; the sensing module is arranged on the mechanical car body and used for collecting the environmental information quantity around the mechanical car body; the communication module is arranged on the mechanical car body and is at least used for receiving an external terminal instruction to control the moving mechanism; the control module 500 is electrically connected with the moving mechanism, the plowing mechanism 100, the sowing mechanism 200, the irrigation mechanism 300, the soil detection module 400, the sensing module and the communication module respectively; the power supply module is used for supplying power to the device.

Specifically, as shown in fig. 1, and referring to fig. 2 to 4 in combination, fig. 2 to 4 are front view, left view, and bottom view, respectively, of the device according to the embodiment of the present utility model. It can be appreciated that the bottom of the mechanical vehicle body is provided with a bottom plate, and the seeding mechanism 200, the irrigation mechanism 300, the soil detection module 400, the sensing module, the communication module and the control module 500 are arranged on the bottom plate; the moving mechanism, the plowing mechanism 100 and the soil gathering mechanism are arranged below the bottom plate; the power supply module can be arranged on the bottom plate or on the top of the mechanical car body through a bracket; the seeding mechanism 200, the irrigation mechanism 300 and the soil detection module 400 penetrate through the bottom plate to realize corresponding functions.

Further, the control module 500 may use an Arduino chip in combination with an STM32F4 chip, specifically, may use an Arduino Mega 2560 and an STM32F4ZGT6 chip, where the Arduino chip is a software and hardware platform based on open original codes, and has a Processing/Wiring development environment similar to Java and C languages. The Arduino chip can be connected with various sensors to sense the external environment and feed back the sensing environment result through the control of lamplight, motors and other devices. The microcontroller on the chip can write a program through the programming language of Arduino, compile into a binary file and burn into the microcontroller. The control module 500 controls the moving mechanism under the processing based on the path planning algorithm by acquiring the environmental information amount acquired by the sensing module, so as to realize automatic obstacle avoidance and automatic tracking. Specifically, in some embodiments, the path planning algorithm may employ a D x lite algorithm or an LPA x algorithm. The D-lite algorithm is a path planning algorithm proposed on the basis of the LPA algorithm, and the main difference between D-lite and LPA is the difference of the search directions, namely, the corresponding information of replacing the target point gold involved in the Key [ ] definition with the start point start. The D-lite algorithm is to first search reversely in a given map set and find an optimal path. The occurrence of a dynamic obstacle point is dealt with by searching in a local area during its approach to the target point. The advantage of this incremental algorithm is that: the path searching of each point is completed, when the obstacle point cannot continue approaching according to the original path, the optimal path is directly re-planned at the current position of the obstacle through the data re-utilization of the incremental searching, and then the process is continued. Thus, the embodiment of the present utility model preferably employs the D-lite algorithm.

Further, the communication module can adopt a Bluetooth module and is correspondingly connected with a Bluetooth serial port of the STM32F4 chip. Specifically, the use of serial port 3 (baud rate 9600) for connecting bluetooth is first set. In APP mode, the device of the embodiment of the utility model receives remote control instructions through the Bluetooth module by default, and if an external terminal is required to control the device of the embodiment of the utility model through a serial port, the serial port control is required to be enabled first. In order to reduce the use difficulty, the serial port enabling mechanism is relatively simple, and the serial port receiving flag bit can be enabled by the device of the embodiment of the utility model only by entering the serial port receiving interrupt for more than 10 times, namely, the serial port control can be enabled by sending 10 arbitrary bytes to the device of the embodiment of the utility model, so that the control module 500 controls the moving mechanism through the serial port sending instruction. Specifically, the control protocol uses a single character instruction, and the five groups of characters a-E, B-F, C-G, D-H, Z correspond to different motion orientations, for example, a corresponds to forward, E corresponds to backward, Z corresponds to stop, and according to ASCII codes, an instruction in byte form can be implemented, for example, a corresponds to 0x41. In some embodiments, the device of the embodiment of the present utility model is further provided with an OLED display screen, and is connected to the control module 500, and checks the APP data and remote control through the APP of the Android mobile phone, and checks the device information of the embodiment of the present utility model by using the MiniBalance APP or through the OLED display screen. Parameters of the device of the embodiment of the utility model can also be monitored by using the APP, and the triaxial attitude and the battery power (percentage) of the device of the embodiment of the utility model can be displayed through waveforms at a waveform interface. In some embodiments, the communication module may further send the soil condition data collected by the soil detection module 400 to an external terminal, and in particular, may send the soil condition data to a convolutional neural network for further data processing, so as to obtain an optimized seeding scheme.

In this embodiment, the sensing module is used to collect the environmental information, so that the control module 500 performs data processing based on the path optimization algorithm, so as to control the moving mechanism to make the mechanical vehicle body advance without deviation according to the track path. The ploughing mechanism 100, the sowing mechanism 200, the soil gathering mechanism and the irrigation mechanism 300 which are arranged on the mechanical vehicle body are mutually matched under the operation of the control module 500, so that the functions of ploughing, digging pits, sowing grass seeds, filling soil, tamping and watering irrigation are respectively completed. By utilizing the communication module, the remote control of the device can be realized; meanwhile, the soil condition data collected by the soil detection module 400 can be sent to other terminals for deep learning so as to obtain an intelligent ecological restoration scheme with better effect. Therefore, for the seeding and irrigation integrated ecological restoration device provided by the embodiment of the utility model, the design and arrangement of the mechanisms and the modules are reasonable and mutually matched, the problem of low efficiency of the traditional seeding apparatus is solved, the efficiency is improved, the device can be automatically tracked and remotely controlled, the manpower resource is saved, the safety and the stability of the product are also ensured, and the integration of the artificial traditional seeding process into the full-automatic integrated machine is realized. Specifically, a plurality of procedures of traditional artificial planting are integrated, and the plow depth, seed type, watering amount and the like can be regulated and controlled according to soil parameters, so that the full-automatic sowing efficiency is improved, the labor force is liberated, the labor cost is reduced, and the sowing efficiency and the plant survival rate are improved. Meanwhile, the device provided by the embodiment of the utility model is environment-friendly and energy-saving, can be suitable for various planting working environments and sowing of various seeds, has wider applicability, can exert the effect of the device under the environment that certain human beings are difficult to work, especially in desert areas, and greatly accelerates the progress of grass planting, wind prevention and sand fixation in China.

In some embodiments, as shown in fig. 5, the sensing module includes: inductive sensor 710, ultrasonic sensor 720, and infrared sensor 730. The inductive sensor 710 is disposed on the mechanical car body and is used for detecting the metal track where the mechanical car body is located; the ultrasonic sensor 720 is arranged on the mechanical car body and is used for detecting an obstacle in the travelling direction of the mechanical car body; the infrared sensor 730 is disposed on the mechanical car body and is used for acquiring the driving distance of the mechanical car body.

Specifically, referring to fig. 5, fig. 5 is a schematic diagram of electrical connection between the sensing module and the control module 500. It will be appreciated that two inductive sensors 710 (not shown), in particular LDC1000 sensors, may be provided at the head of the mechanical vehicle body for detecting metal tracks. The LDC1000 sensor is an inductive-to-digital converter that can measure both the impedance and the resonant frequency of the LC resonator, perform the corresponding function by adjusting the amplitude in a closed loop configuration to a constant level while monitoring the energy consumed by the resonator, determine the value of RP by monitoring the power injected into the resonator, and then transmit it back to the control module 500 as a digital value that is inversely proportional to the value of RP. When the device is started, the two LDC1000 sensors respectively sample 3 times of sensor values (equivalent parallel power values) and calculate the average value of the sensor values as an initial environmental magnitude; in the running process of the device, the control module 500 judges the change of the position of the path iron wire through the comparison of the return value of the currently acquired sensor and the initial environmental magnitude, thereby controlling the rotating speed of the direct current motor of the moving mechanism, realizing the function of correcting the straight line deviation, and executing steering when the deviation in the same direction is corrected continuously twice, so as to change the motion state of the trolley, and further achieving the purpose of automatically controlling the passing road section. In some embodiments, the control module 500 is further connected to a DS3231 clock module, and the running duration of the device is counted by the high-precision DS3231 clock module, and the time data is returned in real time.

Further, an ultrasonic sensor 720 is employed to detect whether there is an obstacle ahead of the device travel. The ultrasonic sensor 720 emits a set of square wave signals forward, automatically detects whether a signal is returned, determines the position of an obstacle from the device by the time difference of the received signal, constructs a map by the distance between the device and the obstacle, and realizes data visualization by the subsequent APP.

Further, the infrared sensor 730 is used to collect the driving distance of the device, specifically, the infrared correlation counting sensor module, the code isolation disc and other hardware are used, the code isolation disc is used to block the infrared correlation module, high-low level change is generated, the connection is interrupted with the outside of the control module 500, the number of times of the high-low level change is recorded, the number of turns of the wheels of the mechanical car body is calculated according to the number of grids of the code isolation disc, and the number of turns is multiplied by the circumference of the wheels, so that the driving distance is obtained. Specifically, the working principle of the infrared correlation counting sensor is as follows: be provided with 20 intervals on separating the code wheel, when turning to the interval, infrared signal switches on, produces low level, and when turning to the department of blockking, infrared signal is blockked, produces high level, through once producing a negative jump edge like this, the motor can produce 20 negative jump edges every turn 1 round, and the sensor is connected with the outside interruption of Arduino chip, sets up to interrupt and triggers for the negative jump edge, and record negative jump edge number divides 20, can calculate out the number of turns, multiplies mechanical automobile body wheel girth again, alright obtain the distance. The calculation formula is as follows:

S＝x/y×C，

Wherein S is the driving distance, x is the external interruption number, y is the negative jump edge number, and C is the circumference of the wheel.

In some embodiments, as shown in fig. 1, the power module includes: solar photovoltaic panel 610, battery pack. The solar photovoltaic panel 610 is arranged at the top of the mechanical car body and is provided with an inclination angle of 37 degrees, and is used for supplying power to the device by utilizing solar energy; the storage battery pack is arranged on the mechanical car body and is used for supplying power to the device by using chemical energy.

Specifically, referring to fig. 1, it can be understood that, because the specific application environment of the embodiment of the present utility model is desert, and solar energy resources in northwest regions of China are abundant, the solar photovoltaic panel 610 can ensure normal and stable working conditions of the device. Therefore, the device of the embodiment of the utility model can mainly utilize the solar photovoltaic panel 610 to realize power supply. In some embodiments, the solar photovoltaic panel 610 is disposed on top of the machinery vehicle body and is disposed at an inclination angle of 37 degrees, wherein the reason for the disposed inclination angle of 37 degrees is: by calculation and analysis of the radiant quantity of the solar panel at different inclination angles, when the inclination angle is 37 degrees, the solar radiant energy received all the year round is the largest in radiant quantity compared with other inclination angles, and the power generation efficiency is the best, so that the optimal inclination angle for mounting the solar panel 610 is determined to be 37 degrees.

Further, in order to secure the night work requirement, the power supply module is further provided with a battery pack (not shown in the figure), and in particular, the solar photovoltaic panel 610 and the battery pack can be respectively connected through a controller, so as to realize power supply in two modes. Because the sum of the driving power of each mechanism or module of the device is about 40W, a plurality of groups of storage batteries can be assembled to the device to realize the work of one group of batteries and the charging of two groups of batteries, thereby improving the endurance of the device and enabling the device to theoretically have the ability of continuous work day and night. By timely overhauling and replacing, the device provided by the embodiment of the utility model can be operated for a long time, so that the grass seed planting efficiency is improved, and the problem of low ecological restoration efficiency due to insufficient current labor is laterally solved.

In some embodiments, as shown in fig. 6, the plow mechanism 100 includes: a first motor, an electric push rod 110, a connecting rod 120, an H-shaped bracket 130 and a plow blade 140. The first motor is electrically connected with the control module 500; one end of the electric push rod 110 is connected with an output shaft of the first motor; one end of the connecting rod 120 is connected with the other end of the electric push rod 110; one end of the H-shaped bracket 130 is connected with the lower end of the bottom of the mechanical car body, and the other end is connected with the connecting rod 120; one end of the plow blade 140 is connected to the other end of the link 120, and the other end is used for plowing.

Referring specifically to fig. 6, and referring to fig. 1 to 4 in combination, it may be understood that the plowing mechanism 100 drives the electric push rod 110 to perform telescopic rod movement by a first motor, and particularly, a stepping motor, and the electric push rod 110 and the plowing shovel 140 are hinged to two ends of the connecting rod 120, so that the plowing shovel 140 can be adjusted in a vertical direction to adapt to sowing depths of different sowing objects in different cultivation scenes, and finally, the hinge structure formed by the electric push rod 110, the connecting rod 120 and the plowing shovel 140 can be fixed at the lower end of the bottom of the mechanical vehicle body by using the H-shaped bracket 130. Specifically, the mechanical schematic of the plow 100 of an embodiment of the utility model is illustrated in FIG. 7.

To better illustrate the technical effects of the plow 100 of the embodiments of the present utility model, various aspects of the performance of the plow 100 are analyzed below.

Considering that the environment suitable for the device of the embodiment of the utility model is mainly a flat desert region and the sowing type is seed, a ditching mode of a plow harrow is adopted. In the design and selection process of the ditching and plowing mechanism 100, motion analysis, stress analysis and stress calculation (strength check) are performed respectively to ensure the feasibility of the scheme and the reliability of the mechanism. According to the motion analysis, the motion law of the plowing mechanism 100 is similar to a modified crank-link mechanism, and the motion law is represented by the following formula:

a＝rω ² (cosα+λcos2α)，

Wherein x is the displacement of the push rod; v is the pushrod speed; a is the acceleration of the push rod; omega ₁ Is the angular velocity of the connecting rod; epsilon ₁ Is the angular acceleration of the connecting rod; alpha is crank angle; omega is crank angular velocity; r is the crank radius; l is the length of the connecting rod; lambda is the ratio of crank radius to connecting rod length; beta is the swing angle of the connecting rod.

In the stress analysis, the dead weight of each moving member is ignored, and in general, the frictional resistance between each moving member is small compared to the push rod thrust force, and can be ignored, and the inertial force can be ignored because the whole movement of the mechanism is slow when the plowing mechanism 100 is unfolded and operated. The calculated load of the crankshaft is therefore mainly the pressure acting on the pushrods and the pressure at the ends of the connecting rods. Further, the actual output power of the electric putter 110 is equal to the power of the end resistance of the connecting rod 120, and it is obtained based on the above motion analysis:

through actual measurement, the maximum stress of the tail end of the connecting rod 120 during plowing is F' =29N, and at the moment, alpha=90°, beta≡11°, so that the actual thrust force of the push rod is F=57N. Therefore, the actual maximum thrust of the electric putter 110 should satisfy [ F ] > F, so the present embodiment rotates the electric putter 110 of [ F ] =180n to satisfy the thrust requirement of the mechanism. Meanwhile, the rich thrust can ensure that the plow mechanism 100 can still be normally unfolded and operated when encountering obstacles with larger resistance such as small stones, sand blocks and the like.

Stress analysis based on the derivation of stress analysis, the plow 140 of the present embodiment is equivalent to being composed of five members, wherein the movable members have four pairs, i.e., four revolute pairs, and the hydraulic cylinder pistons constitute one shifting pair, so that the total is five low pairs. According to a plane degree of freedom calculation formula:

F＝3n-2Pl-Ph，

wherein F is the degree of freedom of the planar mechanism; pl is low side; ph is high. Since the structure of the plow blade 140 of the present embodiment has no high pair, the degree of freedom of the scarification mechanism can be calculated to be 2. Further, the plow 140 can be considered as a dihedral wedge, the force diagram of which is shown with reference to fig. 8. In fig. 8, N is the positive pressure of the dihedral wedge against the working surface; t is the friction force of the dihedral wedge on the working surface;is the friction angle; q is the tangential force on the work surface decomposed by positive pressure N; f1 is the component of positive pressure N in the forward direction; alpha ₁ Is the wedge angle of the dihedral wedge.

When (when)When the soil slides along the working surface, it is simultaneously subjected to friction +.>Deflecting the resultant force by a friction angle; when->When the friction force T and the tangential force Q are completely counteracted, i.e. T=Q, the magnitude and the direction are opposite, so that the resultant force P is the horizontal component F1, the magnitude and the direction are completely the same, i.e. the force F1 is applied to the soil particles M from the working surface, and the direction of the force is equal to alpha ₁ Irrespective of the direction of movement of the working member. The momentum is used to calculate the horizontal force F1 or soil resistance as:

F1＝M*(V ₁ -V ₂ )/Δt，

wherein F1 is horizontal acting force or resistance; m is soil quality; v (V) ₁ Is the initial velocity of soil particles; v (V) ₂ Is the final speed of soil particles; Δt is the working part is defined by V ₁ Reach V ₂ The time taken.

Finally, the analysis can obtain: when the working surface makes constant-speed stable movement, the component force F1 along the advancing direction is a constant and is equal to the wedge angle alpha ₁ Regardless, the magnitude is equal to the soil resistance of the plow blade 140 at a depth. Further according to theoretical analysis: when the working surface is a curved surface, firstly, the change rule of three wedge angles in the vertical plane in the three-dimensional direction of the plough shovel 140 is determined, the magnitude and the direction of soil counter force can be obtained by utilizing a related formula, and the curved surface of the plough shovel 140 can be optimized according to the result, so the plough shovel 140 shown in fig. 6 is designed according to the embodiment of the utility model.

Further, finite element analysis is performed on the plow 100 of the present embodiment. Finite element analysis is a numerical technique that approximates the solution to the partial differential equation edge problem. The entire problem area is decomposed when solved, and each sub-area becomes a simple part, which is called a finite element. Finite element analysis can be performed by a variational method such that the error function reaches a minimum and a stable solution is produced. The finite element method, which is analogous to the idea of connecting multiple segments of tiny straight-line approximation circles, encompasses all possible methods that relate simple equations over many small areas called finite elements and use them to estimate complex equations over larger areas. Most practical problems are difficult to obtain accurate solutions, and finite elements have high calculation accuracy and can adapt to various complex shapes, so that the method becomes an effective engineering analysis means.

In view of the advantages of finite element analysis, finite element analysis means are employed to perform stress analysis and strength verification on the plow 100. The specific process of finite element analysis is as follows:

introducing IGS component for assembly, and endowing material with Young modulus: 21000GP, poisson's ratio 0.3; and assigning cross sections to each component;

the pretreatment adopts tetrahedral grids to carry out automatic grid division;

setting an analysis step, and adopting nonlinear analysis;

setting boundary conditions and loads, and restraining displacement and rotation of angle irons along x, y and z to fix the angle irons; applying a surface load and shear to the plow head;

the H-shaped bracket 130 and the connecting rod 120 are main stress components, and are required to be analyzed to extract Mises stress results.

For the H-shaped bracket 130, the deformation of the component is small, the strength is high, and the safety is high, but the strength of the bolt used for the joints such as hinging needs to be analyzed; meanwhile, the connecting rod 120 needs to perform process optimization on the abrupt cross section, such as adding fillets and reducing the cross section ratio.

And extracting stress, simulating an actual bolt, and processing to obtain an equivalent Mises stress strain cloud picture of the whole and the inside of the bolt connecting structure. The yield strength of the bolt is 640MPa, and the tensile strength is 800MPa. During post-treatment, a fatigue analysis tool is added, and the service life and the safety coefficient of the bolt are output. When the fatigue analysis module is added, the difference between the fatigue test and the computer simulation is considered, the fatigue strength correction coefficient is set to be 0.8, and the load scaling coefficient kf=0.5 is set, namely the maximum pressure applied to symmetrical cyclic load is 5000N, and the minimum pressure is-5000N. Since in this analysis, a high cycle fatigue problem occurs and no plastic deformation occurs, the analysis type is set as the pressure life method. The fatigue load change results were finally obtained: the maximum service life and the minimum service life of the bolt are 10 times 7 times, and the minimum damage and the maximum damage coefficient are 1. This indicates that under this load, the lifetime of the bolt is greater than 10≡7 times, and the bolt can be considered to be in an infinite lifetime region. Meanwhile, through simulation calculation, the strength of the connecting piece bolt also meets the design requirement. Thus, in summary, the plow 100 as a whole meets the strength requirements.

In some embodiments, as shown in fig. 9 and 10, the seeding mechanism 200 includes: the second motor 210, the seed box 220, the seed discharging wheel 230, the brush wheel 240, the inclined baffle 250 and the seed discharging channel 260. The second motor 210 is electrically connected with the control module 500; the seed bin box 220 is arranged at the upper end of the bottom of the mechanical vehicle body and is used for placing grass seeds; the seed metering wheel 230 is disposed in the seed box 220 and is connected with an output shaft of the second motor 210; the brush wheel 240 is disposed in the seed box 220 and horizontally engaged with the seed discharging wheel 230; the inclined baffle 250 is disposed in the seed box 220 and is located at the upper side of the brush wheel 240; one end of the seed discharging passage 260 communicates with the lower end of the seed magazine 220, and the other end is used for discharging grass seeds.

Specifically, referring to fig. 9 and 10 in combination with fig. 1 to 4, the sowing mechanism 200 is integrally provided on the upper end of the bottom of the machine body, i.e., the floor. As can be seen from fig. 10, the second motor 210 is a stepping motor, the output shaft of the stepping motor is connected with the central shaft of the brush wheel 240 through the coupling 270, the brush wheel 240 is in engagement with the seed metering wheel 230, that is, the motor drives the brush wheel 240 to rotate so as to drive the seed metering wheel 230 to rotate, and two engaged cylindrical gears 280 are arranged outside the seed box 220 so as to assist the brush wheel 240 to drive the seed metering wheel 230. It will be appreciated that the seeds to be sown are small and generally spherical in shape, and therefore a reasonably designed seed delivery mechanism, i.e., sowing mechanism 200, is required to deliver the seeds into the ravines plowed by the device. Based on this, a roller-type seed-sowing bin is selected, which is mainly composed of a seed-sowing wheel 230, an inclined baffle 250, a brush wheel 240 and a seed-bin box 220, wherein the seed-sowing wheel 230 is provided with grooves with a certain interval for transporting seeds, and a stepping motor is provided as the second motor 210. Before the sowing mechanism 200 operates, the sown seeds need to be loaded into the seed box 220, when the device operates, the seeds in the seed box 220 enter the area where the sowing wheel 230 is located through the inclined baffle, and as the sowing requirement is met, only the fixed seeds need to be sown at a time, because the grooves on the sowing wheel 230 can be customized, and the grooves with the same volume as the seeds need to be sown are designed. When the stepping motor drives the wheel shaft to rotate, the seeds in the grooves of the seed metering wheel 230 rotate along with the seed metering wheel 230, and when the seeds rotate to the seed metering port below, the seeds are subject to the action of gravity and do free falling movement, and are regulated into the seed metering channel 260 through the bottom plate of the mechanism.

It can be appreciated that the seeding mechanism 200 according to the embodiment of the present utility model can throw seed grains into soil in a mechanical structure innovative manner, and has the advantages of small overall volume, simple principle, no need of contact with soil, reduced damage to soil, low energy consumption, and improved mobility of the whole robot of the machine, adaptability to different ground surfaces and degree of mechanization.

Further, for the selection of the second motor 210, the conclusion drawn through theoretical analysis is: the overall power of the sowing mechanism 200 is approximately 33 mN.m. If the mechanism is operating normally, the output power [ M ] of the second motor 210 is greater than M. Thus, in some embodiments, a 28-BYJ42 stepper motor is selected that maintains a torque of 38 mN.m, meeting the needs of the application.

In some embodiments, as shown in fig. 11, the soil gathering mechanism includes: a first soil gathering baffle 810 and a second soil gathering baffle 820. One end of the first soil gathering baffle 810 is connected with the lower end of the bottom of the mechanical vehicle body, and the other end is used for filling soil; one end of the second soil gathering baffle 820 is connected with the lower end of the bottom of the mechanical vehicle body, and the other end is used for filling soil; the second soil gathering baffle 820 is symmetrically disposed about the first soil gathering baffle 810 at an angle of 75 degrees to each other.

Specifically, referring to fig. 11 in combination with fig. 1 to 4, the soil gathering mechanism is disposed at the lower end of the bottom of the machine body, i.e., under the floor. The soil gathering mechanism mainly comprises two soil gathering baffles, and when seeds are sown, the soil around the ravines is gathered by the soil gathering mechanism at the tail of the bottom of the device. Because the sowing mode of the seeds is different from that of the seeds, the sown soil is not required to be compacted, and the seeds are covered only by folding the soil. Based on this, in some embodiments, referring to fig. 11 and fig. 1 to fig. 4, a novel folding mechanism is designed and adopted, folding partition plates with plane surfaces and arc surfaces are adopted, the two partition plates are 75 degrees, a gap is 5cm, when loose soil contacts with a soil gathering partition plate, the soil at the upper half part of the partition plate can advance along the movement direction of the partition plate, and the ravines are filled in the lower half part of the partition plate through the arc parts, so that the soil filling process of seed grains is completed.

Further, the soil gathering mechanism of this embodiment is subjected to strength check. When the soil is plowed, the loose soil is kept off by the soil gathering baffle plate, the normal operation direction and the initial speed of the device are V, the dynamic impact force P of the soil to the baffle plate is decomposed into positive pressure Pz vertical to the discharging baffle plate and force Pr parallel to the baffle plate, and the relation between the length L of the baffle plate and the positive stress on the plate surface can be known according to Pythagorean theorem:

P _Z ＝Psinα，

Wherein B is the bandwidth of the baffle; alpha is the included angle between the baffle and the flat land.

Pushing out the baffle according to the conditions of the tension and compression and shearing strength of the material:

wherein σ is Xu Yongzheng stress; τ is the allowable shear stress; h is the height of the baffle; delta is the baffle plate thickness.

Comparing the data obtained by the intensity calculation formula deduced by theory with the result of finite element analysis, wherein the value calculated by theory, namely the strain is 3.35 multiplied by 10 < -9 > mm; the stress is 7.03X10-3 MPa, which is obtained without considering the stress concentration phenomenon caused by the structure of the soil gathering baffle, and is reasonable between the finite element analysis values, wherein the stress concentration is considered in the finite element analysis values, the maximum stress value is obtained, and the stress value is far greater than the theoretical calculation result, so that the finite element analysis is an effective means for carrying out mechanical analysis and strength check on the soil gathering baffle. Therefore, the structural strength of the soil gathering baffle is emphasized at the supporting position of the soil gathering baffle in the design process.

In some embodiments, as shown in fig. 12 and 13, the irrigation mechanism 300 includes: water tank 310, steering engine 320, water valve 330. The water tank 310 is used for supplying water; steering engine 320 is electrically connected with control module 500; the water valve 330 is respectively connected with the water tank 310 and the steering engine 320.

Specifically, referring to fig. 12 and 13, in combination with fig. 1 to 4, the irrigation mechanism 300 is integrally provided on the upper end of the bottom of the machine body, i.e., the floor. The water tank 310 transmits water to the water valve 330 through a water pipe under the driving of the steering engine 320. It can be understood that when the seed is sowed, the spray head arranged at the tail part on the bottom plate of the device irrigates the seed in time, so that the seed is quickly adapted to the soil condition, and the planting survival rate is ensured. The irrigation mechanism 300 mainly comprises a steering engine 320 and a water valve 330, according to actual requirements, the valve opening of the water valve 330 can be controlled and regulated by a control module 500, the actual requirements mainly comprise water demand, the water demand of crops is considered, namely, the surface evaporation amount comprises soil evaporation amount and plant evaporation amount, in the growth process of crops, the most serious water consumption part is the surface evaporation amount, the water consumption is divided into water evaporation on the ground and the plant surface, and more than 1/2 of the water consumption is consumed by evaporation. Meanwhile, the water-saving type energy-saving water heater is also an important component of energy balance and water balance, and the evapotranspiration is also an important component of regional water balance and energy balance, and is a basis for evaluating the utilization efficiency of water resources. The water demand of crops is also the basis for determining the irrigation water quantity of crops and the irrigation system. The calculation formula of the potential evaporation capacity is as follows by the international standard method recommended by the united nations grain and agriculture organization in 1992:

R _n ＝R _ns -R _nl ，

r＝0.067，

Wherein ET is ₀ Is the potential evapotranspiration; delta is the slope of the saturated water vapor pressure versus temperature curve; t is the average air temperature; e, e _a Is saturated water vapor pressure; e, e _d Is the actual water vapor pressure; r is R _n Net radiation dose for the crop surface; r is R _ns Is net short wave radiation; r is R _nl Is the radiation of net wavelength; e, e _a Is atmospheric edge solar radiation; n is the actual sunlight time; n is the maximum possible sunlight time; r is the hygrometer constant; g is soil heat flux; u (U) ₂ An average wind speed at a height of 2 m; t (T) _d Is the temperature on day d.

The calculation formula of the actual evaporation amount is as follows:

ET _a ＝Q+ΔW+R，

wherein Q is irrigation quantity; Δw is the soil water storage capacity at the end of a period or crop development period; r is the synchronous precipitation amount; ET (electric T) _a Is the actual evapotranspiration of the contemporaneous crops.

Wherein n is a soil sampling layer; n is n _i Is the thickness of the ith layer of soil layer, d _i Is the volume weight, w of the soil of the ith layer _1i 、w _2i The i-th layer soil humidity at the beginning to the end of the period, respectively.

The calculation formula of the crop coefficient is as follows:

in a process control system, a regulator valve regulates the opening of a valve by receiving a control system command, thereby controlling the flow rate, pressure, flow rate, etc. of water. When the valve is regulated, the valve can be correctly regulated according to seed conditions and environmental parameters, and the water quantity is controlled. From the Bernoulli equation, it can be calculated that:

Cv＝1.16Kv，

The water demand of various seeds under different soil conditions can be determined through calculation, and then the opening degree of the valve is calculated through the control algorithm and equation of the control module 500, so that the flow is controlled, and the aim of accurate watering is achieved.

Further, in some embodiments, for the selection of the steering engine 320, it is necessary to ensure that the steering engine can accurately turn on the switch to a proper position, so as to prevent the switch from being blocked and the valve from water outlet abnormality. Because the valve generally adopts the ball valve to control the water yield, the torque required for rotating the ball valve switch is finally determined to be 1.3 N.m after theoretical calculation and analysis, and therefore, the steering engine 320 with the product model of RDS3120 is selected in the embodiment, and the torque of the steering engine 320 is 18.5 kg.cm (1.81 N.m) under the voltage of 5V, which is larger than the torque required for opening the ball valve switch, thereby meeting the application requirements.

In some embodiments, as shown in fig. 14, the soil detection module 400 includes: soil transducer 410, third motor, lifter 420. The soil transmitter 410 is arranged on the mechanical vehicle body and is electrically connected with the control module 500; the third motor is electrically connected with the control module 500; the lifting push rod 420 is connected with the output shaft of the third motor, and is used for controlling the soil transmitter 410 to insert and withdraw soil.

Specifically, referring to fig. 14 in combination with fig. 1 to 4, the soil transmitter 410 may be vertically penetrating through the bottom of the machine body under the support of the lifting push rod 420, and when soil detection is required, the control module 500 operates the lifting push rod 420 to move so that the probe of the soil transmitter 410 contacts the soil to complete the detection. It is understood that during the sowing process, the condition of the soil needs to be detected, and the temperature, humidity, conductivity, nitrogen, phosphorus, potassium, salt and other components can influence the growth of seeds. Therefore, a soil transmitter 410 is installed on the floor of the device, and the transmitter can monitor parameters such as water content, conductivity, temperature, PH value and the like of soil at the same time, is completely sealed, is resistant to acid and alkali corrosion, and can be buried in the soil or be in contact with the soil for dynamic detection.

The detection principle of the soil transmitter 410 is that the probe of the transmitter head is used for detecting soil components, and data of the soil components can be transmitted to the terminal through the communication module, so that the soil components can be conveniently checked. The probe insertion design ensures accurate measurement and reliable performance. The dielectric constant of the soil is measured, so that the true moisture content of various kinds of soil can be directly and stably reflected. The volume percent of the soil moisture can be measured, and the method is a soil moisture measuring method which accords with the current international standard. The electrode is made of specially treated alloy material, can bear strong external force impact and is not easy to damage. The shell is made of stainless steel, is completely sealed by black flame-retardant epoxy resin, is resistant to acid and alkali corrosion, and can be buried in soil or directly put into water for long-term dynamic detection.

Further, in some embodiments, in order to ensure that the soil detection mechanism can work properly, a model selection calculation is performed on the lifting rod 420 for controlling the lifting. Therefore, after theoretical calculation and analysis, the maximum resistance force applied to the lifter bar 420 is f=max (F ₁ ,F ₂ ) =2.72n. Thus, the maximum output of 180N is selected in this embodimentThe electric push rod 110 operates the lifting of the soil detector.

In some embodiments, as shown in fig. 1 to 4, the moving mechanism includes: a first crawler wheel 910, a second crawler wheel 920, a first foot wheel 930, a second foot wheel 940, a fourth motor. The first crawler wheel 910 is disposed at one side of the lower end of the bottom of the mechanical vehicle body; the second crawler wheel 920 is arranged on the other side of the lower end of the bottom of the mechanical vehicle body; the first caster 930 is disposed at one side of the lower end of the bottom of the machine body and is close to the first crawler wheel 910; the second foot wheel 940 is disposed at the other side of the lower end of the bottom of the machine body and is close to the second crawler wheel 920; the fourth motor is electrically connected to the control module 500, and its output shaft is connected to the first crawler wheel 910, the second crawler wheel 920, the first foot wheel 930, and the second foot wheel 940, respectively.

Specifically, referring to fig. 1 to 4, the first crawler wheel 910 and the second crawler wheel 920 are respectively disposed at two sides of the machine body, and the first foot wheel 930 and the second foot wheel 940 are respectively disposed at two tail portions of the machine body. The fourth motor may employ a gear motor to drive the first crawler wheel 910, the second crawler wheel 920, the first caster 930, and the second caster 940 to rotate. Specifically, in some embodiments, the gear motor is a DC gear motor with 500 r.min (-1) speed, 2.5 N.m torque, and 15W power; the first caster and the second caster are both Mecanum wheels.

Further, the first crawler wheel 910 and the second crawler wheel 920 both adopt damping crawler wheels, the damping crawler wheels are provided with cylindrical spiral springs as supporting springs on the inner sides of the crawler wheels, the springs can be specifically set to be right-handed, carbon spring steel wires are selected as C-level, and the diameter is d=3mm. The tensile strength Rm=1470 MPa, the allowable stress [ tau ] =1470×0.4=588 MPa, and the outer diameter D2 of the spring is limited by the size, so d2=15mm is taken. After verification, the design spring meets the actual requirements. By adopting the damping crawler wheels, the complex terrain environment of the sowing area is considered, so that the whole vehicle can stably run on uneven ground.

In some embodiments, the overall dimensions of the device design of embodiments of the present utility model are 1200mm x 860mm x 620mm; the moving speed is 0.1-1.1 m/s and can be adjusted; the sowing density and the sowing speed are 3328.6 plants/mu of grass seeds and 6.2-15.7 plants/sec respectively, and can be set automatically; the power consumption for 24 hours is 3.6kWh; the power supply mode adopts solar energy and a 12V/300mAh storage battery to supply power, and the power supply voltage/working voltage is 220V/12V respectively.

In some embodiments, the plow mechanism 100 includes: a first motor, hydraulic system, plow blade 140. It will be appreciated that a hydraulic system may be employed in place of the electric push rod 110 and the connecting rod 120. Specifically, the hydraulic system connects hydraulic elements such as a hydraulic pump, a hydraulic cylinder, a control valve and the like through a hydraulic oil pipe, and can meet specific action requirements. The basic working principle is as follows: the hydraulic pump is driven to work through the first motor, hydraulic oil in the oil tank is conveyed to the hydraulic cylinder through the hydraulic oil pipe and the control valve, and finally the hydraulic cylinder drives the load to drive the plow shovel 140.

In order to better illustrate the integrated ecological restoration device for sowing and irrigation according to the embodiment of the present utility model, in addition, as shown in fig. 15, the embodiment of the present utility model further provides a control method applied to the integrated ecological restoration device for sowing and irrigation according to any one of the embodiments of the first aspect of the present utility model, including the following steps:

receiving an external terminal instruction and starting to acquire the environmental information quantity around the mechanical vehicle body;

processing the environment information amount based on a path planning algorithm and outputting a moving instruction to a moving mechanism;

outputting a plowing command, a sowing command and an irrigation command to the plowing mechanism 100, the sowing mechanism 200 and the irrigation mechanism 300 respectively;

outputting a detection instruction to the soil detection module 400 and acquiring soil condition data;

and sending the soil condition data to a convolutional neural network for deep learning so as to obtain an optimized sowing scheme.

Specifically, referring to fig. 15, it can be understood that by executing the control method according to the embodiment of the present utility model, each function of the above-mentioned integrated ecological restoration device for seeding and irrigation can be implemented, and the control method according to the embodiment of the present utility model corresponds to the foregoing integrated ecological restoration device for seeding and irrigation, and the detailed processing procedure refers to the foregoing integrated ecological restoration device for seeding and irrigation and is not repeated herein.

In this embodiment, by executing the control method in the integrated seeding and irrigation ecological restoration device in the embodiment of the utility model, the sensing module is used to collect the environmental information, so that the control module 500 performs data processing based on the path optimization algorithm, and thus the moving mechanism is controlled to make the mechanical vehicle body advance without deviation according to the track path. The ploughing mechanism 100, the sowing mechanism 200, the soil gathering mechanism and the irrigation mechanism 300 which are arranged on the mechanical vehicle body are mutually matched under the operation of the control module 500, so that the functions of ploughing, digging pits, sowing grass seeds, filling soil, tamping and watering irrigation are respectively completed. By utilizing the communication module, the remote control of the device can be realized; meanwhile, the soil condition data collected by the soil detection module 400 can be sent to other terminals for deep learning so as to obtain an intelligent ecological restoration scheme with better effect. Therefore, for the control method of the embodiment of the utility model, the design and arrangement of the mechanisms and the modules are reasonable and mutually matched, the problem of low efficiency of the traditional seeding apparatus is solved, the efficiency is improved, the device can be automatically tracked and remotely controlled, the manpower resource is saved, the safety and the stability of the product are also ensured, and the integration of the manual traditional seeding process into the full-automatic integrated machine is realized. The method has the advantages that the integration of a plurality of procedures of traditional artificial planting is realized, the plow depth, seed types, watering quantity and the like can be regulated and controlled according to soil parameters, the full-automatic sowing efficiency is improved, the labor force is liberated, the labor cost is reduced, and the sowing efficiency and the plant survival rate are improved. Meanwhile, the control method of the embodiment of the utility model is environment-friendly and energy-saving, can be suitable for various planting working environments and sowing of various seeds, has wider applicability, can exert the effect of the seeds under the environment that certain human beings are difficult to work, especially in desert areas, and greatly accelerates the progress of grass planting, wind prevention and sand fixation in China.

In some embodiments, deep learning is performed on the transmission of soil condition data to the convolutional neural network to obtain an optimized seeding scheme, a specific description of which is as follows.

The method comprises the steps of obtaining survival rate data of different types of grass seeds under different sowing depths under different soil parameters (pH value, conductivity, temperature and water content), preprocessing the data, including missing value analysis and the like, and evaluating each influence factor by using an entropy weight TOPSIS algorithm to obtain the weight. Meanwhile, in order to further ensure the accuracy and stability of the result, a gray prediction GM algorithm and a deep learning algorithm are utilized to conduct prediction analysis, so that an intelligent seeding scheme is obtained based on deep learning.

It will be appreciated that the choice of plant seeds is a key element in the ecological restoration of desert. In the process of selecting plant varieties, comprehensive consideration should be given to ecological aspects, functional aspects, survival rate, cost and the like. According to the principle of plant selection in arid and semiarid regions, selecting part of plants of native species in the large same region and common drought-resistant plants for ecological restoration in desert, wherein the plants comprise Chinese pine, boxwood, locust, wisted wood, schefflera arboricola, alfalfa, sedum alfredii and bluegrass.

Further, in the ecological restoration process, proper restoration plants are selected according to local climate characteristics and soil characteristics, so that a good restoration effect can be achieved, and management and protection costs are reduced. In general, native plants are naturally adapted to the local climate through a lengthy natural selection, and most of them are more resistant to the local pest. In the early stages of ecological restoration, lean, cold-tolerant green manure plants selected from local indigenous species can be used as pioneering species to form a soil-plant interaction pattern. When the soil site conditions are gradually improved, the vegetation restoration species can be selected by considering factors such as plant diversity, ecological system stability and the like, and the ecological diversity of the desert is enriched. According to the method, the characteristics of cold local climate and short vegetation growth period are comprehensively considered according to the difference of soil fertility levels of different areas in the desert area by combining years of ecological restoration experience of the desert area, and proper plant types are selected to carry out ecological restoration of the desert. According to the soil detection module 400, a suitable plant is selected for sowing according to the detection result.

Furthermore, the embodiment of the utility model adopts a neural network algorithm to process the existing experimental data for investigation, and carries out intelligent scheme design on different soil parameters so as to improve the survival rate of plants, so that the network has higher accuracy, and the ResNet-18 in the convolutional neural network is used for training the self-defined data set.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present utility model.

Claims

1. An ecological prosthetic devices of integration is irrigated in seeding, characterized in that includes:

a mechanical vehicle body;

and the power supply module is used for supplying power to the device.

2. The seeding and irrigation integrated ecological restoration device according to claim 1, wherein the sensing module comprises:

3. The seeding and irrigation integrated ecological restoration device according to claim 1, wherein the power supply module comprises:

4. The sowing and irrigation integrated ecological restoration device as recited in claim 1, wherein the plowing mechanism comprises:

The first motor is electrically connected with the control module;

5. The sowing and irrigation integrated ecological restoration device as recited in claim 1, wherein the sowing mechanism comprises:

the second motor is electrically connected with the control module;

6. The sowing and irrigation integrated ecological restoration device as recited in claim 1, wherein the soil gathering mechanism comprises:

7. The sowing and irrigation integrated ecological restoration device as recited in claim 1, wherein the irrigation mechanism comprises:

a water tank for supplying water;

the steering engine is electrically connected with the control module;

8. The sowing and irrigation integrated ecological restoration device as recited in claim 1, wherein the soil detection module includes:

the third motor is electrically connected with the control module;

9. The sowing and irrigation integrated ecological restoration device as recited in claim 1, wherein the moving mechanism comprises: